observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 10
values | skill.verification_question stringclasses 11
values | skill.type stringclasses 7
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 3
values | subtask.target_position list | timestamp float32 0 35.5 | frame_index int64 0 355 | episode_index int64 0 99 | index int64 0 33.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
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[
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.268689 | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.31104 | [
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63.52909469604492,
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[
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[
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15.406078338623047,
63.52909469604492,
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[
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15.406078338623047,
63.52909469604492,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.49522 | [
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63.52909469604492,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 19.6 | 196 | 94 | 31,708 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.5428 | [
15.406078338623047,
63.52909469604492,
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75.88444519042969,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
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] | 19.700001 | 197 | 94 | 31,709 | 0 |
[
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] | [
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0.9884759783744812,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.590206 | [
15.406078338623047,
63.52909469604492,
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75.88444519042969,
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0
] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
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] | 19.799999 | 198 | 94 | 31,710 | 0 |
[
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1.029692530632019,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.63702 | [
15.406078338623047,
63.52909469604492,
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75.88444519042969,
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] | [
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0.0001829787652241066,
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
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0.013000023551285267
] | 19.9 | 199 | 94 | 31,711 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.682838 | [
15.406078338623047,
63.52909469604492,
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75.88444519042969,
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] | [
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0.0001829787652241066,
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63.52909469604492,
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15.406078338623047,
63.52909469604492,
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15.406078338623047,
63.52909469604492,
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] | [
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1.2651381492614746,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.941095 | [
15.406078338623047,
63.52909469604492,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
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] | 21.4 | 214 | 94 | 31,726 | 0 |
[
15.336091041564941,
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0
] | [
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] | [
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] | [
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1.2651381492614746,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.940872 | [
15.406078338623047,
63.52909469604492,
-60.99684143066406,
75.88444519042969,
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] | [
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3.112220048904419,
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
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] | 21.5 | 215 | 94 | 31,727 | 0 |
[
15.334959983825684,
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0
] | [
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] | [
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3.118053436279297,
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] | [
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1.2651381492614746,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.94071 | [
15.406078338623047,
63.52909469604492,
-60.99684143066406,
75.88444519042969,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
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] | 21.6 | 216 | 94 | 31,728 | 0 |
[
15.334233283996582,
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0
] | [
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] | [
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] | [
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1.1107765436172485,
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1.2651381492614746,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.9406 | [
15.406078338623047,
63.52909469604492,
-60.99684143066406,
75.88444519042969,
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0
] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
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] | 21.700001 | 217 | 94 | 31,729 | 0 |
[
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0
] | [
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] | [
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] | [
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1.1107765436172485,
-1.1960535049438477,
1.2651381492614746,
-0.02676503360271454,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.940529 | [
15.406078338623047,
63.52909469604492,
-60.99684143066406,
75.88444519042969,
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0
] | [
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3.112220048904419,
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
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] | 21.799999 | 218 | 94 | 31,730 | 0 |
[
15.333451271057129,
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0
] | [
15.406078338623047,
61.77309799194336,
-60.262840270996094,
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0
] | [
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] | [
0.28837844729423523,
1.1107765436172485,
-1.1960535049438477,
1.2651381492614746,
-0.02676503360271454,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.940485 | [
15.406078338623047,
63.52909469604492,
-60.99684143066406,
75.88444519042969,
-0.8277454972267151,
0
] | [
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-0.1121380627155304,
0.0001829787652241066,
3.112220048904419,
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.013000023551285267
] | 21.9 | 219 | 94 | 31,731 | 0 |
[
15.333244323730469,
59.891815185546875,
