HyeonseokE/smolvla_open_box_cap_1000_10fps
Robotics • 0.5B • Updated
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 17
values | skill.verification_question stringclasses 16
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 3
values | subtask.object_name stringclasses 3
values | subtask.target_position list | timestamp float32 0 29.7 | frame_index int64 0 297 | episode_index int64 0 99 | index int64 0 29k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
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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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] | Move to initial state before box lid manipulation | Is the gripper at the initial pose? | move_initial | 0.064435 | [
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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,
-0.014048943296074867,
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 | ||
[
2.1281402111053467,
-54.105186462402344,
43.217613220214844,
72.73420715332031,
-0.2148633599281311,
0.0017834164900705218
] | [
2.175476312637329,
-53.784523010253906,
43.02003860473633,
72.59015655517578,
-0.2148747593164444,
0
] | [
0.21835391223430634,
-0.013535774312913418,
0.1448844075202942,
3.0851094722747803,
0.7870984673500061,
2.986415147781372
] | 1 | [
0.07553178071975708,
-0.9858444929122925,
0.5587843060493469,
1.2091789245605469,
-0.007515473756939173,
-0.001494996715337038
] | [
0.07629058510065079,
-0.980042576789856,
0.5554337501525879,
1.2066200971603394,
-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 | 0.000923 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 3 | 30 | 0 | 30 | 0 |
[
2.173722743988037,
-53.9112663269043,
43.111515045166016,
72.59545135498047,
-0.21488234400749207,
0.00024215650046244264
] | [
2.3552942276000977,
-53.33018493652344,
42.82527160644531,
72.04337310791016,
-0.2148747593164444,
0
] | [
0.21883541345596313,
-0.01370448712259531,
0.1450337916612625,
3.0850236415863037,
0.7878513932228088,
2.9856231212615967
] | 1 | [
0.0762624740600586,
-0.9823358058929443,
0.5569850206375122,
1.206714153289795,
-0.007516070269048214,
-0.0015286874258890748
] | [
0.07917308062314987,
-0.9718221426010132,
0.5521308779716492,
1.1969072818756104,
-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 | 0.003355 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 3.1 | 31 | 0 | 31 | 0 |
[
2.2961132526397705,
-53.55440139770508,
42.94496154785156,
72.22315979003906,
-0.21490511298179626,
0.000024953131287475117
] | [
2.6738946437835693,
-52.52518844604492,
42.480186462402344,
71.07457733154297,
-0.2148747593164444,
0
] | [
0.2199293076992035,
-0.014145475812256336,
0.145418182015419,
3.0846855640411377,
0.7908226251602173,
2.9834206104278564
] | 1 | [
0.07822440564632416,
-0.9758789539337158,
0.5541605949401855,
1.2001008987426758,
-0.007516785524785519,
-0.0015334353083744645
] | [
0.08428027480840683,
-0.957257091999054,
0.5462788939476013,
1.17969810962677,
-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 | 0.00865 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 3.2 | 32 | 0 | 32 | 0 |
[
2.515263080596924,
-53.209346771240234,
42.68757247924805,
71.55689239501953,
-0.21491649746894836,
3.283306568846456e-7
] | [
3.106764554977417,
-52.76209259033203,
42.01133346557617,
69.75831604003906,
-0.2148747593164444,
0
] | [
0.22168880701065063,
-0.014929858967661858,
0.1467527598142624,
3.083542823791504,
0.8007473349571228,
2.979090929031372
] | 1 | [
0.08173739910125732,
-0.9696357846260071,
0.5497957468032837,
1.1882656812667847,
-0.007517142686992884,
-0.0015339736128225923
] | [
0.0912192240357399,
-0.9615434408187866,
0.5383279919624329,
1.1563167572021484,
-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 | 0.016307 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 3.3 | 33 | 0 | 33 | 0 |
[
2.8386213779449463,
-52.805694580078125,
42.32467269897461,
70.57337188720703,
-0.21496963500976562,
3.283306568846456e-7
] | [
3.651724338531494,
-51.385162353515625,
41.42107391357422,
68.10121154785156,
-0.2148747593164444,
0
] | [
0.22418774664402008,
-0.01610216125845909,
0.14896799623966217,
3.0816171169281006,
0.8170145750045776,
2.97251296043396
] | 1 | [
0.08692086488008499,
-0.9623323678970337,
0.5436416268348694,
1.17079496383667,
-0.007518812082707882,
-0.0015339736128225923
] | [
0.0999549850821495,
-0.9366302490234375,
0.5283182859420776,
1.1268807649612427,
-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 | 0.026929 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 3.4 | 34 | 0 | 34 | 0 |
[
3.266796588897705,
-51.974266052246094,
41.85316467285156,
69.27129364013672,
-0.21502657234668732,
3.283306568846456e-7
] | [
4.299965858459473,
-49.74728012084961,
40.71894836425781,
66.13004302978516,
-0.2148747593164444,
0
] | [
0.22762411832809448,
-0.017707975581288338,
0.15104956924915314,
3.079652786254883,
0.8330413699150085,
2.964205026626587
] | 1 | [
0.09378455579280853,
-0.9472890496253967,
0.5356457233428955,
1.1476655006408691,
-0.007520600222051144,
-0.0015339736128225923
] | [
0.11034636199474335,
-0.9069955348968506,
0.516411542892456,
1.09186589717865,
-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 | 0.042682 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 3.5 | 35 | 0 | 35 | 0 |
[
3.796912670135498,
-50.78798294067383,
41.09959411621094,
67.65921783447266,
-0.215083509683609,
0.00003252999158576131
] | [
5.034651756286621,
-47.89097595214844,
39.92319107055664,
63.89602279663086,
-0.2148747593164444,
0
] | [
0.23209087550640106,
-0.019786186516284943,
0.15385286509990692,
3.077117919921875,
0.8529214262962341,
2.953813314437866
] | 1 | [
0.10228236764669418,
-0.925825297832489,
0.5228665471076965,
1.1190294027328491,
-0.007522388361394405,
-0.0015332696493715048
] | [
0.12212345004081726,
-0.873408854007721,
0.5029169321060181,
1.0521818399429321,
-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 | 0.063464 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 3.6 | 36 | 0 | 36 | 0 |
[
4.4226813316345215,
-49.28913497924805,
40.12434768676758,
65.75654602050781,
-0.21509109437465668,
0.000011693623491737526
] | [
5.854394435882568,
-45.7820930480957,
39.02499008178711,
61.40336227416992,
-0.2148747593164444,
0
] | [
0.23745334148406982,
-0.022352008149027824,
0.15720593929290771,
3.0740208625793457,
0.8760516047477722,
2.9414255619049072
] | 1 | [
0.11231350153684616,
-0.8987061977386475,
0.5063281655311584,
1.0852313041687012,
-0.007522626779973507,
-0.0015337251825258136
] | [
0.13526400923728943,
-0.8352522253990173,
0.48768511414527893,
1.0079034566879272,
