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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-0.9497841596603394,
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67.7440185546875,
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] | [
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] | 1 | [
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1.206944465637207,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.557464 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.8 | 18 | 88 | 29,500 | 0 | ||
[
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] | [
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] | [
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3.094353675842285,
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3.038283109664917
] | 1 | [
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] | [
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1.2073549032211304,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.607963 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.9 | 19 | 88 | 29,501 | 0 | ||
[
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] | [
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] | [
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3.0932044982910156,
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] | 1 | [
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] | [
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1.2077425718307495,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.65728 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
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0,
0
] | 2 | 20 | 88 | 29,502 | 0 | ||
[
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] | [
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] | [
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3.0920727252960205,
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] | 1 | [
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] | [
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1.208102822303772,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.704876 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
0.21971745789051056,
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] | 0 | [
0,
0,
0
] | 2.1 | 21 | 88 | 29,503 | 0 | ||
[
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] | [
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] | [
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3.090972900390625,
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3.0186331272125244
] | 1 | [
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0.785525381565094,
1.2073129415512085,
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] | [
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1.2084319591522217,
-0.006630517542362213,
-0.0014084615977481008
] | Move to initial position | Is the robot at initial position? | move_initial | 0.750227 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.2 | 22 | 88 | 29,504 | 0 | ||
[
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54.12232971191406,
72.64794921875,
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0.005148380994796753
] | [
1.5291792154312134,
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48.02749252319336,
72.70872497558594,
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0.004310782998800278
] | [
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0.12470497936010361,
3.0899202823638916,
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3.012712240219116
] | 1 | [
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0.7437081933021545,
1.2076467275619507,
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] | [
0.06593037396669388,
-1.053221344947815,
0.6403509974479675,
1.2087262868881226,
-0.006889610551297665,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.792838 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.3 | 23 | 88 | 29,505 | 0 | ||
[
1.0486621856689453,
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72.66519927978516,
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] | [
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46.32545471191406,
72.72315216064453,
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] | [
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3.088930130004883,
0.7625995874404907,
3.0072224140167236
] | 1 | [
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1.2079530954360962,
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] | [
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0.6114875674247742,
1.2089825868606567,
-0.007115236483514309,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.832241 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.4 | 24 | 88 | 29,506 | 0 | ||
[
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72.68077850341797,
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] | [
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44.89452362060547,
72.73528289794922,
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0.0020163641311228275
] | [
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0.13302694261074066,
3.0880165100097656,
0.7687429785728455,
3.002225875854492
] | 1 | [
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0.6699447631835938,
1.208229899406433,
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] | [
0.07224366068840027,
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0.5872215628623962,
1.209197998046875,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.868004 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.5 | 25 | 88 | 29,507 | 0 | ||
[
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] | [
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] | [
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3.0871946811676025,
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] | 1 | [
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] | [
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1.2093702554702759,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.899736 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.6 | 26 | 88 | 29,508 | 0 | ||
[
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] | [
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] | [
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0.13937649130821228,
3.0864765644073486,
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] | 1 | [
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] | [
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0.5534927248954773,
1.2094975709915161,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.927087 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
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] | 0 | [
0,
0,
0
] | 2.7 | 27 | 88 | 29,509 | 0 | ||
[
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] | [
2.2404532432556152,
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42.369346618652344,
72.7566909790039,
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0.00016706023598089814
] | [
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0.1417657434940338,
3.0858752727508545,
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2.9907562732696533
] | 1 | [
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-1.0121089220046997,
0.5897223949432373,
1.2088545560836792,
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] | [
0.07733216881752014,
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0.5443992614746094,
1.2095783948898315,
-0.007639664225280285,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.949759 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2.8 | 28 | 88 | 29,510 | 0 | ||
[
2.0324676036834717,
-54.771148681640625,
44.01533508300781,
72.72349548339844,
-0.21019873023033142,
0.00007430330151692033
] | [
2.26833176612854,
-53.32960891723633,
42.14757537841797,
72.7585678100586,
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] | [
0.21729041635990143,
-0.013181240297853947,
0.1436169445514679,
3.0854008197784424,
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2.9882583618164062
] | 1 | [
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0.5723121762275696,
1.2089886665344238,
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] | [
0.07777906209230423,
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0.5406383872032166,
1.2096116542816162,
-0.007669062819331884,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.967503 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2.9 | 29 | 88 | 29,511 | 0 | ||
[
2.1252822875976562,
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43.2505989074707,
72.71295928955078,
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0
] | [
2.0819320678710938,
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43.041648864746094,
72.66850280761719,
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0
] | [
0.21832643449306488,