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0
] | [
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] | [
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] | 1 | [
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] | [
0.2872109115123749,
1.076737880706787,
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1.2067674398422241,
0.01267941389232874,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
15.333244323730469,
59.891815185546875,
-65.80158996582031,
72.59844970703125,
0.4281168580055237,
30
] | [
0.3781162202358246,
-0.10032963007688522,
0.04122290387749672,
3.1181490421295166,
0.5768578052520752,
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] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.013000023551285267
] | 22 | 220 | 94 | 31,732 | 0 |
[
15.333244323730469,
59.891815185546875,
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72.59844970703125,
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1.4999985694885254
] | [
15.333244323730469,
59.891815185546875,
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] | [
0.3781162202358246,
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] | 1 | [
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] | [
0.2872109115123749,
1.076737880706787,
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1.2067674398422241,
0.01267941389232874,
0.050928112119436264
] | release object on box body | Is the object released? | gripper_open | 0 | [
15.333244323730469,
59.891815185546875,
-65.80158996582031,
72.59844970703125,
0.4281168580055237,
30
] | [
0.3781162202358246,
-0.10032963007688522,
0.04122290387749672,
3.1181490421295166,
0.5768578052520752,
2.811432123184204
] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.013000023551285267
] | 22.1 | 221 | 94 | 31,733 | 0 |
[
15.333244323730469,
59.891815185546875,
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72.59844970703125,
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] | [
15.333244323730469,
59.891815185546875,
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] | [
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] | 1 | [
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] | [
0.2872109115123749,
1.076737880706787,
-1.2899805307388306,
1.2067674398422241,
0.01267941389232874,
0.0837169960141182
] | release object on box body | Is the object released? | gripper_open | 0 | [
15.333244323730469,
59.891815185546875,
-65.80158996582031,
72.59844970703125,
0.4281168580055237,
30
] | [
0.3781162202358246,
-0.10032963007688522,
0.04122290387749672,
3.1181490421295166,
0.5768578052520752,
2.811432123184204
] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.013000023551285267
] | 22.200001 | 222 | 94 | 31,734 | 0 |
[
15.333244323730469,
59.891815185546875,
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] | [
15.333244323730469,
59.891815185546875,
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] | [
0.3781162202358246,
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0.04122290387749672,
3.1181490421295166,
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] | 1 | [
0.2872109115123749,
1.076737880706787,
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] | [
0.2872109115123749,
1.076737880706787,
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1.2067674398422241,
0.01267941389232874,
0.11650580912828445
] | release object on box body | Is the object released? | gripper_open | 0 | [
15.333244323730469,
59.891815185546875,
-65.80158996582031,
72.59844970703125,
0.4281168580055237,
30
] | [
0.3781162202358246,
-0.10032963007688522,
0.04122290387749672,
3.1181490421295166,
0.5768578052520752,
2.811432123184204
] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.013000023551285267
] | 22.299999 | 223 | 94 | 31,735 | 0 |
[
15.333244323730469,
59.891815185546875,
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] | [
15.333244323730469,
59.891815185546875,
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] | [
0.3781162202358246,
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3.1181490421295166,
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] | 1 | [
0.2872109115123749,
1.076737880706787,
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1.2067674398422241,
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] | [
0.2872109115123749,
1.076737880706787,
-1.2899805307388306,
1.2067674398422241,
0.01267941389232874,
0.14929461479187012
] | release object on box body | Is the object released? | gripper_open | 0 | [
15.333244323730469,
59.891815185546875,
-65.80158996582031,
72.59844970703125,
0.4281168580055237,
30
] | [
0.3781162202358246,
-0.10032963007688522,
0.04122290387749672,
3.1181490421295166,
0.5768578052520752,
2.811432123184204
] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.013000023551285267
] | 22.4 | 224 | 94 | 31,736 | 0 |
[
15.333244323730469,
59.891815185546875,
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72.59844970703125,
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7.5
] | [
15.333244323730469,
59.891815185546875,
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72.59844970703125,
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] | [
0.3781162202358246,
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0.04122290387749672,
3.1181490421295166,
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] | 1 | [
0.2872109115123749,
1.076737880706787,
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1.2067674398422241,
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0.2872109115123749,
1.076737880706787,
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1.2067674398422241,
0.01267941389232874,
0.18208351731300354
] | release object on box body | Is the object released? | gripper_open | 0 | [
15.333244323730469,
59.891815185546875,
-65.80158996582031,
72.59844970703125,
0.4281168580055237,
30
] | [
0.3781162202358246,
-0.10032963007688522,
0.04122290387749672,
3.1181490421295166,
0.5768578052520752,
2.811432123184204
] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.013000023551285267
] | 22.5 | 225 | 94 | 31,737 | 0 |
[
15.333244323730469,
59.891815185546875,
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72.59844970703125,
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] | [
15.333244323730469,
59.891815185546875,
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72.59844970703125,
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] | [
0.3781162202358246,
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0.04122290387749672,
3.1181490421295166,
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] | 1 | [
0.2872109115123749,
1.076737880706787,
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1.2067674398422241,
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] | [
0.2872109115123749,
1.076737880706787,
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1.2067674398422241,
0.01267941389232874,
0.2148723155260086
] | release object on box body | Is the object released? | gripper_open | 0 | [
15.333244323730469,
