observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 10
values | skill.verification_question stringclasses 11
values | skill.type stringclasses 7
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 3
values | subtask.target_position list | timestamp float32 0 35.5 | frame_index int64 0 355 | episode_index int64 0 99 | index int64 0 33.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
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[
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[
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[
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[
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[
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[
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[
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25.126243591308594,
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] | 18.1 | 181 | 95 | 32,022 | 0 |
[
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25.126243591308594,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 18.200001 | 182 | 95 | 32,023 | 0 |
[
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25.126243591308594,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
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] | 18.299999 | 183 | 95 | 32,024 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.891268 | [
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25.126243591308594,
85.7838363647461,
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] | [
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0.08988652378320694,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 18.4 | 184 | 95 | 32,025 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.915083 | [
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.939323 | [
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0.1675523966550827,
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] | 18.6 | 186 | 95 | 32,027 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.964345 | [
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 18.700001 | 187 | 95 | 32,028 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.009988 | [
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
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] | 18.799999 | 188 | 95 | 32,029 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.010455 | [
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109.03772735595703,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 18.9 | 189 | 95 | 32,030 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.014493 | [
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109.03772735595703,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 19 | 190 | 95 | 32,031 | 0 |
[
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] | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.031679 | [
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109.03772735595703,
46.80577087402344,
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] | [
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0.0702190026640892,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 19.1 | 191 | 95 | 32,032 | 0 |
[
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] | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.05155 | [
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109.03772735595703,
46.80577087402344,
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] | [
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0.0702190026640892,
0.009338609874248505,
3.0806679725646973,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 19.200001 | 192 | 95 | 32,033 | 0 |
[
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] | [
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1.3358203172683716,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.075223 | [
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109.03772735595703,
46.80577087402344,
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] | [
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0.0702190026640892,
0.009338609874248505,
3.0806679725646973,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 19.299999 | 193 | 95 | 32,034 | 0 |
[
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] | [
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] | [
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1.3129022121429443,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.101795 | [
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109.03772735595703,
46.80577087402344,
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] | [
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0.0702190026640892,
0.009338609874248505,
3.0806679725646973,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 19.4 | 194 | 95 | 32,035 | 0 |
[
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] | [
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1.2877129316329956,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.131855 | [
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-86.26371765136719,
109.03772735595703,
46.80577087402344,
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] | [
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0.0702190026640892,
0.009338609874248505,
3.0806679725646973,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
0.013000025413930416
] | 19.5 | 195 | 95 | 32,036 | 0 |
[
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] | [
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] | [
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0.6215475797653198,
1.2606182098388672,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.16456 | [
-40.885276794433594,
-86.26371765136719,
109.03772735595703,
46.80577087402344,
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] | [