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0.14501172304153442,
3.085059642791748,
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] | 1 | [
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] | [
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0.5558002591133118,
1.2080118656158447,
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] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.000502 | [
-15.930048942565918,
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33.801631927490234,
47.036258697509766,
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30
] | [
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0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 3 | 30 | 88 | 29,512 | 0 |
[
2.1122868061065674,
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72.70046997070312,
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0
] | [
1.935956597328186,
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42.96528244018555,
72.46076965332031,
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0
] | [
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3.0850989818573,
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] | 1 | [
0.0752776488661766,
-0.9851927757263184,
0.5579771995544434,
1.208579659461975,
-0.007441206835210323,
-0.0015339808305725455
] | [
0.07245105504989624,
-0.9800114035606384,
0.5545052289962769,
1.2043217420578003,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.001812 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 3.1 | 31 | 88 | 29,513 | 0 |
[
2.0534591674804688,
-53.96348571777344,
43.09589767456055,
72.62226867675781,
-0.21315160393714905,
0
] | [
1.677317500114441,
-53.60210418701172,
42.82997512817383,
72.09271240234375,
-0.21320094168186188,
0
] | [
0.21879379451274872,
-0.013352840207517147,
0.14518481492996216,
3.0849955081939697,
0.7885854244232178,
2.9875693321228027
] | 1 | [
0.07433463633060455,
-0.9832806587219238,
0.5567201972007751,
1.2071905136108398,
-0.007461710833013058,
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] | [
0.06830504536628723,
-0.9767420291900635,
0.5522106289863586,
1.1977837085723877,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.004203 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 3.2 | 32 | 88 | 29,514 | 0 |
[
1.9241224527359009,
-53.83411407470703,
43.00224685668945,
72.44218444824219,
-0.21369436383247375,
0
] | [
1.325914740562439,
-53.35660171508789,
42.646141052246094,
71.59264373779297,
-0.21320094168186188,
0
] | [
0.219353586435318,
-0.013018116354942322,
0.1455402374267578,
3.0847012996673584,
0.7910229563713074,
2.9894216060638428
] | 1 | [
0.07226135581731796,
-0.9809398651123047,
0.5551320314407349,
1.2039916515350342,
-0.007478757761418819,
-0.0015339808305725455
] | [
0.06267202645540237,
-0.972300112247467,
0.5490931868553162,
1.1889008283615112,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.008621 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 3.3 | 33 | 88 | 29,515 | 0 |
[
1.7129186391830444,
-53.66297149658203,
42.87616729736328,
72.14441680908203,
-0.21407769620418549,
0
] | [
0.8835176825523376,
-53.047523498535156,
42.414703369140625,
70.96308135986328,
-0.21320094168186188,
0
] | [
0.22022631764411926,
-0.012464013881981373,
0.14613378047943115,
3.084195137023926,
0.7953393459320068,
2.9924380779266357
] | 1 | [
0.0688757374882698,
-0.9778433442115784,
0.5529940128326416,
1.1987022161483765,
-0.007490797434002161,
-0.0015339808305725455
] | [
0.05558035895228386,
-0.9667078256607056,
0.545168399810791,
1.1777175664901733,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.015495 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 3.4 | 34 | 88 | 29,516 | 0 |
[
1.4164533615112305,
-53.441585540771484,
42.71160125732422,
71.72425079345703,
-0.21427886188030243,
0
] | [
0.3572753965854645,
-52.67987060546875,
42.139400482177734,
70.21420288085938,
-0.21320094168186188,
0
] | [
0.2214285433292389,
-0.011675308458507061,
0.1469770073890686,
3.083468198776245,
0.8015674948692322,
2.9966652393341064
] | 1 | [
0.06412336975336075,
-0.9738377332687378,
0.550203263759613,
1.1912386417388916,
-0.00749711599200964,
-0.0015339808305725455
] | [
0.04714464023709297,
-0.9600557684898376,
0.540499746799469,
1.164414882659912,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.024944 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 3.5 | 35 | 88 | 29,517 | 0 |
[
1.0352165699005127,
-53.166595458984375,
42.50638198852539,
71.1827163696289,
-0.21437755227088928,
0
] | [
-0.23913943767547607,
-52.26319122314453,
41.827388763427734,
69.36546325683594,
-0.21320094168186188,
0
] | [
0.22295577824115753,
-0.010643943212926388,
0.14807018637657166,
3.0825140476226807,
0.809664785861969,
3.0020864009857178
] | 1 | [
0.05801210552453995,
-0.9688622355461121,
0.5467231273651123,
1.1816190481185913,
-0.00750021543353796,
-0.0015339808305725455
] | [
0.03758405148983002,
-0.9525166749954224,
0.5352086424827576,
1.1493382453918457,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.03692 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 3.6 | 36 | 88 | 29,518 | 0 |
[
0.573199987411499,
-52.83854293823242,
42.261104583740234,
70.52568817138672,
-0.2144268900156021,
0
] | [
-0.9046046137809753,
-51.79827117919922,
41.479251861572266,
68.41846466064453,
-0.21320094168186188,
0
] | [
0.22478649020195007,
-0.00936900358647108,
0.14940480887889862,
3.081332206726074,
0.8195265531539917,
3.008631706237793
] | 1 | [
0.050605934113264084,
-0.9629266858100891,
0.5425636768341064,
1.1699479818344116,
-0.00750176515430212,
-0.0015339808305725455
] | [
0.02691658027470112,
-0.9441047310829163,
0.5293048620223999,
1.1325162649154663,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.051234 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 3.7 | 37 | 88 | 29,519 | 0 |
[
0.0358075387775898,
-52.45988464355469,
41.97768783569336,
69.7609634399414,
-0.21434718370437622,
0
] | [
-1.6269373893737793,
-51.29362106323242,
41.10136795043945,
67.39054107666016,
-0.21320094168186188,
0
] | [
0.2268914133310318,
-0.007852158509194851,
0.1509690284729004,
3.0799267292022705,
0.8310263752937317,
3.0162150859832764
] | 1 | [
0.04199147969484329,
-0.9560755491256714,
0.5377574563026428,
1.1563637256622314,
-0.007499261759221554,
-0.0015339808305725455
] | [
0.015337513759732246,
-0.934973955154419,
0.5228966474533081,
1.114256739616394,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.067631 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 3.8 | 38 | 88 | 29,520 | 0 |
[
-0.5707824230194092,
-52.03411102294922,
41.65885925292969,
68.8975830078125,
-0.21429404616355896,
0.28571537137031555
] | [
-2.396852970123291,
-50.75572967529297,
40.69858932495117,
66.2948989868164,
-0.21320094168186188,
1.1428574323654175
] | [
0.22923634946346283,
-0.00609673373401165,
0.15274830162525177,
3.078294038772583,
0.8440202474594116,
3.0247268676757812
] | 1 | [
0.03226778283715248,
-0.9483718872070312,
0.5323506593704224,
1.1410270929336548,
-0.007497592829167843,
0.0047115362249314785
] | [
0.002995690330862999,
-0.9252417087554932,
0.5160662531852722,
1.0947942733764648,
-0.0074632600881159306,
0.023447997868061066
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.090166 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 3.9 | 39 | 88 | 29,521 | 0 |
[
-1.239480972290039,
-51.56597900390625,
41.308040618896484,
67.94595336914062,
-0.21420295536518097,
1.7142854928970337
] | [
-3.2120349407196045,
-50.18621063232422,
40.27212905883789,
65.13484191894531,
-0.21320094168186188,
2.5714309215545654
] | [
0.23178240656852722,
-0.004109167493879795,
0.15472595393657684,
3.0764381885528564,
0.8583516478538513,
3.0340521335601807
] | 1 | [
0.021548477932810783,
-0.9399018287658691,
0.5264014601707458,
1.1241228580474854,
-0.007494731806218624,
0.03593897446990013
] | [
-0.01007175724953413,
-0.9149372577667236,
0.5088343024253845,
1.0741876363754272,
-0.0074632600881159306,
0.05467550829052925
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.131824 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 4 | 40 | 88 | 29,522 | 0 |
[
-1.9623240232467651,
-51.06005096435547,
40.92911148071289,
66.91666412353516,
-0.21407011151313782,
3.1428589820861816
] | [
-4.058944225311279,
-50.92514419555664,
39.829071044921875,
63.929630279541016,
-0.21320094168186188,
4.000000953674316
] | [
0.2344900369644165,
-0.0018998646410182118,
0.15688207745552063,
3.074361562728882,
0.8738492131233215,
3.044059991836548
] | 1 | [
0.009961232542991638,
-0.930747926235199,
0.519975483417511,
1.1058390140533447,
-0.007490559481084347,
0.06716648489236832
] | [
-0.023647798225283623,
-0.9283069968223572,
0.5013208389282227,
1.0527788400650024,
-0.0074632600881159306,
0.08590294420719147
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.175101 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 4.1 | 41 | 88 | 29,523 | 0 |
[
-2.731942653656006,
-50.74386978149414,
40.54473876953125,
65.82611846923828,