59.891815185546875,
-65.80158996582031,
72.59844970703125,
0.4281168580055237,
30
] | [
0.3781162202358246,
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0.04122290387749672,
3.1181490421295166,
0.5768578052520752,
2.811432123184204
] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.013000023551285267
] | 22.6 | 226 | 94 | 31,738 | 0 |
[
15.333244323730469,
59.891815185546875,
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72.59844970703125,
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] | [
15.333244323730469,
59.891815185546875,
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] | [
0.3781162202358246,
-0.10032963007688522,
0.04122290387749672,
3.1181490421295166,
0.5768578052520752,
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] | 1 | [
0.2872109115123749,
1.076737880706787,
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1.2067674398422241,
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] | [
0.2872109115123749,
1.076737880706787,
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1.2067674398422241,
0.01267941389232874,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
15.333244323730469,
59.891815185546875,
-65.80158996582031,
72.59844970703125,
0.4281168580055237,
30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.013000023551285267
] | 22.700001 | 227 | 94 | 31,739 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
15.333244323730469,
59.891815185546875,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
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] | 22.799999 | 228 | 94 | 31,740 | 0 |
[
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] | [
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0 | [
15.333244323730469,
59.891815185546875,
-65.80158996582031,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
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] | 22.9 | 229 | 94 | 31,741 | 0 |
[
15.333244323730469,
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15
] | [
15.333244323730469,
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] | [
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] | 1 | [
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0 | [
15.333244323730469,
59.891815185546875,
-65.80158996582031,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
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] | 23 | 230 | 94 | 31,742 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0 | [
15.333244323730469,
59.891815185546875,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
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] | 23.1 | 231 | 94 | 31,743 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0 | [
15.333244323730469,
59.891815185546875,
-65.80158996582031,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
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] | 23.200001 | 232 | 94 | 31,744 | 0 |
[
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19.5
] | [
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] | [
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0 | [
15.333244323730469,
59.891815185546875,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
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] | 23.299999 | 233 | 94 | 31,745 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0 | [
15.333244323730469,
59.891815185546875,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
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] | 23.4 | 234 | 94 | 31,746 | 0 |
[
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22.5
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0 | [
15.333244323730469,
59.891815185546875,
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72.59844970703125,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
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] | 23.5 | 235 | 94 | 31,747 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0.063055 | [
15.333244323730469,
59.891815185546875,
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72.59844970703125,
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] | [
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3.1181490421295166,
0.5768578052520752,
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] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
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] | 23.6 | 236 | 94 | 31,748 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0.297291 | [
15.333244323730469,
59.891815185546875,
-65.80158996582031,
72.59844970703125,
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30
] | [
0.3781162202358246,
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0.04122290387749672,
3.1181490421295166,
0.5768578052520752,
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] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.013000023551285267
] | 23.700001 | 237 | 94 | 31,749 | 0 |
[
15.333244323730469,
59.891815185546875,
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72.59844970703125,
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27
] | [
15.333244323730469,
59.891815185546875,
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27.89999771118164
] | [
0.3781162202358246,
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0.04122290387749672,
3.1181490421295166,
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] | 1 | [
0.2872109115123749,
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0.2872109115123749,
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] | release object on box body | Is the object released? | gripper_open | 0.531528 | [
15.333244323730469,
59.891815185546875,
-65.80158996582031,
72.59844970703125,
0.4281168580055237,
30
] | [
0.3781162202358246,
-0.10032963007688522,
0.04122290387749672,
3.1181490421295166,
0.5768578052520752,
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] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
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] | 23.799999 | 238 | 94 | 31,750 | 0 |
[
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] | [
15.333244323730469,
59.891815185546875,
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] | [
0.3781162202358246,
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3.1181490421295166,
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] | 1 | [
0.2872109115123749,
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0.2872109115123749,
1.076737880706787,
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1.2067674398422241,
0.01267941389232874,
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] | release object on box body | Is the object released? | gripper_open | 0.765763 | [
15.333244323730469,
59.891815185546875,
-65.80158996582031,
72.59844970703125,
0.4281168580055237,
30
] | [
0.3781162202358246,
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0.04122290387749672,
3.1181490421295166,
0.5768578052520752,
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] | 30 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.013000023551285267
] | 23.9 | 239 | 94 | 31,751 | 0 |