-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 | 0.088694 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 3.7 | 37 | 0 | 37 | 0 |
[
5.136538505554199,
-47.51944351196289,
39.345367431640625,
63.585693359375,
-0.21517080068588257,
0.000033161399187520146
] | [
6.74418830871582,
-43.43087387084961,
35.814510345458984,
58.69769287109375,
-0.2148747593164444,
0
] | [
0.24326398968696594,
-0.025379501283168793,
0.1594448983669281,
3.071244478225708,
0.8957257866859436,
2.927830457687378
] | 1 | [
0.12375670671463013,
-0.8666866421699524,
0.49311813712120056,
1.046669363975525,
-0.007525130175054073,
-0.0015332559123635292
] | [
0.14952749013900757,
-0.7927109003067017,
0.4332412779331207,
0.9598413705825806,
-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 | 0.116946 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 3.8 | 38 | 0 | 38 | 0 |
[
5.930451393127441,
-45.477901458740234,
38.1378173828125,
61.17148971557617,
-0.21509867906570435,
0.4494117796421051
] | [
7.692596435546875,
-40.924774169921875,
37.006839752197266,
55.813785552978516,
-0.2148747593164444,
1.1428574323654175
] | [
0.25000086426734924,
-0.028950873762369156,
0.16303256154060364,
3.067316770553589,
0.9220395684242249,
2.9120068550109863
] | 1 | [
0.13648320734500885,
-0.8297483921051025,
0.4726403057575226,
1.0037846565246582,
-0.007522864732891321,
0.008289813064038754
] | [
0.16473056375980377,
-0.747367262840271,
0.4534609913825989,
0.9086130857467651,
-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 | 0.15101 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 3.9 | 39 | 0 | 39 | 0 |
[
6.795084476470947,
-43.23234939575195,
37.12150955200195,
58.542415618896484,
-0.21498481929302216,
1.724699854850769
] | [
8.696763038635254,
-38.27133560180664,
35.90437316894531,
52.76033401489258,
-0.2148747593164444,
2.571427583694458
] | [
0.25700581073760986,
-0.032999783754348755,
0.1655084639787674,
3.0636212825775146,
0.9452424645423889,
2.8951780796051025
] | 1 | [
0.15034335851669312,
-0.7891189455986023,
0.455405592918396,
0.9570831060409546,
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0.03616662323474884
] | [
0.18082745373249054,
-0.699357807636261,
0.43476518988609314,
0.8543730974197388,
-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 | 0.190263 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 4 | 40 | 0 | 40 | 0 |
[
7.721299648284912,
-40.81968307495117,
36.085575103759766,
55.725929260253906,
-0.21501518785953522,
3.1323349475860596
] | [
9.74001693725586,
-35.514610290527344,
32.525413513183594,
49.58802032470703,
-0.2148747593164444,
4.000000953674316
] | [
0.2643498480319977,
-0.037545233964920044,
0.16775640845298767,
3.0595622062683105,
0.9690731763839722,
2.87701153755188
] | 1 | [
0.1651906818151474,
-0.7454658150672913,
0.43783804774284363,
0.9070524573326111,
-0.007520242594182491,
0.0669364407658577
] | [
0.1975509226322174,
-0.6494795083999634,
0.37746426463127136,
0.7980217337608337,
-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 | 0.23238 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 4.1 | 41 | 0 | 41 | 0 |
[
8.699579238891602,
-38.23855209350586,
34.84409713745117,
52.75148391723633,
-0.2150000035762787,
4.5579609870910645
] | [
10.814799308776855,
-32.690673828125,
33.57899475097656,
46.31983947753906,
-0.2148747593164444,
5.4285712242126465
] | [
0.27210867404937744,
-0.04260852932929993,
0.17046639323234558,
3.0546000003814697,
0.9961220026016235,
2.857201099395752
] | 1 | [
0.1808726042509079,
-0.6987646222114563,
0.4167848825454712,
0.8542159199714661,
-0.007519765757024288,
0.09809952229261398
] | [
0.214779794216156,
-0.598385214805603,
0.3953310549259186,
0.739967405796051,
-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 | 0.27716 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 4.2 | 42 | 0 | 42 | 0 |
[
9.719983100891113,
-35.57322311401367,
33.59758377075195,
49.648738861083984,
-0.21502277255058289,
5.986143112182617
] | [
11.91229248046875,
-29.881221771240234,
32.37406921386719,
42.982601165771484,
-0.2148747593164444,
6.857144355773926
] | [
0.27994999289512634,
-0.04813070967793465,
0.17298518121242523,
3.0490288734436035,
1.0239945650100708,
2.836124897003174
] | 1 | [
0.1972297728061676,
-0.6505400538444519,
0.3956463038921356,
0.7991002798080444,
-0.007520481012761593,
0.1293184757232666
] | [
0.2323727160692215,
-0.5475529432296753,
0.3748977482318878,
0.680686354637146,
-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 | 0.323383 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 4.3 | 43 | 0 | 43 | 0 |
[
10.772878646850586,
-32.85601806640625,
32.541748046875,
46.446937561035156,
-0.215083509683609,
7.414726734161377
] | [
13.020912170410156,
-27.043285369873047,
28.923341751098633,
39.61152648925781,
-0.2148747593164444,
8.285714149475098
] | [
0.28759443759918213,
-0.05403944104909897,
0.17446768283843994,
3.0434694290161133,
1.0494548082351685,
2.814460277557373
] | 1 | [
0.21410779654979706,
-0.6013768315315247,
0.377741277217865,
0.7422251105308533,
-0.007522388361394405,
0.160546213388443
] | [
0.25014400482177734,
-0.49620527029037476,
0.31637975573539734,
0.6208043098449707,
-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 | 0.370214 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 4.4 | 44 | 0 | 44 | 0 |
[
11.84842586517334,
-30.08345603942871,
31.2878475189209,
43.17647171020508,
-0.2150948941707611,
8.843293190002441
] | [
14.13183879852295,
-24.199445724487305,
27.703664779663086,
36.233436584472656,
-0.2148747593164444,
9.714284896850586
] | [
0.2952917516231537,
-0.060361433774232864,
0.17654351890087128,
3.036503791809082,
1.0784523487091064,
2.791128158569336
] | 1 | [
0.231348916888237,
-0.5512120127677917,
0.35647743940353394,
0.6841301918029785,
-0.007522745989263058,
0.19177356362342834
] | [
0.2679522633552551,
-0.4447508156299591,
0.29569628834724426,
0.5607975721359253,
-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 | 0.418278 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 4.5 | 45 | 0 | 45 | 0 |
[
12.936841011047363,
-27.273019790649414,
30.03453826904297,
39.86717987060547,
-0.21506832540035248,
10.271788597106934
] | [
15.234435081481934,
-21.376928329467773,
28.72671127319336,
32.880680084228516,
-0.2148747593164444,
11.142858505249023
] | [
0.3027873933315277,
-0.06700828671455383,
0.17831234633922577,
3.0287458896636963,
1.1074219942092896,
2.766791582107544
] | 1 | [
0.24879632890224457,
-0.5003619194030762,
0.33522361516952515,
0.6253455877304077,
-0.007521911524236202,
0.22299936413764954
] | [
0.28562697768211365,
-0.3936821520328522,
