HyeonseokE/smolvla_close_box_cap_3000_10fps
Robotics • 0.5B • Updated • 20
Datasets:
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 10
values | skill.type stringclasses 6
values | skill.progress float32 0 0.98 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 35 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 3
values | subtask.target_position list | timestamp float32 0 29.3 | frame_index int64 0 293 | episode_index int64 0 99 | index int64 0 28.3k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | Move to initial state before box lid manipulation | Is the gripper at the initial pose? | move_initial | 0.042192 | [
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[
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[
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[
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[
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] | 1 | [
0.00029997772071510553,
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1.1926442384719849,
1.2038220167160034,
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0.09750587493181229
] | [
0.012189513072371483,
-1.4224625825881958,
1.0926069021224976,
1.2047102451324463,
-0.0033543300814926624,
0.09227542579174042
] | Move to initial state before box lid manipulation | Is the gripper at the initial pose? | move_initial | 0.332504 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 1.3 | 13 | 0 | 13 | 0 | ||
[
-2.208033323287964,
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77.75614166259766,
72.45671081542969,
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4.135918140411377
] | [
-1.4436851739883423,
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71.67646789550781,
72.50824737548828,
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3.8934242725372314
] | [
0.18151713907718658,
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0.07563323527574539,
3.0992887020111084,
0.6857929229736328,
3.0688438415527344
] | 1 | [
0.0060224877670407295,
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1.1444940567016602,
1.204249620437622,
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0.08887398988008499
] | [
0.0182750653475523,
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1.0413939952850342,
1.205165147781372,
-0.0037546611856669188,
0.08357325941324234
] | Move to initial state before box lid manipulation | Is the gripper at the initial pose? | move_initial | 0.381865 | [
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
] | 1.4 | 14 | 0 | 14 | 0 | ||
[
-1.8418649435043335,
-78.3493423461914,
74.8435287475586,
72.4814224243164,
-0.08179017901420593,
3.7375006675720215
] | [
-1.0632177591323853,
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68.64987182617188,
72.53390502929688,
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3.4944491386413574
] | [
0.1838677078485489,
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0.08196201920509338,
3.098217725753784,
0.6943879723548889,
3.0619943141937256
] | 1 | [
0.011892203241586685,
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1.0951015949249268,
1.204688549041748,
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] | [
0.024373995140194893,
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0.9900685548782349,
1.2056208848953247,
-0.004155872389674187,
0.07485197484493256
] | Move to initial state before box lid manipulation | Is the gripper at the initial pose? | move_initial | 0.43249 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 1.5 | 15 | 0 | 15 | 0 | ||
[
-1.4705144166946411,
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71.88951873779297,
72.5064468383789,
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3.3399181365966797
] | [
-0.6860835552215576,
-71.3139877319336,
65.64978790283203,
72.55933380126953,
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3.0989692211151123
] | [
0.18640664219856262,
-0.002614382654428482,
0.08831342309713364,
3.0971100330352783,
0.7031071782112122,
3.05502986907959
] | 1 | [
0.017844989895820618,
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1.0450069904327393,
1.205133080482483,
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0.07147404551506042
] | [
0.030419493094086647,
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0.9391926527023315,
1.2060725688934326,
-0.004553568549454212,
0.06620708853006363
] | Move to initial state before box lid manipulation | Is the gripper at the initial pose? | move_initial | 0.483823 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 1.6 | 16 | 0 | 16 | 0 | ||
[
-1.0980440378189087,
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68.92646789550781,
72.53153991699219,
-0.10672266036272049,
2.9475255012512207
] | [
-0.31641629338264465,
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62.7091064453125,
72.58426666259766,
-0.1329714059829712,
2.7113194465637207
] | [
0.18910647928714752,
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0.09460858255624771,
3.095975160598755,
0.7118538022041321,
3.0480239391326904
] | 1 | [
0.02381572686135769,
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0.9947590827941895,
1.2055789232254028,
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0.06289664655923843
] | [
0.03634529560804367,
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0.8893240690231323,
1.2065154314041138,
-0.004943390376865864,
0.05773336440324783
] | Move to initial state before box lid manipulation | Is the gripper at the initial pose? | move_initial | 0.535304 | [
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
] | 1.7 | 17 | 0 | 17 | 0 | ||
[
-0.7285316586494446,
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65.98685455322266,
72.55647277832031,
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2.5646204948425293
] | [
0.0417357012629509,
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59.860023498535156,
72.60841369628906,
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2.335745096206665
] | [
0.1919325441122055,
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0.10077166557312012,
3.0948243141174316,
0.7205305099487305,
3.041050672531128
] | 1 | [
0.029739046469330788,
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0.9449086785316467,
1.206021785736084,
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0.054526638239622116
] | [
0.04208650812506676,
-1.217047095298767,
0.8410089015960693,
1.206944465637207,
-0.005321069620549679,
0.049523599445819855
] | Move to initial state before box lid manipulation | Is the gripper at the initial pose? | move_initial | 0.586368 | [
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
] | 1.8 | 18 | 0 | 18 | 0 | ||
[
-0.36602237820625305,
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63.102901458740234,
72.58092498779297,
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2.1953985691070557
] | [
0.3844466805458069,
-64.79736328125,
57.1337776184082,
72.63152313232422,
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1.9763630628585815
] | [
0.19484402239322662,
-0.005519934929907322,
0.10673143714666367,
3.093672037124634,
0.7290412187576294,
3.0341899394989014
] | 1 | [
0.035550106316804886,
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0.8960021138191223,
1.2064560651779175,
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0.046455733478069305
] | [
0.04758020117878914,
-1.1793012619018555,
0.7947767972946167,
1.2073549032211304,
-0.005682465620338917,
0.04166778549551964
] | Move to initial state before box lid manipulation | Is the gripper at the initial pose? | move_initial | 0.636456 | [
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
] | 1.9 | 19 | 0 | 19 | 0 | ||
[
-0.014487982727587223,
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60.306217193603516,
72.60462188720703,
-0.14313265681266785,
1.8439066410064697
] | [
0.7079627513885498,
-62.828025817871094,
54.56022644042969,
72.6533432006836,
-0.16736458241939545,
1.6371095180511475
] | [
0.19779489934444427,
-0.00651902100071311,
0.11242291331291199,
3.092531442642212,
0.7372941374778748,
3.0275161266326904
] | 1 | [
0.04118523746728897,
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0.8485755324363708,
1.2068771123886108,
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0.03877239301800728
] | [
0.05276619270443916,
-1.1436694860458374,
0.7511340975761414,
1.2077425718307495,
-0.006023620255291462,
0.03425196558237076
] | Move to initial state before box lid manipulation | Is the gripper at the initial pose? | move_initial | 0.685019 | [
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
] | 2 | 20 | 0 | 20 | 0 | ||
[
0.322222501039505,
-65.17777252197266,