[
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30
] | [
15.33109188079834,
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] | [
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] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
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] | 24 | 240 | 94 | 31,752 | 0 |
[
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] | [
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] | [
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2.811326503753662
] | 1 | [
0.2871754467487335,
1.0792255401611328,
-1.3021224737167358,
1.2063087224960327,
0.012800530530512333,
0.6542428135871887
] | [
0.2872104048728943,
1.0749341249465942,
-1.2909820079803467,
1.2076027393341064,
0.012930707074701786,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 24.1 | 241 | 94 | 31,753 | 0 |
[
15.331727027893066,
59.871490478515625,
-66.86812591552734,
72.5707015991211,
0.4385847747325897,
30
] | [
15.336976051330566,
59.46043014526367,
-68.18464660644531,
72.7955093383789,
0.4361177384853363,
30
] | [
0.3799801170825958,
-0.10087386518716812,
0.04521675407886505,
3.117388963699341,
0.5957952737808228,
2.811309576034546
] | 1 | [
0.2871865928173065,
1.076370120048523,
-1.3080670833587646,
1.2062745094299316,
0.013008193112909794,
0.6542428135871887
] | [
0.287270724773407,
1.0689326524734497,
-1.330392837524414,
1.2102679014205933,
0.012930707074701786,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 24.200001 | 242 | 94 | 31,754 | 0 |
[
15.333528518676758,
59.74525451660156,
-66.99589538574219,
72.64865112304688,
0.437715619802475,
30
] | [
15.342340469360352,
58.9876594543457,
-68.34356689453125,
73.00934600830078,
0.4361177384853363,
30
] | [
0.38015902042388916,
-0.10093719512224197,
0.04630676656961441,
3.1172103881835938,
0.5988578200340271,
2.811157703399658
] | 1 | [
0.2872154712677002,
1.07408607006073,
-1.3102338314056396,
1.207659125328064,
0.012980894185602665,
0.6542428135871887
] | [
0.28735673427581787,
1.0603786706924438,
-1.3330878019332886,
1.2140663862228394,
0.012930707074701786,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 24.299999 | 243 | 94 | 31,755 | 0 |
[
15.336645126342773,
59.55025100708008,
-67.2345962524414,
72.79402923583984,
0.4335709512233734,
30
] | [
15.349238395690918,
56.9996452331543,
-66.33545684814453,
73.28434753417969,
0.4361177384853363,
30
] | [
0.3804357647895813,
-0.101036436855793,
0.04810384288430214,
3.11685848236084,
0.6038436889648438,
2.8108015060424805
] | 1 | [
0.287265419960022,
1.0705578327178955,
-1.314281702041626,
1.2102415561676025,
0.012850717641413212,
0.6542428135871887
] | [
0.2874673008918762,
1.0244089365005493,
-1.2990339994430542,
1.2189513444900513,
0.012930707074701786,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.003263 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 24.4 | 244 | 94 | 31,756 | 0 |
[
15.341133117675781,
59.062042236328125,
-67.3199462890625,
72.98017883300781,
0.4321742355823517,
30
] | [
15.357413291931152,
57.6590576171875,
-68.7901840209961,
73.61027526855469,
0.4361177384853363,
30
] | [
0.38070228695869446,
-0.1011415645480156,
0.05101367086172104,
3.116457223892212,
0.6108099818229675,
2.810464382171631
] | 1 | [
0.28733736276626587,
1.0617245435714722,
-1.315729022026062,
1.2135483026504517,
0.012806848622858524,
0.6542428135871887
] | [
0.2875983417034149,
1.0363398790359497,
-1.340661644935608,
1.224740982055664,
0.012930707074701786,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.011955 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 24.5 | 245 | 94 | 31,757 | 0 |
[
15.346983909606934,
58.190120697021484,
-67.59868621826172,
73.20743560791016,
0.4337683320045471,
30
] | [
15.366847038269043,
55.447532653808594,
-69.0697021484375,
73.98638153076172,
0.4361177384853363,
29.250001907348633
] | [
0.3815472722053528,
-0.1014266386628151,
0.05683406442403793,
3.115602970123291,
0.6272612810134888,
2.809915781021118
] | 1 | [
0.28743115067481995,
1.0459486246109009,
-1.3204560279846191,
1.2175850868225098,
0.012856916524469852,
0.6542428135871887
] | [
0.2877495586872101,
0.9963260889053345,
-1.3454017639160156,
1.231421947479248,
0.012930707074701786,
0.637848436832428
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.027091 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 24.6 | 246 | 94 | 31,758 | 0 |
[
15.354264259338379,
57.40975570678711,
-67.90101623535156,
73.50318908691406,
0.43191614747047424,
28.750001907348633
] | [
15.377368927001953,
54.52016067504883,
-67.1689453125,
74.40583038330078,
0.4361177384853363,
28
] | [
0.3820825219154358,
-0.10162796825170517,
0.06210058555006981,
3.1147873401641846,
0.6412386298179626,
2.8092687129974365
] | 1 | [
0.28754785656929016,
1.0318292379379272,
-1.3255829811096191,
1.2228387594223022,
0.012798742391169071,
0.6269187927246094
] | [
0.28791823983192444,
0.9795469045639038,
-1.3131684064865112,
1.238872766494751,
0.012930707074701786,
0.6105243563652039
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.063572 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 24.700001 | 247 | 94 | 31,759 | 0 |
[
15.362667083740234,
56.43183135986328,
-68.29048919677734,
73.82664489746094,
0.43448567390441895,
27.5
] | [
15.388803482055664,
53.51231384277344,
-67.50773620605469,
74.86168670654297,
0.4361177384853363,
26.750001907348633
] | [
0.38275590538978577,
-0.10187818109989166,
0.06881997734308243,
3.1137986183166504,
0.659774899482727,
2.8085994720458984
] | 1 | [
0.28768256306648254,
1.0141353607177734,
-1.3321876525878906,
1.2285844087600708,
0.01287944708019495,
0.5995947122573853
] | [
0.28810152411460876,
0.9613116383552551,
-1.3189136981964111,
1.2469704151153564,
0.012930707074701786,
0.5832003355026245
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.103382 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 24.799999 | 248 | 94 | 31,760 | 0 |
[
15.372200965881348,
55.44975662231445,
-68.49576568603516,
74.20162200927734,
0.43574199080467224,
26.250001907348633
] | [
15.401124000549316,
52.426292419433594,
-70.08531188964844,
75.35289764404297,
0.4361177384853363,
25.5
] | [
0.3829454183578491,
-0.10199179500341415,
0.07480038702487946,
3.1129841804504395,
0.6743500828742981,
2.807973623275757
] | 1 | [
0.28783538937568665,
0.9963663816452026,
-1.3356688022613525,
1.2352453470230103,
0.012918906286358833,
0.5722707509994507
] | [
0.288299024105072,
0.9416618943214417,
-1.3626245260238647,
1.2556960582733154,
0.012930707074701786,
0.5558763146400452
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.142853 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 24.9 | 249 | 94 | 31,761 | 0 |
[
15.382772445678711,
54.397457122802734,
-68.98965454101562,
74.63440704345703,
0.43332424759864807,
25
] | [
15.414115905761719,
51.28120422363281,
-70.4702377319336,
75.8708267211914,
0.4361177384853363,
24.25
] | [
0.3832950294017792,
-0.10215818881988525,
0.0821690782904625,
3.111746311187744,
0.6940540671348572,
2.8069629669189453
] | 1 | [
0.2880048453807831,
0.9773268103599548,
-1.3440442085266113,
