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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[
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[
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[
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55.71122741699219,
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] | 0 | pick box lid and place on box body | box body | [
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[
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[
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0.1787993311882019,
0.0674816444516182,
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[
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[
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[
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[
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[
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[
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0.1787993311882019,
0.0674816444516182,
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[
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0.0674816444516182,
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[
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90.92748260498047,
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0.0674816444516182,
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[
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90.92748260498047,
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0.0674816444516182,
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90.92748260498047,
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0.0674816444516182,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.864391 | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.864278 | [
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0.1787993311882019,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.864423 | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.863732 | [
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90.92748260498047,
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0.1787993311882019,
0.0674816444516182,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.862046 | [
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90.92748260498047,
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0.1787993311882019,
0.0674816444516182,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.864857 | [
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90.92748260498047,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
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[
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88.70771026611328,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
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] | 20.700001 | 207 | 81 | 27,361 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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88.70771026611328,
33.83312225341797,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
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] | 20.799999 | 208 | 81 | 27,362 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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88.70771026611328,
33.83312225341797,
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] | [
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0.0775420144200325,
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] | 30 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.013000024482607841
] | 20.9 | 209 | 81 | 27,363 | 0 |
[
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1.3302124738693237,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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88.70771026611328,
33.83312225341797,
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] | [
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0.0775420144200325,
0.0373426228761673,
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] | 30 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.013000024482607841
] | 21 | 210 | 81 | 27,364 | 0 |
[
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1.3302124738693237,
0.5181596279144287,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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88.70771026611328,
