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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53.0522575378418,
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[
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[
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0.6373750567436218,
53.0522575378418,
17.241735458374023,
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[
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65.23724365234375,
0.6373750567436218,
53.0522575378418,
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[
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65.23724365234375,
0.6373750567436218,
53.0522575378418,
17.241735458374023,
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] | 0 | pick box lid and place on box body | box body | [
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] | 19.700001 | 197 | 97 | 32,708 | 0 |
[
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65.23724365234375,
0.6373750567436218,
53.0522575378418,
17.241735458374023,
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3.10229229927063,
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] | 0 | pick box lid and place on box body | box body | [
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] | 19.799999 | 198 | 97 | 32,709 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.254364 | [
65.23724365234375,
0.6373750567436218,
53.0522575378418,
17.241735458374023,
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] | [
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0.00786687433719635,
3.10229229927063,
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] | 0 | pick box lid and place on box body | box body | [
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] | 19.9 | 199 | 97 | 32,710 | 0 |
[
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65.23724365234375,
0.6373750567436218,
53.0522575378418,
17.241735458374023,
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] | 0 | pick box lid and place on box body | box body | [
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[
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65.23724365234375,
0.6373750567436218,
53.0522575378418,
17.241735458374023,
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3.10229229927063,
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] | 0 | pick box lid and place on box body | box body | [
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[
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0.6373750567436218,
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0.2319803535938263,
-0.006750269327312708,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.845945 | [
65.23724365234375,
0.6373750567436218,
53.0522575378418,
17.241735458374023,
-0.1905001997947693,
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] | [
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3.10229229927063,
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] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
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] | 21.5 | 215 | 97 | 32,726 | 0 |
[
65.13164520263672,
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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 | 0.859035 | [
65.23724365234375,
0.6373750567436218,
53.0522575378418,
17.241735458374023,
-0.1905001997947693,
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] | [
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3.10229229927063,
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] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
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] | 21.6 | 216 | 97 | 32,727 | 0 |
[
65.17202758789062,
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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 | 0.871806 | [
65.23724365234375,
0.6373750567436218,
53.0522575378418,
17.241735458374023,
-0.1905001997947693,
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] | [
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3.10229229927063,
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] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
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] | 21.700001 | 217 | 97 | 32,728 | 0 |
[
65.19869995117188,
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] | [
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] | [
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3.1082427501678467,
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] | [
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0.7211378216743469,
0.223438560962677,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.880056 | [
65.23724365234375,
0.6373750567436218,
53.0522575378418,
17.241735458374023,
-0.1905001997947693,
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] | [
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0.00786687433719635,
3.10229229927063,
0.6160837411880493,
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] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
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] | 21.799999 | 218 | 97 | 32,729 | 0 |
[
65.2196273803711,
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] | [
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] | [
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3.1011877059936523,
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] | [
1.0871769189834595,
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0.7703436017036438,
0.223438560962677,
-0.006750269327312708,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.882088 | [
65.23724365234375,
0.6373750567436218,
53.0522575378418,
17.241735458374023,
-0.1905001997947693,
0
] | [
0.13637155294418335,
-0.22855697572231293,
0.00786687433719635,
3.10229229927063,
0.6160837411880493,
1.9864872694015503
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.013000025413930416
] | 21.9 | 219 | 97 | 32,730 | 0 |
[
65.22724151611328,
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52.056922912597656,
14.198075294494629,
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0
] | [
65.23724365234375,
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55.69298553466797,
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] | [
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3.100475788116455,
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] | [
1.0871769189834595,
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0.7703436017036438,
0.223438560962677,
-0.006750269327312708,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.880451 | [
65.23724365234375,
0.6373750567436218,
53.0522575378418,
17.241735458374023,
-0.1905001997947693,
0
] | [
0.13637155294418335,
-0.22855697572231293,
0.00786687433719635,