1.2429331541061401,
0.012842969037592411,
0.5449466705322266
] | [
0.28850728273391724,
0.9209434986114502,
-1.3691521883010864,
1.264896273612976,
0.012930707074701786,
0.528552234172821
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.184845 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 25 | 250 | 94 | 31,762 | 0 |
[
15.394245147705078,
53.245521545410156,
-69.39305877685547,
75.08533477783203,
0.4347931146621704,
23.750001907348633
] | [
15.427664756774902,
50.08697509765625,
-70.87168884277344,
76.4109878540039,
0.4361177384853363,
23.000001907348633
] | [
0.3833862841129303,
-0.10225456207990646,
0.08975549787282944,
3.1105732917785645,
0.7137069702148438,
2.8060548305511475
] | 1 | [
0.28818875551223755,
0.9564844369888306,
-1.350885272026062,
1.2509431838989258,
0.012889103032648563,
0.517622709274292
] | [
0.28872448205947876,
0.8993359208106995,
-1.375960111618042,
1.2744914293289185,
0.012930707074701786,
0.5012282729148865
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.228005 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 25.1 | 251 | 94 | 31,763 | 0 |
[
15.40650749206543,
52.08683395385742,
-69.78296661376953,
75.57160949707031,
0.4353775978088379,
22.500001907348633
] | [
15.441681861877441,
48.85148620605469,
-71.28700256347656,
76.96980285644531,
0.4361177384853363,
21.75
] | [
0.3832187056541443,
-0.1022787094116211,
0.09725502878427505,
3.1093838214874268,
0.7326246500015259,
2.8050849437713623
] | 1 | [
0.2883853316307068,
0.9355199933052063,
-1.3574973344802856,
1.2595810890197754,
0.012907461263239384,
0.49029865860939026
] | [
0.2889491617679596,
0.8769818544387817,
-1.3830029964447021,
1.284417986869812,
0.012930707074701786,
0.47390419244766235
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.271427 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 25.200001 | 252 | 94 | 31,764 | 0 |
[
15.419432640075684,
50.894344329833984,
-70.17582702636719,
76.08393859863281,
0.4359924793243408,
21.25
] | [
15.455989837646484,
47.59031677246094,
-69.49845123291016,
77.54023742675781,
0.4361177384853363,
20.500001907348633
] | [
0.38283780217170715,
-0.10224345326423645,
0.10489817708730698,
3.1081416606903076,
0.7517402768135071,
2.8040523529052734
] | 1 | [
0.28859251737594604,
0.913943886756897,
-1.3641595840454102,
1.2686818838119507,
0.01292677316814661,
0.46297457814216614
] | [
0.2891785204410553,
0.8541631102561951,
-1.3526724576950073,
1.294550895690918,
0.012930707074701786,
0.4465802013874054
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.315487 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 25.299999 | 253 | 94 | 31,765 | 0 |
[
15.432881355285645,
49.66814041137695,
-70.57532501220703,
76.6170425415039,
0.4366339147090912,
20.000001907348633
] | [
15.470484733581543,
46.312679290771484,
-72.14043426513672,
78.11811828613281,
0.4361177384853363,
19.25
] | [
0.38224709033966064,
-0.10214884579181671,
0.11269985884428024,
3.1068310737609863,
0.7712082266807556,
2.8029470443725586
] | 1 | [
0.28880810737609863,
0.8917578458786011,
-1.370934247970581,
1.2781516313552856,
0.012946919538080692,
0.4356505870819092
] | [
0.28941088914871216,
0.831046462059021,
-1.3974757194519043,
1.3048160076141357,
0.012930707074701786,
0.4192561209201813
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.360144 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 25.4 | 254 | 94 | 31,766 | 0 |
[
15.446742057800293,
48.459434509277344,
-71.11833953857422,
77.17366027832031,
0.4356812536716461,
18.75
] | [
15.485030174255371,
45.03064727783203,
-72.57139587402344,
78.69799041748047,
0.4361177384853363,
18
] | [
0.3815377950668335,
-0.102020762860775,
0.12086114287376404,
3.105297327041626,
0.7923707962036133,
2.8016228675842285
] | 1 | [
0.2890302836894989,
0.8698883652687073,
-1.3801428079605103,
1.288039207458496,
0.012916998006403446,
0.40832650661468506
] | [
0.2896440625190735,
0.8078502416610718,
-1.4047839641571045,
1.3151166439056396,
0.012930707074701786,
0.39193210005760193
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.405133 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 25.5 | 255 | 94 | 31,767 | 0 |
[
15.460871696472168,
47.19709777832031,
-71.51538848876953,
77.73528289794922,
0.4359773099422455,
17.500001907348633
] | [
15.499502182006836,
43.755035400390625,
-73.00019836425781,
79.27495574951172,
0.4361177384853363,
16.750001907348633
] | [
0.3805081844329834,
-0.10179895162582397,
0.1287367045879364,
3.1038568019866943,
0.8119418621063232,
2.8003671169281006
] | 1 | [
0.2892567813396454,
0.8470485210418701,
-1.386876106262207,
1.2980155944824219,
0.012926297262310982,
0.3810025155544281
] | [
0.2898760437965393,
0.7847701907157898,
-1.4120557308197021,
1.3253655433654785,
0.012930707074701786,
0.36460810899734497
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.450322 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 25.6 | 256 | 94 | 31,768 | 0 |
[
15.475136756896973,
45.9256591796875,
-71.91553497314453,
78.30265045166016,
0.436246782541275,
16.250001907348633
] | [
15.513760566711426,
42.498252868652344,
-73.42267608642578,
79.84339904785156,
0.4361177384853363,
15.5
] | [
0.37927934527397156,
-0.10151810199022293,
0.1366177797317505,
3.102346181869507,
0.831626832485199,
2.7990376949310303
] | 1 | [
0.28948545455932617,
0.8240439891815186,
-1.3936617374420166,
1.3080940246582031,
0.012934760190546513,
0.35367849469184875
] | [
0.29010459780693054,
0.762030839920044,
-1.4192200899124146,
1.335463047027588,
0.012930707074701786,
0.33728402853012085
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.495573 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 25.700001 | 257 | 94 | 31,769 | 0 |
[
15.489411354064941,
44.65068054199219,
-72.32083892822266,
78.86988830566406,
0.4366718530654907,
15.000000953674316
] | [
15.527680397033691,
41.27131652832031,
-73.83511352539062,
80.39835357666016,
0.4361177384853363,
14.250000953674316
] | [
0.3778640925884247,
-0.10118117183446884,
0.1444852352142334,
3.100761890411377,
0.8514644503593445,
2.7976365089416504
] | 1 | [
0.2897142767906189,
0.8009753823280334,
-1.400534987449646,
1.3181700706481934,
0.0129481116309762,
0.326354444026947
] | [
0.2903277277946472,
0.7398315668106079,
-1.426214337348938,
1.3453209400177002,
0.012930707074701786,
0.3099600076675415
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.540736 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 25.799999 | 258 | 94 | 31,770 | 0 |
[
15.503579139709473,
43.396244049072266,
-72.72337341308594,
79.43411254882812,
0.43673259019851685,
13.750001907348633
] | [
15.541163444519043,
40.08290481567383,
-74.23460388183594,
80.93587493896484,
0.4361177384853363,
13
] | [
0.37627866864204407,
-0.1007920652627945,
0.15216951072216034,
3.0991227626800537,
0.8709357380867004,
2.7961668968200684
] | 1 | [
0.2899414002895355,
0.7782784700393677,
-1.4073612689971924,
1.3281927108764648,
0.012950018979609013,
0.2990304231643677
] | [
0.29054388403892517,
0.7183292508125305,
-1.4329888820648193,
1.3548692464828491,
0.012930707074701786,