33.83312225341797,
3.40390682220459,
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] | [
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0.0775420144200325,
0.0373426228761673,
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] | 30 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
-30.762475967407227,
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] | 30 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
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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 | [
0.1787993311882019,
0.0674816444516182,
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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 | [
0.1787993311882019,
0.0674816444516182,
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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 | [
0.1787993311882019,
0.0674816444516182,
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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 | [
0.1787993311882019,
0.0674816444516182,
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[
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] | release object on box body | Is the object released? | gripper_open | 0.018012 | [
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
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[
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] | release object on box body | Is the object released? | gripper_open | 0.118215 | [
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
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[
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] | release object on box body | Is the object released? | gripper_open | 0.218418 | [
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88.70771026611328,
33.83312225341797,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
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] | 21.9 | 219 | 81 | 27,373 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0.31862 | [
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
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[
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] | release object on box body | Is the object released? | gripper_open | 0.418823 | [
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33.83312225341797,
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] | [
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0.0775420144200325,
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] | 30 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
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[
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] | release object on box body | Is the object released? | gripper_open | 0.519026 | [
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88.70771026611328,
33.83312225341797,
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] | [
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0.0775420144200325,
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] | 30 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
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[
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0.619229 | [
-30.762475967407227,
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88.70771026611328,
33.83312225341797,
3.40390682220459,
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] | [
0.20060423016548157,
0.0775420144200325,
0.0373426228761673,
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] | 30 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
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] | 22.299999 | 223 | 81 | 27,377 | 0 |
[
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] | [
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0.20060423016548157,
0.0775420144200325,
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] | 1 | [
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0.5181596279144287,
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] | release object on box body | Is the object released? | gripper_open | 0.719432 | [
-30.762475967407227,
-54.82837677001953,
88.70771026611328,
33.83312225341797,
3.40390682220459,
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] | [
0.20060423016548157,
0.0775420144200325,