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0.0702190026640892,
0.009338609874248505,
3.0806679725646973,
0.7127904295921326,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
0.013000025413930416
] | 19.6 | 196 | 95 | 32,037 | 0 |
[
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] | [
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0.6834143996238708,
1.2316889762878418,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.20014 | [
-40.885276794433594,
-86.26371765136719,
109.03772735595703,
46.80577087402344,
-0.6644451022148132,
0
] | [
0.17280671000480652,
0.0702190026640892,
0.009338609874248505,
3.0806679725646973,
0.7127904295921326,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
0.013000025413930416
] | 19.700001 | 197 | 95 | 32,038 | 0 |
[
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] | [
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0.7478384375572205,
1.201420783996582,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.238498 | [
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109.03772735595703,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.322286 | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.366953 | [
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109.03772735595703,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.413071 | [
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109.03772735595703,
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0.1675523966550827,
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] | 20.200001 | 202 | 95 | 32,043 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.460897 | [
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109.03772735595703,
46.80577087402344,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 20.299999 | 203 | 95 | 32,044 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.509921 | [
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109.03772735595703,
46.80577087402344,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 20.4 | 204 | 95 | 32,045 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.559476 | [
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109.03772735595703,
46.80577087402344,
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] | [
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0.0702190026640892,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 20.5 | 205 | 95 | 32,046 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.60858 | [
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109.03772735595703,
46.80577087402344,
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] | [
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0.0702190026640892,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 20.6 | 206 | 95 | 32,047 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.656654 | [
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109.03772735595703,
46.80577087402344,
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] | [
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0.0702190026640892,
0.009338609874248505,
3.0806679725646973,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 20.700001 | 207 | 95 | 32,048 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.703402 | [
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109.03772735595703,
46.80577087402344,
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] | [
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0.0702190026640892,
0.009338609874248505,
3.0806679725646973,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
0.013000025413930416
] | 20.799999 | 208 | 95 | 32,049 | 0 |
[
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1.4562376737594604,
0.8744041919708252,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.747334 | [
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109.03772735595703,
46.80577087402344,
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] | [
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0.0702190026640892,
0.009338609874248505,
3.0806679725646973,
0.7127904295921326,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
0.013000025413930416
] | 20.9 | 209 | 95 | 32,050 | 0 |
[
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56.728755950927734,
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1.487300157546997,
0.8599380254745483,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.78255 | [
-40.885276794433594,
-86.26371765136719,
109.03772735595703,
46.80577087402344,
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] | [
0.17280671000480652,
0.0702190026640892,
0.009338609874248505,
3.0806679725646973,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
0.013000025413930416
] | 21 | 210 | 95 | 32,051 | 0 |
[
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99,
52.23839569091797,
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3.073331356048584,
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1.4212394952774048,
0.9047436714172363,
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1.5047507286071777,
0.8451016545295715,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.811924 | [
-40.885276794433594,
-86.26371765136719,
109.03772735595703,
46.80577087402344,
-0.6644451022148132,
0
] | [
0.17280671000480652,
0.0702190026640892,
0.009338609874248505,
3.0806679725646973,
0.7127904295921326,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
0.013000025413930416
] | 21.1 | 211 | 95 | 32,052 | 0 |
[
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55.35376739501953,
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0.1675523966550827,
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[
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109.03772735595703,
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0.1675523966550827,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.886249 | [