0.28263595700263977
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.585412 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 25.9 | 259 | 94 | 31,771 | 0 |
[
15.517495155334473,
42.163726806640625,
-73.12828063964844,
79.98861694335938,
0.4367971122264862,
12.5
] | [
15.55400276184082,
38.95123291015625,
-74.61502075195312,
81.44773864746094,
0.4361177384853363,
11.750000953674316
] | [
0.37454861402511597,
-0.1003575250506401,
0.1596936136484146,
3.0974228382110596,
0.8902222514152527,
2.7946341037750244
] | 1 | [
0.2901644706726074,
0.7559781670570374,
-1.4142277240753174,
1.3380426168441772,
0.012952045537531376,
0.27170634269714355
] | [
0.2907496988773346,
0.6978535652160645,
-1.439440131187439,
1.3639616966247559,
0.012930707074701786,
0.2553119361400604
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.629508 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 26 | 260 | 94 | 31,772 | 0 |
[
15.531039237976074,
40.9632568359375,
-73.52989959716797,
80.52803039550781,
0.4369109869003296,
11.250000953674316
] | [
15.562655448913574,
39.568538665771484,
-72.65890502929688,
81.79270935058594,
0.4361177384853363,
10.500001907348633
] | [
0.3726999759674072,
-0.09988456219434738,
0.1669880896806717,
3.0956766605377197,
0.909140408039093,
2.7930517196655273
] | 1 | [
0.2903815805912018,
0.734257698059082,
-1.4210383892059326,
1.3476245403289795,
0.0129556218162179,
0.2443823367357254
] | [
0.29088839888572693,
0.7090226411819458,
-1.4062680006027222,
1.3700896501541138,
0.012930707074701786,
0.22798793017864227
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.672793 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 26.1 | 261 | 94 | 31,773 | 0 |
[
15.543038368225098,
40.08351516723633,
-73.80140686035156,
80.98595428466797,
0.44092658162117004,
10.00000286102295
] | [
15.568922996520996,
39.01612091064453,
-75.0571060180664,
82.04257202148438,
0.4361177384853363,
9.25
] | [
0.3711245357990265,
-0.09948447346687317,
0.17207036912441254,
3.094651699066162,
0.9215124249458313,
2.792123556137085
] | 1 | [
0.29057392477989197,
0.718340277671814,
-1.425642728805542,
1.355758786201477,
0.013081745244562626,
0.21705834567546844
] | [
0.29098886251449585,
0.6990275979042053,
-1.446937084197998,
1.3745280504226685,
0.012930707074701786,
0.20066386461257935
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.711332 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 26.200001 | 262 | 94 | 31,774 | 0 |
[
15.552809715270996,
39.66011047363281,
-73.84432983398438,
81.37683868408203,
0.44056981801986694,
8.750000953674316
] | [
15.575356483459473,
37.06903839111328,
-73.03523254394531,
82.29906463623047,
0.4361177384853363,
8.000000953674316
] | [
0.3700217008590698,
-0.09921112656593323,
0.1738026887178421,
3.0944957733154297,
0.9229546189308167,
2.7918360233306885
] | 1 | [
0.2907305657863617,
0.7106794714927673,
-1.426370620727539,
1.3627022504806519,
0.013070539571344852,
0.18973426520824432
] | [
0.2910919785499573,
0.663798451423645,
-1.4126497507095337,
1.3790842294692993,
0.012930707074701786,
0.17333984375
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.743725 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 26.299999 | 263 | 94 | 31,775 | 0 |
[
15.56129264831543,
39.073974609375,
-74.07333374023438,
81.73851776123047,
0.43609875440597534,
7.500001907348633
] | [
15.581966400146484,
37.86642837524414,
-75.4435806274414,
82.56257629394531,
0.4361177384853363,
6.749999523162842
] | [
0.36881569027900696,
-0.0988980308175087,
0.17720791697502136,
3.093510389328003,
0.9309976100921631,
2.790827751159668
] | 1 | [
0.29086655378341675,
0.7000743746757507,
-1.4302541017532349,
1.3691270351409912,
0.012930111028254032,
0.16241025924682617
] | [
0.2911979556083679,
0.6782258749008179,
-1.453490972518921,
1.3837651014328003,
0.012930707074701786,
0.14601579308509827
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.777999 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 26.4 | 264 | 94 | 31,776 | 0 |
[
15.56900691986084,
38.537635803222656,
-74.22865295410156,
82.04644012451172,
0.43618983030319214,
6.25
] | [
15.58877182006836,
37.2665901184082,
-75.64521789550781,
82.8338851928711,
0.4361177384853363,
5.500000953674316
] | [
0.367713987827301,
-0.09861258417367935,
0.18015429377555847,
3.0928192138671875,
0.9378535747528076,
2.790149688720703
] | 1 | [
0.2909902036190033,
0.6903702020645142,
-1.4328880310058594,
1.3745967149734497,
0.012932972051203251,
0.13508617877960205
] | [
0.2913070321083069,
0.6673728227615356,
-1.4569103717803955,
1.3885844945907593,
0.012930707074701786,
0.11869178712368011
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.811077 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 26.5 | 265 | 94 | 31,777 | 0 |
[
15.576324462890625,
37.91399383544922,
-74.50879669189453,
82.32923126220703,
0.4375448226928711,
5.000000953674316
] | [
15.595816612243652,
36.64566421508789,
-75.85394287109375,
83.11473846435547,
0.4361177384853363,
4.250001907348633
] | [
0.36653196811676025,
-0.09830083698034286,
0.1840965747833252,
3.0917365550994873,
0.9488463997840881,
2.7891809940338135
] | 1 | [
0.29110750555992126,
0.6790865063667297,
-1.437638759613037,
1.37962007522583,
0.01297552976757288,
0.1077621728181839
] | [
0.29141998291015625,
0.6561381816864014,
-1.4604499340057373,
1.393573522567749,
0.012930707074701786,
0.09136777371168137
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.844889 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 26.6 | 266 | 94 | 31,778 | 0 |
[
15.583532333374023,
37.2725830078125,
-74.5977783203125,
82.62144470214844,
0.436774343252182,
3.750002384185791
] | [
15.603012084960938,
36.01146697998047,
-76.06713104248047,
83.4015884399414,
0.4361177384853363,
3.000000238418579
] | [
0.36526384949684143,
-0.09796182066202164,
0.18738675117492676,
3.0908596515655518,
0.9567536115646362,
2.788336753845215
] | 1 | [
0.29122304916381836,
0.6674812436103821,
-1.439147710800171,
1.3848109245300293,
0.012951330281794071,
0.08043816685676575
] | [
0.29153531789779663,
0.6446635127067566,
-1.4640651941299438,
1.3986690044403076,
0.012930707074701786,
0.06404370069503784
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.878659 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 26.700001 | 267 | 94 | 31,779 | 0 |
[
15.590721130371094,
36.70388412475586,
-74.98545837402344,
82.91455078125,
0.4358254671096802,
2.5000007152557373
] | [
15.610560417175293,
35.346073150634766,
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83.70255279541016,
0.4361177384853363,
1.750001311302185
] | [
0.36404216289520264,
-0.09763624519109726,
0.19135338068008423,
3.089540958404541,
0.9683866500854492,
2.7871220111846924
] | 1 | [
0.2913382947444916,
0.6571915745735168,
-1.445721983909607,
1.3900175094604492,
0.012921527959406376,
0.05311410129070282
] | [
0.2916563153266907,
0.6326243281364441,
-1.4678584337234497,
1.4040151834487915,
0.012930707074701786,
0.03671969473361969
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.90987 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