0.3130452632904053,
0.5012409090995789,
-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 | 0.466815 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 4.6 | 46 | 0 | 46 | 0 |
[
14.028139114379883,
-24.480731964111328,
28.96303939819336,
36.548484802246094,
-0.21508729457855225,
11.700421333312988
] | [
16.32033348083496,
-18.566879272460938,
25.301015853881836,
29.578697204589844,
-0.2148747593164444,
12.571428298950195
] | [
0.30981171131134033,
-0.07386196404695511,
0.17909373342990875,
3.020846128463745,
1.13379967212677,
2.7421844005584717
] | 1 | [
0.26628994941711426,
-0.4498402178287506,
0.317052960395813,
0.5663939714431763,
-0.007522507570683956,
0.2542281746864319
] | [
0.3030340373516083,
-0.3428390920162201,
0.2549518048763275,
0.44258615374565125,
-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 | 0.514901 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 4.7 | 47 | 0 | 47 | 0 |
[
15.112613677978516,
-21.668176651000977,
27.7059383392334,
33.2512092590332,
-0.2150948941707611,
13.128925323486328
] | [
17.377046585083008,
-15.809678077697754,
26.374353408813477,
26.365459442138672,
-0.2148747593164444,
14.000001907348633
] | [
0.3166634738445282,
-0.08094502985477448,
0.1803356558084488,
3.0111513137817383,
1.1625268459320068,
2.7159574031829834
] | 1 | [
0.2836741805076599,
-0.39895179867744446,
0.29573485255241394,
0.5078228116035461,
-0.007522745989263058,
0.2854541540145874
] | [
0.31997326016426086,
-0.29295220971107483,
0.2731536328792572,
0.38550782203674316,
-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 | 0.563281 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 4.8 | 48 | 0 | 48 | 0 |
[
16.180400848388672,
-18.911731719970703,
26.615238189697266,
30.003938674926758,
-0.21515561640262604,
14.55756950378418
] | [
18.39665412902832,
-13.149295806884766,
23.021623611450195,
23.265056610107422,
-0.2148747593164444,
15.428571701049805
] | [
0.3229339122772217,
-0.08807587623596191,
0.1806771457195282,
3.001169204711914,
1.1885508298873901,
2.689626455307007
] | 1 | [
0.3007909059524536,
-0.34907862544059753,
0.2772385776042938,
0.45013993978500366,
-0.00752465333789587,
0.31668323278427124
] | [
0.33631765842437744,
-0.2448171079158783,
0.21629750728607178,
0.33043381571769714,
-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 | 0.610578 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 4.9 | 49 | 0 | 49 | 0 |
[
17.22134017944336,
-16.205516815185547,
25.55380630493164,
26.83871078491211,
-0.21514423191547394,
15.98613166809082
] | [
19.371164321899414,
-10.606579780578613,
21.95180320739746,
20.30177879333496,
-0.2148747593164444,
16.857141494750977
] | [
0.3287222683429718,
-0.09520182013511658,
0.1806592345237732,
2.990293025970459,
1.213504433631897,
2.6627984046936035
] | 1 | [
0.317477285861969,
-0.300114244222641,
0.25923866033554077,
0.3939144015312195,
-0.007524295710027218,
0.34791049361228943
] | [
0.3519391715526581,
-0.19881097972393036,
0.19815531373023987,
0.2777956426143646,
-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 | 0.656868 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 5 | 50 | 0 | 50 | 0 |
[
18.177724838256836,
-13.713154792785645,
24.749818801879883,
23.930835723876953,
-0.215174600481987,
17.41468048095703
] | [
19.936315536499023,
-9.131972312927246,
23.564775466918945,
18.583274841308594,
-0.2148747593164444,
18.285715103149414
] | [
0.33358871936798096,
-0.10183306783437729,
0.17957182228565216,
2.980492115020752,
1.2334202527999878,
2.6382508277893066
] | 1 | [
0.3328082263469696,
-0.2550191879272461,
0.2456045150756836,
0.3422603905200958,
-0.007525249384343624,
0.37913745641708374
] | [
0.36099860072135925,
-0.17213046550750732,
0.22550836205482483,
0.24726898968219757,
-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 | 0.699523 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 5.1 | 51 | 0 | 51 | 0 |
[
18.951107025146484,
-11.696100234985352,
24.195650100708008,
21.579395294189453,
-0.2151973694562912,
18.84324073791504
] | [
20.417165756225586,
-7.877326011657715,
23.036895751953125,
17.121110916137695,
-0.2148747593164444,
19.714284896850586
] | [
0.3372117280960083,
-0.10724426060914993,
0.17806270718574524,
2.9726436138153076,
1.2478703260421753,
2.6184284687042236
] | 1 | [
0.3452056050300598,
-0.2185240089893341,
0.23620682954788208,
0.3004905581474304,
-0.007525964640080929,
0.41036468744277954
] | [
0.36870667338371277,
-0.14942976832389832,
0.21655648946762085,
0.22129584848880768,
-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 | 0.734965 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 5.2 | 52 | 0 | 52 | 0 |
[
19.61206817626953,
-9.97290325164795,
23.648361206054688,
19.569602966308594,
-0.21521635353565216,
20.271808624267578
] | [
20.91109275817871,
-6.588537216186523,
22.494661331176758,
15.619187355041504,
-0.2148747593164444,
21.142858505249023
] | [
0.34020164608955383,
-0.11193910241127014,
0.1770179569721222,
2.9646153450012207,
1.261446475982666,
2.6002023220062256
] | 1 | [
0.3558008670806885,
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0.2269258201122284,
0.2647896409034729,
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0.4415920674800873
] | [
0.37662437558174133,
-0.12611131370067596,
0.20736119151115417,
0.194616436958313,
-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 | 0.766257 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 5.3 | 53 | 0 | 53 | 0 |
[
20.209836959838867,
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23.099830627441406,
17.75187873840332,
-0.2152315229177475,
21.700382232666016
] | [
21.419118881225586,
-5.26287841796875,
21.936948776245117,
14.07438850402832,
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22.571428298950195
] | [
0.3428160548210144,
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0.17624501883983612,
2.9561452865600586,
1.2746018171310425,
2.5825347900390625
] | 1 | [
0.36538317799568176,
-0.15914984047412872,
0.2176237553358078,
0.23250049352645874,
-0.007527037523686886,
0.47281959652900696
] | [
0.3847680687904358,
-0.10212577134370804,
0.19790340960025787,
0.16717539727687836,
-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 | 0.795203 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 5.4 | 54 | 0 | 54 | 0 |
[
20.774673461914062,
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22.544721603393555,
16.03423500061035,
-0.2152429074048996,
23.128950119018555
] | [
21.943227767944336,
-3.8952534198760986,
21.36157989501953,
12.48068618774414,
-0.2148747593164444,
23.999998092651367
] | [
0.3451979458332062,
-0.12033951282501221,
