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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[
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[
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] | 18.799999 | 188 | 75 | 25,317 | 0 |
[
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24.848831176757812,
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[
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24.848831176757812,
3.8139612674713135,
49.425113677978516,
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[
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24.848831176757812,
3.8139612674713135,
49.425113677978516,
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] | 0 | pick box lid and place on box body | box body | [
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[
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24.848831176757812,
3.8139612674713135,
49.425113677978516,
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] | 0 | pick box lid and place on box body | box body | [
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] | 19.200001 | 192 | 75 | 25,321 | 0 |
[
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24.848831176757812,
3.8139612674713135,
49.425113677978516,
16.672452926635742,
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] | 0 | pick box lid and place on box body | box body | [
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] | 19.299999 | 193 | 75 | 25,322 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.127746 | [
24.848831176757812,
3.8139612674713135,
49.425113677978516,
16.672452926635742,
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] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
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] | 19.4 | 194 | 75 | 25,323 | 0 |
[
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0.2921830117702484,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.15922 | [
24.848831176757812,
3.8139612674713135,
49.425113677978516,
16.672452926635742,
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] | [
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3.0994346141815186,
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] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
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] | 19.5 | 195 | 75 | 25,324 | 0 |
[
24.3707275390625,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.194445 | [
24.848831176757812,
3.8139612674713135,
49.425113677978516,
16.672452926635742,
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] | [
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3.0994346141815186,
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] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
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] | 19.6 | 196 | 75 | 25,325 | 0 |
[
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24.848831176757812,
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49.425113677978516,
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[
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24.848831176757812,
3.8139612674713135,
49.425113677978516,
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] | 20.200001 | 202 | 75 | 25,331 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.495912 | [
24.848831176757812,
3.8139612674713135,
49.425113677978516,
16.672452926635742,
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] | 0 | pick box lid and place on box body | box body | [
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] | 20.299999 | 203 | 75 | 25,332 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.542289 | [
24.848831176757812,
3.8139612674713135,
49.425113677978516,
16.672452926635742,
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] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
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] | 20.4 | 204 | 75 | 25,333 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.588225 | [
24.848831176757812,
3.8139612674713135,
49.425113677978516,
16.672452926635742,
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] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
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] | 20.5 | 205 | 75 | 25,334 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.633246 | [
24.848831176757812,
3.8139612674713135,
49.425113677978516,
16.672452926635742,
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] | 0 | pick box lid and place on box body | box body | [
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] | 20.6 | 206 | 75 | 25,335 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.676531 | [
24.848831176757812,
3.8139612674713135,
49.425113677978516,
16.672452926635742,
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] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
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] | 20.700001 | 207 | 75 | 25,336 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.712422 | [
24.848831176757812,
3.8139612674713135,
49.425113677978516,
16.672452926635742,
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] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