-0.21447622776031494,
4.5714287757873535
] | [
-4.931449890136719,
-50.31557846069336,
39.366905212402344,
62.68799591064453,
-0.21320094168186188,
5.4285712242126465
] | [
0.23712120950222015,
0.000520364148542285,
0.1597847044467926,
3.0715293884277344,
0.8939385414123535,
3.054198980331421
] | 1 | [
-0.002375830663368106,
-0.9250271320343018,
0.5134572386741638,
1.0864671468734741,
-0.00750331487506628,
0.09839391708374023
] | [
-0.03763414919376373,
-0.9172779321670532,
0.49348336458206177,
1.0307230949401855,
-0.0074632600881159306,
0.11713038384914398
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.218379 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 4.2 | 42 | 88 | 29,524 | 0 |
[
-3.540971040725708,
-50.620487213134766,
40.105194091796875,
64.6701889038086,
-0.2138955146074295,
6.000002384185791
] | [
-5.822391986846924,
-49.69313049316406,
38.89445877075195,
61.420127868652344,
-0.21320094168186188,
6.857144355773926
] | [
0.2396717220544815,
0.003131140721961856,
0.16369087994098663,
3.067744255065918,
0.9195875525474548,
3.0641977787017822
] | 1 | [
-0.015344635583460331,
-0.922794759273529,
0.5060033798217773,
1.0659338235855103,
-0.0074850753881037235,
0.12962143123149872
] | [
-0.05191604048013687,
-0.9060158133506775,
0.48547154664993286,
1.0082013607025146,
-0.0074632600881159306,
0.14835788309574127
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.261742 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 4.3 | 43 | 88 | 29,525 | 0 |
[
-4.381045818328857,
-50.29924392700195,
39.65542984008789,
63.47209930419922,
-0.2135501354932785,
7.428572654724121
] | [
-6.722367286682129,
-49.06437301635742,
38.41721725463867,
60.139400482177734,
-0.21320094168186188,
8.285714149475098
] | [
0.24236392974853516,
0.005914584267884493,
0.16717921197414398,
3.064119577407837,
0.9425831437110901,
3.0747625827789307
] | 1 | [
-0.028811117634177208,
-0.9169824123382568,
0.4983762204647064,
1.0446515083312988,
-0.00747422780841589,
0.16084887087345123
] | [
-0.06634273380041122,
-0.8946394920349121,
0.47737839818000793,
0.9854511022567749,
-0.0074632600881159306,
0.1795853227376938
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.306946 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 4.4 | 44 | 88 | 29,526 | 0 |
[
-5.244237899780273,
-49.85580825805664,
39.196563720703125,
62.2422981262207,
-0.21333378553390503,
8.857142448425293
] | [
-7.624216556549072,
-48.434303283691406,
37.938987731933594,
58.85601043701172,
-0.21320094168186188,
9.714287757873535
] | [
0.2451290488243103,
0.008852443657815456,
0.17043790221214294,
3.0605111122131348,
0.9640858173370361,
3.0856611728668213
] | 1 | [
-0.04264817386865616,
-0.908959150314331,
0.49059468507766724,
1.02280592918396,
-0.007467432878911495,
0.19207629561424255
] | [
-0.08079946786165237,
-0.8832394480705261,
0.4692685008049011,
0.962653636932373,
-0.0074632600881159306,
0.21081283688545227
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.353411 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 4.5 | 45 | 88 | 29,527 | 0 |
[
-6.1226348876953125,
-49.33802032470703,
38.73091506958008,
60.99138259887695,
-0.21317817270755768,
10.28571605682373
] | [
-8.519299507141113,
-47.808963775634766,
37.4643440246582,
57.58224868774414,
-0.21320094168186188,
11.142858505249023
] | [
0.24790996313095093,
0.011922389268875122,
0.17357218265533447,
3.05682635307312,
0.9847310781478882,
3.0966956615448
] | 1 | [
-0.05672896280884743,
-0.8995906710624695,
0.48269814252853394,
1.0005853176116943,
-0.007462545298039913,
0.22330380976200104
] | [
-0.09514773637056351,
-0.8719249963760376,
0.4612194299697876,
0.9400271773338318,
-0.0074632600881159306,
0.24204029142856598
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.400669 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 4.6 | 46 | 88 | 29,528 | 0 |
[
-7.008230686187744,
-48.77691650390625,
38.26182556152344,
59.730499267578125,
-0.2130415439605713,
11.714285850524902
] | [
-9.400829315185547,
-47.193092346191406,
36.99688720703125,
56.32777404785156,
-0.21320094168186188,
12.571428298950195
] | [
0.2506588101387024,
0.015097939409315586,
0.17663408815860748,
3.053011417388916,
1.0048243999481201,
3.107694625854492
] | 1 | [
-0.07092515379190445,
-0.8894384503364563,
0.4747432470321655,
0.978187620639801,
-0.007458253763616085,
0.25453123450279236
] | [
-0.10927874594926834,
-0.8607818484306335,
0.45329222083091736,
0.9177433252334595,
-0.0074632600881159306,
0.2732677161693573
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.448325 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 4.7 | 47 | 88 | 29,529 | 0 |
[
-7.893067359924316,
-48.19337463378906,
37.79313278198242,
58.47076416015625,
-0.21287453174591064,
13.14285945892334
] | [
-10.2586669921875,
-46.5915641784668,
36.5419921875,
55.10701370239258,
-0.21320094168186188,
14.000001907348633
] | [
0.2533363699913025,
0.01834932155907154,
0.17964410781860352,
3.049038887023926,
1.0244801044464111,
3.1185073852539062
] | 1 | [
-0.0851091742515564,
-0.8788802623748779,
0.46679508686065674,
0.9558103084564209,
-0.007453008089214563,
0.28575876355171204
] | [
-0.12302996963262558,
-0.8498982191085815,
0.44557803869247437,
0.8960583209991455,
-0.0074632600881159306,
0.3044952154159546
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.49604 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 4.8 | 48 | 88 | 29,530 | 0 |
[
-8.769172668457031,
-47.601318359375,
37.32878494262695,
57.22343063354492,
-0.21267716586589813,
14.571429252624512
] | [
-11.086380958557129,
-45.986793518066406,
36.10307312011719,
53.92911911010742,
-0.21320094168186188,
15.428571701049805
] | [
0.2559112310409546,
0.021643726155161858,
0.18260091543197632,
3.0449025630950928,
1.0436832904815674,
3.128999710083008
] | 1 | [
-0.09915322810411453,
-0.8681679964065552,
0.45892059803009033,
0.9336532950401306,
-0.007446809206157923,
0.31698617339134216
] | [
-0.1362982988357544,
-0.8389559388160706,
0.4381347894668579,
0.8751348257064819,
-0.0074632600881159306,
0.3357226550579071
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.543519 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 4.9 | 49 | 88 | 29,531 | 0 |
[
-9.62835693359375,
-47.00457000732422,
36.87299346923828,
55.9999885559082,
-0.21247221529483795,
16
] | [
-11.877488136291504,
-45.40877151489258,
35.68356704711914,
52.803321838378906,
-0.21320094168186188,
16.857145309448242
] | [
0.2583658695220947,
0.024945801123976707,
0.18546772003173828,
3.0406394004821777,
1.0622285604476929,
3.139071226119995
] | 1 | [
-0.11292603611946106,
-0.8573708534240723,
0.4511912167072296,
0.9119206666946411,
-0.007440372370183468,
0.34821364283561707
] | [
-0.14897982776165009,
-0.828497588634491,
0.43102073669433594,
0.8551366925239563,
-0.0074632600881159306,
0.3669501841068268
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.590532 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 5 | 50 | 88 | 29,532 | 0 |
[
-10.462835311889648,
-46.413490295410156,
36.43043518066406,
54.811824798583984,
-0.21233178675174713,
17.428573608398438
] | [
-12.336275100708008,
-45.07355499267578,
35.44028091430664,
52.15043640136719,
-0.21320094168186188,
18.285715103149414
] | [
0.26067787408828735,
0.028218505904078484,
0.1882280558347702,
3.036268711090088,
1.0800222158432007,
-3.1345717906951904
] | 1 | [
-0.1263028085231781,
-0.8466762900352478,
0.44368624687194824,
0.8908147811889648,
-0.007435961626470089,
0.37944114208221436
] | [
-0.15633423626422882,
-0.8224323987960815,
0.42689505219459534,
0.8435391783714294,
-0.0074632600881159306,
0.3981775939464569
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.636817 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 5.1 | 51 | 88 | 29,533 | 0 |
[
-11.176164627075195,
-45.9036979675293,
36.049034118652344,
53.79113006591797,
-0.2110033631324768,
18.85714340209961
] | [
-12.726628303527832,
-44.78834533691406,
35.23328399658203,
51.594940185546875,
-0.21320094168186188,
19.714284896850586
] | [
0.26260027289390564,
0.031066203489899635,
0.19060930609703064,
3.0323526859283447,
1.0952893495559692,
-3.1265857219696045
] | 1 | [
-0.13773754239082336,
-0.8374524712562561,
0.4372183680534363,
0.8726836442947388,
-0.0073942383751273155,
0.41066858172416687
] | [
-0.16259163618087769,
-0.8172720074653625,
0.42338475584983826,
0.8336716294288635,
-0.0074632600881159306,
0.4294050335884094
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.67974 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 5.2 | 52 | 88 | 29,534 | 0 |
[
-11.761587142944336,
-45.48286819458008,
35.7383918762207,
52.95749282836914,
-0.21085534989833832,
20.285717010498047
] | [
-13.127596855163574,
-44.49537658691406,
35.020660400390625,
51.02433395385742,
-0.21320094168186188,
21.142858505249023
] | [
0.2641270160675049,
0.03343558683991432,
0.1925419718027115,
3.028946876525879,
1.1076558828353882,
-3.120236873626709
] | 1 | [
-0.14712192118167877,
-0.8298382759094238,