0.17561738193035126,
2.9469966888427734,
1.287621259689331,
2.5647130012512207
] | 1 | [
0.3744375705718994,
-0.13250388205051422,
0.20821012556552887,
0.20198912918567657,
-0.007527394685894251,
0.5040469765663147
] | [
0.3931696116924286,
-0.07738091796636581,
0.1881462186574936,
0.13886567950248718,
-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 | 0.822888 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 5.5 | 55 | 0 | 55 | 0 |
[
21.325822830200195,
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21.97882652282715,
14.358236312866211,
-0.21525050699710846,
24.557525634765625
] | [
22.479591369628906,
-2.495649814605713,
20.772756576538086,
10.84971809387207,
-0.2148747593164444,
25.428571701049805
] | [
0.34742826223373413,
-0.12437424808740616,
0.1750527322292328,
2.9369254112243652,
1.300699234008789,
2.546189308166504
] | 1 | [
0.38327252864837646,
-0.1064998209476471,
0.19861358404159546,
0.17221753299236298,
-0.00752763357013464,
0.5352745056152344
] | [
0.4017675518989563,
-0.05205746367573738,
0.1781608611345291,
0.10989397764205933,
-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 | 0.849971 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 5.6 | 56 | 0 | 56 | 0 |
[
21.874908447265625,
-4.072546005249023,
21.399627685546875,
12.688549041748047,
-0.21525809168815613,
25.986093521118164
] | [
23.036758422851562,
-1.0417664051055908,
20.16109848022461,
9.155498504638672,
-0.2148747593164444,
26.85714340209961
] | [
0.3495486080646515,
-0.128419890999794,
0.17449720203876495,
2.9256770610809326,
1.3139500617980957,
2.526526689529419
] | 1 | [
0.39207443594932556,
-0.08058872073888779,
0.1887914389371872,
0.1425580531358719,
-0.007527871988713741,
0.5665019154548645
] | [
0.4106990098953247,
-0.025751909241080284,
0.16778826713562012,
0.07979871332645416,
-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 | 0.876804 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 5.7 | 57 | 0 | 57 | 0 |
[
22.43115234375,
-2.6216073036193848,
20.80312728881836,
10.997076988220215,
-0.215265691280365,
27.41466522216797
] | [
23.616060256958008,
0.46988236904144287,
19.52513885498047,
7.3939642906188965,
-0.2148747593164444,
28.285715103149414
] | [
0.3515859842300415,
-0.13253970444202423,
0.17391395568847656,
2.9129068851470947,
1.3274962902069092,
2.505236864089966
] | 1 | [
0.4009910821914673,
-0.05433645099401474,
0.17867588996887207,
0.11251159012317657,
-0.007528110407292843,
0.5977293848991394
] | [
0.41998526453971863,
0.0015988106606528163,
0.15700356662273407,
0.048507705330848694,
-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 | 0.90358 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 5.8 | 58 | 0 | 58 | 0 |
[
23.00188446044922,
-1.1327449083328247,
20.18501091003418,
9.261553764343262,
-0.21527327597141266,
28.84324073791504
] | [
24.229907989501953,
2.071676015853882,
18.851253509521484,
5.527383327484131,
-0.2148747593164444,
29.71428680419922
] | [
0.35355499386787415,
-0.13678444921970367,
0.17327502369880676,
2.898162841796875,
1.3414485454559326,
2.48175311088562
] | 1 | [
0.4101399779319763,
-0.027398010715842247,
0.1681937724351883,
0.08168262243270874,
-0.007528348825871944,
0.6289569139480591
] | [
0.4298253059387207,
0.03058054856956005,
0.14557570219039917,
0.015350697562098503,
-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 | 0.930189 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 5.9 | 59 | 0 | 59 | 0 |
[
23.528501510620117,
0.24230431020259857,
19.614023208618164,
7.660621166229248,
-0.21527327597141266,
29.82238006591797
] | [
24.363248825073242,
2.4196176528930664,
18.704872131347656,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.3552576005458832,
-0.1407124102115631,
0.17261840403079987,
2.882932186126709,
1.3542554378509521,
2.4584574699401855
] | 1 | [
0.41858169436454773,
-0.002518828259781003,
0.15851087868213654,
0.053244464099407196,
-0.007528348825871944,
0.6503601670265198
] | [
0.431962788105011,
0.03687596321105957,
0.14309334754943848,
0.00814832840114832,
-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 | 0.952943 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 6 | 60 | 0 | 60 | 0 |
[
23.856637954711914,
1.0993545055389404,
19.258543014526367,
6.6629958152771,
-0.21527327597141266,
29.97565460205078
] | [
24.363248825073242,
2.4196176528930664,
18.704872131347656,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.3562617003917694,
-0.143163800239563,
0.17217671871185303,
2.8725242614746094,
1.362200379371643,
2.443023443222046
] | 1 | [
0.4238417446613312,
0.012988041155040264,
0.15248258411884308,
0.03552314639091492,
-0.007528348825871944,
0.653710663318634
] | [
0.431962788105011,
0.03687596321105957,
0.14309334754943848,
0.00814832840114832,
-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 | 0.966087 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 6.1 | 61 | 0 | 61 | 0 |
[
24.055768966674805,
1.6190751791000366,
19.042133331298828,
6.057400703430176,
-0.21527327597141266,
29.99666404724121
] | [
24.363248825073242,
2.4196176528930664,
18.704872131347656,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.3568499684333801,
-0.14465269446372986,
0.17190362513065338,
2.8657889366149902,
1.367031455039978,
2.4332387447357178
] | 1 | [
0.42703384160995483,
0.022391505539417267,
0.1488126814365387,
0.024765659123659134,
-0.007528348825871944,
0.6541698575019836
] | [
0.431962788105011,
0.03687596321105957,
0.14309334754943848,
0.00814832840114832,
-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 | 0.973566 | [
24.363248825073242,
4.063884258270264,
19.11126708984375,
5.12192440032959,
-0.2148747593164444,
30
] | [
0.35866764187812805,
-0.14738686382770538,
0.15995384752750397,
2.9006710052490234,
1.339240312576294,
2.4623749256134033
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.1599999964237213
] | 6.2 | 62 | 0 | 62 | 0 |
[
24.084354400634766,
1.619594931602478,
18.879852294921875,
5.968152046203613,
-0.215265691280365,
29.999540328979492
] | [
24.07735824584961,
1.5137523412704468,
18.58609962463379,
5.962728977203369,
-0.21527327597141266,
30
] | [
0.35698002576828003,
-0.14488786458969116,
0.17294004559516907,
2.8597302436828613,
1.3711856603622437,
2.426844835281372
] | 1 | [
0.42749208211898804,
0.022400908172130585,
0.14606069028377533,
0.023180291056632996,
-0.007528110407292843,
0.6542327404022217
] | [
0.42737993597984314,
0.02048586681485176,
0.14107918739318848,
0.02308395877480507,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 6.3 | 63 | 0 | 63 | 0 |
[
24.077648162841797,
1.617051124572754,
18.752079010009766,
5.962915420532227,