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] | 20.799999 | 208 | 75 | 25,337 | 0 |
[
24.715024948120117,
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0.22936129570007324,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.742314 | [
24.848831176757812,
3.8139612674713135,
49.425113677978516,
16.672452926635742,
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0.007649942766875029,
3.0994346141815186,
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] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
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] | 20.9 | 209 | 75 | 25,338 | 0 |
[
24.731489181518555,
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0.6632107496261597,
0.22691898047924042,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.768777 | [
24.848831176757812,
3.8139612674713135,
49.425113677978516,
16.672452926635742,
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24.848831176757812,
3.8139612674713135,
49.425113677978516,
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[
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24.848831176757812,
3.8139612674713135,
49.425113677978516,
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24.848831176757812,
3.8139612674713135,
49.425113677978516,
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24.848831176757812,
3.8139612674713135,
49.425113677978516,
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24.848831176757812,
3.8139612674713135,
49.425113677978516,
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] | 0 | pick box lid and place on box body | box body | [
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24.848831176757812,
3.8139612674713135,
49.425113677978516,
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[
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24.848831176757812,
3.8139612674713135,
49.425113677978516,
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] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.872124 | [
24.848831176757812,
3.8139612674713135,
49.425113677978516,
16.672452926635742,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.869608 | [
24.848831176757812,
3.8139612674713135,
49.425113677978516,
16.672452926635742,
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] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
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[
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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 | 0.867204 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 22.4 | 224 | 75 | 25,353 | 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 | 0.865698 | [
24.848831176757812,
3.8139612674713135,
49.425113677978516,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 22.5 | 225 | 75 | 25,354 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0 | [
24.817842483520508,
-0.409737229347229,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
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] | 22.6 | 226 | 75 | 25,355 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
24.817842483520508,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.27377352118492126,
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] | 22.700001 | 227 | 75 | 25,356 | 0 |
[
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] | [
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] | [
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0 | [
24.817842483520508,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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] | 22.799999 | 228 | 75 | 25,357 | 0 |
[
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] | [
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] | [
0.2916412651538849,
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] | 1 | [
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] | [
0.4392499625682831,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
24.817842483520508,
-0.409737229347229,
48.4678840637207,
11.424530029296875,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.27377352118492126,
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] | 22.9 | 229 | 75 | 25,358 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
0.4392499625682831,
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0.12010464817285538,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
24.817842483520508,
-0.409737229347229,
48.4678840637207,
11.424530029296875,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.27377352118492126,
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] | 23 | 230 | 75 | 25,359 | 0 |
[
24.817842483520508,
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11.424530029296875,
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7.5
] | [
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] | [
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0.12010464817285538,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
24.817842483520508,
-0.409737229347229,
48.4678840637207,
11.424530029296875,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.27377352118492126,
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] | 23.1 | 231 | 75 | 25,360 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0 | [