57.62744140625,
72.62732696533203,
-0.15442800521850586,
1.5139892101287842
] | [
1.0087400674819946,
-60.99710464477539,
52.16755676269531,
72.67362976074219,
-0.1774630844593048,
1.321700930595398
] | [
0.20073524117469788,
-0.0075129130855202675,
0.117787666618824,
3.0914173126220703,
0.7451977133750916,
3.0211050510406494
] | 1 | [
0.04658273980021477,
-1.1861841678619385,
0.8031483888626099,
1.2072803974151611,
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0.03156065195798874
] | [
0.05758768320083618,
-1.1105420589447021,
0.7105588316917419,
1.208102822303772,
-0.00634079659357667,
0.027357378974556923
] | Move to initial state before box lid manipulation | Is the gripper at the initial pose? | move_initial | 0.731525 | [
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
] | 2.1 | 21 | 0 | 21 | 0 | ||
[
0.6404186487197876,
-63.24100112915039,
55.095924377441406,
72.64878845214844,
-0.1651160567998886,
1.2092719078063965
] | [
1.2834818363189697,
-59.32467269897461,
49.98200225830078,
72.69215393066406,
-0.1866874396800995,
1.0335942506790161
] | [
0.20361293852329254,
-0.008486909791827202,
0.12277499586343765,
3.090343952178955,
0.7526659369468689,
3.0150277614593506
] | 1 | [
0.0516834557056427,
-1.1511415243148804,
0.7602185606956482,
1.2076616287231445,
-0.00595299806445837,
0.024899767711758614
] | [
0.061991821974515915,
-1.080282211303711,
0.6734958291053772,
1.2084319591522217,
-0.006630517542362213,
0.021059589460492134
] | Move to initial state before box lid manipulation | Is the gripper at the initial pose? | move_initial | 0.775464 | [
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
] | 2.2 | 22 | 0 | 22 | 0 | ||
[
0.9366136193275452,
-61.43806838989258,
52.73942565917969,
72.66875457763672,
-0.17504502832889557,
0.9330863952636719
] | [
1.5291792154312134,
-57.82904052734375,
48.02749252319336,
72.70872497558594,
-0.19493664801120758,
0.7759449481964111
] | [
0.20637519657611847,
-0.009425133466720581,
0.12734165787696838,
3.089327335357666,
0.7596161961555481,
3.0093557834625244
] | 1 | [
0.05643149092793465,
-1.1185204982757568,
0.7202566862106323,
1.208016276359558,
-0.006264849565923214,
0.018862565979361534
] | [
0.06593037396669388,
-1.053221344947815,
0.6403509974479675,
1.2087262868881226,
-0.006889610551297665,
0.015427575446665287
] | Move to initial state before box lid manipulation | Is the gripper at the initial pose? | move_initial | 0.816356 | [
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
] | 2.3 | 23 | 0 | 23 | 0 | ||
[
1.2075676918029785,
-59.78878402709961,
50.583740234375,
72.68702697753906,
-0.18413898348808289,
0.6884617805480957
] | [
1.7431391477584839,
-56.526607513427734,
46.32545471191406,
72.72315216064453,
-0.20212028920650482,
0.5515769124031067
] | [
0.2089700996875763,
-0.01031095813959837,
0.13145239651203156,
3.088381290435791,
0.7659733891487122,
3.004152536392212
] | 1 | [
0.06077491119503975,
-1.088679552078247,
0.6837002038955688,
1.2083408832550049,
-0.006550475023686886,
0.013515261001884937
] | [
0.0693601742386818,
-1.029655933380127,
0.6114875674247742,
1.2089825868606567,
-0.007115236483514309,
0.010523064061999321
] | Move to initial state before box lid manipulation | Is the gripper at the initial pose? | move_initial | 0.853751 | [
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
] | 2.4 | 24 | 0 | 24 | 0 | ||
[
1.4503061771392822,
-58.31119155883789,
48.65248107910156,
72.70337677001953,
-0.19229546189308167,
0.47807440161705017
] | [
1.9230180978775024,
-55.43163299560547,
44.894527435302734,
72.73528289794922,
-0.2081596553325653,
0.36294782161712646
] | [
0.2113482654094696,
-0.011127542704343796,
0.13507898151874542,
3.0875205993652344,
0.7716683149337769,
2.999479055404663
] | 1 | [
0.0646660327911377,
-1.0619449615478516,
0.6509495973587036,
1.2086312770843506,
-0.006806655786931515,
0.008916355669498444
] | [
0.07224365323781967,
-1.0098443031311035,
0.5872216820716858,
1.209197998046875,
-0.007304922211915255,
0.006399777717888355
] | Move to initial state before box lid manipulation | Is the gripper at the initial pose? | move_initial | 0.887241 | [
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
] | 2.5 | 25 | 0 | 25 | 0 | ||
[
1.6621708869934082,
-57.02149963378906,
46.96685028076172,
72.71765899658203,
-0.19941198825836182,
0.304227739572525
] | [
2.066845417022705,
-54.556114196777344,
43.750389099121094,
72.74497985839844,
-0.21298861503601074,
0.21212391555309296
] | [
0.21346379816532135,
-0.011858447454869747,
0.13819940388202667,
3.086759090423584,
0.7766377329826355,
2.9953908920288086
] | 1 | [
0.06806224584579468,
-1.0386102199554443,
0.6223644018173218,
1.2088849544525146,
-0.00703017320483923,
0.005116202402859926
] | [
0.07454922050237656,
-0.9940032362937927,
0.5678191781044006,
1.2093702554702759,
-0.007456591352820396,
0.003102883929386735
] | Move to initial state before box lid manipulation | Is the gripper at the initial pose? | move_initial | 0.916459 | [
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
] | 2.6 | 26 | 0 | 26 | 0 | ||
[
1.8408410549163818,
-55.933921813964844,
45.545318603515625,
72.7297134399414,
-0.2054012417793274,
0.1688368022441864
] | [
2.1730449199676514,
-53.909645080566406,
42.90557861328125,
72.75214385986328,
-0.21655422449111938,
0.10075844824314117
] | [
0.2152758687734604,
-0.012488259933888912,
0.14079774916172028,
3.0861098766326904,
0.7808289527893066,
2.9919369220733643
] | 1 | [
0.07092634588479996,
-1.0189323425292969,
0.5982578992843628,
1.2090991735458374,
-0.007218285463750362,
0.0021566611248999834
] | [
0.07625160366296768,
-0.9823064804077148,
0.5534927248954773,
1.2094975709915161,
-0.0075685810297727585,
0.0006685209227725863
] | Move to initial state before box lid manipulation | Is the gripper at the initial pose? | move_initial | 0.941085 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.7 | 27 | 0 | 27 | 0 | ||
[
1.9843589067459106,
-55.060211181640625,
44.4034538269043,
72.73938751220703,
-0.2102176994085312,
0.0733746588230133
] | [
2.2404532432556152,
-53.49931335449219,
42.369346618652344,
72.7566909790039,
-0.21881742775440216,
0.030070995911955833
] | [
0.21674956381320953,
-0.013003193773329258,
0.14286212623119354,
3.085583209991455,
0.784193754196167,
2.9891579151153564
] | 1 | [
0.07322695106267929,
-1.0031239986419678,
0.5788939595222473,
1.20927095413208,
-0.007369562052190304,
0.00006993248098297045
] | [
0.07733216881752014,
-0.9748822450637817,
0.5443992614746094,
1.2095783948898315,
-0.007639664225280285,
-0.0008766520768404007
] | Move to initial state before box lid manipulation | Is the gripper at the initial pose? | move_initial | 0.960852 | [
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
] | 2.8 | 28 | 0 | 28 | 0 | ||
[
2.0911524295806885,
-54.41008758544922,
43.55375671386719,
72.74661254882812,
-0.21380063891410828,
0.018890075385570526
] | [
2.26833176612854,
-53.32960891723633,
42.14757537841797,
72.7585678100586,
-0.2197534441947937,
0.0008363749948330224
] | [
0.21785633265972137,
-0.013391640037298203,
0.14438508450984955,
3.085188388824463,
0.7866975665092468,
2.9870874881744385
] | 1 | [
0.07493886351585388,
-0.991361141204834,
0.5644846558570862,
1.2093993425369263,
-0.007482095621526241,
-0.0011210583616048098
] | [
0.07777906209230423,
-0.9718117117881775,
0.5406383872032166,
1.2096116542816162,
-0.007669062819331884,
-0.0015156982699409127
] | Move to initial state before box lid manipulation | Is the gripper at the initial pose? | move_initial | 0.975548 | [
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
] | 2.9 | 29 | 0 | 29 | 0 | ||
[
2.111410140991211,
-54.10776138305664,
43.217506408691406,
72.74005889892578,
-0.2148633599281311,
0.0017834164900705218
] | [
1.993072271347046,
-53.812931060791016,
43.01951217651367,
72.65347290039062,
-0.2148747593164444,
0
] | [
0.21834410727024078,
-0.013486617244780064,
0.14488063752651215,
3.085115671157837,
0.7870430946350098,
2.986687660217285
] | 1 | [
0.0752635970711708,
-0.9858910441398621,
0.5587824583053589,
1.2092828750610352,
-0.007515473756939173,
-0.001494996715337038
] | [
0.07336662709712982,
-0.9805566072463989,
0.5554248690605164,
1.207744836807251,
-0.007515831850469112,
-0.0015339808305725455
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.000918 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 3 | 30 | 0 | 30 | 0 |
[
1.997489094734192,
-53.93854904174805,
43.1107292175293,
72.65666961669922,
-0.21483679115772247,
0.0002358424389967695
] | [
1.5441114902496338,
-53.4565315246582,
42.822940826416016,
72.32492065429688,
-0.2148747593164444,
0
] | [
0.21873246133327484,
-0.01318556722253561,
0.14499406516551971,
