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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[
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[
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | 0 | pick box lid and place on box body | box body | [
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[
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[
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[
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[
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[
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[
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[
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51.89795684814453,
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[
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51.89795684814453,
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[
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51.89795684814453,
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] | [
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[
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51.89795684814453,
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] | [
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[
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51.89795684814453,
56.092891693115234,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 18.200001 | 182 | 1 | 522 | 0 |
[
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51.89795684814453,
56.092891693115234,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
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] | 18.299999 | 183 | 1 | 523 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.070293 | [
51.89795684814453,
56.092891693115234,
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96.38977813720703,
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] | [
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0.008920151740312576,
3.1407082080841064,
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] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
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] | 18.4 | 184 | 1 | 524 | 0 |
[
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1.005616545677185,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.097235 | [
51.89795684814453,
56.092891693115234,
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96.38977813720703,
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] | [
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0.008920151740312576,
3.1407082080841064,
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] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
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] | 18.5 | 185 | 1 | 525 | 0 |
[
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1.034787654876709,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.127923 | [
51.89795684814453,
56.092891693115234,
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96.38977813720703,
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51.89795684814453,
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51.89795684814453,
56.092891693115234,
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51.89795684814453,
56.092891693115234,
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[
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51.89795684814453,
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[
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51.89795684814453,
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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 | 0.939901 | [
51.89795684814453,
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[
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 21.799999 | 218 | 1 | 558 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
51.89199447631836,
51.07003402709961,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
51.89199447631836,
51.07003402709961,
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96.1895523071289,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
51.89199447631836,
51.07003402709961,
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96.1895523071289,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.2150394767522812,
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
51.89199447631836,
51.07003402709961,
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96.1895523071289,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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[
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1.6258279085159302,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
51.89199447631836,
51.07003402709961,