24.817842483520508,
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48.4678840637207,
11.424530029296875,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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] | 23.200001 | 232 | 75 | 25,361 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
24.817842483520508,
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48.4678840637207,
11.424530029296875,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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] | 23.299999 | 233 | 75 | 25,362 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
24.817842483520508,
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48.4678840637207,
11.424530029296875,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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] | 23.4 | 234 | 75 | 25,363 | 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 | [
24.817842483520508,
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48.4678840637207,
11.424530029296875,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.27377352118492126,
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] | 23.5 | 235 | 75 | 25,364 | 0 |
[
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15
] | [
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] | [
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0.040939 | [
24.817842483520508,
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48.4678840637207,
11.424530029296875,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.27377352118492126,
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] | 23.6 | 236 | 75 | 25,365 | 0 |
[
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] | [
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] | [
0.4392499625682831,
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0.6478192210197449,
0.12010464817285538,
-0.00858370866626501,
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] | release object on box body | Is the object released? | gripper_open | 0.136845 | [
24.817842483520508,
-0.409737229347229,
48.4678840637207,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
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] | 23.700001 | 237 | 75 | 25,366 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
0.4392499625682831,
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0.12010464817285538,
-0.00858370866626501,
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] | release object on box body | Is the object released? | gripper_open | 0.232751 | [
24.817842483520508,
-0.409737229347229,
48.4678840637207,
11.424530029296875,
-0.24887463450431824,
30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
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] | 23.799999 | 238 | 75 | 25,367 | 0 |
[
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48.4678840637207,
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19.5
] | [
24.817842483520508,
-0.409737229347229,
48.4678840637207,
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] | [
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] | 1 | [
0.4392499625682831,
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] | [
0.4392499625682831,
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0.12010464817285538,
-0.00858370866626501,
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] | release object on box body | Is the object released? | gripper_open | 0.328658 | [
24.817842483520508,
-0.409737229347229,
48.4678840637207,
11.424530029296875,
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30
] | [
0.2916412651538849,
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0.0391780361533165,
3.0806684494018555,
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] | 30 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.013000024482607841
] | 23.9 | 239 | 75 | 25,368 | 0 |
[
24.817842483520508,
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48.4678840637207,
11.424530029296875,
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] | [
24.817842483520508,
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] | [
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] | 1 | [
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] | [
0.4392499625682831,
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0.12010464817285538,
-0.00858370866626501,
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] | release object on box body | Is the object released? | gripper_open | 0.424564 | [
24.817842483520508,
-0.409737229347229,
48.4678840637207,
11.424530029296875,
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30
] | [
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3.0806684494018555,
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] | 30 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
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] | 24 | 240 | 75 | 25,369 | 0 |
[
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48.4678840637207,
11.424530029296875,
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22.5
] | [
24.817842483520508,
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48.4678840637207,
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] | [