0.0373426228761673,
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] | 30 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.013000024482607841
] | 22.4 | 224 | 81 | 27,378 | 0 |
[
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88.70771026611328,
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] | [
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0.20060423016548157,
0.0775420144200325,
0.0373426228761673,
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] | 1 | [
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] | [
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1.3302124738693237,
0.5181596279144287,
0.10614378750324249,
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] | release object on box body | Is the object released? | gripper_open | 0.819635 | [
-30.762475967407227,
-54.82837677001953,
88.70771026611328,
33.83312225341797,
3.40390682220459,
30
] | [
0.20060423016548157,
0.0775420144200325,
0.0373426228761673,
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] | 30 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
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] | 22.5 | 225 | 81 | 27,379 | 0 |
[
-30.762475967407227,
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88.70771026611328,
33.83312225341797,
3.40390682220459,
28.80000114440918
] | [
-30.762475967407227,
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88.70771026611328,
33.83312225341797,
3.40390682220459,
29.700000762939453
] | [
0.20060423016548157,
0.0775420144200325,
0.0373426228761673,
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0.7199134826660156,
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] | 1 | [
-0.451708048582077,
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1.3302124738693237,
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] | [
-0.451708048582077,
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1.3302124738693237,
0.5181596279144287,
0.10614378750324249,
0.6476850509643555
] | release object on box body | Is the object released? | gripper_open | 0.919838 | [
-30.762475967407227,
-54.82837677001953,
88.70771026611328,
33.83312225341797,
3.40390682220459,
30
] | [
0.20060423016548157,
0.0775420144200325,
0.0373426228761673,
-3.0911314487457275,
0.7199134826660156,
-2.6134188175201416
] | 30 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.013000024482607841
] | 22.6 | 226 | 81 | 27,380 | 0 |
[
-30.777742385864258,
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88.71952819824219,
33.76773452758789,
3.3676068782806396,
30
] | [
-30.778247833251953,
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88.72135162353516,
33.851524353027344,
3.3666200637817383,
30
] | [
0.20062898099422455,
0.07761280983686447,
0.037301573902368546,
-3.0921077728271484,
0.7201924920082092,
-2.6146738529205322
] | 1 | [
-0.4519527852535248,
-0.9981909394264221,
1.3304128646850586,
0.5169981122016907,
0.10500366985797882,
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] | [
-0.45196089148521423,
-0.9942812323570251,
1.3304438591003418,
0.518486499786377,
0.10497267544269562,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-30.943864822387695,
-89.05686950683594,
55.6691780090332,
65.31864166259766,
3.3666200637817383,
0
] | [
0.17864683270454407,
0.06740033626556396,
0.20002642273902893,
-2.9049055576324463,
1.3349555730819702,
-2.4437997341156006
] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.20000000298023224
] | 22.700001 | 227 | 81 | 27,381 | 0 |
[
-30.77618980407715,
-54.73121643066406,
88.6906967163086,
33.76594924926758,
3.3456993103027344,
30
] | [
-30.779590606689453,
-54.83843994140625,
88.45413970947266,
34.10654830932617,
3.3666200637817383,
30
] | [
0.20063114166259766,
0.0776149109005928,
0.03726416081190109,
-3.092759847640991,
0.7197288274765015,
-2.615645408630371
] | 1 | [
-0.45192790031433105,
-0.9971714019775391,
1.3299239873886108,
0.5169664025306702,
0.10431559383869171,
0.6542428135871887
] | [
-0.45198240876197815,
-0.9991114735603333,
1.3259124755859375,
0.523016631603241,
0.10497267544269562,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-30.943864822387695,
-89.05686950683594,
55.6691780090332,
65.31864166259766,
3.3666200637817383,
0
] | [
0.17864683270454407,
0.06740033626556396,
0.20002642273902893,
-2.9049055576324463,