-0.215265691280365,
29.999923706054688
] | [
24.051029205322266,
1.7845855951309204,
18.527997970581055,
5.942774772644043,
-0.21527327597141266,
30
] | [
0.3571053743362427,
-0.14490365982055664,
0.17359477281570435,
2.8563990592956543,
1.3733960390090942,
2.4236865043640137
] | 1 | [
0.4273845851421356,
0.022354882210493088,
0.14389389753341675,
0.0230872705578804,
-0.007528110407292843,
0.654241144657135
] | [
0.4269578754901886,
0.025386134162545204,
0.14009389281272888,
0.022729502990841866,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 6.4 | 64 | 0 | 64 | 0 |
[
24.059709548950195,
1.7582526206970215,
18.64406967163086,
5.949230670928955,
-0.215265691280365,
29.999923706054688
] | [
24.00438117980957,
2.2644472122192383,
18.425052642822266,
5.907419681549072,
-0.21527327597141266,
30
] | [
0.35737934708595276,
-0.14491786062717438,
0.17334528267383575,
2.8570988178253174,
1.3729360103607178,
2.4246599674224854
] | 1 | [
0.42709702253341675,
0.02490968443453312,
0.142062246799469,
0.022844182327389717,
-0.007528110407292843,
0.654241144657135
] | [
0.42621010541915894,
0.03406841680407524,
0.13834813237190247,
0.022101473063230515,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.003999 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 6.5 | 65 | 0 | 65 | 0 |
[
24.027629852294922,
1.898706316947937,
18.555177688598633,
5.925563335418701,
-0.2152770757675171,
29.999908447265625
] | [
23.941001892089844,
1.0841407775878906,
18.285184860229492,
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-0.21527327597141266,
30
] | [
0.3576749861240387,
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0.17303325235843658,
2.8579862117767334,
1.3723479509353638,
2.426044464111328
] | 1 | [
0.42658278346061707,
0.027450956404209137,
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] | [
0.42519411444664,
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0.13597622513771057,
0.021248191595077515,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.008585 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
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0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 6.6 | 66 | 0 | 66 | 0 |
[
23.98025894165039,
1.7106574773788452,
18.40888214111328,
5.88913631439209,
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29.999929428100586
] | [
23.8612117767334,
1.9049347639083862,
18.109100341796875,
5.798909664154053,
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30
] | [
0.35775208473205566,
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0.17493830621242523,
2.8482460975646973,
1.378598928451538,
2.4172489643096924
] | 1 | [
0.4258234202861786,
0.02404853142797947,
0.1380739063024521,
0.021776696667075157,
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] | [
0.4239150881767273,
0.02756364829838276,
0.13299015164375305,
0.02017395570874214,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.004301 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 6.7 | 67 | 0 | 67 | 0 |
[
23.917552947998047,
1.9472625255584717,
18.248430252075195,
5.841391563415527,
-0.2152429074048996,
29.999929428100586
] | [
23.766300201416016,
2.8812897205352783,
17.899641036987305,
5.7269744873046875,
-0.21527327597141266,
30
] | [
0.3582855761051178,
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0.17448648810386658,
2.84934139251709,
1.3779186010360718,
2.4193291664123535
] | 1 | [
0.424818217754364,
0.028329497203230858,
0.1353529393672943,
0.020928582176566124,
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] | [
0.4223936200141907,
0.04522913694381714,
0.129438117146492,
0.018896134570240974,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.012096 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 6.8 | 68 | 0 | 68 | 0 |
[
23.839935302734375,
2.4988045692443848,
18.065792083740234,
5.782486915588379,
-0.21522393822669983,
29.99993133544922
] | [
23.658729553222656,
3.98783802986145,
17.66225242614746,
5.645446300506592,
-0.21527327597141266,
30
] | [
0.3591722548007965,
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0.17234410345554352,
2.8580191135406494,
1.3723320960998535,
2.4290854930877686
] | 1 | [
0.4235740005970001,
0.03830871731042862,
0.13225573301315308,
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] | [
0.4206692576408386,
0.06525024771690369,
0.12541243433952332,
0.017447909340262413,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.028939 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 6.9 | 69 | 0 | 69 | 0 |
[
23.748323440551758,
3.291980266571045,
17.858055114746094,
5.713044166564941,
-0.21520495414733887,
29.999935150146484
] | [
23.538707733154297,
5.222497940063477,
17.39737892150879,
5.554479598999023,
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30
] | [
0.36031854152679443,
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0.16893719136714935,
2.871281147003174,
1.3631174564361572,
2.4435439109802246
] | 1 | [
0.42210546135902405,
0.052659884095191956,
0.12873288989067078,
0.01864868402481079,
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] | [
0.4187453091144562,
0.0875893235206604,
0.12092067301273346,
0.015832021832466125,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.052783 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 7 | 70 | 0 | 70 | 0 |
[
23.643798828125,
4.277038097381592,
17.624954223632812,
5.633847236633301,
-0.2151859849691391,
29.999937057495117
] | [
23.408428192138672,
6.568173408508301,
17.10987091064453,
5.4557390213012695,
-0.21527327597141266,
30
] | [
0.3616458475589752,
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0.16454195976257324,
2.8868653774261475,
1.3511000871658325,
2.460449695587158
] | 1 | [
0.42042991518974304,
0.07048283517360687,
0.12477993220090866,
0.017241869121789932,
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0.6542414426803589
] | [
0.4166569113731384,
0.1119370386004448,
0.11604506522417068,
0.014078044332563877,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.082223 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 7.1 | 71 | 0 | 71 | 0 |
[
23.527545928955078,
5.428130626678467,
17.367122650146484,
5.545760631561279,
-0.21516700088977814,
29.99994468688965
] | [
23.26956558227539,
8.041923522949219,
16.803424835205078,
5.350493907928467,
-0.21527327597141266,
30
] | [
0.36309537291526794,
-0.14419320225715637,
0.15929196774959564,
2.9034135341644287,
1.3366824388504028,
2.478437900543213
] | 1 | [
0.41856637597084045,
0.09130989760160446,
0.1204075813293457,
0.01567714288830757,
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0.6542416214942932
] | [