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] | 1 | [
0.4392499625682831,
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] | [
0.4392499625682831,
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0.6478192210197449,
0.12010464817285538,
-0.00858370866626501,
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] | release object on box body | Is the object released? | gripper_open | 0.52047 | [
24.817842483520508,
-0.409737229347229,
48.4678840637207,
11.424530029296875,
-0.24887463450431824,
30
] | [
0.2916412651538849,
-0.11871979385614395,
0.0391780361533165,
3.0806684494018555,
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] | 30 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.013000024482607841
] | 24.1 | 241 | 75 | 25,370 | 0 |
[
24.817842483520508,
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48.4678840637207,
11.424530029296875,
-0.24887463450431824,
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] | [
24.817842483520508,
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48.4678840637207,
11.424530029296875,
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] | [
0.2916412651538849,
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] | 1 | [
0.4392499625682831,
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] | [
0.4392499625682831,
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0.6478192210197449,
0.12010464817285538,
-0.00858370866626501,
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] | release object on box body | Is the object released? | gripper_open | 0.616376 | [
24.817842483520508,
-0.409737229347229,
48.4678840637207,
11.424530029296875,
-0.24887463450431824,
30
] | [
0.2916412651538849,
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0.0391780361533165,
3.0806684494018555,
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] | 30 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
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] | 24.200001 | 242 | 75 | 25,371 | 0 |
[
24.817842483520508,
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48.4678840637207,
11.424530029296875,
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] | [
24.817842483520508,
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] | [
0.2916412651538849,
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] | 1 | [
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] | [
0.4392499625682831,
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0.6478192210197449,
0.12010464817285538,
-0.00858370866626501,
0.5755496025085449
] | release object on box body | Is the object released? | gripper_open | 0.712282 | [
24.817842483520508,
-0.409737229347229,
48.4678840637207,
11.424530029296875,
-0.24887463450431824,
30
] | [
0.2916412651538849,
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0.0391780361533165,
3.0806684494018555,
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] | 30 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.013000024482607841
] | 24.299999 | 243 | 75 | 25,372 | 0 |
[
24.817842483520508,
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48.4678840637207,
11.424530029296875,
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27
] | [
24.817842483520508,
-0.409737229347229,
48.4678840637207,
11.424530029296875,
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27.89999771118164
] | [
0.2916412651538849,
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0.0391780361533165,
3.0806684494018555,
0.8154513239860535,
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] | 1 | [
0.4392499625682831,
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] | [
0.4392499625682831,
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0.6478192210197449,
0.12010464817285538,
-0.00858370866626501,
0.6083383560180664
] | release object on box body | Is the object released? | gripper_open | 0.808188 | [
24.817842483520508,
-0.409737229347229,
48.4678840637207,
11.424530029296875,
-0.24887463450431824,
30
] | [
0.2916412651538849,
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0.0391780361533165,
3.0806684494018555,
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] | 30 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
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] | 24.4 | 244 | 75 | 25,373 | 0 |
[
24.817842483520508,
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48.4678840637207,
11.424530029296875,
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28.499998092651367
] | [
24.817842483520508,
-0.409737229347229,
48.4678840637207,
11.424530029296875,
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29.39999771118164
] | [
0.2916412651538849,
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0.0391780361533165,
3.0806684494018555,
0.8154513239860535,
2.618764638900757
] | 1 | [
0.4392499625682831,
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0.6478192210197449,
0.12010464817285538,
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0.6214539408683777
] | [
0.4392499625682831,
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0.6478192210197449,
0.12010464817285538,
-0.00858370866626501,
0.6411272287368774
] | release object on box body | Is the object released? | gripper_open | 0.904094 | [