3.10229229927063,
0.6160837411880493,
1.9864872694015503
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.013000025413930416
] | 22 | 220 | 97 | 32,731 | 0 |
[
65.23224639892578,
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13.965030670166016,
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0
] | [
65.23724365234375,
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17.241735458374023,
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] | [
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3.1003174781799316,
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] | [
1.0871769189834595,
-0.0331486314535141,
0.7703436017036438,
0.223438560962677,
-0.006750269327312708,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.880537 | [
65.23724365234375,
0.6373750567436218,
53.0522575378418,
17.241735458374023,
-0.1905001997947693,
0
] | [
0.13637155294418335,
-0.22855697572231293,
0.00786687433719635,
3.10229229927063,
0.6160837411880493,
1.9864872694015503
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.013000025413930416
] | 22.1 | 221 | 97 | 32,732 | 0 |
[
65.23550415039062,
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52.036537170410156,
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0
] | [
65.23724365234375,
-1.4505764245986938,
55.69298553466797,
17.241735458374023,
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0
] | [
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0.03798326104879379,
3.0997586250305176,
0.7850503921508789,
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] | [
1.0871769189834595,
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0.7703436017036438,
0.223438560962677,
-0.006750269327312708,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.878025 | [
65.23724365234375,
0.6373750567436218,
53.0522575378418,
17.241735458374023,
-0.1905001997947693,
0
] | [
0.13637155294418335,
-0.22855697572231293,
0.00786687433719635,
3.10229229927063,
0.6160837411880493,
1.9864872694015503
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.013000025413930416
] | 22.200001 | 222 | 97 | 32,733 | 0 |
[
65.23499298095703,
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51.93345642089844,
13.513029098510742,
0.24360358715057373,
0
] | [
65.23724365234375,
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52.791385650634766,
17.241735458374023,
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0
] | [
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3.0997326374053955,
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] | [
1.0871769189834595,
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0.7211378216743469,
0.223438560962677,
-0.006750269327312708,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.878697 | [
65.23724365234375,
0.6373750567436218,
53.0522575378418,
17.241735458374023,
-0.1905001997947693,
0
] | [
0.13637155294418335,
-0.22855697572231293,
0.00786687433719635,
3.10229229927063,
0.6160837411880493,
1.9864872694015503
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.013000025413930416
] | 22.299999 | 223 | 97 | 32,734 | 0 |
[
65.23517608642578,
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52.0111198425293,
13.202826499938965,
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0
] | [
65.23724365234375,
-1.4505764245986938,
55.69298553466797,
17.241735458374023,
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0
] | [
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0.0379863902926445,
3.1003410816192627,
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] | 0 | [
1.0871437788009644,
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0.7079059481620789,
0.1516934186220169,
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] | [
1.0871769189834595,
-0.0331486314535141,
0.7703436017036438,
0.223438560962677,
-0.006750269327312708,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.876248 | [
65.23724365234375,
0.6373750567436218,
53.0522575378418,
17.241735458374023,
-0.1905001997947693,
0
] | [
0.13637155294418335,
-0.22855697572231293,
0.00786687433719635,
3.10229229927063,
0.6160837411880493,
1.9864872694015503
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.013000025413930416
] | 22.4 | 224 | 97 | 32,735 | 0 |
[
65.23451232910156,
-3.8865747451782227,
52.09254455566406,
12.943321228027344,
0.2722935974597931,
0
] | [
65.23724365234375,
-1.4505764245986938,
52.791385650634766,
17.241735458374023,
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0
] | [
0.16399559378623962,
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0.037982434034347534,
3.1002132892608643,
0.7908101081848145,
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] | 0 | [
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0.7092867493629456,
0.14708368480205536,
0.007785276975482702,
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] | [
1.0871769189834595,
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0.7211378216743469,
0.223438560962677,
-0.006750269327312708,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.87372 | [
65.23724365234375,
0.6373750567436218,
53.0522575378418,
17.241735458374023,
-0.1905001997947693,
0
] | [
0.13637155294418335,
-0.22855697572231293,
0.00786687433719635,
3.10229229927063,
0.6160837411880493,
1.9864872694015503
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.013000025413930416
] | 22.5 | 225 | 97 | 32,736 | 0 |
[
65.2366943359375,
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51.98992919921875,
13.010590553283691,
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0
] | [
65.23724365234375,
-1.4505764245986938,
55.69298553466797,
17.241735458374023,
-0.1905001997947693,
0
] | [
0.1640436053276062,
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0.03797871246933937,
3.0995609760284424,
0.7902507185935974,
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] | 0 | [
1.0871682167053223,
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0.707546591758728,
0.1482786238193512,
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] | [
1.0871769189834595,
-0.0331486314535141,
0.7703436017036438,
0.223438560962677,
-0.006750269327312708,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.87518 | [
65.23724365234375,
0.6373750567436218,
53.0522575378418,
17.241735458374023,
-0.1905001997947693,
0
] | [
0.13637155294418335,
-0.22855697572231293,
0.00786687433719635,
3.10229229927063,
0.6160837411880493,
1.9864872694015503
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.013000025413930416
] | 22.6 | 226 | 97 | 32,737 | 0 |
[
65.2378158569336,
-3.783541202545166,
52.062686920166016,
12.769947052001953,
0.22814081609249115,
0
] | [
65.23655700683594,
-3.7465507984161377,
51.98909378051758,
12.830201148986816,
0.23584184050559998,
