CoRL2026-CSI/Gr00t_BaseCaP_Sim_close_box_100ep_vision_encoder_final
Robotics • 3B • Updated • 37
Datasets:
observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 10
values | skill.verification_question stringclasses 11
values | skill.type stringclasses 7
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 3
values | subtask.target_position list | timestamp float32 0 35.5 | frame_index int64 0 355 | episode_index int64 0 99 | index int64 0 33.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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99,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.000942 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.005012 | [
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72.75862121582031,
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.008395 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.012852 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.021954 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.036115 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.05525 | [
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72.75862121582031,
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.079192 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.107706 | [
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72.75862121582031,
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.140493 | [
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72.75862121582031,
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.177204 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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] | [
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] | 1 | 10 | 0 | 10 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.217443 | [
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72.75862121582031,
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] | 1.1 | 11 | 0 | 11 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.260772 | [
2.2691292762756348,
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72.75862121582031,
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] | 1.2 | 12 | 0 | 12 | 0 | ||
[
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] | 1 | [
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1.2207891941070557,
1.2037067413330078,
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] | [
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1.0926069021224976,
1.2047102451324463,
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-0.0010128200519829988
] | Move to initial position | Is the robot at initial position? | move_initial | 0.30672 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.3 | 13 | 0 | 13 | 0 | ||
[
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] | [
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] | [
0.18018648028373718,
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0.07185772806406021,
3.099902629852295,
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3.0728509426116943
] | 1 | [
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1.0413939952850342,
1.205165147781372,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.354785 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.4 | 14 | 0 | 14 | 0 | ||
[
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] | [
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68.64987182617188,
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] | [
0.18241868913173676,
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0.07814133912324905,
3.0988593101501465,
0.6890887022018433,
3.0661094188690186
] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.40444 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.5 | 15 | 0 | 15 | 0 | ||
[
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72.49554443359375,
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] | [
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] | [
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3.0977704524993896,
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] | 1 | [
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] | [
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1.2060725688934326,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.455142 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.6 | 16 | 0 | 16 | 0 | ||
[
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72.5191421508789,
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] | [
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62.7091064453125,
72.58426666259766,
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] | [
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0.09084228426218033,
3.096649169921875,
0.7065880298614502,
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] | 1 | [
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] | [
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1.2065154314041138,
-0.004943390376865864,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.506337 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.7 | 17 | 0 | 17 | 0 | ||
[
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] | [
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] | [
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0.0971018522977829,