24.817842483520508,
-0.409737229347229,
48.4678840637207,
11.424530029296875,
-0.24887463450431824,
30
] | [
0.2916412651538849,
-0.11871979385614395,
0.0391780361533165,
3.0806684494018555,
0.8154513239860535,
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] | 30 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.013000024482607841
] | 24.5 | 245 | 75 | 25,374 | 0 |
[
24.817962646484375,
-0.4099045693874359,
48.46748733520508,
11.425188064575195,
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30
] | [
24.818157196044922,
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48.227500915527344,
11.43592357635498,
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30
] | [
0.2916412651538849,
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0.0391789972782135,
3.0806493759155273,
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] | 1 | [
0.4392518997192383,
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] | [
0.4392549991607666,
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0.6437427401542664,
0.12030703574419022,
-0.008602066896855831,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
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0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
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] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
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] | 24.6 | 246 | 75 | 25,375 | 0 |
[
24.818239212036133,
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48.38480758666992,
11.446731567382812,
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30
] | [
24.8193359375,
-1.0210572481155396,
48.24148178100586,
11.500701904296875,
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30
] | [
0.2919842600822449,
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0.039955832064151764,
3.0802230834960938,
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] | 1 | [
0.43925631046295166,
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0.12049902230501175,
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] | [
0.4392738938331604,
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0.6439798474311829,
0.12145772576332092,
-0.008602066896855831,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
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] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 24.700001 | 247 | 75 | 25,376 | 0 |
[
24.818634033203125,
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48.32902145385742,
11.465119361877441,
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30
] | [
24.821426391601562,
-1.5686149597167969,
48.266273498535156,
11.61559772491455,
-0.2494591325521469,
30
] | [
0.29232558608055115,
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0.04090481624007225,
3.0797793865203857,
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2.618065595626831
] | 1 | [
0.43926265835762024,
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0.12082565575838089,
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0.6542428135871887
] | [
0.43930742144584656,
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0.6444002389907837,
0.12349867820739746,
-0.008602066896855831,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 24.799999 | 248 | 75 | 25,377 | 0 |
[
24.8195858001709,
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48.30930709838867,
11.52592945098877,
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30
] | [
24.824405670166016,
-2.349055767059326,
48.30160903930664,
11.779359817504883,
-0.2494591325521469,
30
] | [
0.2926422953605652,
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0.04223022609949112,
3.0791757106781006,
0.8269228339195251,
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] | 1 | [
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0.1219058558344841,
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0.6542428135871887
] | [
0.43935516476631165,
-0.049405090510845184,
0.6449995040893555,
0.1264076679944992,
-0.008602066896855831,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.002594 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 24.9 | 249 | 75 | 25,378 | 0 |
[
24.8212947845459,
-1.4734430313110352,
48.31273651123047,
11.627488136291504,
-0.25158458948135376,
30
] | [
24.828235626220703,
-4.726954936981201,
48.3470573425293,
11.989968299865723,
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30
] | [
0.2930171489715576,
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0.0441705659031868,
3.078305721282959,
0.8336526155471802,
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] | 1 | [
0.43930530548095703,
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0.12370989471673965,
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0.6542428135871887
] | [
0.4394165575504303,
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0.6457701921463013,
0.13014881312847137,
-0.008602066896855831,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.010177 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 25 | 250 | 75 | 25,379 | 0 |
[
24.823780059814453,
-2.5731050968170166,
48.36253356933594,
11.814349174499512,
-0.25626063346862793,