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] | [
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3.098665237426758,
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0.1440039575099945,
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] | [
1.0871659517288208,
-0.07469039410352707,
0.7075324058532715,
0.1450742781162262,
0.006640390492975712,
0.00502378074452281
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.87275 | [
65.23724365234375,
0.6373750567436218,
53.0522575378418,
17.241735458374023,
-0.1905001997947693,
0
] | [
0.13637155294418335,
-0.22855697572231293,
0.00786687433719635,
3.10229229927063,
0.6160837411880493,
1.9864872694015503
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.013000025413930416
] | 22.700001 | 227 | 97 | 32,738 | 0 |
[
65.23655700683594,
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51.98909378051758,
12.830201148986816,
0.23584184050559998,
0.8999991416931152
] | [
65.23655700683594,
-3.7465507984161377,
51.98909378051758,
12.830201148986816,
0.23584184050559998,
1.800001859664917
] | [
0.16417036950588226,
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0.037978895008563995,
3.098952293395996,
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] | 1 | [
1.0871659517288208,
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0.7075324058532715,
0.1450742781162262,
0.006640390492975712,
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] | [
1.0871659517288208,
-0.07469039410352707,
0.7075324058532715,
0.1450742781162262,
0.006640390492975712,
0.037812668830156326
] | release object on box body | Is the object released? | gripper_open | 0 | [
65.23655700683594,
-3.7465507984161377,
51.98909378051758,
12.830201148986816,
0.23584184050559998,
30
] | [
0.16417036950588226,
-0.23875992000102997,
0.037978895008563995,
3.098952293395996,
0.7919901609420776,
1.994565486907959
] | 30 | pick box lid and place on box body | box body | [
0.15505579113960266,
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21.900001525878906
] | [
65.23655700683594,
-3.7465507984161377,
51.98909378051758,
12.830201148986816,
0.23584184050559998,
22.799999237060547
] | [
0.16417036950588226,
-0.23875992000102997,
0.037978895008563995,
3.098952293395996,
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1.994565486907959
] | 1 | [
1.0871659517288208,
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] | [
1.0871659517288208,
-0.07469039410352707,
0.7075324058532715,
0.1450742781162262,
0.006640390492975712,
0.49685636162757874
] | release object on box body | Is the object released? | gripper_open | 0.482584 | [
65.23655700683594,
-3.7465507984161377,
51.98909378051758,
12.830201148986816,
0.23584184050559998,
30
] | [
0.16417036950588226,
-0.23875992000102997,
0.037978895008563995,
3.098952293395996,
0.7919901609420776,
1.994565486907959
] | 30 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.013000025413930416
] | 24.200001 | 242 | 97 | 32,753 | 0 |
[
65.23655700683594,
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51.98909378051758,
12.830201148986816,
0.23584184050559998,
23.399999618530273
] | [
65.23655700683594,
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24.30000114440918
] | [
0.16417036950588226,
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0.037978895008563995,
3.098952293395996,
0.7919901609420776,
1.994565486907959
] | 1 | [
1.0871659517288208,
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0.7075324058532715,
0.1450742781162262,
0.006640390492975712,
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] | [
1.0871659517288208,
-0.07469039410352707,
0.7075324058532715,
0.1450742781162262,
0.006640390492975712,
0.5296452641487122
] | release object on box body | Is the object released? | gripper_open | 0.578402 | [
65.23655700683594,
-3.7465507984161377,
51.98909378051758,
12.830201148986816,
0.23584184050559998,
30
] | [
0.16417036950588226,
-0.23875992000102997,
0.037978895008563995,
3.098952293395996,
0.7919901609420776,
1.994565486907959
] | 30 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.013000025413930416
] | 24.299999 | 243 | 97 | 32,754 | 0 |
[
65.23655700683594,
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51.98909378051758,
12.830201148986816,
0.23584184050559998,
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] | [
65.23655700683594,
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51.98909378051758,
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0.23584184050559998,
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] | [
0.16417036950588226,
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0.037978895008563995,
3.098952293395996,
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] | 1 | [
1.0871659517288208,
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] | [
1.0871659517288208,
-0.07469039410352707,
0.7075324058532715,
0.1450742781162262,
0.006640390492975712,
0.5624340772628784
] | release object on box body | Is the object released? | gripper_open | 0.67422 | [
65.23655700683594,
-3.7465507984161377,
51.98909378051758,
12.830201148986816,
0.23584184050559998,
30
] | [
0.16417036950588226,
-0.23875992000102997,
0.037978895008563995,
3.098952293395996,
0.7919901609420776,
1.994565486907959
] | 30 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.013000025413930416
] | 24.4 | 244 | 97 | 32,755 | 0 |
[
65.23655700683594,
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51.98909378051758,
12.830201148986816,
0.23584184050559998,
26.399999618530273
] | [
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] | [
0.16417036950588226,
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] | 1 | [
1.0871659517288208,
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0.1450742781162262,
0.006640390492975712,
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] | [
1.0871659517288208,
-0.07469039410352707,
0.7075324058532715,
0.1450742781162262,
0.006640390492975712,
0.5952228903770447
] | release object on box body | Is the object released? | gripper_open | 0.770037 | [
65.23655700683594,
-3.7465507984161377,
51.98909378051758,
12.830201148986816,
0.23584184050559998,
30
] | [
0.16417036950588226,
-0.23875992000102997,
0.037978895008563995,
3.098952293395996,
0.7919901609420776,
1.994565486907959
] | 30 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.013000025413930416
] | 24.5 | 245 | 97 | 32,756 | 0 |
[
65.23655700683594,
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51.98909378051758,
12.830201148986816,
0.23584184050559998,
27.900001525878906
] | [
65.23655700683594,
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51.98909378051758,
12.830201148986816,
0.23584184050559998,
28.80000114440918
] | [
0.16417036950588226,
-0.23875992000102997,
0.037978895008563995,
3.098952293395996,