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109.03772735595703,
46.80577087402344,
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0.1675523966550827,
0.08997552841901779,
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] | 21.700001 | 217 | 95 | 32,058 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.892056 | [
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109.03772735595703,
46.80577087402344,
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0.1675523966550827,
0.08997552841901779,
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] | 21.799999 | 218 | 95 | 32,059 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.894963 | [
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109.03772735595703,
46.80577087402344,
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0.1675523966550827,
0.08997552841901779,
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] | 21.9 | 219 | 95 | 32,060 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.896582 | [
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109.03772735595703,
46.80577087402344,
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0.1675523966550827,
0.08997552841901779,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.897512 | [
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109.03772735595703,
46.80577087402344,
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0.0702190026640892,
0.009338609874248505,
3.0806679725646973,
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0.1675523966550827,
0.08997552841901779,
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] | 22.1 | 221 | 95 | 32,062 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.898059 | [
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109.03772735595703,
46.80577087402344,
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0.0702190026640892,
0.009338609874248505,
3.0806679725646973,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 22.200001 | 222 | 95 | 32,063 | 0 |
[
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1.5047507286071777,
0.7485992312431335,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.898385 | [
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109.03772735595703,
46.80577087402344,
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0.0702190026640892,
0.009338609874248505,
3.0806679725646973,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 22.299999 | 223 | 95 | 32,064 | 0 |
[
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46.80577087402344,
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1.5047507286071777,
0.7485992312431335,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.898581 | [
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109.03772735595703,
46.80577087402344,
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0.0702190026640892,
0.009338609874248505,
3.0806679725646973,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
0.013000025413930416
] | 22.4 | 224 | 95 | 32,065 | 0 |
[
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46.80577087402344,
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1.5047507286071777,
0.7485992312431335,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.8987 | [
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] | [
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] | [
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[
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[
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[
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] | release object on box body | Is the object released? | gripper_open | 0.153302 | [
-40.87651062011719,
-85.39830780029297,
99.34265899658203,
47.74443817138672,
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] | [
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0.09637151658535004,
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] | 30 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 23.9 | 239 | 95 | 32,080 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.249517 | [
-40.87651062011719,
-85.39830780029297,
99.34265899658203,
47.74443817138672,
-0.8256047964096069,
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] | [
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0.09637151658535004,
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] | 30 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 24 | 240 | 95 | 32,081 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.345733 | [
-40.87651062011719,
-85.39830780029297,
99.34265899658203,
47.74443817138672,
-0.8256047964096069,
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] | [
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3.0565829277038574,
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] | 30 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 24.1 | 241 | 95 | 32,082 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.441949 | [
-40.87651062011719,
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99.34265899658203,
47.74443817138672,
-0.8256047964096069,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 24.200001 | 242 | 95 | 32,083 | 0 |
[
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] | [
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.538164 | [
-40.87651062011719,
-85.39830780029297,
99.34265899658203,
47.74443817138672,
-0.8256047964096069,
30
] | [
0.17525236308574677,
0.09637151658535004,
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3.0565829277038574,
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] | 30 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 24.299999 | 243 | 95 | 32,084 | 0 |
[
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] | [
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] | [
0.17525236308574677,