30
] | [
24.83277702331543,
-5.916491985321045,
48.400917053222656,
12.239572525024414,
-0.2494591325521469,
30
] | [
0.2938009798526764,
-0.11976216733455658,
0.04859226197004318,
3.076107978820801,
0.8493174910545349,
2.615140438079834
] | 1 | [
0.4393451511859894,
-0.05345888435840607,
0.6460326313972473,
0.1270291954278946,
-0.008815689943730831,
0.6542428135871887
] | [
0.43948936462402344,
-0.11395179480314255,
0.6466835737228394,
0.13458265364170074,
-0.008602066896855831,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.027452 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 25.1 | 251 | 75 | 25,380 | 0 |
[
24.827016830444336,
-3.721442937850952,
48.37659454345703,
11.96877384185791,
-0.25389984250068665,
30
] | [
24.838016510009766,
-7.289122104644775,
48.463069915771484,
12.527602195739746,
-0.2494591325521469,
29.250001907348633
] | [
0.29471611976623535,
-0.12020912766456604,
0.05345217138528824,
3.0738024711608887,
0.8670492768287659,
2.6133923530578613
] | 1 | [
0.43939703702926636,
-0.07423610985279083,
0.6462711095809937,
0.12977232038974762,
-0.008741541765630245,
0.6542428135871887
] | [
0.43957334756851196,
-0.13878720998764038,
0.6477375626564026,
0.1396990716457367,
-0.008602066896855831,
0.637848436832428
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.045163 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 25.200001 | 252 | 75 | 25,381 | 0 |
[
24.831146240234375,
-5.0351128578186035,
48.40519714355469,
12.167682647705078,
-0.25192999839782715,
28.75
] | [
24.84385871887207,
-8.819890022277832,
48.532386779785156,
12.848834037780762,
-0.2494591325521469,
28
] | [
0.2955862581729889,
-0.12063942849636078,
0.05893183499574661,
3.071106433868408,
0.8867241740226746,
2.611292839050293
] | 1 | [
0.43946322798728943,
-0.09800473600625992,
0.6467561721801758,
0.1333056390285492,
-0.00867967214435339,
0.6269187927246094
] | [
0.4396670162677765,
-0.16648386418819427,
0.6489130258560181,
0.14540526270866394,
-0.008602066896855831,
0.6105243563652039
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.079641 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 25.299999 | 253 | 75 | 25,382 | 0 |
[
24.835783004760742,
-6.422767639160156,
48.45236587524414,
12.416914939880371,
-0.2512126564979553,
27.5
] | [
24.850210189819336,
-10.483489990234375,
48.60771942138672,
13.1979398727417,
-0.2494591325521469,
26.750001907348633
] | [
0.2962784171104431,
-0.1209883987903595,
0.06458061188459396,
3.0682098865509033,
0.9065219163894653,
2.6089696884155273
] | 1 | [
0.43953755497932434,
-0.12311200052499771,
0.6475560665130615,
0.1377328783273697,
-0.008657141588628292,
0.5995947122573853
] | [
0.43976882100105286,
-0.19658388197422028,
0.650190532207489,
0.15160660445690155,
-0.008602066896855831,
0.5832003355026245
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.115384 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 25.4 | 254 | 75 | 25,383 | 0 |
[
24.841035842895508,
-7.91132926940918,
48.51163864135742,
12.705915451049805,
-0.2509659230709076,
26.250001907348633
] | [
24.857051849365234,
-12.276127815246582,
48.68889617919922,
13.574124336242676,
-0.2494591325521469,
25.5
] | [
0.2968357503414154,
-0.12127707153558731,
0.0705634206533432,
3.0649991035461426,
0.9272242188453674,
2.606341600418091
] | 1 | [
0.4396217465400696,
-0.1500449925661087,
0.6485611796379089,
0.14286653697490692,
-0.008649392053484917,
0.5722707509994507
] | [
0.4398784935474396,
-0.22901861369609833,
0.6515671610832214,
0.15828895568847656,
-0.008602066896855831,
0.5558763146400452
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.152769 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 25.5 | 255 | 75 | 25,384 | 0 |
[
24.846879959106445,
-9.510303497314453,
48.57923889160156,
13.0275297164917,
-0.25086724758148193,
25
] | [
24.864267349243164,
-14.166272163391113,
48.77448654174805,
13.970770835876465,
-0.2494591325521469,
24.25
] | [
0.29726341366767883,
-0.12150781601667404,
0.07694905996322632,
3.061384677886963,
0.9491918683052063,
2.6033341884613037
] | 1 | [
0.4397154450416565,
-0.17897571623325348,
0.649707555770874,
0.14857952296733856,
-0.008646293543279171,
0.5449466705322266
] | [
0.4399941563606262,
-0.263217568397522,
0.653018593788147,
0.1653347909450531,
-0.008602066896855831,
0.528552234172821
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.19192 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 25.6 | 256 | 75 | 25,385 | 0 |
[
24.853235244750977,
-11.218070030212402,
48.653316497802734,
13.376919746398926,
-0.25076478719711304,
23.750001907348633
] | [
24.87179183959961,
-16.137523651123047,
48.86375045776367,
14.384437561035156,
-0.2494591325521469,
23.000001907348633
] | [
0.29754483699798584,
-0.12167243659496307,
0.08374211192131042,
3.057295560836792,
0.9725111126899719,
2.5998823642730713
] | 1 | [
0.43981730937957764,
-0.20987485349178314,
0.6509637832641602,
0.1547859162092209,
-0.0086430748924613,
0.517622709274292
] | [
0.4401147663593292,
-0.2988840341567993,
0.6545323729515076,
0.1726829558610916,
-0.008602066896855831,
0.5012282729148865
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.232799 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 25.700001 | 257 | 75 | 25,386 | 0 |