0.7919901609420776,
1.994565486907959
] | 1 | [
1.0871659517288208,
-0.07469039410352707,
0.7075324058532715,
0.1450742781162262,
0.006640390492975712,
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] | [
1.0871659517288208,
-0.07469039410352707,
0.7075324058532715,
0.1450742781162262,
0.006640390492975712,
0.6280117630958557
] | release object on box body | Is the object released? | gripper_open | 0.865855 | [
65.23655700683594,
-3.7465507984161377,
51.98909378051758,
12.830201148986816,
0.23584184050559998,
30
] | [
0.16417036950588226,
-0.23875992000102997,
0.037978895008563995,
3.098952293395996,
0.7919901609420776,
1.994565486907959
] | 30 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.013000025413930416
] | 24.6 | 246 | 97 | 32,757 | 0 |
[
65.23655700683594,
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51.98909378051758,
12.830201148986816,
0.23584184050559998,
29.400001525878906
] | [
65.22541046142578,
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51.733802795410156,
12.853586196899414,
0.20575129985809326,
30
] | [
0.16417036950588226,
-0.23875992000102997,
0.037978895008563995,
3.098952293395996,
0.7919901609420776,
1.994565486907959
] | 1 | [
1.0871659517288208,
-0.07469039410352707,
0.7075324058532715,
0.1450742781162262,
0.006640390492975712,
0.6411272883415222
] | [
1.0869872570037842,
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0.7032031416893005,
0.1454896777868271,
0.005695299245417118,
0.6542428135871887
] | release object on box body | Is the object released? | gripper_open | 0.961673 | [
65.23655700683594,
-3.7465507984161377,
51.98909378051758,
12.830201148986816,
0.23584184050559998,
30
] | [
0.16417036950588226,
-0.23875992000102997,
0.037978895008563995,
3.098952293395996,
0.7919901609420776,
1.994565486907959
] | 30 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.013000025413930416
] | 24.700001 | 247 | 97 | 32,758 | 0 |
[
65.22509002685547,
-3.8210232257843018,
51.94127655029297,
12.890060424804688,
0.20486696064472198,
30
] | [
65.22598266601562,
-4.215452671051025,
51.76968765258789,
12.85378646850586,
0.20575129985809326,
30
] | [
0.16428495943546295,
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0.03836497664451599,
3.097872018814087,
0.7930411696434021,
1.9932976961135864
] | 1 | [
1.0869821310043335,
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0.7067215442657471,
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] | [
1.0869964361190796,
-0.08317437767982483,
0.7038117051124573,
0.14549323916435242,
0.005695299245417118,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
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-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 24.799999 | 248 | 97 | 32,759 | 0 |
[
65.22513580322266,
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51.87068557739258,
12.874726295471191,
0.20528826117515564,
30
] | [
65.22742462158203,
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51.8602294921875,
12.854292869567871,
0.20575129985809326,
30
] | [
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0.03926702216267586,
3.097533941268921,
0.7970439791679382,
1.9930647611618042
] | 1 | [
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] | [
1.0870195627212524,
-0.09223617613315582,
0.7053471207618713,
0.1455022394657135,
0.005695299245417118,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 24.9 | 249 | 97 | 32,760 | 0 |
[
65.22632598876953,
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51.864173889160156,
12.872452735900879,
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30
] | [
65.22957611083984,
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51.99559020996094,
12.855051040649414,
0.20575129985809326,
30
] | [
0.16467313468456268,
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0.040419723838567734,
3.097093343734741,
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] | 1 | [
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] | [
1.0870540142059326,
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0.7076426148414612,
0.14551571011543274,
0.005695299245417118,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.000617 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 25 | 250 | 97 | 32,761 | 0 |
[
65.2275161743164,
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51.91400909423828,
12.876103401184082,
0.2042217254638672,
30
] | [
65.23242950439453,
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52.1747932434082,
12.856053352355957,
0.20575129985809326,
30
] | [
0.16486676037311554,
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0.04212019965052605,
3.0964467525482178,
0.8088255524635315,
1.9922213554382324
] | 1 | [
1.087020993232727,
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0.14588966965675354,
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0.6542428135871887
] | [
1.0870997905731201,
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0.7106815576553345,
0.1455335021018982,
0.005695299245417118,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.007245 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 25.1 | 251 | 97 | 32,762 | 0 |
[
65.22932434082031,
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52.03512954711914,
12.9119234085083,
0.20076024532318115,
30
] | [
65.23593139648438,
-9.049527168273926,
52.395206451416016,
12.85728645324707,
0.20575129985809326,
30
] | [
0.16523592174053192,
-0.2407020926475525,
0.045786675065755844,
3.094979763031006,
0.8235144019126892,
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] | 1 | [
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0.14652596414089203,
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] | [
1.0871559381484985,
-0.17063875496387482,
0.7144193649291992,
0.14555540680885315,
0.005695299245417118,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.02185 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 25.200001 | 252 | 97 | 32,763 | 0 |
[
65.23170471191406,
-6.886101722717285,
52.165443420410156,
12.896132469177246,
0.20202034711837769,
30
] | [
65.239990234375,
-10.45897388458252,
52.65003204345703,
12.858712196350098,
0.20575129985809326,
29.749998092651367
] | [
0.16578105092048645,
-0.24176275730133057,
0.05086800083518028,
3.0930168628692627,
0.8444826006889343,
1.9895837306976318
] | 1 | [
1.0870882272720337,
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0.7105230093002319,
0.14624544978141785,
0.0055781165137887,
0.6542428135871887
] | [
1.0872210264205933,
-0.19614030420780182,
0.718740701675415,
0.1455807387828827,
0.005695299245417118,
0.648777961730957
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.040859 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 25.299999 | 253 | 97 | 32,764 | 0 |
[
65.23465728759766,