3.095505714416504,
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3.045215368270874
] | 1 | [
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] | [
0.04208650812506676,
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0.8410089015960693,
1.206944465637207,
-0.005321069620549679,
-0.0012503289617598057
] | Move to initial position | Is the robot at initial position? | move_initial | 0.557464 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
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] | [
0.21971745789051056,
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] | 0 | [
0,
0,
0
] | 1.8 | 18 | 0 | 18 | 0 | ||
[
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] | [
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] | [
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0.10320056974887848,
3.094353675842285,
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3.038283109664917
] | 1 | [
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1.2061817646026611,
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] | [
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0.7947767972946167,
1.2073549032211304,
-0.005682465620338917,
-0.0012939722510054708
] | Move to initial position | Is the robot at initial position? | move_initial | 0.607963 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 1.9 | 19 | 0 | 19 | 0 | ||
[
-0.22381477057933807,
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61.96730041503906,
72.58770751953125,
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] | [
0.7079627513885498,
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54.56022644042969,
72.6533432006836,
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] | [
0.1960342526435852,
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0.10906928032636642,
3.0932044982910156,
0.7325289845466614,
3.031491279602051
] | 1 | [
0.03782970830798149,
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1.2065765857696533,
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] | [
0.05276619270443916,
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0.7511340975761414,
1.2077425718307495,
-0.006023620255291462,
-0.0013351710513234138
] | Move to initial position | Is the robot at initial position? | move_initial | 0.65728 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2 | 20 | 0 | 20 | 0 | ||
[
0.12234226614236832,
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59.212825775146484,
72.60902404785156,
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] | [
1.0087400674819946,
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52.16755676269531,
72.67362976074219,
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] | [
0.19899266958236694,
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0.11464529484510422,
3.0920727252960205,
0.7407094240188599,
3.024916648864746
] | 1 | [
0.043378639966249466,
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0.8300336003303528,
1.2069553136825562,
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] | [
0.05758768320083618,
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0.7105588316917419,
1.208102822303772,
-0.00634079659357667,
-0.001373474020510912
] | Move to initial position | Is the robot at initial position? | move_initial | 0.704875 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2.1 | 21 | 0 | 21 | 0 | ||
[
0.4521801769733429,
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56.58823013305664,
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] | [
1.2834818363189697,
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49.98200225830078,
72.69215393066406,
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] | [
0.20191991329193115,
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0.11987327039241791,
3.090972900390625,
0.748505175113678,
3.0186331272125244
] | 1 | [
0.04866597428917885,
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0.7855253219604492,
1.2073129415512085,
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] | [
0.061991821974515915,
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0.6734958291053772,
1.2084319591522217,
-0.006630517542362213,
-0.0014084615977481008
] | Move to initial position | Is the robot at initial position? | move_initial | 0.750227 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2.2 | 22 | 0 | 22 | 0 | ||
[
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54.1223258972168,
72.64794921875,
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] | [
1.5291792154312134,
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48.02749252319336,
72.70872497558594,
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] | [
0.20476315915584564,
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0.1247049942612648,
3.0899202823638916,
0.755828320980072,
3.012712240219116
] | 1 | [
0.053633783012628555,
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0.7437081336975098,
1.2076467275619507,
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] | [
0.06593037396669388,
-1.053221344947815,
0.6403509974479675,
1.2087262868881226,
-0.006889610551297665,
-0.0014397504273802042
] | Move to initial position | Is the robot at initial position? | move_initial | 0.792838 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2.3 | 23 | 0 | 23 | 0 | ||