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96.1895523071289,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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[
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1.6258279085159302,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
51.89199447631836,
51.07003402709961,
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96.1895523071289,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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[
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1.6258279085159302,
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51.89199447631836,
51.07003402709961,
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] | [
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[
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51.89199447631836,
51.07003402709961,
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] | [
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
51.89199447631836,
51.07003402709961,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.2150394767522812,
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] | 22.700001 | 227 | 1 | 567 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0.014003 | [
51.89199447631836,
51.07003402709961,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.2150394767522812,
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] | 22.799999 | 228 | 1 | 568 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.108811 | [
51.89199447631836,
51.07003402709961,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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] | 22.9 | 229 | 1 | 569 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.203618 | [
51.89199447631836,
51.07003402709961,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.2150394767522812,
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] | 23 | 230 | 1 | 570 | 0 |
[
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] | [
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] | 1 | [
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] | [
0.8732513189315796,
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] | release object on box body | Is the object released? | gripper_open | 0.298425 | [
51.89199447631836,
51.07003402709961,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.2150394767522812,
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] | 23.1 | 231 | 1 | 571 | 0 |
[
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] | [
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0.393233 | [
51.89199447631836,
51.07003402709961,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.2150394767522812,
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] | 23.200001 | 232 | 1 | 572 | 0 |
[
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0.48804 | [
51.89199447631836,
51.07003402709961,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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] | 23.299999 | 233 | 1 | 573 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0.582847 | [
51.89199447631836,
51.07003402709961,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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] | 23.4 | 234 | 1 | 574 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0.677655 | [
51.89199447631836,
51.07003402709961,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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] | 23.5 | 235 | 1 | 575 | 0 |
[
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0.772462 | [
51.89199447631836,
51.07003402709961,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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] | 23.6 | 236 | 1 | 576 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0.86727 | [
51.89199447631836,
51.07003402709961,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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] | 23.700001 | 237 | 1 | 577 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | release object on box body | Is the object released? | gripper_open | 0.962077 | [
51.89199447631836,
51.07003402709961,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.2150394767522812,
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] | 23.799999 | 238 | 1 | 578 | 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 | [
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | [
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] | [
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-0.010540171526372433,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 24 | 240 | 1 | 580 | 0 |
[
51.890357971191406,
50.74018096923828,
-58.474937438964844,
96.06684112548828,
-0.3091543912887573,
30
] | [
51.89570617675781,
47.95233154296875,
-56.87104034423828,