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] | release object on box body | Is the object released? | gripper_open | 0.63438 | [
-40.87651062011719,
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99.34265899658203,
47.74443817138672,
-0.8256047964096069,
30
] | [
0.17525236308574677,
0.09637151658535004,
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] | 30 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 24.4 | 244 | 95 | 32,085 | 0 |
[
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] | [
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.730596 | [
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99.34265899658203,
47.74443817138672,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 24.5 | 245 | 95 | 32,086 | 0 |
[
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] | [
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] | [
0.17525236308574677,
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] | 1 | [
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.826812 | [
-40.87651062011719,
-85.39830780029297,
99.34265899658203,
47.74443817138672,
-0.8256047964096069,
30
] | [
0.17525236308574677,
0.09637151658535004,
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] | 30 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 24.6 | 246 | 95 | 32,087 | 0 |
[
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99.34265899658203,
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] | [
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99.34265899658203,
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] | [
0.17525236308574677,
0.09637151658535004,
0.04613563418388367,
3.0565829277038574,
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] | 1 | [
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] | [
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1.5105617046356201,
0.7652732729911804,
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] | release object on box body | Is the object released? | gripper_open | 0.923028 | [
-40.87651062011719,
-85.39830780029297,
99.34265899658203,
47.74443817138672,
-0.8256047964096069,
30
] | [
0.17525236308574677,
0.09637151658535004,
0.04613563418388367,
3.0565829277038574,
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] | 30 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 24.700001 | 247 | 95 | 32,088 | 0 |
[
-40.87617874145508,
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99.31380462646484,
47.75111770629883,
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30
] | [
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99,
47.788238525390625,
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30
] | [
0.1752316653728485,
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] | 1 | [
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1.5047507286071777,
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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 | [
-40.5628776550293,
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55.17483901977539,
65.01783752441406,
-0.825654149055481,
0
] | [
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 24.799999 | 248 | 95 | 32,089 | 0 |
[
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30
] | [
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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 | [
-40.5628776550293,
-87.83539581298828,
55.17483901977539,
65.01783752441406,
-0.825654149055481,
0
] | [
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0.08982887119054794,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 24.9 | 249 | 95 | 32,090 | 0 |
[
-40.87483596801758,
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30
] | [
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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 | [
-40.5628776550293,
-87.83539581298828,
55.17483901977539,
65.01783752441406,
-0.825654149055481,
0
] | [
0.16733649373054504,
0.08982887119054794,
0.20005495846271515,
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1.3218166828155518,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 25 | 250 | 95 | 32,091 | 0 |
[
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30
] | [
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30
] | [
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1.441314458847046,
0.7788974642753601,
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] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.001942 | [
-40.5628776550293,
-87.83539581298828,
55.17483901977539,
65.01783752441406,
-0.825654149055481,
0
] | [
0.16733649373054504,
0.08982887119054794,
0.20005495846271515,
2.8399970531463623,
1.3218166828155518,
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] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
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] | 25.1 | 251 | 95 | 32,092 | 0 |
[
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] | [
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30
] | [
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0.6542428135871887
] | [
-0.6134895086288452,
-1.5459108352661133,
1.4229607582092285,
0.786414623260498,
-0.02669934742152691,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.014656 | [
-40.5628776550293,
-87.83539581298828,
55.17483901977539,
65.01783752441406,
-0.825654149055481,
0
] | [
0.16733649373054504,
0.08982887119054794,
0.20005495846271515,
2.8399970531463623,
1.3218166828155518,
-2.843367099761963
] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
0.20000000298023224
] | 25.200001 | 252 | 95 | 32,093 | 0 |
[
-40.864009857177734,
-85.03006744384766,
96.93241882324219,
48.41323471069336,
-0.8234413862228394,
30
] | [
-40.84569549560547,
-85.13060760498047,
92.88951873779297,
49.43798065185547,
-0.825654149055481,
30
] | [
0.17708151042461395,
0.09761826694011688,
0.054052818566560745,