3.0850906372070312,
0.7872728109359741,
2.9884965419769287
] | 1 | [
0.07343742996454239,
-0.9828294515609741,
0.5569717288017273,
1.2078015804290771,
-0.007514639291912317,
-0.0015288254944607615
] | [
0.06616973876953125,
-0.9741081595420837,
0.5520913600921631,
1.2019085884094238,
-0.007515831850469112,
-0.0015339808305725455
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.003321 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 3.1 | 31 | 0 | 31 | 0 |
[
1.691819667816162,
-53.648162841796875,
42.942649841308594,
72.43297576904297,
-0.21477986872196198,
0.00002116470022883732
] | [
0.7486454248428345,
-52.82505798339844,
42.47465896606445,
71.74280548095703,
-0.2148747593164444,
0
] | [
0.21957440674304962,
-0.012357451021671295,
0.1452818661928177,
3.0849151611328125,
0.7888377904891968,
2.9932734966278076
] | 1 | [
0.06853751838207245,
-0.977575421333313,
0.5541213750839233,
1.203827977180481,
-0.007512851618230343,
-0.0015335181960836053
] | [
0.053418342024087906,
-0.9626827239990234,
0.5461851358413696,
1.19156813621521,
-0.007515831850469112,
-0.0015339808305725455
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.008536 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 3.2 | 32 | 0 | 32 | 0 |
[
1.1447677612304688,
-53.18498229980469,
42.68252182006836,
72.03264617919922,
-0.21470396220684052,
9.597357575330534e-7
] | [
-0.33212360739707947,
-51.96710205078125,
42.00145721435547,
70.951904296875,
-0.2148747593164444,
0
] | [
0.22100508213043213,
-0.010851595550775528,
0.14578838646411896,
3.0845611095428467,
0.7919700145721436,
3.0017926692962646
] | 1 | [
0.05976822227239609,
-0.9691949486732483,
0.5497100949287415,
1.1967167854309082,
-0.007510467432439327,
-0.0015339597593992949
] | [
0.03609350696206093,
-0.947159469127655,
0.538160502910614,
1.1775189638137817,
-0.007515831850469112,
-0.0015339808305725455
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.017436 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 3.3 | 33 | 0 | 33 | 0 |
[
0.3372771739959717,
-52.96230697631836,
42.31671905517578,
71.44168090820312,
-0.21458250284194946,
0.00001485064876760589
] | [
-1.6927530765533447,
-52.21759796142578,
41.405723571777344,
69.9561996459961,
-0.2148747593164444,
0
] | [
0.22282634675502777,
-0.008572218008339405,
0.14773844182491302,
3.083103895187378,
0.8046011924743652,
3.0136959552764893
] | 1 | [
0.04682406783103943,
-0.9651659727096558,
0.5435068011283875,
1.1862192153930664,
-0.007506652735173702,
-0.0015336561482399702
] | [
0.014282481744885445,
-0.951691746711731,
0.5280579924583435,
1.1598317623138428,
-0.007515831850469112,
-0.0015339808305725455
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.027976 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 3.4 | 34 | 0 | 34 | 0 |
[
-0.7318946123123169,
-52.45561218261719,
41.84075164794922,
70.65928649902344,
-0.2144724279642105,
0.000016744863387430087
] | [
-3.311251640319824,
-50.932769775390625,
40.697086334228516,
68.77179718017578,
-0.2148747593164444,
0
] | [
0.22528760135173798,
-0.005487245973199606,
0.14971503615379333,
3.081592082977295,
0.8173606395721436,
3.029741048812866
] | 1 | [
0.029685137793421745,
-0.9559982419013977,
0.5354352593421936,
1.172321081161499,
-0.00750319566577673,
-0.0015336147043853998
] | [
-0.011662211269140244,
-0.9284449815750122,
0.5160408020019531,
1.138792634010315,
-0.007515831850469112,
-0.0015339808305725455
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.043029 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 3.5 | 35 | 0 | 35 | 0 |
[
-2.0555245876312256,
-51.61346435546875,
41.08184051513672,
69.690673828125,
-0.2145293653011322,
0.000040106853703036904
] | [
-5.145579814910889,
-49.47660827636719,
39.893951416015625,
67.429443359375,
-0.2148747593164444,
0
] | [
0.2285367101430893,
-0.001557031529955566,
0.1522316336631775,
3.0797812938690186,
0.8321481347084045,
3.0496280193328857
] | 1 | [
0.008467217907309532,
-0.9407609701156616,
0.522565484046936,
1.1551151275634766,
-0.007504983805119991,
-0.0015331041067838669
] | [
-0.041066672652959824,
-0.9020981788635254,
0.5024210810661316,
1.11494779586792,
-0.007515831850469112,
-0.0015339808305725455
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.063277 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 3.6 | 36 | 0 | 36 | 0 |
[
-3.6177821159362793,
-50.49079132080078,
40.099491119384766,
68.5474624633789,
-0.21455973386764526,
0.000013587838111561723
] | [
-7.19227409362793,
-47.851863861083984,
38.987003326416016,
65.93168640136719,
-0.2148747593164444,
0
] | [
0.23241809010505676,
0.0032583873253315687,
0.1551734209060669,
3.077678680419922,
0.8487424254417419,
3.0731041431427
] | 1 | [
-0.016575925052165985,
-0.9204481244087219,
0.5059066414833069,
1.1348077058792114,
-0.0075059374794363976,
-0.0015336837386712432
] | [
-0.07387538254261017,
-0.8727012276649475,
0.4870409369468689,
1.0883424282073975,
-0.007515831850469112,
-0.0015339808305725455
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.088035 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 3.7 | 37 | 0 | 37 | 0 |
[
-5.400201320648193,
-49.152103424072266,
39.110774993896484,
67.2430648803711,
-0.21460527181625366,
0.000012325028365012258
] | [
-9.413869857788086,
-46.062904357910156,
38.00104904174805,
64.3059310913086,
-0.2148747593164444,
0
] | [
0.23662002384662628,
0.008985067717730999,
0.15781234204769135,
3.075619697570801,
0.8644007444381714,
3.1001195907592773
] | 1 | [
-0.04514828324317932,
-0.8962268233299255,
0.4891398549079895,
1.111636996269226,
-0.007507367990911007,
-0.0015337113291025162
] | [
-0.10948778688907623,
-0.8403330445289612,
0.4703209698200226,
1.0594632625579834,
-0.007515831850469112,
-0.0015339808305725455
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.116095 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 3.8 | 38 | 0 | 38 | 0 |
[
-7.382630825042725,
-47.600624084472656,
38.11118698120117,
65.79240417480469,
-0.214597687125206,
0.4494067132472992
] | [
-11.78180980682373,
-44.09701156616211,
36.95014190673828,
62.57308578491211,
-0.2148747593164444,
1.1428574323654175
] | [
0.24106106162071228,
0.01563681848347187,
0.16010838747024536,
3.0736334323883057,
0.8789935111999512,
3.130377769470215
] | 1 | [
-0.0769268199801445,
-0.8681554198265076,
0.47218868136405945,
1.085868239402771,
-0.007507129572331905,
0.008289702236652374
] | [
-0.14744609594345093,
-0.8047634959220886,
0.45249950885772705,
1.0286818742752075,
-0.007515831850469112,
0.023447997868061066
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.149085 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 3.9 | 39 | 0 | 39 | 0 |
[
-9.541342735290527,
-45.87582778930664,
37.10552978515625,
64.21257019042969,
-0.2146432250738144,
1.72477126121521
] | [
-14.28896427154541,
-42.015541076660156,
33.6038703918457,
60.738365173339844,
-0.2148747593164444,
2.571427583694458
] | [
0.24561099708080292,
0.02320771850645542,
0.16208846867084503,
3.0716793537139893,
0.892848789691925,
-3.119717597961426
] | 1 | [
-0.11153119057416916,
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0.4551346004009247,
1.057804822921753,
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] | [
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0.3957529067993164,
0.996090829372406,
-0.007515831850469112,
0.05467543751001358
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.188212 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 4 | 40 | 0 | 40 | 0 |
[
-11.853745460510254,
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35.88914489746094,
62.520389556884766,
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] | [
-16.89371109008789,
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] | [
0.2503403425216675,
0.03171282634139061,
0.16453523933887482,
3.069291830062866,
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] | 1 | [
-0.14859923720359802,
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0.43450695276260376,
1.0277458429336548,
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] | [
-0.22939038276672363,
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0.41402667760849,
0.9622311592102051,
-0.007515831850469112,
0.08590294420719147
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.230929 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 4.1 | 41 | 0 | 41 | 0 |
[
-14.296124458312988,
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34.849586486816406,
60.732948303222656,
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] | [
-19.577177047729492,
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31.25693130493164,
56.86847686767578,
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] | [