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-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 26.799999 | 268 | 94 | 31,780 | 0 |
[
15.598033905029297,
35.91098403930664,
-75.10966491699219,
83.20172882080078,
0.43635305762290955,
1.2500017881393433
] | [
15.599514961242676,
35.66140365600586,
-75.23087310791016,
83.31201171875,
0.43717291951179504,
0
] | [
0.3624972999095917,
-0.09721450507640839,
0.1955864131450653,
3.088280439376831,
0.9797157049179077,
2.7859714031219482
] | 1 | [
0.2914555072784424,
0.6428453922271729,
-1.4478284120559692,
1.3951187133789062,
0.012938098050653934,
0.02579009160399437
] | [
0.2914792597293854,
0.6383296847343445,
-1.4498838186264038,
1.3970777988433838,
0.012963849119842052,
-0.0015339808305725455
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.942788 | [
15.621869087219238,
34.265342712402344,
-74.40986633300781,
84.15337371826172,
0.4361177384853363,
0
] | [
0.35867980122566223,
-0.09620247036218643,
0.19994953274726868,
3.088153839111328,
0.9807165265083313,
2.78548002243042
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.20000000298023224
] | 26.9 | 269 | 94 | 31,781 | 0 |
[
15.600296020507812,
35.5598258972168,
-75.39356994628906,
83.30361938476562,
0.4383153021335602,
0
] | [
15.54841423034668,
35.320281982421875,
-74.78093719482422,
83.27156066894531,
0.43465456366539,
0
] | [
0.3618093729019165,
-0.09702140837907791,
0.19835321605205536,
3.0872817039489746,
0.989057719707489,
2.785137414932251
] | 1 | [
0.2914917767047882,
0.6364917755126953,
-1.4526429176330566,
1.3969286680221558,
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] | [
0.2906601130962372,
0.6321576833724976,
-1.4422537088394165,
1.3963592052459717,
0.01288475189357996,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27 | 270 | 94 | 31,782 | 0 | ||
[
15.58405876159668,
35.46113586425781,
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83.28826141357422,
0.43776875734329224,
0
] | [
15.424856185913086,
34.49547576904297,
-73.69302368164062,
83.17373657226562,
0.4285653233528137,
0
] | [
0.36173877120018005,
-0.09690846502780914,
0.1983717381954193,
3.0873191356658936,
0.9885204434394836,
2.785419464111328
] | 1 | [
0.2912314832210541,
0.6347061991691589,
-1.4500470161437988,
1.3966559171676636,
0.012982563115656376,
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] | [
0.28867945075035095,
0.6172341704368591,
-1.423804759979248,
1.39462149143219,
0.012693499214947224,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.000941 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.1 | 271 | 94 | 31,783 | 0 | ||
[
15.530471801757812,
35.160919189453125,
-74.67848205566406,
83.25118255615234,
0.43432626128196716,
0
] | [
15.230194091796875,
33.196022033691406,
-71.97904968261719,
83.0196304321289,
0.4189718961715698,
0
] | [
0.36152374744415283,
-0.09654107689857483,
0.19804894924163818,
3.0875604152679443,
0.9850817322731018,
2.7864201068878174
] | 1 | [
0.29037249088287354,
0.6292742490768433,
-1.4405162334442139,
1.395997166633606,
0.012874440290033817,
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] | [
0.2855589985847473,
0.5937227606773376,
-1.3947389125823975,
1.3918840885162354,
0.012392186559736729,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.005207 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.200001 | 272 | 94 | 31,784 | 0 | ||
[
15.42601203918457,
34.511234283447266,
-73.68311309814453,
83.17301940917969,
0.42850780487060547,
0
] | [
14.966561317443848,
31.436159133911133,
-69.65780639648438,
82.81092071533203,
0.4059794545173645,
0
] | [
0.3609974682331085,
-0.0957949161529541,
0.19815152883529663,
3.0877227783203125,
0.9813435077667236,
2.788128614425659
] | 1 | [
0.2886979877948761,
0.6175193190574646,
-1.4236366748809814,
1.394608736038208,
0.01269169244915247,
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] | [
0.28133293986320496,
0.5618810653686523,
-1.3553749322891235,
1.388176679611206,
0.011984116397798061,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.013251 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.299999 | 273 | 94 | 31,785 | 0 | ||
[
15.263345718383789,
33.45602035522461,
-72.202392578125,
83.04661560058594,
0.42011600732803345,
0
] | [
14.636845588684082,
29.23516082763672,
-66.75470733642578,
82.54988861083984,
0.3897302746772766,
0
] | [
0.3600839674472809,
-0.09461051225662231,
0.19879424571990967,
3.0877692699432373,
0.9775646328926086,
2.79062819480896
] | 1 | [
0.2860904335975647,
0.5984269976615906,
-1.3985264301300049,
1.392363429069519,
0.012428120709955692,
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] | [
0.27604755759239197,
0.5220577120780945,
-1.3061436414718628,
1.3835397958755493,
0.011473758146166801,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.025585 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.4 | 274 | 94 | 31,786 | 0 | ||
[
15.039156913757324,
31.97688865661621,
-70.20153045654297,
82.86974334716797,
0.40892693400382996,
0
] | [
14.244660377502441,
26.617155075073242,
-63.30157470703125,
82.2394027709961,
0.370402455329895,
0
] | [
0.35872700810432434,
-0.09296057373285294,
0.1999196857213974,
3.0877175331115723,
0.9735275506973267,
2.7939822673797607
] | 1 | [
0.2824966609477997,
0.5716646313667297,
-1.3645954132080078,
1.3892215490341187,
0.01207669172435999,
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] | [
0.26976078748703003,
0.4746893346309662,
-1.2475849390029907,
1.3780244588851929,
0.01086670532822609,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.042473 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.5 | 275 | 94 | 31,787 | 0 | ||
[
14.752801895141602,
30.074026107788086,
-67.6684341430664,
82.64224243164062,
0.39486849308013916,
0
] | [
13.794301986694336,
23.61081886291504,
-59.336238861083984,
81.88286590576172,
0.3482077419757843,
0
] | [
0.35687050223350525,
-0.09083716571331024,
0.20143011212348938,
3.0875911712646484,
0.9690269231796265,
2.7982194423675537
] | 1 | [
0.2779063582420349,
0.5372355580329895,
-1.321638822555542,
1.3851803541183472,
0.011635140515863895,
-0.0015339808305725455
] | [
0.2625415027141571,
0.42029479146003723,
-1.180340051651001,
1.371691107749939,
0.01016960758715868,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.063979 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.6 | 276 | 94 | 31,788 | 0 | ||
[
14.405542373657227,
27.75884437561035,
-64.60982513427734,
82.36546325683594,
0.37797483801841736,
0
] | [
13.290703773498535,
20.249080657958984,
-54.902130126953125,
81.48417663574219,
0.3233892321586609,
0
] | [
0.35445520281791687,
-0.08824668079614639,
0.203215554356575,
3.0874087810516357,
0.9639466404914856,
2.803334951400757
] | 1 | [
0.27233976125717163,
0.4953462779521942,
-1.2697703838348389,
1.3802636861801147,
0.011104539968073368,
-0.0015339808305725455
] | [
0.25446876883506775,
0.35946986079216003,
-1.105145812034607,
1.3646090030670166,
0.00939010176807642,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.090019 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.700001 | 277 | 94 | 31,789 | 0 | ||