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52.338191986083984,
12.879257202148438,
0.20369794964790344,
29.249998092651367
] | [
65.24458312988281,
-12.055923461914062,
52.938758850097656,
12.86032772064209,
0.20575129985809326,
28.5
] | [
0.16623950004577637,
-0.24266423285007477,
0.05600424483418465,
3.0909628868103027,
0.8655786514282227,
1.988020896911621
] | 1 | [
1.0871355533599854,
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0.7134525179862976,
0.1459456980228424,
0.005630807019770145,
0.6378483176231384
] | [
1.087294578552246,
-0.22503440082073212,
0.7236369848251343,
0.14560943841934204,
0.005695299245417118,
0.6214539408683777
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.068211 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 25.4 | 254 | 97 | 32,765 | 0 |
[
65.23846435546875,
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52.557220458984375,
12.874123573303223,
0.20422552525997162,
28
] | [
65.2496337890625,
-13.811150550842285,
53.25352478027344,
12.862103462219238,
0.20575129985809326,
27.249998092651367
] | [
0.1666170209646225,
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0.06137484684586525,
3.088679075241089,
0.8874444365501404,
1.9862151145935059
] | 1 | [
1.0871965885162354,
-0.18080168962478638,
0.7171667814254761,
0.14585450291633606,
0.005647377111017704,
0.6105243563652039
] | [
1.0873756408691406,
-0.25679224729537964,
0.7289748191833496,
0.14564098417758942,
0.005695299245417118,
0.5941299200057983
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.102224 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 25.5 | 255 | 97 | 32,766 | 0 |
[
65.24264526367188,
-11.147238731384277,
52.81376647949219,
12.873846054077148,
0.20429383218288422,
26.749998092651367
] | [
65.25506591796875,
-15.699135780334473,
53.5901985168457,
12.864013671875,
0.20575129985809326,
26
] | [
0.16693702340126038,
-0.24406839907169342,
0.06714077293872833,
3.086076498031616,
0.9108344316482544,
1.984112024307251
] | 1 | [
1.087263584136963,
-0.20859327912330627,
0.7215173840522766,
0.1458495706319809,
0.005649522878229618,
0.5832002758979797
] | [
1.0874626636505127,
-0.2909521460533142,
0.7346842288970947,
0.1456749141216278,
0.005695299245417118,
0.566805899143219
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.138154 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 25.6 | 256 | 97 | 32,767 | 0 |
[
65.24702453613281,
-12.814611434936523,
53.100650787353516,
12.87457275390625,
0.2043507695198059,
25.5
] | [
65.2608642578125,
-17.714956283569336,
53.94966125488281,
12.866052627563477,
0.20575129985809326,
24.75
] | [
0.16720212996006012,
-0.24461501836776733,
0.07336403429508209,
3.0830864906311035,
0.9360604286193848,
1.98165762424469
] | 1 | [
1.0873337984085083,
-0.2387615591287613,
0.7263823747634888,
0.14586247503757477,
0.00565131101757288,
0.5558763146400452
] | [
1.0875556468963623,
-0.3274250030517578,
0.7407800555229187,
0.14571113884449005,
0.005695299245417118,
0.5394818782806396
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.176091 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 25.700001 | 257 | 97 | 32,768 | 0 |
[
65.25225830078125,
-14.61015510559082,
53.41389465332031,
12.875025749206543,
0.20445704460144043,
24.25
] | [
65.26692962646484,
-19.824068069458008,
54.32576370239258,
12.868186950683594,
0.20575129985809326,
23.499998092651367
] | [
0.16739875078201294,
-0.24503950774669647,
0.08004395663738251,
3.0796399116516113,
0.9631535410881042,
1.9787726402282715
] | 1 | [
1.0874176025390625,
-0.27124887704849243,
0.7316944003105164,
0.14587052166461945,
0.005654648877680302,
0.528552234172821
] | [
1.0876528024673462,
-0.3655858039855957,
0.7471580505371094,
0.1457490473985672,
0.005695299245417118,
0.5121577978134155
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.215985 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 25.799999 | 258 | 97 | 32,769 | 0 |
[
65.25774383544922,
-16.541494369506836,
53.888973236083984,
12.773930549621582,
0.21295131742954254,
22.999998092651367
] | [
65.2732162475586,
-21.9750919342041,
54.715553283691406,
12.870397567749023,
0.20575129985809326,
22.25
] | [
0.16743527352809906,
-0.24516603350639343,
0.08685645461082458,
3.076098680496216,
0.9917696714401245,
1.9758973121643066
] | 1 | [
1.087505578994751,
-0.30619320273399353,
0.739750862121582,
0.1440747231245041,
0.00592143926769495,
0.5012281537055969
] | [
1.0877536535263062,
-0.4045049250125885,
0.7537681460380554,
0.145788311958313,
0.005695299245417118,
0.48483380675315857
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.258334 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 25.9 | 259 | 97 | 32,770 | 0 |
[
65.26331329345703,
-18.526885986328125,
54.24134063720703,
12.890531539916992,
0.2034512460231781,
21.75
] | [
65.27967834472656,
-24.178852081298828,
55.11610794067383,
12.87267017364502,
0.20575129985809326,
20.999998092651367
] | [
0.16737091541290283,
-0.245091512799263,
0.09391020983457565,
3.0714573860168457,
1.0195354223251343,
1.9717285633087158
] | 1 | [
1.0875948667526245,
-0.34211549162864685,
0.7457264065742493,
0.14614596962928772,
0.005623058415949345,
0.47390419244766235
] | [
1.0878572463989258,
-0.44437822699546814,
0.7605608105659485,
0.14582867920398712,
0.005695299245417118,
0.45750972628593445
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.301131 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 26 | 260 | 97 | 32,771 | 0 |
[
65.2691879272461,
-20.626731872558594,
54.69576644897461,
12.77794361114502,
0.21273118257522583,
20.499998092651367
] | [
65.28623962402344,
-26.416488647460938,
55.52281951904297,
12.874977111816406,
0.20575129985809326,
19.75
] | [
0.16728053987026215,
-0.24498030543327332,
0.10153137892484665,
3.0666184425354004,
1.0517288446426392,
1.96761953830719
] | 1 | [
1.0876890420913696,
-0.38010862469673157,
0.7534326314926147,
0.14414601027965546,
0.005914525128901005,
0.44658011198043823
] | [
1.0879623889923096,
-0.4848644435405731,
0.767457902431488,
0.1458696573972702,
0.005695299245417118,
0.4301857352256775
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.345878 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 26.1 | 261 | 97 | 32,772 | 0 |
[
65.2755355834961,
-22.747446060180664,
55.044254302978516,
12.890287399291992,
0.20390670001506805,
19.25
] | [
65.29285430908203,
-28.671035766601562,
58.10596466064453,
12.877302169799805,
0.20575129985809326,
18.5
] | [
0.1670353263616562,
-0.24456866085529327,
0.10913947224617004,
3.060507297515869,
1.0820521116256714,
1.9620323181152344
] | 1 | [
1.087790846824646,
-0.4184793531894684,
0.7593423128128052,
0.14614161849021912,
0.005637363530695438,
0.4192561209201813
] | [
1.0880683660507202,
-0.5256566405296326,
0.8112632632255554,
0.14591096341609955,