0.4319504499435425,
0.8578753471374512,
-0.007389589212834835,
0.44189611077308655
] | [
-0.1690191924571991,
-0.8119712471961975,
0.41977906227111816,
0.823535680770874,
-0.0074632600881159306,
0.4606325328350067
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.719035 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 5.3 | 53 | 88 | 29,535 | 0 |
[
-12.273612022399902,
-45.11288070678711,
35.46793746948242,
52.230403900146484,
-0.21116657555103302,
21.71428680419922
] | [
-13.540011405944824,
-44.19404602050781,
34.80196762084961,
50.437442779541016,
-0.21320094168186188,
22.571428298950195
] | [
0.2654264569282532,
0.035531315952539444,
0.1942199021577835,
3.0258255004882812,
1.118375301361084,
-3.114833354949951
] | 1 | [
-0.15532973408699036,
-0.8231439590454102,
0.4273640513420105,
0.8449596762657166,
-0.007399364374577999,
0.4731235206127167
] | [
-0.17563024163246155,
-0.8065192103385925,
0.41607043147087097,
0.8131104111671448,
-0.0074632600881159306,
0.49185997247695923
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.756186 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 5.4 | 54 | 88 | 29,536 | 0 |
[
-12.74544906616211,
-44.77061462402344,
35.21908187866211,
51.56101608276367,
-0.21161064505577087,
23.14285659790039
] | [
-13.965482711791992,
-43.883174896240234,
34.57634735107422,
49.831966400146484,
-0.21320094168186188,
24.000001907348633
] | [
0.26659539341926575,
0.03748159483075142,
0.19576193392276764,
3.022826910018921,
1.1282081604003906,
-3.1099791526794434
] | 1 | [
-0.16289332509040833,
-0.8169512152671814,
0.4231439232826233,
0.8330690264701843,
-0.0074133118614554405,
0.5043509602546692
] | [
-0.18245059251785278,
-0.8008944988250732,
0.4122443199157715,
0.8023550510406494,
-0.0074632600881159306,
0.5230875015258789
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.791999 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 5.5 | 55 | 88 | 29,537 | 0 |
[
-13.197577476501465,
-44.44174575805664,
34.98054885864258,
50.91951370239258,
-0.21202434599399567,
24.571430206298828
] | [
-14.400900840759277,
-43.56503677368164,
34.345455169677734,
49.212337493896484,
-0.21320094168186188,
25.428571701049805
] | [
0.2676903307437897,
0.03936724364757538,
0.19723999500274658,
3.0198395252227783,
1.1376134157180786,
-3.105442523956299
] | 1 | [
-0.17014099657535553,
-0.8110008835792542,
0.4190988540649414,
0.8216736912727356,
-0.007426305674016476,
0.5355784893035889
] | [
-0.1894303858280182,
-0.7951383590698242,
0.4083288311958313,
0.7913482785224915,
-0.0074632600881159306,
0.554314911365509
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.826856 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 5.6 | 56 | 88 | 29,538 | 0 |
[
-13.642822265625,
-44.1172981262207,
34.74545669555664,
50.2874870300293,
-0.2123621553182602,
26
] | [
-14.853206634521484,
-43.23455810546875,
34.10560607910156,
48.56867599487305,
-0.21320094168186188,
26.85714340209961
] | [
0.26874423027038574,
0.04123992845416069,
0.19869786500930786,
3.0167815685272217,
1.1468700170516968,
-3.101090908050537
] | 1 | [
-0.1772783100605011,
-0.8051306009292603,
0.41511210799217224,
0.8104466795921326,
-0.007436915300786495,
0.566805899143219
] | [
-0.19668088853359222,
-0.7891588807106018,
0.40426141023635864,
0.7799146175384521,
-0.0074632600881159306,
0.5855423808097839
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.860786 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 5.7 | 57 | 88 | 29,539 | 0 |
[
-14.09006404876709,
-43.791015625,
34.50912094116211,
49.65236282348633,
-0.21268856525421143,
27.428573608398438
] | [
-14.18848705291748,
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34.199668884277344,
49.52138900756836,
-0.21272651851177216,
30
] | [
0.26977795362472534,
0.0431363545358181,
0.20016512274742126,
3.0135815143585205,
1.1561654806137085,
-3.096848726272583
] | 1 | [
-0.18444764614105225,
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0.411104291677475,
0.7991646528244019,
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0.5980334281921387
] | [
-0.18602538108825684,
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0.40585654973983765,
0.796838104724884,
-0.00744835939258337,
0.6542428135871887
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.893355 | [
-15.930048942565918,
-41.13068389892578,
33.801631927490234,
47.036258697509766,
-0.21320094168186188,
30
] | [
0.27571091055870056,
0.05151573196053505,
0.1999972015619278,
3.0098867416381836,
1.1663950681686401,
-3.070749521255493
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.20000000298023224
] | 5.8 | 58 | 88 | 29,540 | 0 |
[
-14.186847686767578,
-43.70327377319336,
34.3673095703125,
49.505157470703125,
-0.2094699889421463,
30
] | [
-14.278545379638672,
-43.63844680786133,
34.18862533569336,
49.489803314208984,
-0.21272651851177216,
30
] | [
0.2700580060482025,
0.043559134006500244,
0.20085307955741882,
3.01261568069458,
1.1595770120620728,
-3.096141815185547
] | 1 | [
-0.1859990954399109,
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0.4086994230747223,
0.7965497970581055,
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] | [
-0.187469020485878,
-0.796466588973999,
0.40566927194595337,
0.7962770462036133,
-0.00744835939258337,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.07774 | [
-21.071184158325195,
-41.35723114013672,
33.6243896484375,
47.10744857788086,
-0.21272651851177216,
30
] | [
0.27572110295295715,
0.05150512233376503,
0.2004547417163849,
3.0077760219573975,
1.1721768379211426,
-2.9902737140655518
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 5.9 | 59 | 88 | 29,541 | 0 |
[
-14.215206146240234,
-43.68135070800781,
34.29552459716797,
49.500022888183594,
-0.2105175405740738,
30
] | [
-14.454741477966309,
-43.577388763427734,
34.16701889038086,
49.42800521850586,
-0.21272651851177216,
30
] | [
0.2700944244861603,
0.04367511346936226,
0.20110855996608734,
3.012220621109009,
1.1604756116867065,
-3.096062660217285
] | 1 | [
-0.1864536851644516,
-0.7972428202629089,
0.4074820876121521,
0.7964585423469543,
-0.007378979120403528,
0.6542428135871887
] | [
-0.19029346108436584,
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0.40530288219451904,
0.7951793074607849,
-0.00744835939258337,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.082568 | [
-21.071184158325195,
-41.35723114013672,
33.6243896484375,
47.10744857788086,
-0.21272651851177216,
30
] | [
0.27572110295295715,
0.05150512233376503,
0.2004547417163849,
3.0077760219573975,
1.1721768379211426,
-2.9902737140655518
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 6 | 60 | 88 | 29,542 | 0 |
[
-14.296822547912598,
-43.64545822143555,
34.245086669921875,
49.475215911865234,
-0.21138671040534973,
30
] | [
-14.711152076721191,
-43.4885368347168,
34.13557434082031,
49.338077545166016,
-0.21272651851177216,
30
] | [
0.27013325691223145,
0.04399612918496132,
0.20126597583293915,
3.011930227279663,
1.1611123085021973,
-3.095031261444092
] | 1 | [
-0.18776200711727142,
-0.796593427658081,
0.40662676095962524,
0.7960178852081299,
-0.007406278513371944,
0.6542428135871887
] | [
-0.1944037526845932,
-0.7937542200088501,
0.404769629240036,
0.7935818433761597,
-0.00744835939258337,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.094083 | [
-21.071184158325195,
-41.35723114013672,
33.6243896484375,
47.10744857788086,
-0.21272651851177216,
30
] | [
0.27572110295295715,
0.05150512233376503,
0.2004547417163849,
3.0077760219573975,
1.1721768379211426,
-2.9902737140655518
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 6.1 | 61 | 88 | 29,543 | 0 |
[
-14.441995620727539,
-43.59036636352539,
34.20327377319336,
49.42710876464844,
-0.2119484394788742,
30
] | [
-15.03482723236084,
-43.37637710571289,
34.095882415771484,
49.22455596923828,
-0.21272651851177216,
30
] | [
0.2701817452907562,
0.044563569128513336,
0.20137247443199158,
3.0116891860961914,
1.1616711616516113,
-3.0929322242736816
] | 1 | [
-0.1900891363620758,
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0.4059176743030548,
0.7951633334159851,
-0.00742392148822546,
0.6542428135871887
] | [
-0.19959229230880737,
-0.7917248606681824,
0.4040965139865875,
0.7915652990341187,
-0.00744835939258337,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.113891 | [
-21.071184158325195,
-41.35723114013672,
33.6243896484375,
47.10744857788086,
-0.21272651851177216,
30
] | [
0.27572110295295715,
0.05150512233376503,
0.2004547417163849,
3.0077760219573975,
1.1721768379211426,
-2.9902737140655518
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 6.2 | 62 | 88 | 29,544 | 0 |
[
-14.653289794921875,
-43.514137268066406,
34.163089752197266,
49.35497283935547,
-0.21238112449645996,
30
] | [
-15.416648864746094,
-43.24406433105469,
34.0490608215332,
49.090641021728516,
-0.21272651851177216,
30
] | [
0.2702416777610779,
0.04538858309388161,
0.20145413279533386,
3.011451005935669,
1.1622471809387207,
-3.089768886566162
] | 1 | [
-0.19347621500492096,