0.2547569274902344,
0.04107292369008064,
0.16600331664085388,
3.0672855377197266,
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] | 1 | [
-0.18775081634521484,
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0.41687795519828796,
0.9959946274757385,
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] | [
-0.27240660786628723,
-0.6876670718193054,
0.3559531569480896,
0.9273480772972107,
-0.007515831850469112,
0.11713038384914398
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.275102 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 4.2 | 42 | 0 | 42 | 0 |
[
-16.843738555908203,
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33.609466552734375,
58.868568420410156,
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] | [
-22.317344665527344,
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30.040828704833984,
54.86323928833008,
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] | [
0.25908008217811584,
0.05129200592637062,
0.16798661649227142,
3.064751148223877,
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] | 1 | [
-0.22858932614326477,
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0.39584779739379883,
0.9628766775131226,
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] | [
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0.3353302776813507,
0.8917280435562134,
-0.007515831850469112,
0.14835788309574127
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.321437 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 4.3 | 43 | 0 | 43 | 0 |
[
-19.472503662109375,
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32.35470199584961,
56.945003509521484,
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] | [
-25.085294723510742,
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28.812397003173828,
52.837669372558594,
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] | [
0.26303717494010925,
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0.16971902549266815,
3.0621421337127686,
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] | 1 | [
-0.2707286775112152,
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0.3745693266391754,
0.928707480430603,
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0.16054470837116241
] | [
-0.3607022762298584,
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0.3144983649253845,
0.855746865272522,
-0.007515831850469112,
0.1795853227376938
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.369068 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 4.4 | 44 | 0 | 44 | 0 |
[
-22.15782928466797,
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31.100522994995117,
54.97990417480469,
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] | [
-27.85900115966797,
-30.82576560974121,
29.814987182617188,
50.807884216308594,
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] | [
0.26647570729255676,
0.07392014563083649,
0.1712954342365265,
3.05936336517334,
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] | 1 | [
-0.3137747347354889,
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0.3533007502555847,
0.8938004374504089,
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0.19177202880382538
] | [
-0.40516507625579834,
-0.5646428465843201,
0.33150044083595276,
0.8196907639503479,
-0.007515831850469112,
0.2108127772808075
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.417367 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 4.5 | 45 | 0 | 45 | 0 |
[
-24.875267028808594,
-33.26856994628906,
29.841392517089844,
52.99130630493164,
-0.21446864306926727,
10.271798133850098
] | [
-30.61191177368164,
-28.611663818359375,
28.593229293823242,
48.79331970214844,
-0.2148747593164444,
11.142858505249023
] | [
0.2693132758140564,
0.08610505610704422,
0.17276404798030853,
3.0563771724700928,
0.9868273138999939,
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] | 1 | [
-0.35733550786972046,
-0.6088412404060364,
0.3319482207298279,
0.8584759831428528,
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0.22299957275390625
] | [
-0.4492945075035095,
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0.31078165769577026,
0.783905029296875,
-0.007515831850469112,
0.24204029142856598
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.46599 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 4.6 | 46 | 0 | 46 | 0 |
[
-27.60001564025879,
-31.069305419921875,
28.777502059936523,
50.99714279174805,
-0.21449899673461914,
11.700448989868164
] | [
-33.3231315612793,
-26.431093215942383,
25.156490325927734,
46.80926513671875,
-0.2148747593164444,
12.571428298950195
] | [
0.27131620049476624,
0.09862308949232101,
0.17329323291778564,
3.0537965297698975,
1.0004277229309082,
-2.8447649478912354
] | 1 | [
-0.40101349353790283,
-0.5690492987632751,
0.31390661001205444,
0.8230526447296143,
-0.007504030130803585,
0.25422877073287964
] | [
-0.49275562167167664,
-0.4851287007331848,
0.2525009214878082,
0.7486612796783447,
-0.007515831850469112,
0.2732677161693573
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.514066 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 4.7 | 47 | 0 | 47 | 0 |
[
-30.307636260986328,
-28.867799758911133,
27.513376235961914,
49.015995025634766,
-0.21446864306926727,
13.12893009185791
] | [
-35.961483001708984,
-24.309127807617188,
26.21906852722168,
44.87853240966797,
-0.2148747593164444,
14.000001907348633
] | [
0.27280890941619873,
0.11147033423185349,
0.17449495196342468,
3.050475835800171,
1.0171312093734741,
-2.804171085357666
] | 1 | [
-0.44441694021224976,
-0.5292167663574219,
0.2924693524837494,
0.7878605723381042,
-0.007503076456487179,
0.28545427322387695
] | [
-0.5350486636161804,
-0.44673535227775574,
0.27052026987075806,
0.7143647074699402,
-0.007515831850469112,
0.3044952154159546
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.562414 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 4.8 | 48 | 0 | 48 | 0 |
[
-32.973655700683594,
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26.440776824951172,
47.06470489501953,
-0.21454454958438873,
14.55759048461914
] | [
-38.50718688964844,
-22.261674880981445,
22.8559627532959,
43.015602111816406,
-0.2148747593164444,
15.428571701049805
] | [
0.273416131734848,
0.12432246655225754,
0.17487230896949768,
3.0475313663482666,
1.0311956405639648,
-2.763951301574707
] | 1 | [
-0.4871535003185272,
-0.49051299691200256,
0.27428004145622253,
0.7531988024711609,
-0.007505460642278194,
0.31668367981910706
] | [
-0.5758565664291382,
-0.40969014167785645,
0.21348820626735687,
0.681272566318512,
-0.007515831850469112,
0.3357226550579071
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.609482 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 4.9 | 49 | 0 | 49 | 0 |
[
-35.572635650634766,
-24.633235931396484,
25.38196563720703,
45.16279983520508,
-0.21451038122177124,
15.986153602600098
] | [
-40.9402961730957,
-20.304780960083008,
21.776222229003906,
41.23506164550781,
-0.2148747593164444,
16.857141494750977
] | [
0.27333956956863403,
0.13708476722240448,
0.17509564757347107,
3.044522762298584,
1.0449374914169312,
-2.7248806953430176
] | 1 | [
-0.5288153886795044,
-0.45259952545166016,
0.25632455945014954,
0.7194142937660217,
-0.00750438729301095,
0.34791097044944763
] | [
-0.6148595213890076,
-0.37428346276283264,
0.19517779350280762,
0.6496439576148987,
-0.007515831850469112,
0.3669500946998596
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.655544 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 5 | 50 | 0 | 50 | 0 |
[
-37.96045684814453,
-22.703319549560547,
24.574039459228516,
43.41545104980469,
-0.2145293653011322,
17.41469955444336
] | [
-42.351341247558594,
-19.150671005249023,
23.383440017700195,
40.20246887207031,
-0.2148747593164444,
18.285715103149414
] | [
0.2725231945514679,
0.14888876676559448,
0.1743934452533722,
3.042295455932617,
1.0546962022781372,
-2.6885359287261963
] | 1 | [
-0.5670924186706543,
-0.417680948972702,
0.24262361228466034,
0.6883752942085266,
-0.007504983805119991,
0.37913787364959717
] | [
-0.6374787092208862,
-0.3534018099308014,
0.22243323922157288,
0.6313015222549438,
-0.007515831850469112,
0.3981775939464569
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.698011 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 5.1 | 51 | 0 | 51 | 0 |
[
-39.891387939453125,
-21.136402130126953,
24.014829635620117,
42.00248336791992,
-0.21454834938049316,
18.8432559967041
] | [
-43.55190658569336,
-18.166473388671875,
22.850666046142578,
39.32390213012695,
-0.2148747593164444,
19.714284896850586
] | [
0.27134934067726135,
0.1584654152393341,
0.17326416075229645,
3.040841579437256,
1.0608869791030884,
-2.6588499546051025
] | 1 | [