0.005695299245417118,
0.40286171436309814
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.390621 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 26.200001 | 262 | 97 | 32,773 | 0 |
[
65.28205871582031,
-24.937477111816406,
55.539485931396484,
12.860371589660645,
0.20704935491085052,
18
] | [
65.29945373535156,
-30.920909881591797,
56.3415412902832,
12.879622459411621,
0.20575129985809326,
17.249998092651367
] | [
0.16663821041584015,
-0.24387510120868683,
0.11668622493743896,
3.0541138648986816,
1.11367666721344,
1.95628023147583
] | 1 | [
1.087895393371582,
-0.4581042528152466,
0.7677405476570129,
0.14561021327972412,
0.005736068822443485,
0.39193210005760193
] | [
1.0881742238998413,
-0.5663642883300781,
0.7813419103622437,
0.14595218002796173,
0.005695299245417118,
0.375537633895874
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.436754 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 26.299999 | 263 | 97 | 32,774 | 0 |
[
65.28864288330078,
-27.144338607788086,
55.83921432495117,
12.885337829589844,
0.20476068556308746,
16.749998092651367
] | [
65.30598449707031,
-33.148189544677734,
56.746368408203125,
12.881918907165527,
0.20575129985809326,
16
] | [
0.16626255214214325,
-0.24321985244750977,
0.1250097006559372,
3.045802593231201,
1.147897481918335,
1.9486232995986938
] | 1 | [
1.0880008935928345,
-0.49803367257118225,
0.7728233933448792,
0.14605370163917542,
0.005664185620844364,
0.3646080195903778
] | [
1.088278889656067,
-0.606663167476654,
0.7882070541381836,
0.14599297940731049,
0.005695299245417118,
0.34821364283561707
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.482541 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 26.4 | 264 | 97 | 32,775 | 0 |
[
65.29512023925781,
-29.363540649414062,
56.32868957519531,
12.89259147644043,
0.20449119806289673,
15.5
] | [
65.3123779296875,
-35.39837646484375,
57.142826080322266,
12.884167671203613,
0.20575129985809326,
14.749998092651367
] | [
0.1656232476234436,
-0.24206121265888214,
0.13248759508132935,
3.037069320678711,
1.1794319152832031,
1.9404956102371216
] | 1 | [
1.0881047248840332,
-0.5381863713264465,
0.7811239957809448,
0.14618255198001862,
0.005655721761286259,
0.33728402853012085
] | [
1.0883814096450806,
-0.6473764777183533,
0.7949302196502686,
0.14603291451931,
0.005695299245417118,
0.32088956236839294
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.528979 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 26.5 | 265 | 97 | 32,776 | 0 |
[
65.30147552490234,
-31.61359214782715,
56.75730514526367,
12.77961254119873,
0.21287161111831665,
14.249998092651367
] | [
65.31858825683594,
-37.58385467529297,
57.52764892578125,
12.886350631713867,
0.20575129985809326,
13.499999046325684
] | [
0.1649755984544754,
-0.2408895194530487,
0.14061862230300903,
3.026310443878174,
1.2146642208099365,
1.930471658706665
] | 1 | [
1.0882066488265991,
-0.57889723777771,
0.7883924841880798,
0.14417564868927002,
0.005918935872614384,
0.30995994806289673
] | [
1.0884809494018555,
-0.6869189739227295,
0.801456093788147,
0.14607170224189758,
0.005695299245417118,
0.2935655415058136
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.575596 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 26.6 | 266 | 97 | 32,777 | 0 |
[
65.30768585205078,
-33.81184005737305,
57.080162048339844,
12.888635635375977,
0.20516300201416016,
13
] | [
65.3245620727539,
-39.68745803833008,
57.89805221557617,
12.888452529907227,
0.20575129985809326,
12.25
] | [
0.16417893767356873,
-0.2394227832555771,
0.14836782217025757,
3.0131351947784424,
1.246727705001831,
1.9178695678710938
] | 1 | [
1.088306188583374,
-0.6186708211898804,
0.7938675880432129,
0.14611227810382843,
0.005676821805536747,
0.28263595700263977
] | [
1.0885766744613647,
-0.7249801158905029,
0.8077374696731567,
0.14610902965068817,
0.005695299245417118,
0.26624155044555664
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.621091 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 26.700001 | 267 | 97 | 32,778 | 0 |
[
65.31379699707031,
-36.00970458984375,
57.508426666259766,
12.7733793258667,
0.21329671144485474,
11.750000953674316
] | [
65.32965850830078,
-41.48123550415039,
58.213905334472656,
12.890244483947754,
0.20575129985809326,
10.999998092651367
] | [
0.1633078157901764,
-0.23782072961330414,
0.15611711144447327,
2.9976651668548584,
1.2809633016586304,
1.9030989408493042
] | 1 | [
1.0884041786193848,
-0.6584374308586121,
0.8011301159858704,
0.14406493306159973,
0.005932287313044071,
0.2553119361400604
] | [
1.088658332824707,
-0.7574355006217957,
0.8130937814712524,
0.14614085853099823,
0.005695299245417118,
0.23891746997833252
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.666718 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 26.799999 | 268 | 97 | 32,779 | 0 |
[
65.31964111328125,
-38.052330017089844,
57.80422592163086,
12.874703407287598,
0.2065407633781433,
10.499999046325684
] | [
65.33248901367188,
-42.47661590576172,
58.3891716003418,
12.89123821258545,
0.20575129985809326,
9.75
] | [
0.1623622179031372,
-0.23606519401073456,
0.16317231953144073,
2.9793522357940674,
1.3106939792633057,
1.8853212594985962
] | 1 | [
1.0884977579116821,
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0.8061463832855225,
0.145864799618721,
0.005720094777643681,
0.2279878705739975
] | [
1.0887037515640259,
-0.7754452228546143,
0.8160659670829773,
0.14615851640701294,
0.005695299245417118,
0.21159347891807556
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.709708 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 26.9 | 269 | 97 | 32,780 | 0 |
[
65.3244400024414,
-39.73771667480469,
58.00214767456055,
12.849226951599121,
0.20843090116977692,
9.25
] | [
65.33538818359375,
-43.49746322631836,
58.56892395019531,
12.892257690429688,
0.20575129985809326,
8.499998092651367
] | [
0.161566361784935,
-0.23458999395370483,
0.16944921016693115,
2.9596405029296875,
1.3378632068634033,
1.8661408424377441
] | 1 | [
1.088574767112732,
-0.7258895039558411,
0.8095027208328247,
0.14541225135326385,
0.00577946100383997,
0.20066386461257935
] | [
1.0887502431869507,
-0.7939156889915466,
0.8191142082214355,
0.14617662131786346,
0.005695299245417118,
0.18426939845085144
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.747515 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 27 | 270 | 97 | 32,781 | 0 |
[
65.32854461669922,
-41.156211853027344,
58.201377868652344,
12.847628593444824,
0.2086016982793808,
7.999998092651367
] | [
65.3383560180664,
-44.54443359375,
58.75327682495117,
12.893303871154785,
0.20575129985809326,
7.249999046325684
] | [
0.16081936657428741,
-0.23320037126541138,
0.17447306215763092,
2.939873218536377,
1.359750747680664,
1.8467930555343628
] | 1 | [
1.088640570640564,
-0.7515547275543213,