[
24.86003875732422,
-13.025325775146484,
48.73225021362305,
13.749357223510742,
-0.25057122111320496,
22.5
] | [
24.87957763671875,
-18.176881790161133,
48.95609664916992,
14.812397003173828,
-0.2494591325521469,
21.75
] | [
0.2976571321487427,
-0.1217598170042038,
0.0909096971154213,
3.0526673793792725,
0.9971233010292053,
2.5959200859069824
] | 1 | [
0.4399263560771942,
-0.242574080824852,
0.6523023843765259,
0.16140170395374298,
-0.00863699521869421,
0.4902985990047455
] | [
0.4402395784854889,
-0.3357827365398407,
0.6560983657836914,
0.1802850216627121,
-0.008602066896855831,
0.47390419244766235
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.275249 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 25.799999 | 258 | 75 | 25,387 | 0 |
[
24.867210388183594,
-14.919665336608887,
48.815242767333984,
14.141242980957031,
-0.25031691789627075,
21.25
] | [
24.887523651123047,
-20.25691795349121,
49.05036544799805,
15.249252319335938,
-0.2494591325521469,
20.500001907348633
] | [
0.29757463932037354,
-0.12175741046667099,
0.09839741140604019,
3.047431468963623,
1.0228794813156128,
2.5913751125335693
] | 1 | [
0.44004133343696594,
-0.2768489420413971,
0.6537097692489624,
0.16836297512054443,
-0.008629008196294308,
0.46297457814216614
] | [
0.4403669536113739,
-0.373417466878891,
0.6576970219612122,
0.18804509937763214,
-0.008602066896855831,
0.4465802013874054
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.319064 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 25.9 | 259 | 75 | 25,388 | 0 |
[
24.87467384338379,
-16.884809494018555,
48.901268005371094,
14.548486709594727,
-0.2500208616256714,
20.000001907348633
] | [
24.895572662353516,
-22.32596778869629,
49.1458625793457,
15.691810607910156,
-0.2494591325521469,
19.25
] | [
0.29727625846862793,
-0.12165480852127075,
0.10613410919904709,
3.041516065597534,
1.0495730638504028,
2.586169481277466
] | 1 | [
0.44016095995903015,
-0.31240490078926086,
0.6551685929298401,
0.17559704184532166,
-0.008619709871709347,
0.4356505870819092
] | [
0.44049596786499023,
-0.41085341572761536,
0.6593164801597595,
0.19590647518634796,
-0.008602066896855831,
0.4192561209201813
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.363974 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 26 | 260 | 75 | 25,389 | 0 |
[
24.88236427307129,
-18.89285659790039,
48.9891471862793,
14.966850280761719,
-0.24962612986564636,
18.75
] | [
24.90365219116211,
-24.40213394165039,
49.2416877746582,
16.13589096069336,
-0.2494591325521469,
18
] | [
0.29674726724624634,
-0.12144463509321213,
0.11399572342634201,
3.034891128540039,
1.0767936706542969,
2.5802619457244873
] | 1 | [
0.44028425216674805,
-0.34873709082603455,
0.6566588878631592,
0.18302863836288452,
-0.008607312105596066,
0.40832650661468506
] | [
0.44062548875808716,
-0.44841814041137695,
0.660941481590271,
0.20379489660263062,
-0.008602066896855831,
0.39193210005760193
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.409532 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 26.1 | 261 | 75 | 25,390 | 0 |
[
24.890201568603516,
-20.927776336669922,
49.07949447631836,
15.394410133361816,
-0.24930351972579956,
17.500001907348633
] | [
24.91168975830078,
-26.4679012298584,
49.3370361328125,
16.577747344970703,
-0.2494591325521469,
16.750001907348633
] | [
0.29597872495651245,
-0.12112215161323547,
0.12189973890781403,
3.027477502822876,
1.104272484779358,
2.5735652446746826
] | 1 | [
0.4404098689556122,
-0.3855555057525635,
0.6581909656524658,
0.19062359631061554,
-0.008597179315984249,
0.3810025155544281
] | [
0.44075435400009155,
-0.48579469323158264,
0.6625584363937378,
0.21164381504058838,
-0.008602066896855831,
0.36460810899734497
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.455478 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 26.200001 | 262 | 75 | 25,391 | 0 |
[
24.898117065429688,
-22.975845336914062,
49.17105484008789,
15.826735496520996,
-0.24901506304740906,
16.25
] | [
24.919607162475586,
-28.503183364868164,
49.430973052978516,
17.013084411621094,
-0.2494591325521469,
15.5
] | [
0.2949755787849426,
-0.12068922072649002,
0.12978963553905487,
3.019164562225342,
1.1318581104278564,
2.5659661293029785
] | 1 | [
0.440536767244339,
-0.42261186242103577,
0.6597436666488647,
0.1983032077550888,
-0.00858811940997839,
0.353678435087204
] | [
0.44088125228881836,
-0.5226196646690369,
0.6641514301300049,
0.21937692165374756,
-0.008602066896855831,
0.33728402853012085
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.501577 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 26.299999 | 263 | 75 | 25,392 | 0 |
[
24.906049728393555,
-25.02157211303711,
49.26296615600586,
16.259767532348633,
-0.24876455962657928,
15.000000953674316
] | [
24.927339553833008,
-30.49012565612793,
49.522682189941406,
17.438079833984375,
-0.2494591325521469,
14.250000953674316
] | [
0.29374805092811584,
-0.12015023082494736,
0.13759982585906982,
3.009833574295044,
1.159353494644165,
2.5573410987854004
] | 1 | [
0.4406639337539673,
-0.45962581038475037,
0.6613023281097412,
0.2059953808784485,
-0.008580251596868038,
0.326354444026947
] | [
0.4410052001476288,
-0.5585700273513794,
0.6657066345214844,