-0.5980454087257385,
-0.3893302381038666,
0.23314045369625092,
0.6632760763168335,
-0.007505579851567745,
0.4103650152683258
] | [
-0.6567239165306091,
-0.33559441566467285,
0.21339838206768036,
0.615695059299469,
-0.007515831850469112,
0.4294050335884094
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.733505 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 5.2 | 52 | 0 | 52 | 0 |
[
-41.541664123535156,
-19.794231414794922,
23.463241577148438,
40.79487991333008,
-0.21456731855869293,
20.271812438964844
] | [
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] | [
0.27008897066116333,
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] | 1 | [
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] | [
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0.2041178196668625,
0.5996642708778381,
-0.007515831850469112,
0.4606325328350067
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.765053 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
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0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 5.3 | 53 | 0 | 53 | 0 |
[
-43.03414535522461,
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] | [
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] | [
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] | 1 | [
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] | [
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0.194572314620018,
0.5831758379936218,
-0.007515831850469112,
0.49185997247695923
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.794369 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 5.4 | 54 | 0 | 54 | 0 |
[
-44.44442367553711,
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38.67066192626953,
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] | [
-47.36210632324219,
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21.159814834594727,
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] | [
0.26726654171943665,
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] | 1 | [
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] | [
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0.18472465872764587,
0.5661653876304626,
-0.007515831850469112,
0.5230873823165894
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.822478 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 5.5 | 55 | 0 | 55 | 0 |
[
-45.820499420166016,
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21.780893325805664,
37.66364288330078,
-0.21457111835479736,
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] | [
-48.70127487182617,
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20.565532684326172,
35.55562210083008,
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] | [
0.2656366229057312,
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3.0340304374694824,
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] | 1 | [
-0.6930896639823914,
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] | [
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-0.2592163383960724,
0.17464672029018402,
0.5487572550773621,
-0.007515831850469112,
0.554314911365509
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.850001 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 5.6 | 56 | 0 | 56 | 0 |
[
-47.19145584106445,
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36.66043472290039,
-0.21457111835479736,
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] | [
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34.537620544433594,
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] | [
0.26381295919418335,
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] | 1 | [
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] | [
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0.16417793929576874,
0.5306739807128906,
-0.007515831850469112,
0.5855423808097839
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.877253 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 5.7 | 57 | 0 | 57 | 0 |
[
-48.58027648925781,
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35.64409255981445,
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] | [
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19.306344985961914,
33.47917175292969,
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] | [
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0.17093421518802643,
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] | 1 | [
-0.7373291850090027,
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] | [
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-0.21712937951087952,
0.15329322218894958,
0.5118722319602966,
-0.007515831850469112,
0.6167698502540588
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.90438 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 5.8 | 58 | 0 | 58 | 0 |
[
-50.0052490234375,
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34.60129928588867,
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] | [
-53.071380615234375,
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18.626211166381836,
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] | [
0.25941944122314453,
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0.17064648866653442,
3.027738571166992,
1.1110732555389404,
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] | 1 | [
-0.76017165184021,
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] | [
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-0.19439665973186493,
0.14175941050052643,
0.49194926023483276,
-0.007515831850469112,
0.6479973196983337
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.931175 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 5.9 | 59 | 0 | 59 | 0 |
[
-51.31992721557617,
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] | [
-53.404296875,
-10.089685440063477,
18.478471755981445,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.25706052780151367,
0.2164909839630127,
0.17034652829170227,
3.0255990028381348,
1.1184039115905762,
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] | 1 | [
-0.7812460660934448,
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0.15476524829864502,
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] | [
-0.8146587014198303,
-0.18945865333080292,
0.13925401866436005,
0.48762157559394836,
-0.007515831850469112,
0.6542428135871887
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.953699 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 6 | 60 | 0 | 60 | 0 |
[
-52.139198303222656,
-11.12421703338623,
19.032739639282227,
33.03957748413086,
-0.21453316509723663,
29.975666046142578
] | [
-53.404296875,
-10.089685440063477,
18.478471755981445,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.255489319562912,
0.22065229713916779,
0.17013701796531677,
3.0242342948913574,
1.1229654550552368,
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] | 1 | [
-0.7943790555000305,
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0.14865337312221527,
0.5040634870529175,
-0.007505103014409542,
0.6537109017372131
] | [
-0.8146587014198303,
-0.18945865333080292,
0.13925401866436005,
0.48762157559394836,
-0.007515831850469112,
0.6542428135871887
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.966434 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 6.1 | 61 | 0 | 61 | 0 |
[
-52.636470794677734,
-10.716731071472168,
18.81443214416504,
32.675689697265625,
-0.21453316509723663,
29.996667861938477
] | [
-53.404296875,
-10.089685440063477,
18.478471755981445,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2544969916343689,
0.2231724113225937,
0.1700025200843811,
3.023392915725708,
1.1257350444793701,
-2.470050096511841
] | 1 | [
-0.8023503422737122,
-0.2008039802312851,
0.14495128393173218,
0.4975995719432831,
-0.007505103014409542,
0.6541699767112732
] | [
-0.8146587014198303,
-0.18945865333080292,
0.13925401866436005,
0.48762157559394836,
-0.007515831850469112,
0.6542428135871887
] | Approach the box lid handle and open the gripper | Is the gripper above the box lid handle and open? | move_and_open | 0.973526 | [
-53.404296875,
-8.498404502868652,
18.88698387145996,
32.113975524902344,
-0.2148747593164444,
30
] | [
0.2535367012023926,
0.22772161662578583,
0.15976570546627045,
3.0323028564453125,
1.0945965051651,
-2.4497640132904053
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.1599999964237213
] | 6.2 | 62 | 0 | 62 | 0 |
[
-52.83549118041992,
-10.586280822753906,
18.657629013061523,
32.52991485595703,
-0.2145863026380539,
29.999540328979492
] | [
-52.83891296386719,
-10.731573104858398,
18.314006805419922,
32.52409362792969,
-0.21453316509723663,
30
] | [
0.254120796918869,
0.22421008348464966,
0.17043690383434296,
3.0225090980529785,