0.8128812909126282,
0.14538384974002838,
0.005784825421869755,
0.17333978414535522
] | [
1.0887978076934814,
-0.8128588795661926,
0.8222405314445496,
0.1461952030658722,
0.005695299245417118,
0.1569453924894333
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.781755 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 27.1 | 271 | 97 | 32,782 | 0 |
[
65.33203125,
-42.424617767333984,
58.39970779418945,
12.855169296264648,
0.20813865959644318,
6.749999523162842
] | [
65.34141540527344,
-45.618927001953125,
58.942474365234375,
12.894377708435059,
0.20575129985809326,
6
] | [
0.1601017266511917,
-0.2318604588508606,
0.17880329489707947,
2.9189372062683105,
1.3787473440170288,
1.826220989227295
] | 1 | [
1.0886964797973633,
-0.7745044231414795,
0.8162446022033691,
0.14551781117916107,
0.0057702818885445595,
0.14601579308509827
] | [
1.0888468027114868,
-0.8323000073432922,
0.8254489302635193,
0.14621427655220032,
0.005695299245417118,
0.12962137162685394
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.81399 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 27.200001 | 272 | 97 | 32,783 | 0 |
[
65.33544158935547,
-43.61387634277344,
58.59722137451172,
12.864784240722656,
0.20757313072681427,
5.500000953674316
] | [
65.34455108642578,
-46.720970153808594,
59.13716125488281,
12.895482063293457,
0.20575129985809326,
4.749998569488525
] | [
0.15939132869243622,
-0.23053330183029175,
0.18276448547840118,
2.8955488204956055,
1.3962336778640747,
1.8031656742095947
] | 1 | [
1.0887510776519775,
-0.7960219979286194,
0.8195940852165222,
0.14568859338760376,
0.005752519704401493,
0.11869178712368011
] | [
1.0888971090316772,
-0.8522396087646484,
0.828750491142273,
0.14623390138149261,
0.005695299245417118,
0.10229731351137161
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.845119 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 27.299999 | 273 | 97 | 32,784 | 0 |
[
65.33876037597656,
-44.76668167114258,
58.79489517211914,
12.87331485748291,
0.20706073939800262,
4.249999046325684
] | [
65.34780883789062,
-47.81746292114258,
59.339080810546875,
12.896627426147461,
0.20575129985809326,
3.499999761581421
] | [
0.15867210924625397,
-0.22918811440467834,
0.18654219806194305,
2.868162155151367,
1.4129878282546997,
1.7760995626449585
] | 1 | [
1.0888042449951172,
-0.8168800473213196,
0.8229462504386902,
0.1458401381969452,
0.005736426450312138,
0.091367706656456
] | [
1.0889493227005005,
-0.8720787763595581,
0.8321746587753296,
0.14625424146652222,
0.005695299245417118,
0.07497330754995346
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.875639 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 27.4 | 274 | 97 | 32,785 | 0 |
[
65.34208679199219,
-45.897342681884766,
58.99416732788086,
12.879671096801758,
0.2066546231508255,
3.000000238418579
] | [
65.35116577148438,
-48.94749450683594,
59.547176361083984,
12.897808074951172,
0.20575129985809326,
2.249997854232788
] | [
0.157938614487648,
-0.2278154045343399,
0.19019311666488647,
2.8352248668670654,
1.429228663444519,
1.7434743642807007
] | 1 | [
1.088857650756836,
-0.8373374342918396,
0.8263255953788757,
0.14595304429531097,
0.005723671056330204,
0.06404370069503784
] | [
1.0890032052993774,
-0.892524778842926,
0.8357036113739014,
0.14627522230148315,
0.005695299245417118,
0.04764923080801964
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.905603 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 27.5 | 275 | 97 | 32,786 | 0 |
[
65.3454360961914,
-47.025604248046875,
59.197547912597656,
12.885436058044434,
0.20632441341876984,
1.7499983310699463
] | [
65.33988189697266,
-47.48147964477539,
59.27850341796875,
12.894100189208984,
0.20616763830184937,
0
] | [
0.15717972815036774,
-0.22639404237270355,
0.1937818080186844,
2.7941713333129883,
1.445183515548706,
1.7027299404144287
] | 1 | [
1.0889112949371338,
-0.8577514290809631,
0.8297744989395142,
0.1460554450750351,
0.005713299848139286,
0.03671962767839432
] | [
1.0888222455978394,
-0.8659997582435608,
0.8311473727226257,
0.14620935916900635,
0.005708375480026007,
-0.0015339808305725455
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.934922 | [
65.35770416259766,
-49.96316146850586,
60.33837127685547,
12.900106430053711,
0.20575129985809326,
0
] | [
0.15504173934459686,
-0.22241243720054626,
0.19993163645267487,
2.672227621078491,
1.4759889841079712,
1.5813114643096924
] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
-0.22243951261043549,
0.20000000298023224
] | 27.6 | 276 | 97 | 32,787 | 0 |
[
65.34352111816406,
-47.50410461425781,
59.23372268676758,
12.820435523986816,
0.20948605239391327,
0
] | [
65.09810638427734,
-47.50387954711914,
59.21281051635742,
13.12358570098877,
0.20453481376171112,
0
] | [
0.15688157081604004,
-0.2258087694644928,
0.19572998583316803,
2.767940044403076,
1.4538187980651855,
1.676733136177063
] | 1 | [
1.0888806581497192,
-0.8664090633392334,
0.8303880095481873,
0.14490081369876862,
0.005812601186335087,
-0.0015339808305725455
] | [
1.084946632385254,
-0.8664050102233887,
0.8300333619117737,
0.15028582513332367,
0.005657091736793518,
-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,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 27.700001 | 277 | 97 | 32,788 | 0 | ||
[
65.26700592041016,
-47.50209426879883,
59.23051452636719,
12.920428276062012,
0.2076452374458313,
0
] | [
64.51351165771484,
-47.558040618896484,
59.0539665222168,
13.678464889526367,
0.20058673620224,
0
] | [
0.15713968873023987,
-0.2256270945072174,
0.19545814394950867,
2.7729430198669434,
1.4521608352661133,
1.6829216480255127
] | 1 | [
1.0876541137695312,
-0.8663727045059204,
0.8303335905075073,
0.14667703211307526,
0.005754784680902958,
-0.0015339808305725455
] | [
1.0755754709243774,
-0.8673849701881409,
0.8273396492004395,
0.1601424217224121,
0.005533089395612478,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.001267 | [
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 | 97 | 32,789 | 0 | ||
[
65.013427734375,
-47.51968765258789,
59.17327117919922,
13.180283546447754,
0.20496563613414764,
0
] | [
63.592498779296875,
-47.643367767333984,
58.803714752197266,
14.552658081054688,
0.1943666785955429,
0
] | [
0.157996267080307,
-0.22503043711185455,
0.19508670270442963,
2.782231569290161,
1.4490247964859009,
1.69619882106781
] | 1 | [
1.0835891962051392,
-0.8666910529136658,
0.8293628692626953,
0.15129296481609344,
0.005670622922480106,
-0.0015339808305725455
] | [
1.0608115196228027,
-0.868928849697113,
0.8230958580970764,
0.17567114531993866,
0.005337728187441826,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.005402 | [
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 | 97 | 32,790 | 0 | ||
[
64.51908111572266,
-47.56193923950195,
59.04559326171875,
13.660731315612793,
0.20103353261947632,
0