[
14.000057220458984,
25.050735473632812,
-61.046932220458984,
82.04157257080078,
0.3582990765571594,
0
] | [
12.739385604858398,
16.568788528442383,
-50.0478515625,
81.0477066040039,
0.29621896147727966,
0
] | [
0.3514227867126465,
-0.0852082371711731,
0.2051590532064438,
3.0871798992156982,
0.9582575559616089,
2.8092939853668213
] | 1 | [
0.2658397853374481,
0.4463476538658142,
-1.209350347518921,
1.3745102882385254,
0.010486559011042118,
-0.0015339808305725455
] | [
0.24563109874725342,
0.29288119077682495,
-1.0228261947631836,
1.3568557500839233,
0.008536730892956257,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.1204 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.799999 | 278 | 94 | 31,790 | 0 | ||
[
13.540107727050781,
21.975608825683594,
-57.011661529541016,
81.67362213134766,
0.3360006511211395,
0
] | [
12.146385192871094,
12.610249519348145,
-44.82656478881836,
80.57823944091797,
0.2669944763183594,
0
] | [
0.3477216958999634,
-0.0817531943321228,
0.20713315904140472,
3.0869140625,
0.9519778490066528,
2.8160462379455566
] | 1 | [
0.2584667503833771,
0.39070844650268555,
-1.14091956615448,
1.3679742813110352,
0.009786204434931278,
-0.0015339808305725455
] | [
0.23612524569034576,
0.22125816345214844,
-0.9342827796936035,
1.3485163450241089,
0.007618840783834457,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.154842 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.9 | 279 | 94 | 31,791 | 0 | ||
[
13.030314445495605,
18.564815521240234,
-52.543575286865234,
81.26545715332031,
0.31133386492729187,
0
] | [
11.51820182800293,
8.416851043701172,
-39.295501708984375,
80.08092498779297,
0.23603609204292297,
0
] | [
0.3433137834072113,
-0.07792490720748901,
0.20899905264377594,
3.086622714996338,
0.9451433420181274,
2.823530673980713
] | 1 | [
0.2502947151660919,
0.3289959132671356,
-1.0651490688323975,
1.3607237339019775,
0.009011463262140751,
-0.0015339808305725455
] | [
0.22605539858341217,
0.1453857272863388,
-0.8404861092567444,
1.3396823406219482,
0.006646491587162018,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.193002 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 28 | 280 | 94 | 31,792 | 0 | ||
[
12.476015090942383,
14.854564666748047,
-47.68824768066406,
80.82150268554688,
0.2844656705856323,
0
] | [
10.861717224121094,
4.034527778625488,
-33.51525115966797,
79.56119537353516,
0.20368295907974243,
0
] | [
0.33818134665489197,
-0.073778435587883,
0.21060974895954132,
3.0863122940063477,
0.9377933144569397,
2.8316690921783447
] | 1 | [
0.24140924215316772,
0.2618652284145355,
-0.9828116297721863,
1.3528375625610352,
0.00816758070141077,
-0.0015339808305725455
] | [
0.21553188562393188,
0.0660950243473053,
-0.7424637079238892,
1.330450177192688,
0.005630336236208677,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.234486 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 28.1 | 281 | 94 | 31,793 | 0 | ||
[
11.883133888244629,
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10.184121131896973,
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0
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1.3209210634231567,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.278856 | [
2.2691292762756348,
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] | 0 | [
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0,
0
] | 28.200001 | 282 | 94 | 31,794 | 0 | ||
[
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0
] | [
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0.21246831119060516,
3.0856850147247314,
0.921644389629364,
2.849578857421875
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1.31119966506958,
0.003511491697281599,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.325642 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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0,
0
] | 28.299999 | 283 | 94 | 31,795 | 0 | ||
[
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2.347583532333374,
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] | [
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0
] | [
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0.21244314312934875,
3.085397243499756,
0.9128836393356323,
2.8591721057891846
] | 1 | [
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0.03557262569665909,
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1.326319694519043,
0.0053097764030098915,
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] | [
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1.3013923168182373,
0.0024320175871253014,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.374344 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 28.4 | 284 | 94 | 31,796 | 0 | ||
[
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78.79723358154297,
0.16071797907352448,
0
] | [
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0.06755878776311874,
0
] | [
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0.21164077520370483,
3.085139751434326,
0.9037134051322937,
2.8690571784973145
] | 1 | [
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1.3168795108795166,
0.0042808810248970985,
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] | [
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1.2916064262390137,
0.0013549133436754346,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.424435 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 28.5 | 285 | 94 | 31,797 | 0 | ||
[
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78.25916290283203,
0.1272570639848709,
0
] | [
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76.83082580566406,
0.03371623158454895,
0
] | [
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0.21000157296657562,
3.084918737411499,
0.8942046165466309,
2.87912654876709
] | 1 | [
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1.3073214292526245,
0.0032299321610480547,
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] | [
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1.2819491624832153,
0.0002919776597991586,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.475372 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 28.6 | 286 | 94 | 31,798 | 0 | ||
[
8.575967788696289,
-11.236124992370605,
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77.72039794921875,
0.09351527690887451,
0
] | [
6.742851734161377,
-23.460697174072266,
2.7507553100585938,
76.30037689208984,
0.0006954864948056638,
0
] | [
0.2946522831916809,
-0.04628520831465721,
0.20750992000102997,
3.0847389698028564,
0.8844605684280396,
2.889272689819336
] | 1 | [
0.17889109253883362,
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1.2977511882781982,
0.0021701613441109657,
-0.0015339808305725455
] | [
0.14950606226921082,
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-0.1274590790271759,
1.2725266218185425,
-0.0007451463607139885,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.526596 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 28.700001 | 287 | 94 | 31,799 | 0 |
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