1.1285983324050903,
-2.467658758163452
] | 1 | [
-0.8055406808853149,
-0.1984437108039856,
0.14229218661785126,
0.495010107755661,
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0.6542327404022217
] | [
-0.8055955171585083,
-0.20107252895832062,
0.13646499812602997,
0.4949066936969757,
-0.007505103014409542,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
0.25360673666000366,
0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
0.6367586255073547,
-2.33290696144104
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 6.3 | 63 | 0 | 63 | 0 |
[
-52.840309143066406,
-10.616278648376465,
18.516693115234375,
32.521793365478516,
-0.2145863026380539,
29.999927520751953
] | [
-52.865135192871094,
-10.511192321777344,
18.290746688842773,
32.480133056640625,
-0.21453316509723663,
30
] | [
0.2541925609111786,
0.2243194729089737,
0.17126737534999847,
3.021559238433838,
1.1316485404968262,
-2.468440532684326
] | 1 | [
-0.8056179285049438,
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0.13990217447280884,
0.4948658347129822,
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0.6542412042617798
] | [
-0.8060159087181091,
-0.19708511233329773,
0.13607054948806763,
0.4941258132457733,
-0.007505103014409542,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
0.25360673666000366,
0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
0.6367586255073547,
-2.33290696144104
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 6.4 | 64 | 0 | 64 | 0 |
[
-52.85847854614258,
-10.50632381439209,
18.41750717163086,
32.49125289916992,
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29.999927520751953
] | [
-52.91842269897461,
-10.063385009765625,
18.243478775024414,
32.390811920166016,
-0.21453316509723663,
30
] | [
0.2543017566204071,
0.22456403076648712,
0.171248659491539,
3.021486520767212,
1.131881594657898,
-2.468215227127075
] | 1 | [
-0.8059091567993164,
-0.1969970166683197,
0.1382201761007309,
0.4943233132362366,
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0.6542412042617798
] | [
-0.8068701028823853,
-0.1889827847480774,
0.13526897132396698,
0.4925391376018524,
-0.007505103014409542,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.00218 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
0.25360673666000366,
0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
0.6367586255073547,
-2.33290696144104
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 6.5 | 65 | 0 | 65 | 0 |
[
-52.895103454589844,
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18.33474349975586,
32.4298095703125,
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29.999935150146484
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] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.009671 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
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30
] | [
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
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] | 6.6 | 66 | 0 | 66 | 0 |
[
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] | [
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] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.004426 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
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30
] | [
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
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] | 6.7 | 67 | 0 | 67 | 0 |
[
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] | [
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] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.010748 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
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30
] | [
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
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] | 6.8 | 68 | 0 | 68 | 0 |
[
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] | [
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] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.026031 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 6.9 | 69 | 0 | 69 | 0 |
[
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] | [
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] | [
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0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.048357 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
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0.22784364223480225,
0.000008601109584560618,
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 7 | 70 | 0 | 70 | 0 |
[
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] | [
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30
] | [
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0.469045490026474,
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0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.076359 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
0.25360673666000366,
0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 7.1 | 71 | 0 | 71 | 0 |
[
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] | [
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30.749675750732422,
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30
] | [
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3.0327606201171875,
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] | [
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0.12054168432950974,
0.4633868336677551,
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0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.109051 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
0.25360673666000366,
0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 7.2 | 72 | 0 | 72 | 0 |
[
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] | [
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30.412822723388672,
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30
] | [
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0.11751881241798401,
0.45740315318107605,
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0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.145669 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
0.25360673666000366,
0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 7.3 | 73 | 0 | 73 | 0 |
[
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] | [
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17.009584426879883,
30.05908203125,
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30
] | [
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3.041982412338257,
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0.11434439569711685,
0.45111945271492004,
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0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.185556 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
0.25360673666000366,
0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 7.4 | 74 | 0 | 74 | 0 |
[
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17.189544677734375,
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] | [
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1.6261231899261475,
16.816326141357422,
29.693872451782227,
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30
] | [
0.25689971446990967,
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3.0466408729553223,
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0.022519025951623917,
0.11106708645820618,
0.44463205337524414,
-0.007505103014409542,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.228157 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
0.25360673666000366,
0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 7.5 | 75 | 0 | 75 | 0 |
[
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17.007164001464844,
30.062767028808594,
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29.999998092651367
] | [
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3.5017714500427246,
16.618364334106445,
29.319778442382812,
-0.21453316509723663,
30
] | [
0.25705093145370483,
0.23826301097869873,
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3.05120849609375,
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] | [
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0.05645569786429405,
0.10771001875400543,
0.4379868507385254,
-0.007505103014409542,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.272952 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
0.25360673666000366,
0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
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-2.33290696144104
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 7.6 | 76 | 0 | 76 | 0 |
[
-54.520469665527344,