] | [
62.345157623291016,
-47.75893020629883,
58.46479034423828,
15.736590385437012,
0.18594276905059814,
0
] | [
0.1596575677394867,
-0.22385820746421814,
0.19454807043075562,
2.7969818115234375,
1.443725824356079,
1.7187449932098389
] | 1 | [
1.075664758682251,
-0.8674554824829102,
0.8271976709365845,
0.15982741117477417,
0.005547122564166784,
-0.0015339808305725455
] | [
1.0408165454864502,
-0.871019721031189,
0.817348301410675,
0.19670192897319794,
0.00507314782589674,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.013306 | [
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 | 97 | 32,791 | 0 | ||
[
63.749446868896484,
-47.631080627441406,
58.84025573730469,
14.397746086120605,
0.19546936452388763,
0
] | [
60.785160064697266,
-47.90345764160156,
58.040916442871094,
17.21728515625,
0.17540733516216278,
0
] | [
0.16221722960472107,
-0.2220008820295334,
0.19378753006458282,
2.816901206970215,
1.4357802867889404,
1.7508094310760498
] | 1 | [
1.063327431678772,
-0.8687065243721008,
0.8237155079841614,
0.172919362783432,
0.005372361745685339,
-0.0015339808305725455
] | [
1.0158096551895142,
-0.8736346960067749,
0.8101601600646973,
0.22300423681735992,
0.004742247983813286,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.025543 | [
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 | 97 | 32,792 | 0 | ||
[
62.68873596191406,
-47.72799301147461,
58.55421447753906,
15.408146858215332,
0.18807198107242584,
0
] | [
58.929595947265625,
-48.07537078857422,
57.5367317199707,
18.978519439697266,
0.16287578642368317,
0
] | [
0.16568931937217712,
-0.21937531232833862,
0.19277839362621307,
2.840505838394165,
1.4249249696731567,
1.7911545038223267
] | 1 | [
1.0463241338729858,
-0.8704599738121033,
0.8188647627830505,
0.190867617726326,
0.005140022840350866,
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] | [
0.9860647320747375,
-0.8767451643943787,
0.8016101717948914,
0.2542899250984192,
0.0043486542999744415,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.042377 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 28.200001 | 282 | 97 | 32,793 | 0 | ||
[
61.3339729309082,
-47.85256576538086,
58.187339782714844,
16.69586753845215,
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0
] | [
56.79878616333008,
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56.957759857177734,
21.001007080078125,
0.14848540723323822,
0
] | [
0.1700269728899002,
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0.19151242077350616,
2.8658835887908936,
1.411049723625183,
1.8379114866256714
] | 1 | [
1.0246071815490723,
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0.8126432299613953,
0.21374203264713287,
0.004848079290241003,
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] | [
0.9519076347351074,
-0.880316972732544,
0.7917918562889099,
0.2902163863182068,
0.003896677400916815,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.063859 | [
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
] | 28.299999 | 283 | 97 | 32,794 | 0 | ||
[
59.69113540649414,
-48.00408172607422,
57.741695404052734,
18.255868911743164,
0.167576402425766,
0
] | [
54.41609191894531,
-48.4935302734375,
56.31034469604492,
23.262575149536133,
0.13239389657974243,
0
] | [
0.17513562738895416,
-0.21155397593975067,
0.18999412655830383,
2.891284942626953,
1.3941595554351807,
1.8892335891723633
] | 1 | [
0.9982722997665405,
-0.8754553198814392,
0.8050859570503235,
0.2414531260728836,
0.00449629221111536,
-0.0015339808305725455
] | [
0.9137128591537476,
-0.8843110799789429,
0.7808128595352173,
0.33038973808288574,
0.0033912709914147854,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.0899 | [
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
] | 28.4 | 284 | 97 | 32,795 | 0 | ||
[
57.77289962768555,
-48.181251525878906,
57.22092056274414,
20.076515197753906,
0.15455032885074615,
0
] | [
51.8076057434082,
-48.73519515991211,
55.60158157348633,
25.73845863342285,
0.11477749049663544,
0
] | [
0.18088211119174957,
-0.20625156164169312,
0.18823735415935516,
2.9154419898986816,
1.3743505477905273,
1.943648338317871
] | 1 | [
0.9675227999687195,
-0.8786609172821045,
0.796254575252533,
0.27379417419433594,
0.004087165929377079,
-0.0015339808305725455
] | [
0.8718985319137573,
-0.888683557510376,
0.7687935829162598,
0.37437009811401367,
0.0028379703871905804,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.120301 | [
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
] | 28.5 | 285 | 97 | 32,796 | 0 | ||
[
55.59701919555664,
-48.38234329223633,
56.629974365234375,
22.141143798828125,
0.13978971540927887,
0
] | [
49.001914978027344,
-48.99513244628906,
54.8392333984375,
28.401519775390625,
0.09582929313182831,
0
] | [
0.1871030181646347,
-0.1999729573726654,
0.18626277148723602,
2.937605857849121,
1.351787805557251,
2.0001235008239746
] | 1 | [
0.9326432347297668,
-0.8822993040084839,
0.7862331867218018,
0.3104691803455353,
0.003623560769483447,
-0.0015339808305725455
] | [
0.8269230127334595,
-0.893386721611023,
0.7558655142784119,
0.42167535424232483,
0.0022428405936807394,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.154782 | [
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 | 97 | 32,797 | 0 | ||
[
53.18537139892578,
-48.60530471801758,
55.974876403808594,
24.42914390563965,
0.12347676604986191,
0
] | [
46.02975845336914,
-49.27049255371094,
54.031654357910156,
31.222585678100586,
0.07575685530900955,
0
] | [
0.19361218810081482,
-0.19270643591880798,
0.18409645557403564,
2.957463502883911,
1.3266927003860474,
2.0579960346221924
] | 1 | [
0.8939842581748962,
-0.8863334655761719,
0.7751239538192749,
0.3511120676994324,
0.003111199475824833,
-0.0015339808305725455
] | [
0.7792790532112122,
-0.8983688950538635,
0.742170512676239,
0.47178736329078674,
0.0016124004032462835,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.192996 | [
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 | 97 | 32,798 | 0 | ||
[
50.56319808959961,
-48.84775161743164,
55.262542724609375,
26.91667938232422,
0.1057746633887291,
0
] | [
42.92369079589844,
-49.558258056640625,
53.187686920166016,
34.170753479003906,
0.05478004738688469,
0
] | [
0.20020917057991028,
-0.18446673452854156,
0.18176858127117157,
2.974982976913452,
1.2993278503417969,
2.1168324947357178
] | 1 | [
0.8519505858421326,
-0.8907201290130615,
0.7630441188812256,
0.39529940485954285,
0.002555207349359989,
-0.0015339808305725455
] | [
0.7294884920120239,
-0.9035755395889282,
0.7278583645820618,
0.5241571068763733,
0.0009535553981550038,
-0.0015339808305725455
] | Move to initial position | Is the robot at initial position? | move_initial | 0.234545 | [
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
] | 28.799999 | 288 | 97 | 32,799 | 0 |
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