1.3349555730819702,
-2.4437997341156006
] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.20000000298023224
] | 22.799999 | 228 | 81 | 27,382 | 0 |
[
-30.777620315551758,
-54.75607681274414,
88.61624145507812,
33.884971618652344,
3.3500983715057373,
30
] | [
-30.78196907043457,
-55.31144332885742,
87.98069763183594,
34.55839157104492,
3.3666200637817383,
30
] | [
0.2006106823682785,
0.07760834693908691,
0.03740996494889259,
-3.0926785469055176,
0.7193213701248169,
-2.6154651641845703
] | 1 | [
-0.4519508183002472,
-0.9976212382316589,
1.328661322593689,
0.519080638885498,
0.10445375740528107,
0.6542428135871887
] | [
-0.452020525932312,
-1.0076696872711182,
1.3178837299346924,
0.5310429334640503,
0.10497267544269562,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-30.943864822387695,
-89.05686950683594,
55.6691780090332,
65.31864166259766,
3.3666200637817383,
0
] | [
0.17864683270454407,
0.06740033626556396,
0.20002642273902893,
-2.9049055576324463,
1.3349555730819702,
-2.4437997341156006
] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.20000000298023224
] | 22.9 | 229 | 81 | 27,383 | 0 |
[
-30.78271484375,
-54.92018127441406,
88.43009948730469,
34.18735122680664,
3.3615949153900146,
30
] | [
-30.785200119018555,
-57.28471374511719,
85.12494659423828,
35.17229461669922,
3.3666200637817383,
30
] | [
0.20067721605300903,
0.07765378057956696,
0.03804144263267517,
-3.09228777885437,
0.7200559973716736,
-2.614854574203491
] | 1 | [
-0.45203250646591187,
-1.000590443611145,
1.3255047798156738,
0.5244519710540771,
0.10481484234333038,
0.6542428135871887
] | [
-0.4520723223686218,
-1.043372631072998,
1.2694554328918457,
0.5419480204582214,
0.10497267544269562,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.001903 | [
-30.943864822387695,
-89.05686950683594,
55.6691780090332,
65.31864166259766,
3.3666200637817383,
0
] | [
0.17864683270454407,
0.06740033626556396,
0.20002642273902893,
-2.9049055576324463,
1.3349555730819702,
-2.4437997341156006
] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.20000000298023224
] | 23 | 230 | 81 | 27,384 | 0 |
[
-30.795516967773438,
-55.658164978027344,
87.93911743164062,
34.79780960083008,
3.404491424560547,
30
] | [
-30.78926658630371,
-58.09377670288086,
86.52763366699219,
35.945167541503906,
3.3666200637817383,
30
] | [
0.20158681273460388,
0.07812483608722687,
0.04086991772055626,
-3.0899956226348877,
0.7307916879653931,
-2.612122058868408
] | 1 | [
-0.45223772525787354,
-1.0139429569244385,
1.3171786069869995,
0.535295844078064,
0.10616215318441391,
0.6542428135871887
] | [
-0.4521375298500061,
-1.0580112934112549,
1.2932424545288086,
0.5556769371032715,
0.10497267544269562,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.016517 | [
-30.943864822387695,
-89.05686950683594,
55.6691780090332,
65.31864166259766,
3.3666200637817383,
0
] | [
0.17864683270454407,
0.06740033626556396,
0.20002642273902893,
-2.9049055576324463,
1.3349555730819702,
-2.4437997341156006
] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.20000000298023224
] | 23.1 | 231 | 81 | 27,385 | 0 |
[
-30.798608779907227,
-56.44585037231445,
87.15579986572266,
35.338966369628906,
3.4101920127868652,
30
] | [
-30.794105529785156,
-59.056175231933594,
83.35184478759766,
36.86451721191406,
3.3666200637817383,
30
] | [
0.20333297550678253,
0.07898164540529251,
0.04513401538133621,
-3.087942361831665,
0.7486504316329956,
-2.610556125640869
] | 1 | [
-0.4522872865200043,
-1.028194785118103,
1.3038949966430664,
0.5449087023735046,
0.10634119808673859,
0.6542428135871887
] | [
-0.4522150754928589,
-1.0754241943359375,
1.2393869161605835,
0.5720077753067017,
0.10497267544269562,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.033264 | [
-30.943864822387695,
-89.05686950683594,
55.6691780090332,
65.31864166259766,
3.3666200637817383,
0
] | [
0.17864683270454407,
0.06740033626556396,
0.20002642273902893,
-2.9049055576324463,
1.3349555730819702,
-2.4437997341156006
] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.20000000298023224
] | 23.200001 | 232 | 81 | 27,386 | 0 |
[
-30.800880432128906,
-57.38928985595703,
86.13259887695312,
35.965457916259766,
3.4081196784973145,
29.749998092651367
] | [
-30.799589157104492,
-60.171104431152344,
82.26009368896484,
37.90645980834961,
3.3666200637817383,
29
] | [
0.20551951229572296,
0.08005209267139435,