1.5740190744400024,
16.81829833984375,
29.705238342285156,
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30
] | [
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5.405513763427734,
16.417438507080078,
28.940080642700195,
-0.21453316509723663,
30
] | [
0.2570594847202301,
0.23991379141807556,
0.12230255454778671,
3.0556280612945557,
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0.6542428135871887
] | [
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0.09090068936347961,
0.10430268943309784,
0.43124207854270935,
-0.007505103014409542,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.319449 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
0.25360673666000366,
0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
0.6367586255073547,
-2.33290696144104
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 7.7 | 77 | 0 | 77 | 0 |
[
-54.73920822143555,
3.41192889213562,
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29.33856201171875,
-0.21429024636745453,
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7.348331928253174,
16.215499877929688,
28.5584716796875,
-0.21453316509723663,
30
] | [
0.2569107711315155,
0.24144548177719116,
0.11420615762472153,
3.059865713119507,
0.967545211315155,
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0.054830152541399,
0.10781391710042953,
0.438320517539978,
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0.654242992401123
] | [
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0.12605269253253937,
0.10087818652391434,
0.4244633913040161,
-0.007505103014409542,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.367232 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
0.25360673666000366,
0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
0.6367586255073547,
-2.33290696144104
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 7.8 | 78 | 0 | 78 | 0 |
[
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5.298891544342041,
16.42755889892578,
28.966127395629883,
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30.000009536743164
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9.315564155578613,
16.014253616333008,
28.178171157836914,
-0.21453316509723663,
30
] | [
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] | 1 | [
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] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.416258 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
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30
] | [
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
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] | 7.9 | 79 | 0 | 79 | 0 |
[
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] | [
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] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.465988 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
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30
] | [
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 8 | 80 | 0 | 80 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.515809 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
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0.22784364223480225,
0.000008601109584560618,
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 8.1 | 81 | 0 | 81 | 0 |
[
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] | [
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] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.565179 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
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0.000008601109584560618,
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 8.2 | 82 | 0 | 82 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.613583 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
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0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 8.3 | 83 | 0 | 83 | 0 |
[
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] | [
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30
] | [
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0.3207387328147888,
0.08221155405044556,
0.38751325011253357,
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0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.660135 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
0.25360673666000366,
0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 8.4 | 84 | 0 | 84 | 0 |
[
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] | [
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30
] | [
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0.384603887796402,
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0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.698775 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
0.25360673666000366,
0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 8.5 | 85 | 0 | 85 | 0 |
[
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26.6113224029541,
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] | [
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19.824913024902344,
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26.14653205871582,
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30
] | [
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3.085097551345825,
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] | 1 | [
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0.3517952561378479,
0.07923383265733719,
0.3816188871860504,
-0.007505103014409542,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.730917 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
0.25360673666000366,
0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
0.6367586255073547,
-2.33290696144104
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 8.6 | 86 | 0 | 86 | 0 |
[
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] | [
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25.97405433654785,
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30
] | [
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3.0866689682006836,
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0.3676328957080841,
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0.3785550892353058,
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0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.759301 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
0.25360673666000366,
0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
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-2.33290696144104
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 8.7 | 87 | 0 | 87 | 0 |
[
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] | [
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30
] | [
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] | [
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0.3837822675704956,
0.07609522342681885,
0.3754061162471771,
-0.007505103014409542,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.785473 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
0.25360673666000366,
0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
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-2.33290696144104
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 8.8 | 88 | 0 | 88 | 0 |
[
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] | [
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22.51376724243164,
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30
] | [
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3.0893867015838623,
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] | [
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0.40044552087783813,
0.07445380836725235,
0.37215691804885864,
-0.007505103014409542,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.810538 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
0.25360673666000366,
0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
0.6367586255073547,
-2.33290696144104
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 8.9 | 89 | 0 | 89 | 0 |
[
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21.456445693969727,
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25.82229995727539,
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30.000009536743164
] | [
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23.467811584472656,
14.557019233703613,
25.42438507080078,
-0.21453316509723663,
30
] | [
0.24701830744743347,
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0.032536331564188004,
3.0906484127044678,
0.7358474135398865,
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] | 1 | [
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0.38131508231163025,