-0.7942174077033997,
0.40523624420166016,
0.7938819527626038,
-0.007437511347234249,
0.6542428135871887
] | [
-0.2057129293680191,
-0.7893308997154236,
0.40330252051353455,
0.7891865372657776,
-0.00744835939258337,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.142449 | [
-21.071184158325195,
-41.35723114013672,
33.6243896484375,
47.10744857788086,
-0.21272651851177216,
30
] | [
0.27572110295295715,
0.05150512233376503,
0.2004547417163849,
3.0077760219573975,
1.1721768379211426,
-2.9902737140655518
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 6.3 | 63 | 88 | 29,545 | 0 |
[
-14.928107261657715,
-43.4170036315918,
34.12091064453125,
49.25990676879883,
-0.21257469058036804,
30
] | [
-15.846158981323242,
-43.09523010253906,
33.99638748168945,
48.939998626708984,
-0.21272651851177216,
30
] | [
0.2703113853931427,
0.04646213725209236,
0.20152518153190613,
3.011207103729248,
1.1628865003585815,
-3.085590124130249
] | 1 | [
-0.1978815644979477,
-0.7924599051475525,
0.4045209586620331,
0.7921932935714722,
-0.007443591021001339,
0.6542428135871887
] | [
-0.2125980257987976,
-0.7866379618644714,
0.40240928530693054,
0.7865105867385864,
-0.00744835939258337,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.179467 | [
-21.071184158325195,
-41.35723114013672,
33.6243896484375,
47.10744857788086,
-0.21272651851177216,
30
] | [
0.27572110295295715,
0.05150512233376503,
0.2004547417163849,
3.0077760219573975,
1.1721768379211426,
-2.9902737140655518
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 6.4 | 64 | 88 | 29,546 | 0 |
[
-15.260841369628906,
-43.30049133300781,
34.075096130371094,
49.14406204223633,
-0.21276067197322845,
30
] | [
-16.312448501586914,
-42.93364715576172,
33.939208984375,
48.776458740234375,
-0.21272651851177216,
30
] | [
0.2703871726989746,
0.047763511538505554,
0.20159298181533813,
3.0109341144561768,
1.163604974746704,
-3.0805091857910156
] | 1 | [
-0.2032153159379959,
-0.7903518676757812,
0.40374404191970825,
0.7901354432106018,
-0.007449432276189327,
0.6542428135871887
] | [
-0.2200726866722107,
-0.7837144136428833,
0.4014396369457245,
0.7836055159568787,
-0.00744835939258337,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.224222 | [
-21.071184158325195,
-41.35723114013672,
33.6243896484375,
47.10744857788086,
-0.21272651851177216,
30
] | [
0.27572110295295715,
0.05150512233376503,
0.2004547417163849,
3.0077760219573975,
1.1721768379211426,
-2.9902737140655518
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 6.5 | 65 | 88 | 29,547 | 0 |
[
-15.64404010772705,
-43.166893005371094,
34.0251350402832,
49.010196685791016,
-0.21292388439178467,
30
] | [
-16.806148529052734,
-42.762569427490234,
33.878665924072266,
48.60330581665039,
-0.21272651851177216,
30
] | [
0.27046436071395874,
0.04926466941833496,
0.2016611099243164,
3.0106327533721924,
1.1644041538238525,
-3.0746450424194336
] | 1 | [
-0.20935803651809692,
-0.7879346013069153,
0.40289679169654846,
0.7877575159072876,
-0.007454558275640011,
0.6542428135871887
] | [
-0.22798675298690796,
-0.7806190848350525,
0.4004129469394684,
0.7805297374725342,
-0.00744835939258337,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.275729 | [
-21.071184158325195,
-41.35723114013672,
33.6243896484375,
47.10744857788086,
-0.21272651851177216,
30
] | [
0.27572110295295715,
0.05150512233376503,
0.2004547417163849,
3.0077760219573975,
1.1721768379211426,
-2.9902737140655518
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 6.6 | 66 | 88 | 29,548 | 0 |
[
-16.069055557250977,
-43.01909255981445,
33.97127914428711,
48.86140823364258,
-0.21285556256771088,
30
] | [
-17.315961837768555,
-42.585906982421875,
33.81614685058594,
48.424503326416016,
-0.21272651851177216,
30
] | [
0.27053797245025635,
0.05093265697360039,
0.20173107087612152,
3.0103204250335693,
1.1652776002883911,
-3.0681183338165283
] | 1 | [
-0.21617107093334198,
-0.7852603793144226,
0.40198349952697754,
0.7851145267486572,
-0.007452412508428097,
0.6542428135871887
] | [
-0.23615910112857819,
-0.7774226665496826,
0.3993527293205261,
0.7773535847663879,
-0.00744835939258337,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.332832 | [
-21.071184158325195,
-41.35723114013672,
33.6243896484375,
47.10744857788086,
-0.21272651851177216,
30
] | [
0.27572110295295715,
0.05150512233376503,
0.2004547417163849,
3.0077760219573975,
1.1721768379211426,
-2.9902737140655518
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 6.7 | 67 | 88 | 29,549 | 0 |
[
-16.526647567749023,
-42.86014938354492,
33.91416549682617,
48.70103454589844,
-0.21279104053974152,
30
] | [
-17.83220672607422,
-42.407012939453125,
33.75284194946289,
48.24344253540039,
-0.21272651851177216,
30
] | [
0.2706035077571869,
0.052732087671756744,
0.20180268585681915,
3.0099849700927734,
1.1662098169326782,
-3.0610904693603516
] | 1 | [
-0.22350631654262543,
-0.7823845744132996,
0.40101495385169983,
0.7822657227516174,
-0.0074503859505057335,
0.6542428135871887
] | [
-0.24443456530570984,
-0.774185836315155,
0.39827919006347656,
0.7741373181343079,
-0.00744835939258337,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.39429 | [
-21.071184158325195,
-41.35723114013672,
33.6243896484375,
47.10744857788086,
-0.21272651851177216,
30
] | [
0.27572110295295715,
0.05150512233376503,
0.2004547417163849,
3.0077760219573975,
1.1721768379211426,
-2.9902737140655518
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 6.8 | 68 | 88 | 29,550 | 0 |
[
-17.007097244262695,
-42.69338607788086,
33.854671478271484,
48.53254318237305,
-0.21272651851177216,
30
] | [
-18.344430923461914,
-42.229515075683594,
33.690025329589844,
48.06378936767578,
-0.21272651851177216,
30
] | [
0.2706570625305176,
0.05462532117962837,
0.20187541842460632,
3.0096323490142822,
1.167184591293335,
-3.0537123680114746
] | 1 | [
-0.2312079817056656,
-0.7793673276901245,
0.4000060260295868,
0.779272735118866,
-0.00744835939258337,
0.6542428135871887
] | [
-0.2526455521583557,
-0.770974338054657,
0.3972139358520508,
0.7709460258483887,
-0.00744835939258337,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.458794 | [
-21.071184158325195,
-41.35723114013672,
33.6243896484375,
47.10744857788086,
-0.21272651851177216,
30
] | [
0.27572110295295715,
0.05150512233376503,
0.2004547417163849,
3.0077760219573975,
1.1721768379211426,
-2.9902737140655518
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 6.9 | 69 | 88 | 29,551 | 0 |
[
-17.50044822692871,
-42.522212982177734,
33.79386901855469,
48.35950469970703,
-0.2126505970954895,
30
] | [
-18.84174919128418,
-42.05718231201172,
33.6290397644043,
47.88936996459961,
-0.21272651851177216,
30
] | [
0.2706957161426544,
0.05657343566417694,
0.20194800198078156,
3.009270429611206,
1.168182373046875,
-3.046135663986206
] | 1 | [
-0.23911644518375397,
-0.7762702107429504,
0.3989749252796173,
0.7761989831924438,
-0.007445974741131067,
0.6542428135871887
] | [
-0.26061761379241943,
-0.7678562998771667,
0.396179735660553,
0.7678477168083191,
-0.00744835939258337,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.524996 | [
-21.071184158325195,
-41.35723114013672,
33.6243896484375,
47.10744857788086,
-0.21272651851177216,
30
] | [
0.27572110295295715,
0.05150512233376503,
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] | 30 | pick box lid and place on box body | box lid | [
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] | 7 | 70 | 88 | 29,552 | 0 |
[
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] | [
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] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.591529 | [
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 7.1 | 71 | 88 | 29,553 | 0 |
[
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] | Pick up the box lid | Is the box lid grasped? | move | 0 | [
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
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] | 7.2 | 72 | 88 | 29,554 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.000183 | [
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1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
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] | 7.3 | 73 | 88 | 29,555 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.002538 | [
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1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
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] | 7.4 | 74 | 88 | 29,556 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.008713 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
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] | 7.5 | 75 | 88 | 29,557 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.015142 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
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] | 7.6 | 76 | 88 | 29,558 | 0 |
[
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30
] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.021872 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