95.53662109375,
-0.311165988445282,
30
] | [
0.22512425482273102,
-0.22214876115322113,
0.044884853065013885,
3.1294965744018555,
0.20137672126293182,
2.2079954147338867
] | 1 | [
0.8732250928878784,
0.911154568195343,
-1.165734052658081,
1.6236481666564941,
-0.010476990602910519,
0.6542428135871887
] | [
0.8733108043670654,
0.8607131838798523,
-1.1385349035263062,
1.6142295598983765,
-0.010540171526372433,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 24.1 | 241 | 1 | 581 | 0 |
[
51.892269134521484,
49.9398078918457,
-57.675018310546875,
95.89159393310547,
-0.31271833181381226,
30
] | [
51.9002571105957,
46.728633880615234,
-55.96813201904297,
95.08466339111328,
-0.311165988445282,
30
] | [
0.22505983710289001,
-0.22208435833454132,
0.046633608639240265,
3.1292247772216797,
0.20539723336696625,
2.2078003883361816
] | 1 | [
0.873255729675293,
0.8966732025146484,
-1.152168869972229,
1.620535135269165,
-0.010588928125798702,
0.6542428135871887
] | [
0.8733837604522705,
0.8385724425315857,
-1.1232231855392456,
1.606201171875,
-0.010540171526372433,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.01172 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 24.200001 | 242 | 1 | 582 | 0 |
[
51.895103454589844,
48.78188705444336,
-57.02634048461914,
95.60633087158203,
-0.3127904534339905,
30
] | [
51.905853271484375,
45.2234992980957,
-54.85757064819336,
94.52876281738281,
-0.311165988445282,
30
] | [
0.22564677894115448,
-0.2228052318096161,
0.050505366176366806,
3.12829327583313,
0.22038710117340088,
2.2075557708740234
] | 1 | [
0.8733011484146118,
0.8757225871086121,
-1.141168475151062,
1.61546790599823,
-0.010591193102300167,
0.6542428135871887
] | [
0.8734734654426575,
0.8113395571708679,
-1.1043901443481445,
1.596326470375061,
-0.010540171526372433,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.027343 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 24.299999 | 243 | 1 | 583 | 0 |
[
51.89896774291992,
47.49073791503906,
-56.236324310302734,
95.21870422363281,
-0.3121034801006317,
30
] | [
51.912322998046875,
43.48339080810547,
-53.573631286621094,
93.88607788085938,
-0.311165988445282,
29.749998092651367
] | [
0.22629033029079437,
-0.2236015796661377,
0.054691314697265625,
3.127246141433716,
0.23720575869083405,
2.207277297973633
] | 1 | [
0.8733630776405334,
0.8523614406585693,
-1.127771258354187,
1.6085822582244873,
-0.010569616220891476,
0.6542428135871887
] | [
0.8735771775245667,
0.7798552513122559,
-1.082616925239563,
1.5849101543426514,
-0.010540171526372433,
0.648777961730957
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.04538 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 24.4 | 244 | 1 | 584 | 0 |
[
51.903846740722656,
46.0429573059082,
-55.252113342285156,
94.73579406738281,
-0.311723917722702,
29.249998092651367
] | [
51.91965103149414,
41.51179122924805,
-52.11888122558594,
93.15789794921875,
-0.311165988445282,
28.5
] | [
0.22691558301448822,
-0.22438359260559082,
0.05915859341621399,
3.126110792160034,
0.2552551031112671,
2.2069339752197266
] | 1 | [
0.8734412789344788,
0.8261662721633911,
-1.1110808849334717,
1.6000040769577026,
-0.010557695291936398,
0.6378483176231384
] | [
0.873694658279419,
0.7441825270652771,
-1.057947039604187,
1.5719751119613647,
-0.010540171526372433,
0.6214539408683777
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.070131 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 24.5 | 245 | 1 | 585 | 0 |
[
51.90962219238281,
44.40945053100586,
-54.087398529052734,
94.16224670410156,
-0.31159108877182007,
28
] | [
51.92770767211914,
39.344783782958984,
-50.519954681396484,
92.3575439453125,
-0.311165988445282,
27.25
] | [
0.2275342047214508,
-0.22516439855098724,
0.06407754868268967,
3.1248409748077393,
0.27520984411239624,
2.206512451171875
] | 1 | [
0.8735339045524597,
0.7966107726097107,
-1.0913294553756714,
1.5898158550262451,
-0.01055352296680212,
0.6105243563652039
] | [
0.8738237619400024,
0.7049741744995117,
-1.0308321714401245,
1.557758092880249,
-0.010540171526372433,
0.5941299200057983
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.100526 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 24.6 | 246 | 1 | 586 | 0 |
[
51.91621017456055,
42.580406188964844,
-52.758907318115234,
93.50389862060547,
-0.3115037679672241,
26.749998092651367
] | [
51.93637466430664,
37.01386260986328,
-48.80008316040039,
91.49665069580078,
-0.311165988445282,
26
] | [
0.2281390130519867,
-0.2259349822998047,
0.06953556835651398,
3.1234099864959717,
0.297426700592041,
2.206005334854126
] | 1 | [
0.8736394643783569,
0.7635173201560974,
-1.068800687789917,
1.578121304512024,
-0.010550780221819878,
0.5832002758979797
] | [
0.8739627003669739,
0.662800133228302,
-1.0016663074493408,
1.5424655675888062,
-0.010540171526372433,