3.052757501602173,
0.8659937977790833,
-2.6443440914154053
] | 1 | [
-0.6136366724967957,
-1.5453777313232422,
1.4696884155273438,
0.7771534323692322,
-0.026629848405718803,
0.6542428135871887
] | [
-0.6133430600166321,
-1.547196865081787,
1.4011282920837402,
0.7953565120697021,
-0.02669934742152691,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.031164 | [
-40.5628776550293,
-87.83539581298828,
55.17483901977539,
65.01783752441406,
-0.825654149055481,
0
] | [
0.16733649373054504,
0.08982887119054794,
0.20005495846271515,
2.8399970531463623,
1.3218166828155518,
-2.843367099761963
] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
0.20000000298023224
] | 25.299999 | 253 | 95 | 32,094 | 0 |
[
-40.85737228393555,
-85.04730987548828,
95.45213317871094,
48.81879806518555,
-0.8305882811546326,
29.749998092651367
] | [
-40.8353385925293,
-85.2111587524414,
91.430419921875,
50.008487701416016,
-0.825654149055481,
29
] | [
0.17833180725574493,
0.09847885370254517,
0.059561509639024734,
3.04914927482605,
0.884057879447937,
-2.6473634243011475
] | 1 | [
-0.6135302782058716,
-1.5456897020339966,
1.4445854425430298,
0.7843576073646545,
-0.026854319497942924,
0.648777961730957
] | [
-0.6131770610809326,
-1.548654317855835,
1.3763846158981323,
0.8054906725883484,
-0.02669934742152691,
0.6323835849761963
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.056274 | [
-40.5628776550293,
-87.83539581298828,
55.17483901977539,
65.01783752441406,
-0.825654149055481,
0
] | [
0.16733649373054504,
0.08982887119054794,
0.20005495846271515,
2.8399970531463623,
1.3218166828155518,
-2.843367099761963
] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
0.20000000298023224
] | 25.4 | 254 | 95 | 32,095 | 0 |
[
-40.84904098510742,
-85.10334014892578,
94.10990905761719,
49.25511169433594,
-0.8295900821685791,
28.5
] | [
-40.82378387451172,
-85.30103302001953,
89.8023910522461,
50.645050048828125,
-0.825654149055481,
27.75
] | [
0.17930838465690613,
0.09913814812898636,
0.0645335465669632,
3.0461204051971436,
0.8999696373939514,
-2.6498348712921143
] | 1 | [
-0.6133967041969299,
-1.5467034578323364,
1.4218238592147827,
0.7921081185340881,
-0.026822969317436218,
0.6214539408683777
] | [
-0.6129918098449707,
-1.5502803325653076,
1.3487763404846191,
0.8167982697486877,
-0.02669934742152691,
0.6050595641136169
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.089721 | [
-40.5628776550293,
-87.83539581298828,
55.17483901977539,
65.01783752441406,
-0.825654149055481,
0
] | [
0.16733649373054504,
0.08982887119054794,
0.20005495846271515,
2.8399970531463623,
1.3218166828155518,
-2.843367099761963
] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
0.20000000298023224
] | 25.5 | 255 | 95 | 32,096 | 0 |
[
-40.8398551940918,
-85.1749496459961,
92.52124786376953,
49.75888442993164,
-0.8278138041496277,
27.25
] | [
-40.811241149902344,
-85.39859771728516,
88.03523254394531,
51.33600616455078,
-0.825654149055481,
26.499998092651367
] | [
0.18037383258342743,
0.09985648095607758,
0.07047807425260544,
3.04233455657959,
0.919116735458374,
-2.6529359817504883
] | 1 | [
-0.6132494211196899,
-1.5479991436004639,
1.3948830366134644,
0.8010568618774414,
-0.026767179369926453,
0.5941299200057983
] | [
-0.6127907633781433,
-1.5520457029342651,
1.3188085556030273,
0.8290720582008362,
-0.02669934742152691,
0.5777354836463928
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.12692 | [
-40.5628776550293,
-87.83539581298828,
55.17483901977539,
65.01783752441406,
-0.825654149055481,
0
] | [
0.16733649373054504,
0.08982887119054794,
0.20005495846271515,
2.8399970531463623,
1.3218166828155518,
-2.843367099761963
] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
0.20000000298023224
] | 25.6 | 256 | 95 | 32,097 | 0 |
[
-40.82942581176758,
-85.25530242919922,
90.87255859375,
50.33493423461914,
-0.8271306157112122,
26
] | [
-40.79787063598633,
-85.50257873535156,
86.15167236328125,
52.072479248046875,
-0.825654149055481,
25.25
] | [
0.18127678334712982,
0.10045609623193741,
0.0765640139579773,
3.03833270072937,
0.9381462931632996,
-2.6562952995300293
] | 1 | [
-0.6130822896957397,
-1.5494530200958252,
1.3669244050979614,
0.8112894892692566,
-0.026745721697807312,
0.566805899143219
] | [
-0.612576425075531,
-1.5539270639419556,
1.2868667840957642,
0.8421543836593628,
-0.02669934742152691,
0.5504114627838135
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.165347 | [
-40.5628776550293,
-87.83539581298828,
55.17483901977539,
65.01783752441406,
-0.825654149055481,
0
] | [
0.16733649373054504,
0.08982887119054794,
0.20005495846271515,
2.8399970531463623,
1.3218166828155518,
-2.843367099761963
] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
0.20000000298023224
] | 25.700001 | 257 | 95 | 32,098 | 0 |
[
-40.81790542602539,
-85.3442153930664,
89.13809967041016,
50.972267150878906,
-0.8268497586250305,
24.75
] | [
-40.783714294433594,
-85.61267852783203,
84.1573715209961,
52.85224914550781,
-0.825654149055481,
24
] | [
0.1820448487997055,
0.10095678269863129,
0.08291982114315033,
3.033982038497925,
0.9576829075813293,
-2.660008668899536
] | 1 | [
-0.6128975749015808,
-1.551061749458313,
1.3375111818313599,
0.8226107954978943,
-0.026736900210380554,
0.5394818782806396
] | [
-0.6123495101928711,
-1.5559190511703491,
1.2530471086502075,
0.856005847454071,
-0.02669934742152691,
0.5230874419212341
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.205302 | [
-40.5628776550293,
-87.83539581298828,
55.17483901977539,
65.01783752441406,
-0.825654149055481,
0
] | [
0.16733649373054504,
0.08982887119054794,
0.20005495846271515,
2.8399970531463623,
1.3218166828155518,
-2.843367099761963
] | 0 | pick box lid and place on box body | box body | [
0.1675523966550827,
0.08997552841901779,
0.20000000298023224
] | 25.799999 | 258 | 95 | 32,099 | 0 |
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