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] | 7.7 | 77 | 88 | 29,559 | 0 |
[
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30
] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.038189 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
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] | 7.8 | 78 | 88 | 29,560 | 0 |
[
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] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.060657 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
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] | 7.9 | 79 | 88 | 29,561 | 0 |
[
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30
] | [
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] | [
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0.6685579419136047,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.089744 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
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0.0020060569513589144,
3.105886936187744,
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
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] | 8 | 80 | 88 | 29,562 | 0 |
[
-18.8502254486084,
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30
] | [
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30
] | [
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] | [
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0.5219945907592773,
0.6470188498497009,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.121673 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
0.05138925462961197,
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3.105886936187744,
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-2.912088394165039
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 8.1 | 81 | 88 | 29,563 | 0 |
[
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30
] | [
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30
] | [
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0.4864387810230255,
0.624308168888092,
-0.007447882555425167,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.158688 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
0.05138925462961197,
0.0020060569513589144,
3.105886936187744,
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 8.2 | 82 | 88 | 29,564 | 0 |
[
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30
] | [
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30
] | [
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0.5017107725143433,
0.6006228923797607,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.198568 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
0.05138925462961197,
0.0020060569513589144,
3.105886936187744,
0.565924882888794,
-2.912088394165039
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 8.3 | 83 | 88 | 29,565 | 0 |
[
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30
] | [
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30
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] | Pick up the box lid | Is the box lid grasped? | move | 0.240788 | [
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1.5131245851516724,
52.85853958129883,
19.363449096679688,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
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] | 8.4 | 84 | 88 | 29,566 | 0 |
[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.284942 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
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] | 8.5 | 85 | 88 | 29,567 | 0 |
[
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30
] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.330702 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
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] | 8.6 | 86 | 88 | 29,568 | 0 |
[
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30
] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.377482 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
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] | 8.7 | 87 | 88 | 29,569 | 0 |
[
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30
] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.425113 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
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] | 8.8 | 88 | 88 | 29,570 | 0 |
[
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30
] | [
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30
] | [
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0.45011523365974426,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.473239 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
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3.105886936187744,
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
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] | 8.9 | 89 | 88 | 29,571 | 0 |
[
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30
] | [
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30
] | [
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0.42578125,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.52165 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
0.05138925462961197,
0.0020060569513589144,
3.105886936187744,
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 9 | 90 | 88 | 29,572 | 0 |
[
-20.00770378112793,
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45.94595718383789,
31.038818359375,
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30
] | [
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47.30144500732422,
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30
] | [
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0.6280385255813599,
0.402211457490921,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.569789 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
0.05138925462961197,
0.0020060569513589144,
3.105886936187744,
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 9.1 | 91 | 88 | 29,573 | 0 |
[
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29.673282623291016,
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30
] | [
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30
] | [
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] | [
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0.6921527981758118,
0.37976691126823425,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.617156 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
0.05138925462961197,
0.0020060569513589144,
3.105886936187744,
0.565924882888794,
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 9.2 | 92 | 88 | 29,574 | 0 |
[
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28.314739227294922,
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30
] | [
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30
] | [
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] | [
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0.6519598960876465,
0.3646402955055237,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.66342 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
0.05138925462961197,
0.0020060569513589144,
3.105886936187744,
0.565924882888794,
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 9.3 | 93 | 88 | 29,575 | 0 |
[
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30
] | [
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30
] | [
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3.0882797241210938,
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] | [
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0.6589356064796448,
0.3536841869354248,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.702298 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
0.05138925462961197,
0.0020060569513589144,
3.105886936187744,
0.565924882888794,
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 9.4 | 94 | 88 | 29,576 | 0 |
[
-20.441831588745117,
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26.20673179626465,
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30
] | [
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49.54567337036133,
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30
] | [
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0.05571757256984711,
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] | [
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0.6660965085029602,
0.3424372375011444,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.735267 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
0.05138925462961197,
0.0020060569513589144,
3.105886936187744,
0.565924882888794,
-2.912088394165039
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 9.5 | 95 | 88 | 29,577 | 0 |
[
-20.51617431640625,
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49.02281188964844,
25.355573654174805,
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30
] | [
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52.91755676269531,
23.290302276611328,
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30