0.566805899143219
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.134019 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 24.700001 | 247 | 1 | 587 | 0 |
[
51.923580169677734,
40.56135559082031,
-51.28533172607422,
92.76860046386719,
-0.3113178014755249,
25.5
] | [
51.94562530517578,
34.525123596191406,
-46.96376419067383,
90.57746887207031,
-0.311165988445282,
24.75
] | [
0.22870779037475586,
-0.22666864097118378,
0.07555082440376282,
3.1218061447143555,
0.32198289036750793,
2.2054038047790527
] | 1 | [
0.8737576007843018,
0.7269859910011292,
-1.043811559677124,
1.5650599002838135,
-0.010544939897954464,
0.5558763146400452
] | [
0.874110996723175,
0.6177706122398376,
-0.9705257415771484,
1.5261377096176147,
-0.010540171526372433,
0.5394818782806396
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.170422 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 24.799999 | 248 | 1 | 588 | 0 |
[
51.931644439697266,
38.36613845825195,
-49.68180847167969,
91.96456909179688,
-0.3111583888530731,
24.25
] | [
51.95530700683594,
31.921205520629883,
-45.04246139526367,
89.61575317382812,
-0.311165988445282,
23.499998092651367
] | [
0.22920796275138855,
-0.22732584178447723,
0.08208969980478287,
3.120028257369995,
0.3487386107444763,
2.2046940326690674
] | 1 | [
0.8738868832588196,
0.6872672438621521,
-1.0166187286376953,
1.5507774353027344,
-0.010539933107793331,
0.528552234172821
] | [
0.8742662072181702,
0.5706571340560913,
-0.9379439949989319,
1.5090543031692505,
-0.010540171526372433,
0.5121577978134155
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.20949 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 24.9 | 249 | 1 | 589 | 0 |
[
51.94032669067383,
36.01387023925781,
-47.963401794433594,
91.100341796875,
-0.3109382688999176,
22.999998092651367
] | [
51.96533966064453,
29.222536087036133,
-43.051246643066406,
88.61903381347656,
-0.311165988445282,
22.25
] | [
0.2296052873134613,
-0.227865070104599,
0.08908994495868683,
3.118082284927368,
0.3774520456790924,
2.2038700580596924
] | 1 | [
0.8740260601043701,
0.6447069644927979,
-0.987477719783783,
1.5354257822036743,
-0.010533018968999386,
0.5012281537055969
] | [
0.8744270205497742,
0.5218293070793152,
-0.904176652431488,
1.4913489818572998,
-0.010540171526372433,
0.48483380675315857
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.250925 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 25 | 250 | 1 | 590 | 0 |
[
51.949520111083984,
33.527156829833984,
-46.14726638793945,
90.18533325195312,
-0.31070294976234436,
21.75
] | [
51.975650787353516,
26.44932746887207,
-41.005035400390625,
87.59478759765625,
-0.311165988445282,
21
] | [
0.2298687994480133,
-0.22824843227863312,
0.09647491574287415,
3.115974187850952,
0.40783798694610596,
2.202922821044922
] | 1 | [
0.8741734623908997,
0.5997141003608704,
-0.9566794633865356,
1.519171953201294,
-0.010525627993047237,
0.47390419244766235
] | [
0.8745923042297363,
0.4716528058052063,
-0.8694766759872437,
1.4731547832489014,
-0.010540171526372433,
0.45750975608825684
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.29438 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 25.1 | 251 | 1 | 591 | 0 |
[
51.95912170410156,
30.92925453186035,
-44.24964141845703,
89.22856903076172,
-0.31042587757110596,
20.499998092651367
] | [
51.98611831665039,
23.63347625732422,
-38.9273567199707,
86.55479431152344,
-0.311165988445282,
19.75
] | [
0.22997219860553741,
-0.22844360768795013,
0.10415981709957123,
3.1137120723724365,
0.43959102034568787,
2.2018465995788574
] | 1 | [
0.8743273615837097,
0.5527094602584839,
-0.9244992136955261,
1.5021765232086182,
-0.01051692571491003,
0.44658011198043823
] | [
0.874760091304779,
0.42070475220680237,
-0.8342430591583252,
1.4546809196472168,
-0.010540171526372433,
0.4301857352256775
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.339503 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 25.200001 | 252 | 1 | 592 | 0 |
[
51.96907424926758,
28.244611740112305,
-42.288021087646484,
88.23939514160156,
-0.31016775965690613,
19.25
] | [
51.996665954589844,
20.796348571777344,
-36.833980560302734,
85.50694274902344,
-0.311165988445282,
18.5
] | [
0.22989584505558014,
-0.2284264862537384,
0.11205580085515976,
3.111302614212036,
0.4723995625972748,
2.2006330490112305
] | 1 | [
0.8744869232177734,
0.5041354298591614,
-0.8912337422370911,
1.484605312347412,
-0.010508818551898003,
0.4192561209201813
] | [
0.8749291896820068,
0.3693717420101166,
-0.7987432479858398,
1.4360674619674683,
-0.010540171526372433,
0.40286171436309814
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.385923 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 25.299999 | 253 | 1 | 593 | 0 |
[
51.979248046875,
25.49799156188965,
-40.28014373779297,
87.22711181640625,
-0.31000837683677673,