[
1.0486621856689453,
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51.842098236083984,
72.66519927978516,
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] | [
1.7431391477584839,
-56.526607513427734,
46.32545471191406,
72.72315216064453,
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] | [
0.20746980607509613,
-0.00979016162455082,
0.12910053133964539,
3.088930130004883,
0.7625995874404907,
3.0072224140167236
] | 1 | [
0.05822763964533806,
-1.1062370538711548,
0.7050396800041199,
1.2079530954360962,
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] | [
0.0693601742386818,
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0.6114875674247742,
1.2089825868606567,
-0.007115236483514309,
-0.0014669975498691201
] | Move to initial position | Is the robot at initial position? | move_initial | 0.832241 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2.4 | 24 | 0 | 24 | 0 | ||
[
1.308769941329956,
-59.17613220214844,
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72.68077850341797,
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] | [
1.9230180978775024,
-55.43163299560547,
44.894527435302734,
72.73528289794922,
-0.2081596553325653,
0.0020163662265986204
] | [
0.2099885195493698,
-0.010651076212525368,
0.13302694261074066,
3.0880165100097656,
0.7687429785728455,
3.002225875854492
] | 1 | [
0.06239719316363335,
-1.0775946378707886,
0.6699447631835938,
1.208229899406433,
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] | [
0.07224365323781967,
-1.0098443031311035,
0.5872216820716858,
1.209197998046875,
-0.007304922211915255,
-0.001489904592745006
] | Move to initial position | Is the robot at initial position? | move_initial | 0.868004 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2.5 | 25 | 0 | 25 | 0 | ||
[
1.5395591259002686,
-57.77140808105469,
47.93645477294922,
72.69451904296875,
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0.0016554341418668628
] | [
2.066845417022705,
-54.556114196777344,
43.750389099121094,
72.74497985839844,
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0.0011784601956605911
] | [
0.21227119863033295,
-0.01143608707934618,
0.1364586055278778,
3.0871946811676025,
0.7741912007331848,
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] | 1 | [
0.06609676778316498,
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0.6388071179389954,
1.2084739208221436,
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] | [
0.07454922050237656,
-0.9940032362937927,
0.5678191781044006,
1.2093702554702759,
-0.007456591352820396,
-0.0015082205645740032
] | Move to initial position | Is the robot at initial position? | move_initial | 0.899736 | [
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 | ||
[
1.73849356174469,
-56.560569763183594,
46.35379409790039,
72.70623779296875,
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0.0009042430901899934
] | [
2.1730449199676514,
-53.909645080566406,
42.90557861328125,
72.75214385986328,
-0.21655422449111938,
0.0005597662529908121
] | [
0.21427392959594727,
-0.012129044160246849,
0.13937649130821228,
3.0864765644073486,
0.7788882851600647,
2.993943929672241
] | 1 | [
0.06928570568561554,
-1.0302704572677612,
0.6119681000709534,
1.2086820602416992,
-0.007065459154546261,
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] | [
0.07625160366296768,
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0.5534927248954773,
1.2094975709915161,
-0.0075685810297727585,
-0.0015217447653412819
] | Move to initial position | Is the robot at initial position? | move_initial | 0.927087 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.7 | 27 | 0 | 27 | 0 | ||
[
1.9034013748168945,
-55.55679702758789,
45.0419921875,
72.7159423828125,
-0.20596297085285187,
0.0003752684569917619
] | [
2.2404532432556152,
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42.369346618652344,
72.7566909790039,
-0.21881742775440216,
0.00016706023598089814
] | [
0.21595779061317444,
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0.1417657434940338,
3.0858752727508545,
0.7827785611152649,
2.9907562732696533
] | 1 | [
0.0719291940331459,
-1.0121089220046997,
0.5897223949432373,
1.2088545560836792,
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] | [
0.07733216881752014,
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0.5443992614746094,
1.2095783948898315,
-0.007639664225280285,
-0.0015303289983421564
] | Move to initial position | Is the robot at initial position? | move_initial | 0.949759 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.8 | 28 | 0 | 28 | 0 | ||
[
2.0324676036834717,
-54.771148681640625,
44.01533508300781,
72.72349548339844,
-0.21019873023033142,
0.00007430330151692033
] | [
2.26833176612854,
-53.32960891723633,
42.14757537841797,
72.7585678100586,
-0.2197534441947937,
0.0000046465038394671865
] | [
0.21729041635990143,
-0.013181240297853947,
0.1436169445514679,
3.0854008197784424,
0.7858226299285889,
2.9882583618164062
] | 1 | [
0.07399813830852509,
-0.9978939294815063,
0.5723121762275696,
1.2089886665344238,
-0.00736896600574255,
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] | [
0.07777906209230423,
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0.5406383872032166,
1.2096116542816162,