] | [
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3.0916497707366943,
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0.6542428135871887
] | [
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0.7232774496078491,
0.3308822512626648,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.762782 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
0.05138925462961197,
0.0020060569513589144,
3.105886936187744,
0.565924882888794,
-2.912088394165039
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 9.6 | 96 | 88 | 29,578 | 0 |
[
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49.610443115234375,
24.562143325805664,
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30
] | [
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50.42616653442383,
22.620580673217773,
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30
] | [
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3.0934031009674072,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.789575 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
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3.105886936187744,
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] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 9.7 | 97 | 88 | 29,579 | 0 |
[
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30
] | [
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30
] | [
0.28558412194252014,
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] | 1 | [
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] | [
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0.30667078495025635,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.81351 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
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3.105886936187744,
0.565924882888794,
-2.912088394165039
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 9.8 | 98 | 88 | 29,580 | 0 |
[
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23.121612548828125,
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30
] | [
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51.36077117919922,
21.219226837158203,
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30
] | [
0.28384295105934143,
0.07332436740398407,
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] | 1 | [
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] | [
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0.6968772411346436,
0.29409271478652954,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.838596 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
0.05138925462961197,
0.0020060569513589144,
3.105886936187744,
0.565924882888794,
-2.912088394165039
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 9.9 | 99 | 88 | 29,581 | 0 |
[
-20.775394439697266,
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22.441125869750977,
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30
] | [
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51.85625076293945,
20.476303100585938,
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30
] | [
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0.031265564262866974,
3.0972626209259033,
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] | 1 | [
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] | [
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0.7052796483039856,
0.28089579939842224,
-0.007447882555425167,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.862073 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
0.05138925462961197,
0.0020060569513589144,
3.105886936187744,
0.565924882888794,
-2.912088394165039
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 10 | 100 | 88 | 29,582 | 0 |
[
-20.83975601196289,
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51.41558837890625,
21.72905731201172,
-0.21487854421138763,
30
] | [
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55.28425979614258,
19.695512771606445,
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30
] | [
0.2805778980255127,
0.07288850098848343,
0.02595907263457775,
3.0987815856933594,
0.650296151638031,
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] | 1 | [
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0.6978068351745605,
0.30314910411834717,
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] | [
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0.763412356376648,
0.26702621579170227,
-0.007447882555425167,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.88709 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
0.05138925462961197,
0.0020060569513589144,
3.105886936187744,
0.565924882888794,
-2.912088394165039
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 10.1 | 101 | 88 | 29,583 | 0 |
[
-20.906023025512695,
-3.014923334121704,
51.989688873291016,
20.949480056762695,
-0.21033157408237457,
30
] | [
-21.049484252929688,
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52.59844970703125,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.27851563692092896,
0.07254379242658615,
0.02077094279229641,
3.1002955436706543,
0.634257435798645,
-2.9174861907958984
] | 1 | [
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0.7075425386428833,
0.2893010675907135,
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0.6542428135871887
] | [
-0.29600784182548523,
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0.7178660035133362,
0.26112762093544006,
-0.007447882555425167,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.912455 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
0.05138925462961197,
0.0020060569513589144,
3.105886936187744,
0.565924882888794,
-2.912088394165039
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 10.2 | 102 | 88 | 29,584 | 0 |
[
-20.962623596191406,
-2.041348695755005,
52.27076721191406,
20.381526947021484,
-0.21711787581443787,
30
] | [
-21.049484252929688,
-0.5785031914710999,
52.59844970703125,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.27712300419807434,
0.07236039638519287,
0.016847988590598106,
3.1011948585510254,
0.6219854354858398,
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] | 1 | [
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0.7123090624809265,
0.27921223640441895,
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0.6542428135871887
] | [
-0.29600784182548523,
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0.7178660035133362,
0.26112762093544006,
-0.007447882555425167,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.932791 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
0.05138925462961197,
0.0020060569513589144,
3.105886936187744,
0.565924882888794,
-2.912088394165039
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 10.3 | 103 | 88 | 29,585 | 0 |
[
-20.996925354003906,
-1.458202600479126,
52.41762161254883,
20.003557205200195,
-0.21756954491138458,
30
] | [
-21.049484252929688,
-0.5785031914710999,
52.59844970703125,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2764160633087158,
0.07228870689868927,
0.01463804766535759,
3.1017210483551025,
0.6156725883483887,
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] | 1 | [
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0.7147994637489319,
0.2724981904029846,
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0.6542428135871887
] | [
-0.29600784182548523,
-0.017369946464896202,
0.7178660035133362,
0.26112762093544006,
-0.007447882555425167,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.944871 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
0.05138925462961197,
0.0020060569513589144,
3.105886936187744,
0.565924882888794,
-2.912088394165039
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 10.4 | 104 | 88 | 29,586 | 0 |
[
-21.017683029174805,
-1.1076467037200928,
52.49918746948242,
19.764856338500977,
-0.21696606278419495,
30
] | [
-21.02596092224121,
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52.529396057128906,
19.666461944580078,
-0.2162449210882187,
30
] | [
0.27602970600128174,
0.07225731015205383,
0.01335197314620018,
3.1020278930664062,
0.6121958494186401,
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] | 1 | [
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0.7161826491355896,
0.2682580053806305,
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0.6542428135871887
] | [
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-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.951978 | [
-21.049484252929688,
1.5131245851516724,
52.85853958129883,
19.363449096679688,
-0.21271133422851562,
30
] | [
0.2756275534629822,
0.05138925462961197,
0.0020060569513589144,
3.105886936187744,
0.565924882888794,
-2.912088394165039
] | 30 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 10.5 | 105 | 88 | 29,587 | 0 |
[
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
29.200000762939453
] | [
-21.02596092224121,
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52.529396057128906,
19.666461944580078,
-0.2162449210882187,