0.0506853386759758,
-3.085448980331421,
0.7718731760978699,
-2.6088485717773438
] | 1 | [
-0.45232367515563965,
-1.045264720916748,
1.286543369293213,
0.5560373663902283,
0.10627610981464386,
0.648777961730957
] | [
-0.4523029923439026,
-1.0955969095230103,
1.2208727598190308,
0.5905163288116455,
0.10497267544269562,
0.6323835849761963
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.055616 | [
-30.943864822387695,
-89.05686950683594,
55.6691780090332,
65.31864166259766,
3.3666200637817383,
0
] | [
0.17864683270454407,
0.06740033626556396,
0.20002642273902893,
-2.9049055576324463,
1.3349555730819702,
-2.4437997341156006
] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.20000000298023224
] | 23.299999 | 233 | 81 | 27,387 | 0 |
[
-30.79974937438965,
-58.39133834838867,
84.8908462524414,
36.71495819091797,
3.384568929672241,
28.5
] | [
-30.805707931518555,
-61.433284759521484,
81.04195404052734,
39.069034576416016,
3.3666200637817383,
27.75
] | [
0.20782843232154846,
0.0811767503619194,
0.05713475123047829,
-3.0832300186157227,
0.7977052330970764,
-2.607820987701416
] | 1 | [
-0.45230555534362793,
-1.0633951425552368,
1.2654855251312256,
0.569351077079773,
0.10553641617298126,
0.6214539408683777
] | [
-0.4524010717868805,
-1.118433952331543,
1.200215458869934,
0.6111677289009094,
0.10497267544269562,
0.6050595641136169
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.088657 | [
-30.943864822387695,
-89.05686950683594,
55.6691780090332,
65.31864166259766,
3.3666200637817383,
0
] | [
0.17864683270454407,
0.06740033626556396,
0.20002642273902893,
-2.9049055576324463,
1.3349555730819702,
-2.4437997341156006
] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.20000000298023224
] | 23.4 | 234 | 81 | 27,388 | 0 |
[
-30.801624298095703,
-59.527198791503906,
83.7571029663086,
37.49187469482422,
3.3873510360717773,
27.25
] | [
-30.81235122680664,
-62.80332565307617,
79.70401763916016,
40.33095932006836,
3.3666200637817383,
26.499998092651367
] | [
0.20976285636425018,
0.08212225884199142,
0.06355185061693192,
-3.0800259113311768,
0.8235882520675659,
-2.6054086685180664
] | 1 | [
-0.4523356258869171,
-1.0839465856552124,
1.246259331703186,
0.5831518769264221,
0.10562379658222198,
0.5941299200057983
] | [
-0.45250755548477173,
-1.1432225704193115,
1.1775264739990234,
0.6335839629173279,
0.10497267544269562,
0.5777354836463928
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.122119 | [
-30.943864822387695,
-89.05686950683594,
55.6691780090332,
65.31864166259766,
3.3666200637817383,
0
] | [
0.17864683270454407,
0.06740033626556396,
0.20002642273902893,
-2.9049055576324463,
1.3349555730819702,
-2.4437997341156006
] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.20000000298023224
] | 23.5 | 235 | 81 | 27,389 | 0 |
[
-30.80543327331543,
-60.70942306518555,
82.28530883789062,
38.57301330566406,
3.372783899307251,
26
] | [
-30.819429397583008,
-64.26361846923828,
78.23346710205078,
41.67601013183594,
3.3666200637817383,
25.25
] | [
0.21159061789512634,
0.08302745968103409,
0.07098343968391418,
-3.0770998001098633,
0.8506640791893005,
-2.603480100631714
] | 1 | [
-0.4523966610431671,
-1.1053369045257568,
1.2213003635406494,
0.6023566722869873,
0.10516627132892609,
0.566805899143219
] | [
-0.4526210427284241,
-1.1696441173553467,
1.1525886058807373,
0.6574767231941223,
0.10497267544269562,
0.5504114627838135
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.160891 | [
-30.943864822387695,
-89.05686950683594,
55.6691780090332,
65.31864166259766,
3.3666200637817383,
0
] | [
0.17864683270454407,
0.06740033626556396,
0.20002642273902893,
-2.9049055576324463,
1.3349555730819702,
-2.4437997341156006
] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.20000000298023224
] | 23.6 | 236 | 81 | 27,390 | 0 |
[
-30.81049156188965,
-62.009315490722656,
80.93534851074219,
39.713050842285156,
3.3693907260894775,
24.75
] | [
-30.82692527770996,
-65.80976104736328,
76.67645263671875,
43.100135803222656,
3.3666200637817383,
24
] | [
0.2128824144601822,
0.0836736187338829,
0.0781865045428276,
-3.0737271308898926,
0.8767334222793579,
-2.6009037494659424
] | 1 | [
-0.45247775316238403,
-1.1288563013076782,
1.198407530784607,
0.6226077079772949,
0.10505969822406769,
0.5394818782806396
] | [
-0.45274117588996887,
-1.197618842124939,
1.1261845827102661,
0.6827741861343384,