18
] | [
52.0071907043457,
17.907087326049805,
-34.74494552612305,
84.46126556396484,
-0.311165988445282,
17.249998092651367
] | [
0.22962769865989685,
-0.22818145155906677,
0.12007259577512741,
3.1087520122528076,
0.5059513449668884,
2.1992757320404053
] | 1 | [
0.8746500015258789,
0.45443999767303467,
-0.8571838736534119,
1.4666236639022827,
-0.010503812693059444,
0.39193210005760193
] | [
0.875097930431366,
0.31709545850753784,
-0.7633171081542969,
1.4174925088882446,
-0.010540171526372433,
0.375537633895874
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.433261 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 25.4 | 254 | 1 | 594 | 0 |
[
51.98955535888672,
22.700443267822266,
-38.23830795288086,
86.20143127441406,
-0.3099248707294464,
16.749998092651367
] | [
52.01761245727539,
15.027528762817383,
-32.67688751220703,
83.42608642578125,
-0.311165988445282,
16
] | [
0.22915567457675934,
-0.22769317030906677,
0.12816789746284485,
3.1060569286346436,
0.5400823950767517,
2.1977663040161133
] | 1 | [
0.8748152256011963,
0.4038231074810028,
-0.8225580453872681,
1.4484039545059204,
-0.010501190088689327,
0.3646080195903778
] | [
0.8752649426460266,
0.26499471068382263,
-0.7282466292381287,
1.399104118347168,
-0.010540171526372433,
0.34821364283561707
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.481294 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 25.5 | 255 | 1 | 595 | 0 |
[
51.99991226196289,
19.865779876708984,
-36.18922424316406,
85.17119598388672,
-0.3098565340042114,
15.5
] | [
52.02781677246094,
12.207550048828125,
-30.651620864868164,
82.41232299804688,
-0.311165988445282,
14.750000953674316
] | [
0.228485107421875,
-0.22696717083454132,
0.13633553683757782,
3.103196144104004,
0.5748380422592163,
2.1960883140563965
] | 1 | [
0.8749812245368958,
0.352534681558609,
-0.7878093719482422,
1.4301034212112427,
-0.010499044321477413,
0.33728402853012085
] | [
0.8754285573959351,
0.21397198736667633,
-0.6939018368721008,
1.3810961246490479,
-0.010540171526372433,
0.3208896219730377
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.529675 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 25.6 | 256 | 1 | 596 | 0 |
[
52.01022720336914,
17.028329849243164,
-34.15199661254883,
84.14532470703125,
-0.30976924300193787,
14.249998092651367
] | [
52.0377197265625,
9.470293998718262,
-28.68576431274414,
81.42829895019531,
-0.311165988445282,
13.499999046325684
] | [
0.2276233732700348,
-0.22601136565208435,
0.14444895088672638,
3.100188732147217,
0.6097633242607117,
2.1942460536956787
] | 1 | [
0.8751465678215027,
0.30119583010673523,
-0.7532617449760437,
1.4118802547454834,
-0.010496302507817745,
0.30995994806289673
] | [
0.8755872845649719,
0.16444599628448486,
-0.6605645418167114,
1.3636164665222168,
-0.010540171526372433,
0.2935655415058136
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.577932 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 25.700001 | 257 | 1 | 597 | 0 |
[
52.020423889160156,
14.221333503723145,
-32.14314270019531,
83.1336441040039,
-0.30967816710472107,
13
] | [
52.04725646972656,
6.835595607757568,
-26.793561935424805,
80.48114776611328,
-0.311165988445282,
12.25
] | [
0.22658443450927734,
-0.22484174370765686,
0.15238110721111298,
3.0970609188079834,
0.6443631052970886,
2.192249059677124
] | 1 | [
0.8753100633621216,
0.25040799379348755,
-0.7191953063011169,
1.3939093351364136,
-0.010493441484868526,
0.28263595700263977
] | [
0.8757401704788208,
0.11677559465169907,
-0.6284762620925903,
1.3467917442321777,
-0.010540171526372433,
0.26624155044555664
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.625616 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 25.799999 | 258 | 1 | 598 | 0 |
[
52.030364990234375,
11.474416732788086,
-30.179182052612305,
82.14545440673828,
-0.3096325993537903,
11.750000953674316
] | [
52.05538558959961,
4.644268035888672,
-25.180044174194336,
79.67349243164062,
-0.311165988445282,
10.999998092651367
] | [
0.22539152204990387,
-0.22348488867282867,
0.16002827882766724,
3.0938374996185303,
0.6782170534133911,
2.1901111602783203
] | 1 | [
0.8754693865776062,
0.20070718228816986,
-0.6858901381492615,
1.3763556480407715,
-0.010492010973393917,
0.2553119361400604
] | [
0.8758704662322998,
0.07712724059820175,
-0.6011139750480652,
1.3324449062347412,
-0.010540171526372433,
0.23891746997833252
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.672316 | [
52.10013198852539,
-5.738358020782471,
-16.29557228088379,
75.22806549072266,
-0.311165988445282,
0
] | [
0.21467700600624084,
-0.21112217009067535,
0.20005205273628235,
3.07033109664917,
0.876391589641571,
2.1723897457122803
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 25.9 | 259 | 1 | 599 | 0 |
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