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0.654242992401123
] | [
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0.41770732402801514,
0.0727534070611,
0.36879104375839233,
-0.007505103014409542,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.835211 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
0.25360673666000366,
0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
0.6367586255073547,
-2.33290696144104
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 9 | 90 | 0 | 90 | 0 |
[
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22.415000915527344,
14.668015480041504,
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-0.21407011151313782,
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] | [
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24.452072143554688,
14.453573226928711,
25.228900909423828,
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30
] | [
0.24607503414154053,
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0.02819417044520378,
3.0918874740600586,
0.7236282825469971,
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0.39865848422050476,
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0.37248823046684265,
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0.654242992401123
] | [
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0.4355158507823944,
0.0709991529583931,
0.36531856656074524,
-0.007505103014409542,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.859949 | [
-57.39186096191406,
27.904029846191406,
14.723170280456543,
24.892065048217773,
-0.21453316509723663,
30
] | [
0.25360673666000366,
0.22784364223480225,
0.000008601109584560618,
3.0999817848205566,
0.6367586255073547,
-2.33290696144104
] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
0.2278856337070465,
0.003999972715973854
] | 9.1 | 91 | 0 | 91 | 0 |
[
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23.391773223876953,
14.564741134643555,
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30.000009536743164
] | [
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25.48486328125,
14.345026969909668,
25.02377700805664,
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30
] | [
0.2450716197490692,
0.24620403349399567,
0.023774826899170876,
3.0931222438812256,
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] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.885075 | [
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27.904029846191406,
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] | [
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] | 30 | close the box by placing the lid on the box body | box lid | [
0.2536534368991852,
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] | 9.2 | 92 | 0 | 92 | 0 |
[
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] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.910452 | [
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] | [
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] | 30 | close the box by placing the lid on the box body | box lid | [
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] | 9.3 | 93 | 0 | 93 | 0 |
[
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] | [
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] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.928103 | [
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27.904029846191406,
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] | [
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] | 30 | close the box by placing the lid on the box body | box lid | [
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[
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] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.938641 | [
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] | [
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] | 30 | close the box by placing the lid on the box body | box lid | [
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[
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] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.944929 | [
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] | [
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] | 30 | close the box by placing the lid on the box body | box lid | [
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] | 9.6 | 96 | 0 | 96 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0 | [
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] | [
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] | 0 | close the box by placing the lid on the box body | box lid | [
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] | 9.7 | 97 | 0 | 97 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.043095 | [
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25.912010192871094,
14.305952072143555,
24.939697265625,
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] | [
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] | 0 | close the box by placing the lid on the box body | box lid | [
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] | 9.8 | 98 | 0 | 98 | 0 |
[
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] | [
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.106532 | [
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24.939697265625,
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] | [
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] | 0 | close the box by placing the lid on the box body | box lid | [
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] | 9.9 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 100,
"total_frames": 28349,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
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6
],
"names": [
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"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"action": {
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"shape": [
6
],
"names": [
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"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
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"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
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"shape": [
480,
640,
3
],
"names": [
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"channels"
],
"info": {
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"video.codec": "h264",
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}
},
"observation.ee_pos.robot_xyzrpy": {
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],
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]
},
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1
],
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},
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6
],
"names": [
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"gripper.pos"
]
},
"action.radian_urdf0": {
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6
],
"names": [
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]
},
"skill.natural_language": {
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},
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},
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},
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],
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]
},
"skill.goal_position.robot_xyzrpy": {
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"shape": [
6
],
"names": [
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"roll",
"pitch",
"yaw"
]
},
"skill.goal_position.gripper": {
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"shape": [
1
],
"names": [
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]
},
"subtask.natural_language": {
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1
],
"names": null
},
"subtask.object_name": {
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],
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},
"subtask.target_position": {
"dtype": "float32",
"shape": [
3
],
"names": [
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]
},
"timestamp": {
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],
"names": null
},
"frame_index": {
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],
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},
"episode_index": {
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],
"names": null
},
"index": {
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],
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},
"task_index": {
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],
"names": null
}
}
}
Citation
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