0.10497267544269562,
0.5230874419212341
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.200127 | [
-30.943864822387695,
-89.05686950683594,
55.6691780090332,
65.31864166259766,
3.3666200637817383,
0
] | [
0.17864683270454407,
0.06740033626556396,
0.20002642273902893,
-2.9049055576324463,
1.3349555730819702,
-2.4437997341156006
] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.20000000298023224
] | 23.700001 | 237 | 81 | 27,391 | 0 |
[
-30.81647491455078,
-63.40346908569336,
79.35852813720703,
40.947914123535156,
3.3689732551574707,
23.499998092651367
] | [
-30.834712982177734,
-67.41608428955078,
75.05883026123047,
44.5797004699707,
3.3666200637817383,
22.75
] | [
0.2141255885362625,
0.08429878950119019,
0.08649130910634995,
-3.0694527626037598,
0.9066425561904907,
-2.597489833831787
] | 1 | [
-0.45257365703582764,
-1.154081106185913,
1.1716675758361816,
0.6445432305335999,
0.1050465852022171,
0.5121577978134155
] | [
-0.4528660178184509,
-1.2266825437545776,
1.0987526178359985,
0.7090564370155334,
0.10497267544269562,
0.4957634210586548
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.242593 | [
-30.943864822387695,
-89.05686950683594,
55.6691780090332,
65.31864166259766,
3.3666200637817383,
0
] | [
0.17864683270454407,
0.06740033626556396,
0.20002642273902893,
-2.9049055576324463,
1.3349555730819702,
-2.4437997341156006
] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.20000000298023224
] | 23.799999 | 238 | 81 | 27,392 | 0 |
[
-30.82315444946289,
-64.87702941894531,
77.77031707763672,
42.277442932128906,
3.368502616882324,
22.25
] | [
-30.842735290527344,
-69.07095336914062,
73.39232635498047,
46.10397720336914,
3.3666200637817383,
21.5
] | [
0.21488642692565918,
0.08469211310148239,
0.09491589665412903,
-3.064850330352783,
0.9364908337593079,
-2.5937252044677734
] | 1 | [
-0.4526807367801666,
-1.1807427406311035,
1.144734501838684,
0.6681603193283081,
0.1050318032503128,
0.48483380675315857
] | [
-0.45299461483955383,
-1.2566245794296265,
1.0704917907714844,
0.7361329197883606,
0.10497267544269562,
0.46843937039375305
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.286513 | [
-30.943864822387695,
-89.05686950683594,
55.6691780090332,
65.31864166259766,
3.3666200637817383,
0
] | [
0.17864683270454407,
0.06740033626556396,
0.20002642273902893,
-2.9049055576324463,
1.3349555730819702,
-2.4437997341156006
] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.20000000298023224
] | 23.9 | 239 | 81 | 27,393 | 0 |
[
-30.83034896850586,
-66.4190444946289,
76.1542739868164,
43.68129348754883,
3.3681647777557373,
21
] | [
-30.850927352905273,
-70.76079559326172,
71.69060516357422,
47.66046142578125,
3.3666200637817383,
20.249998092651367
] | [
0.21519213914871216,
0.08486597239971161,
0.10351347923278809,
-3.0597853660583496,
0.9667162895202637,
-2.5894908905029297
] | 1 | [
-0.452796071767807,
-1.208642840385437,
1.1173293590545654,
0.6930975914001465,
0.10502119362354279,
0.45750975608825684
] | [
-0.4531259536743164,
-1.2871994972229004,
1.0416337251663208,
0.7637815475463867,
0.10497267544269562,
0.4411153197288513
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.331762 | [
-30.943864822387695,
-89.05686950683594,
55.6691780090332,
65.31864166259766,
3.3666200637817383,
0
] | [
0.17864683270454407,
0.06740033626556396,
0.20002642273902893,
-2.9049055576324463,
1.3349555730819702,
-2.4437997341156006
] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.20000000298023224
] | 24 | 240 | 81 | 27,394 | 0 |
[
-30.837915420532227,
-68.0132827758789,
74.6954116821289,
45.154502868652344,
3.3663315773010254,
19.75
] | [
-30.859201431274414,
-72.46776580810547,
69.97163391113281,
49.23272705078125,
3.3666200637817383,
19
] | [
0.21482838690280914,
0.0847158282995224,
0.11139261722564697,
-3.0548903942108154,
0.9939959049224854,
-2.5853350162506104
] | 1 | [
-0.4529173672199249,
-1.2374879121780396,
1.0925897359848022,
0.719266951084137,
0.10496361553668976,
0.4301857352256775
] | [
-0.45325857400894165,
-1.3180842399597168,
1.0124831199645996,
0.7917104363441467,
0.10497267544269562,
0.41379132866859436
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.376793 | [
-30.943864822387695,
-89.05686950683594,
55.6691780090332,
65.31864166259766,
3.3666200637817383,
0
] | [
0.17864683270454407,
0.06740033626556396,
0.20002642273902893,