0.22692632675170898,
-0.008602066896855831,
0.3099600076675415
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.547567 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 26.4 | 264 | 75 | 25,393 | 0 |
[
24.913909912109375,
-27.047975540161133,
49.354061126708984,
16.689302444458008,
-0.24855580925941467,
13.750001907348633
] | [
24.934825897216797,
-32.41468048095703,
49.61151123046875,
17.8497314453125,
-0.2494591325521469,
13
] | [
0.2923142910003662,
-0.11951320618391037,
0.14526210725307465,
2.999356985092163,
1.1865419149398804,
2.547558307647705
] | 1 | [
0.44078993797302246,
-0.4962901473045349,
0.662847101688385,
0.21362541615962982,
-0.008573695085942745,
0.2990304231643677
] | [
0.44112521409988403,
-0.5933915376663208,
0.6672130227088928,
0.23423869907855988,
-0.008602066896855831,
0.28263595700263977
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.593169 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 26.5 | 265 | 75 | 25,394 | 0 |
[
24.921640396118164,
-29.038022994995117,
49.44366455078125,
17.111616134643555,
-0.2483736276626587,
12.5
] | [
24.941957473754883,
-34.28144454956055,
49.69609832763672,
18.241731643676758,
-0.2494591325521469,
11.750000953674316
] | [
0.2906982898712158,
-0.11878909915685654,
0.15270763635635376,
2.987604856491089,
1.2131892442703247,
2.536482572555542
] | 1 | [
0.4409138560295105,
-0.5322966575622559,
0.6643666625022888,
0.22112718224525452,
-0.008567973040044308,
0.27170634269714355
] | [
0.44123953580856323,
-0.6271674633026123,
0.6686474680900574,
0.2412019968032837,
-0.008602066896855831,
0.2553119361400604
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.638108 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 26.6 | 266 | 75 | 25,395 | 0 |
[
24.92915916442871,
-30.982969284057617,
49.53208923339844,
17.524188995361328,
-0.24830910563468933,
11.250000953674316
] | [
24.946762084960938,
-35.5564079284668,
49.753108978271484,
18.505918502807617,
-0.2494591325521469,
10.500001907348633
] | [
0.28892281651496887,
-0.11798816174268723,
0.1598999798297882,
2.9743762016296387,
1.2391704320907593,
2.5239105224609375
] | 1 | [
0.44103437662124634,
-0.5674871802330017,
0.6658661365509033,
0.22845593094825745,
-0.008565946482121944,
0.2443823367357254
] | [
0.44131654500961304,
-0.6502357721328735,
0.6696142554283142,
0.2458948791027069,
-0.008602066896855831,
0.22798793017864227
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.682234 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 26.700001 | 267 | 75 | 25,396 | 0 |
[
24.93581199645996,
-32.731964111328125,
49.596282958984375,
17.872587203979492,
-0.24695032835006714,
9.999999046325684
] | [
24.95024299621582,
-36.4798583984375,
49.79439926147461,
18.697269439697266,
-0.2494591325521469,
9.25
] | [
0.2871978282928467,
-0.11720667779445648,
0.16642822325229645,
2.9603683948516846,
1.263137936592102,
2.5105180740356445
] | 1 | [
0.4411410093307495,
-0.5991322994232178,
0.666954755783081,
0.23464469611644745,
-0.008523269556462765,
0.21705825626850128
] | [
0.4413723647594452,
-0.6669440865516663,
0.6703144311904907,
0.24929393827915192,
-0.008602066896855831,
0.20066386461257935
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.723309 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 26.799999 | 268 | 75 | 25,397 | 0 |
[
24.941219329833984,
-34.15345764160156,
49.655723571777344,
18.164396286010742,
-0.24652142822742462,
8.750000953674316
] | [
24.95381736755371,
-37.42782211303711,
49.83678436279297,
18.893699645996094,
-0.2494591325521469,
8.000000953674316
] | [
0.28566664457321167,
-0.11651000380516052,
0.17162244021892548,
2.9474551677703857,
1.282294511795044,
2.4980907440185547
] | 1 | [
0.4412277042865753,
-0.6248517632484436,
0.6679627895355225,
0.23982824385166168,
-0.008509798906743526,
0.18973426520824432
] | [
0.44142964482307434,
-0.6840958595275879,
0.6710332036018372,
0.25278323888778687,
-0.008602066896855831,
0.17333984375
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.759735 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 26.9 | 269 | 75 | 25,398 | 0 |
[
24.945899963378906,
-35.384765625,
49.715335845947266,
18.427505493164062,
-0.2469237595796585,
7.500001907348633
] | [
24.957487106323242,
-38.40174865722656,
49.880332946777344,
19.095510482788086,
-0.2494591325521469,
6.749999523162842
] | [
0.28424498438835144,
-0.11586101353168488,
0.1760132759809494,
2.935014009475708,
1.298527479171753,
2.4860565662384033
] | 1 | [
0.44130274653434753,
-0.6471301913261414,
0.6689736843109131,
0.244501993060112,
-0.00852243509143591,
0.16241025924682617
] | [
0.44148847460746765,
-0.7017173767089844,
0.6717717051506042,
0.25636810064315796,
-0.008602066896855831,
0.14601579308509827
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.793527 | [
24.97964859008789,
-42.94876480102539,
50.39332580566406,
20.31378936767578,
-0.2494591325521469,
0
] | [
0.27372652292251587,
-0.11104726791381836,
0.19977149367332458,
2.8275485038757324,
1.3872401714324951,
2.3807034492492676
] | 0 | pick box lid and place on box body | box body | [
0.27377352118492126,
-0.11121976375579834,
0.20000000298023224
] | 27 | 270 | 75 | 25,399 | 0 |
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