0.4144309163093567,
0.13860204815864563,
0.1108483076095581,
0.01220852229744196,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.116523 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 7.2 | 72 | 0 | 72 | 0 |
[
23.400957107543945,
6.721743583679199,
17.08755874633789,
5.449844837188721,
-0.21514803171157837,
29.999948501586914
] | [
23.122539520263672,
9.60232162475586,
16.478960037231445,
5.23906135559082,
-0.21527327597141266,
30
] | [
0.3646078109741211,
-0.14407487213611603,
0.15329676866531372,
2.919978380203247,
1.3201932907104492,
2.496548652648926
] | 1 | [
0.4165371358394623,
0.11471563577651978,
0.1156666949391365,
0.013973343186080456,
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0.654241681098938
] | [
0.41207408905029297,
0.16683480143547058,
0.10534597933292389,
0.01022909115999937,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.154999 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 7.3 | 73 | 0 | 73 | 0 |
[
23.26533317565918,
8.130905151367188,
16.78864288330078,
5.347095966339111,
-0.2151290476322174,
29.999954223632812
] | [
22.969791412353516,
11.223450660705566,
16.141868591308594,
5.123291969299316,
-0.21527327597141266,
30
] | [
0.3661258816719055,
-0.14389652013778687,
0.14669203758239746,
2.935850143432617,
1.3020424842834473,
2.5140631198883057
] | 1 | [
0.4143630862236023,
0.1402120143175125,
0.1105976328253746,
0.01214816328138113,
-0.007523818872869015,
0.6542418003082275
] | [
0.4096255302429199,
0.19616638123989105,
0.09962952882051468,
0.008172621950507164,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.196872 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 7.4 | 74 | 0 | 74 | 0 |
[
23.12211036682129,
9.632879257202148,
16.473121643066406,
5.238572120666504,
-0.21511007845401764,
29.99995994567871
] | [
22.812427520751953,
12.893576622009277,
15.794588088989258,
5.00402307510376,
-0.21527327597141266,
30
] | [
0.36759981513023376,
-0.14364492893218994,
0.13958972692489624,
2.950660467147827,
1.2825658321380615,
2.530599594116211
] | 1 | [
0.4120672047138214,
0.1673876941204071,
0.10524697601795197,
0.010220400057733059,
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0.6542419195175171
] | [
0.4071029722690582,
0.2263844758272171,
0.09374029189348221,
0.0060539888218045235,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.241479 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 7.5 | 75 | 0 | 75 | 0 |
[
22.97270965576172,
11.20763111114502,
16.144102096557617,
5.125368118286133,
-0.21509109437465668,
29.999963760375977
] | [
22.651737213134766,
14.598992347717285,
15.439969062805176,
4.882234573364258,
-0.21527327597141266,
30
] | [
0.36898690462112427,
-0.14331048727035522,
0.1320871263742447,
2.9642555713653564,
1.2620493173599243,
2.545989513397217
] | 1 | [
0.4096722900867462,
0.19588015973567963,
0.09966740757226944,
0.008209501393139362,
-0.007522626779973507,
0.6542420387268066
] | [
0.40452706813812256,
0.25724107027053833,
0.08772660791873932,
0.003890599124133587,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.288234 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 7.6 | 76 | 0 | 76 | 0 |
[
22.81855583190918,
12.837307929992676,
15.804603576660156,
5.008553504943848,
-0.2150721251964569,
29.999969482421875
] | [
22.489418029785156,
16.321699142456055,
15.081754684448242,
4.759210586547852,
-0.21527327597141266,
30
] | [
0.3702515959739685,
-0.14288735389709473,
0.12427191436290741,
2.9766085147857666,
1.240745186805725,
2.5601894855499268
] | 1 | [
0.40720120072364807,
0.22536639869213104,
0.09391013532876968,
0.006134465336799622,
-0.007522030733525753,
0.6542421579360962
] | [
0.40192508697509766,
0.2884105443954468,
0.0816519558429718,
0.0017052629264071584,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.336609 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 7.7 | 77 | 0 | 77 | 0 |
[
22.66108512878418,
14.504825592041016,
15.457803726196289,
4.889225006103516,
-0.21505314111709595,
29.999971389770508
] | [
22.32676124572754,
18.04799461364746,
14.722794532775879,
4.635931015014648,
-0.21527327597141266,
30
] | [
0.3713647723197937,
-0.14237305521965027,
0.11622907221317291,
2.987757682800293,
1.2188905477523804,
2.5732221603393555
] | 1 | [
0.4046769142150879,
0.2555373013019562,
0.08802904933691025,
0.0040147737599909306,
-0.007521434687077999,
0.6542421579360962
] | [
0.3993176817893982,
0.3196449279785156,
0.07556465268135071,
-0.00048461343976669014,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.386099 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 7.8 | 78 | 0 | 78 | 0 |
[
22.501728057861328,
16.193925857543945,
15.106846809387207,
4.768469333648682,
-0.21503415703773499,
29.999975204467773
] | [
22.16532325744629,
19.761335372924805,
14.366527557373047,
4.513576030731201,
-0.21527327597141266,
30
] | [
0.3723043203353882,
-0.14176848530769348,
0.10804109275341034,
2.997777223587036,
1.1967090368270874,
2.58514404296875
] | 1 | [
0.4021224081516266,
0.2860986888408661,
0.08207747340202332,
0.0018697306513786316,
-0.007520838174968958,
0.6542422771453857
] | [
0.39672982692718506,
0.35064491629600525,
0.06952302157878876,
-0.0026580658741295338,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.436222 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 7.9 | 79 | 0 | 79 | 0 |
[
22.34193992614746,
17.88373565673828,
14.755257606506348,
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-0.21501518785953522,
29.999975204467773
] | [
22.006332397460938,
21.41236114501953,
14.015655517578125,
4.393074035644531,
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30
] | [
0.3730558156967163,
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0.09981831908226013,
3.006722927093506,
1.1745004653930664,
2.595996618270874
] | 1 | [
0.39956098794937134,
0.3166729509830475,
0.07611516118049622,
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] | [
0.39418116211891174,
0.3805174231529236,
0.06357287615537643,
-0.004798602778464556,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.486363 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 8 | 80 | 0 | 80 | 0 |
[
22.183155059814453,
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14.40577507019043,
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] | [
21.851612091064453,
23.010644912719727,
13.674213409423828,
4.275810241699219,
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30
] | [
0.37361836433410645,
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0.09170585125684738,
3.0146286487579346,
1.152666687965393,
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] | 1 | [