-2.9049055576324463,
1.3349555730819702,
-2.4437997341156006
] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.20000000298023224
] | 24.1 | 241 | 81 | 27,395 | 0 |
[
-30.84576416015625,
-69.65544891357422,
72.94471740722656,
46.652225494384766,
3.367166519165039,
18.5
] | [
-30.867494583129883,
-74.17829132080078,
68.24908447265625,
50.80826187133789,
3.3666200637817383,
17.75
] | [
0.21432389318943024,
0.08449731022119522,
0.12060627341270447,
-3.048314094543457,
1.0266051292419434,
-2.579624652862549
] | 1 | [
-0.4530431926250458,
-1.2672001123428345,
1.0629011392593384,
0.7458717226982117,
0.10498984158039093,
0.40286171436309814
] | [
-0.45339152216911316,
-1.349033236503601,
0.9832718968391418,
0.8196974992752075,
0.10497267544269562,
0.3864672780036926
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.424529 | [
-30.943864822387695,
-89.05686950683594,
55.6691780090332,
65.31864166259766,
3.3666200637817383,
0
] | [
0.17864683270454407,
0.06740033626556396,
0.20002642273902893,
-2.9049055576324463,
1.3349555730819702,
-2.4437997341156006
] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.20000000298023224
] | 24.200001 | 242 | 81 | 27,396 | 0 |
[
-30.853796005249023,
-71.3249282836914,
71.20433044433594,
48.179603576660156,
3.3678195476531982,
17.249998092651367
] | [
-30.87572479248047,
-75.87599182128906,
66.5394515991211,
52.371986389160156,
3.3666200637817383,
16.5
] | [
0.21330145001411438,
0.08402708172798157,
0.12971095740795135,
-3.041045904159546,
1.0589874982833862,
-2.5732064247131348
] | 1 | [
-0.4531719386577606,
-1.2974064350128174,
1.0333874225616455,
0.7730032801628113,
0.10501035302877426,
0.375537633895874
] | [
-0.4535234570503235,
-1.3797502517700195,
0.9542796611785889,
0.8474746942520142,
0.10497267544269562,
0.3591432571411133
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.472568 | [
-30.943864822387695,
-89.05686950683594,
55.6691780090332,
65.31864166259766,
3.3666200637817383,
0
] | [
0.17864683270454407,
0.06740033626556396,
0.20002642273902893,
-2.9049055576324463,
1.3349555730819702,
-2.4437997341156006
] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.20000000298023224
] | 24.299999 | 243 | 81 | 27,397 | 0 |
[
-30.861900329589844,
-73.00365447998047,
69.62932586669922,
49.73114776611328,
3.366919994354248,
16
] | [
-30.883831024169922,
-77.5479736328125,
64.93281555175781,
53.912025451660156,
3.3666200637817383,
15.25
] | [
0.2117030918598175,
0.08327666670084,
0.13793687522411346,
-3.0337862968444824,
1.0883060693740845,
-2.566708564758301
] | 1 | [
-0.4533018469810486,
-1.3277801275253296,
1.0066782236099243,
0.800564169883728,
0.10498210042715073,
0.34821364283561707
] | [
-0.45365339517593384,
-1.4100018739700317,
0.9270340800285339,
0.8748311400413513,
0.10497267544269562,
0.33181920647621155
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.519615 | [
-30.943864822387695,
-89.05686950683594,
55.6691780090332,
65.31864166259766,
3.3666200637817383,
0
] | [
0.17864683270454407,
0.06740033626556396,
0.20002642273902893,
-2.9049055576324463,
1.3349555730819702,
-2.4437997341156006
] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.20000000298023224
] | 24.4 | 244 | 81 | 27,398 | 0 |
[
-30.870014190673828,
-74.68236541748047,
68.06005859375,
51.276912689208984,
3.3668289184570312,
14.750000953674316
] | [
-30.8917179107666,
-79.1750259399414,
63.390316009521484,
55.41067886352539,
3.3666200637817383,
13.999999046325684
] | [
0.20971731841564178,
0.08233676105737686,
0.14601676166057587,
-3.0256147384643555,
1.1176024675369263,
-2.5592854022979736
] | 1 | [
-0.4534319043159485,
-1.3581535816192627,
0.9800663590431213,
0.8280223608016968,
0.10497923940420151,
0.3208896219730377
] | [
-0.45377981662750244,
-1.4394407272338867,
0.9008761644363403,
0.9014524817466736,
0.10497267544269562,
0.3044951558113098
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.566497 | [
-30.943864822387695,
-89.05686950683594,
55.6691780090332,
65.31864166259766,
3.3666200637817383,
0
] | [
0.17864683270454407,
0.06740033626556396,
0.20002642273902893,
-2.9049055576324463,
1.3349555730819702,
-2.4437997341156006
] | 0 | pick box lid and place on box body | box body | [
0.1787993311882019,
0.0674816444516182,
0.20000000298023224
] | 24.5 | 245 | 81 | 27,399 | 0 |
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