28.000001907348633
] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
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] | 0 | [
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0.7166949510574341,
0.2665101885795593,
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0.6367554664611816
] | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.6105244159698486
] | grasp box lid | Is the object grasped? | gripper_close | 0.026661 | [
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
0
] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
-2.9146320819854736
] | 0 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 10.6 | 106 | 88 | 29,588 | 0 |
[
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
27.200002670288086
] | [
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52.529396057128906,
19.666461944580078,
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26.000003814697266
] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
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] | 0 | [
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0.7166949510574341,
0.2665101885795593,
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0.5930370092391968
] | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.5668059587478638
] | grasp box lid | Is the object grasped? | gripper_close | 0.093328 | [
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
0
] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
-2.9146320819854736
] | 0 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 10.7 | 107 | 88 | 29,589 | 0 |
[
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
25.200000762939453
] | [
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
24
] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
-2.9146320819854736
] | 0 | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.5493185520172119
] | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.5230874419212341
] | grasp box lid | Is the object grasped? | gripper_close | 0.159995 | [
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
0
] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
-2.9146320819854736
] | 0 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 10.8 | 108 | 88 | 29,590 | 0 |
[
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
23.200000762939453
] | [
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-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
22.000003814697266
] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
-2.9146320819854736
] | 0 | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.505600094795227
] | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.47936907410621643
] | grasp box lid | Is the object grasped? | gripper_close | 0.226662 | [
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
0
] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
-2.9146320819854736
] | 0 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 10.9 | 109 | 88 | 29,591 | 0 |
[
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
21.20000457763672
] | [
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
20
] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
-2.9146320819854736
] | 0 | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.46188172698020935
] | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.4356505572795868
] | grasp box lid | Is the object grasped? | gripper_close | 0.293329 | [
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
0
] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
-2.9146320819854736
] | 0 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 11 | 110 | 88 | 29,592 | 0 |
[
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] | [
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] | 0 | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.359996 | [
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
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0
] | [
0.2758902311325073,
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0.012854953296482563,
3.1021511554718018,
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] | 0 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 11.1 | 111 | 88 | 29,593 | 0 |
[
-21.02596092224121,
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52.529396057128906,
19.666461944580078,
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] | [
-21.02596092224121,
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] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
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] | 0 | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
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] | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.34821373224258423
] | grasp box lid | Is the object grasped? | gripper_close | 0.426663 | [
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
0
] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
-2.9146320819854736
] | 0 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 11.2 | 112 | 88 | 29,594 | 0 |
[
-21.02596092224121,
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52.529396057128906,
19.666461944580078,
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] | [
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
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] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
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] | 0 | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.3307262659072876
] | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.3044952154159546
] | grasp box lid | Is the object grasped? | gripper_close | 0.493331 | [
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
0
] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
-2.9146320819854736
] | 0 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 11.3 | 113 | 88 | 29,595 | 0 |
[
-21.02596092224121,
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52.529396057128906,
19.666461944580078,
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13.20000171661377
] | [
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
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] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
-2.9146320819854736
] | 0 | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.2870078384876251
] | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.2607767879962921
] | grasp box lid | Is the object grasped? | gripper_close | 0.559998 | [
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
0
] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
-2.9146320819854736
] | 0 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 11.4 | 114 | 88 | 29,596 | 0 |
[
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
11.200003623962402
] | [
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
10
] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
-2.9146320819854736
] | 0 | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.24328942596912384
] | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.21705828607082367
] | grasp box lid | Is the object grasped? | gripper_close | 0.626665 | [
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
0
] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
-2.9146320819854736
] | 0 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 11.5 | 115 | 88 | 29,597 | 0 |
[
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
9.200000762939453
] | [
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
8.000001907348633
] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
-2.9146320819854736
] | 0 | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.1995709240436554
] | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.1733398735523224
] | grasp box lid | Is the object grasped? | gripper_close | 0.693332 | [
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
0
] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
-2.9146320819854736
] | 0 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 11.6 | 116 | 88 | 29,598 | 0 |
[
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
7.200002670288086
] | [
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
6.000003814697266
] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
-2.9146320819854736
] | 0 | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.1558525115251541
] | [
-0.2956307530403137,
-0.02442791685461998,
0.7166949510574341,
0.2665101885795593,
-0.007558866403996944,
0.1296214610338211
] | grasp box lid | Is the object grasped? | gripper_close | 0.759999 | [
-21.02596092224121,
-0.9685905575752258,
52.529396057128906,
19.666461944580078,
-0.2162449210882187,
0
] | [
0.2758902311325073,
0.07224904000759125,
0.012854953296482563,
3.1021511554718018,
0.6109193563461304,
-2.9146320819854736
] | 0 | pick box lid and place on box body | box lid | [
0.2757346034049988,
0.05151209980249405,
0.021999994292855263
] | 11.7 | 117 | 88 | 29,599 | 0 |
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