0.39701566100120544,
0.34679362177848816,
0.07018858194351196,
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] | [
0.39170098304748535,
0.4094356596469879,
0.057782646268606186,
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0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.535771 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 8.1 | 81 | 0 | 81 | 0 |
[
22.026813507080078,
21.17844009399414,
14.061454772949219,
4.408612251281738,
-0.2149772346019745,
29.999975204467773
] | [
21.70232582092285,
24.552804946899414,
13.34476089477539,
4.162664413452148,
-0.21527327597141266,
30
] | [
0.373994380235672,
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0.08375135809183121,
3.0216355323791504,
1.1313165426254272,
2.6146810054779053
] | 1 | [
0.394509494304657,
0.37628501653671265,
0.06434954702854156,
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0.6542422771453857
] | [
0.3893079161643982,
0.4373384416103363,
0.05219573900103569,
-0.008891483768820763,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.584146 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 8.2 | 82 | 0 | 82 | 0 |
[
21.874406814575195,
22.762052536010742,
13.725817680358887,
4.293120861053467,
-0.21495825052261353,
29.999975204467773
] | [
21.559642791748047,
26.02676010131836,
13.029879570007324,
4.05452299118042,
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30
] | [
0.3741903603076935,
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0.07601168751716614,
3.0278515815734863,
1.1105824708938599,
2.6227223873138428
] | 1 | [
0.3920663893222809,
0.4049378037452698,
0.05865776166319847,
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] | [
0.38702070713043213,
0.4640071392059326,
0.04685593023896217,
-0.010812452994287014,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.631134 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 8.3 | 83 | 0 | 83 | 0 |
[
21.73438262939453,
24.215970993041992,
13.42102336883545,
4.187118053436279,
-0.21495066583156586,
29.999975204467773
] | [
21.476896286010742,
26.88155174255371,
12.844639778137207,
3.9918081760406494,
-0.21527327597141266,
30
] | [
0.3742118775844574,
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0.06887972354888916,
3.0331320762634277,
1.0914769172668457,
2.62967586517334
] | 1 | [
0.3898217976093292,
0.43124398589134216,
0.05348901078104973,
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0.6542422771453857
] | [
0.3856942653656006,
0.47947314381599426,
0.043714605271816254,
-0.011926488019526005,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.674239 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 8.4 | 84 | 0 | 84 | 0 |
[
21.621150970458984,
25.390085220336914,
13.169235229492188,
4.101367950439453,
-0.21495066583156586,
29.999975204467773
] | [
21.406492233276367,
27.608840942382812,
12.67045783996582,
3.938448190689087,
-0.21527327597141266,
30
] | [
0.3741356432437897,
-0.1369914561510086,
0.06314006447792053,
3.037095785140991,
1.0761381387710571,
2.6349942684173584
] | 1 | [
0.38800668716430664,
0.452487587928772,
0.049219146370887756,
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0.6542422771453857
] | [
0.38456568121910095,
0.4926322102546692,
0.04076080024242401,
-0.01287434808909893,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.709048 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 8.5 | 85 | 0 | 85 | 0 |
[
21.52435302734375,
26.391565322875977,
12.945145606994629,
4.028009414672852,
-0.21495066583156586,
29.999975204467773
] | [
21.33417320251465,
28.355907440185547,
12.491539001464844,
3.8836371898651123,
-0.21527327597141266,
30
] | [
0.3740176260471344,
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0.05828265845775604,
3.040264368057251,
1.0632106065750122,
2.639324903488159
] | 1 | [
0.3864549994468689,
0.4706076979637146,
0.04541900008916855,
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0.6542422771453857
] | [
0.383406400680542,
0.5061491131782532,
0.037726666778326035,
-0.01384798251092434,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.738748 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 8.6 | 86 | 0 | 86 | 0 |
[
21.436832427978516,
27.29623031616211,
12.736763954162598,
3.9616329669952393,
-0.21495066583156586,
29.999975204467773
] | [
21.259790420532227,
29.124298095703125,
12.307514190673828,
3.827261447906494,
-0.21527327597141266,
30
] | [
0.373866468667984,
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0.053919095546007156,
3.0429790019989014,
1.0516315698623657,
2.643092632293701
] | 1 | [
0.38505202531814575,
0.4869760572910309,
0.04188523069024086,
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0.6542422771453857
] | [
0.3822140395641327,
0.5200518369674683,
0.03460594639182091,
-0.014849413186311722,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.765563 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 8.7 | 87 | 0 | 87 | 0 |
[
21.354141235351562,
28.150537490844727,
12.536378860473633,
3.898904800415039,
-0.21495066583156586,
29.999975204467773
] | [
21.18305206298828,
29.91701889038086,
12.117661476135254,
3.7691009044647217,
-0.21527327597141266,
30
] | [
0.37368160486221313,
-0.135136216878891,
0.04981295019388199,
3.0454299449920654,
1.0407557487487793,
2.6465394496917725
] | 1 | [
0.38372647762298584,
0.5024333000183105,
0.03848706930875778,
-0.013576776720583439,
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0.6542422771453857
] | [
0.3809839189052582,
0.5343948006629944,
0.031386394053697586,
-0.015882547944784164,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.790852 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 8.8 | 88 | 0 | 88 | 0 |
[
21.27345085144043,
28.983911514282227,
12.338807106018066,
3.837700366973877,
-0.21495066583156586,
29.999975204467773
] | [
21.104520797729492,
30.728269577026367,
11.923371315002441,
3.709580898284912,
-0.21527327597141266,
30
] | [
0.37345901131629944,
-0.1345432549715042,
0.04581587761640549,
3.04772686958313,
1.030179738998413,
2.649808645248413
] | 1 | [
0.3824329972267151,
0.517511785030365,
0.035136617720127106,
-0.014663981273770332,
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0.6542422771453857
] | [
0.37972503900527954,
0.5490729808807373,
0.028091590851545334,
-0.016939831897616386,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.815464 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 8.9 | 89 | 0 | 89 | 0 |
[
21.193056106567383,
29.814136505126953,
12.140968322753906,
3.7767367362976074,
-0.21495066583156586,
29.999975204467773
] | [
21.0229434967041,
31.57098388671875,
11.721546173095703,
3.647752046585083,
-0.21527327597141266,
30
] | [
0.37319323420524597,
-0.13393600285053253,
0.04183819890022278,
3.0499327182769775,
1.0196582078933716,
2.652982711791992
] | 1 | [
0.38114428520202637,
0.5325332880020142,
0.0317816361784935,
-0.015746908262372017,
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0.6542422771453857
] | [
0.37841734290122986,
0.5643205046653748,
0.02466900832951069,
-0.018038127571344376,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.839893 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 9 | 90 | 0 | 90 | 0 |
[
21.111610412597656,
30.65517234802246,
11.93982982635498,
3.714982509613037,
-0.21495066583156586,
29.999975204467773
] | [
20.93812370300293,
32.447181701660156,
11.511701583862305,
3.5834670066833496,
-0.21527327597141266,
30
] | [
0.37287840247154236,
-0.13330397009849548,
0.03781236335635185,
3.052088975906372,
1.0090097188949585,
2.6561193466186523
] | 1 | [
0.3798387050628662,
0.5477504134178162,
0.028370697051286697,
-0.016843879595398903,
-0.007518216036260128,
0.6542422771453857
] | [
0.37705767154693604,
0.5801737904548645,
0.021110430359840393,
-0.0191800557076931,
-0.007528348825871944,
0.6542428135871887
] | Pick up the box lid by the handle | Is the box lid grasped by the handle? | move | 0.864496 | [
20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
-0.21527327597141266,
30
] | [
0.3587402403354645,
-0.14744307100772858,
0.01001511700451374,
3.066161870956421,
0.9293922781944275,
2.672260046005249
] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
-0.14746718108654022,
0.030000027269124985
] | 9.1 | 91 | 0 | 91 | 0 |
[
21.037250518798828,
31.472064971923828,
11.674285888671875,
3.4509758949279785,
-0.2824304401874542,
29.96493148803711
] | [
20.848247528076172,
33.37562942504883,
11.289342880249023,
3.515348196029663,
-0.21527327597141266,
30
] | [
0.37301352620124817,
-0.13287830352783203,
0.034666843712329865,
3.0498735904693604,
1.0032625198364258,
2.6543102264404297
] | 1 | [
0.37864670157432556,
0.5625306963920593,
0.023867560550570488,
-0.021533560007810593,
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0.6534762382507324
] | [
0.37561696767807007,
0.5969724655151367,
0.017339635640382767,
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20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
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0.01001511700451374,
3.066161870956421,
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] | 30 | open the box by moving the lid to the target marker | box lid | [
0.3587813079357147,
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20.828723907470703,
35.333309173583984,
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20.828723907470703,
35.333309173583984,
11.891440391540527,
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] | [
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] | 30 | open the box by moving the lid to the target marker | box lid | [
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35.333309173583984,
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] | [
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35.333309173583984,
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20.828723907470703,
35.333309173583984,
11.891440391540527,
3.500551462173462,
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] | [
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] | 30 | open the box by moving the lid to the target marker | box lid | [
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[
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35.333309173583984,
11.891440391540527,
3.500551462173462,
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] | [
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] | 30 | open the box by moving the lid to the target marker | box lid | [
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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": 28973,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
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},
"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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"elbow_flex.pos",
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"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": {
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"video.codec": "h264",
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"video.fps": 10,
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}
},
"observation.images.left_wrist": {
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640,
3
],
"names": [
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],
"info": {
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"video.codec": "h264",
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}
},
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],
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},
"action.radian_urdf0": {
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"names": [
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},
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"gripper.pos"
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},
"skill.goal_position.robot_xyzrpy": {
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"shape": [
6
],
"names": [
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"roll",
"pitch",
"yaw"
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},
"skill.goal_position.gripper": {
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"shape": [
1
],
"names": [
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]
},
"subtask.natural_language": {
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"shape": [
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],
"names": null
},
"subtask.object_name": {
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"shape": [
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],
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},
"subtask.target_position": {
"dtype": "float32",
"shape": [
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],
"names": [
"x",
"y",
"z"
]
},
"timestamp": {
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"names": null
},
"frame_index": {
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"names": null
},
"episode_index": {
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},
"index": {
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},
"task_index": {
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"names": null
}
}
}
Citation
BibTeX:
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