-0.007669062819331884,
-0.0015338791999965906
] | Move to initial position | Is the robot at initial position? | move_initial | 0.967503 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.9 | 29 | 0 | 29 | 0 | ||
[
2.1252822875976562,
-54.184364318847656,
43.2505989074707,
72.71295928955078,
-0.2119712084531784,
0
] | [
1.9113479852676392,
-53.85761642456055,
43.00004577636719,
72.6989517211914,
-0.21320094168186188,
0
] | [
0.21832643449306488,
-0.013526145368814468,
0.14501172304153442,
3.085059642791748,
0.7883502840995789,
2.9864895343780518
] | 1 | [
0.0754859670996666,
-0.9872770309448242,
0.5593436360359192,
1.208801507949829,
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] | [
0.07205657660961151,
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0.5550947189331055,
1.2085527181625366,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.000164 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 3 | 30 | 0 | 30 | 0 |
[
2.061518669128418,
-54.06084060668945,
43.15779113769531,
72.7100830078125,
-0.2128935158252716,
0
] | [
1.1773383617401123,
-53.66197204589844,
42.78026580810547,
72.59619140625,
-0.21320094168186188,
0
] | [
0.218499094247818,
-0.013354298658668995,
0.14504168927669525,
3.085099220275879,
0.7877405285835266,
2.9875195026397705
] | 1 | [
0.07446382939815521,
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0.557769775390625,
1.2087503671646118,
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] | [
0.06029033288359642,
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0.5513677000999451,
1.2067272663116455,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.001236 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 3.1 | 31 | 0 | 31 | 0 |
[
1.7667136192321777,
-53.91716384887695,
43.02638244628906,
72.6749496459961,
-0.2142295241355896,
0
] | [
-0.12317582964897156,
-53.315330505371094,
42.390865325927734,
72.41410827636719,
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0
] | [
0.2188345193862915,
-0.012523935176432133,
0.14522743225097656,
3.085028648376465,
0.7879903316497803,
2.9921655654907227
] | 1 | [
0.06973807513713837,
-0.9824424982070923,
0.5555413365364075,
1.2081263065338135,
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] | [
0.03944296017289162,
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0.5447641611099243,
1.2034928798675537,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.004455 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 3.2 | 32 | 0 | 32 | 0 |
[
1.1170014142990112,
-53.70449447631836,
42.80607986450195,
72.58850860595703,
-0.21540991961956024,
0
] | [
-1.8901340961456299,
-52.844364166259766,
41.86179733276367,
72.16671752929688,
-0.21320094168186188,
0
] | [
0.2194591909646988,
-0.01067824475467205,
0.1456669718027115,
3.0848305225372314,
0.7894072532653809,
3.002413749694824
] | 1 | [
0.05932312458753586,
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0.5518054366111755,
1.2065907716751099,
-0.0075326403602957726,
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] | [
0.011118443682789803,
-0.9630320072174072,
0.5357921123504639,
1.1990983486175537,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.011139 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 3.3 | 33 | 0 | 33 | 0 |
[
0.05540714040398598,
-53.39751434326172,
42.472774505615234,
72.44300842285156,
-0.216279074549675,
0
] | [
-4.114638805389404,
-52.25144577026367,
41.19573211669922,
71.85527038574219,
-0.21320094168186188,
0
] | [
0.22040237486362457,
-0.0076362090185284615,
0.14639867842197418,
3.084498167037964,
0.792079746723175,
3.0191757678985596
] | 1 | [
0.04230566322803497,
-0.9730403423309326,
0.54615318775177,
1.2040061950683594,
-0.0075599392876029015,
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] | [
-0.02454058639705181,
-0.9523041844367981,
0.5244969129562378,
1.1935659646987915,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.021894 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 3.4 | 34 | 0 | 34 | 0 |
[
-1.435043215751648,
-52.985591888427734,
42.017032623291016,
72.23585510253906,
-0.2167307436466217,
0
] | [
-6.760735034942627,
-51.54615020751953,
40.4034309387207,
71.48479461669922,
-0.21320094168186188,
0
] | [
0.22162595391273499,
-0.0033164415508508682,
0.1474335938692093,
3.084031105041504,
0.7960215210914612,
3.042724847793579
] | 1 | [
0.018413595855236053,
-0.965587317943573,
0.5384246706962585,
1.2003264427185059,
-0.007574125193059444,
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] | [
-0.06695777177810669,
-0.9395430684089661,
0.5110609531402588,
1.1869850158691406,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.036903 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 3.5 | 35 | 0 | 35 | 0 |
[
-3.3518850803375244,
-52.46969985961914,
41.255653381347656,
71.9613265991211,
-0.21630185842514038,
0
] | [
-9.75969409942627,
-52.07742691040039,
37.26799011230469,
71.06491088867188,
-0.21320094168186188,
0
] | [
0.22322389483451843,
0.002320262137800455,
0.14949731528759003,
3.0830652713775635,
0.8044487833976746,
3.072768449783325
] | 1 | [
-0.012313568964600563,
-0.9562531113624573,
0.5255130529403687,
1.1954498291015625,
-0.007560654543340206,
-0.0015339808305725455
] | [
-0.11503138393163681,
-0.9491555690765381,
0.4578896164894104,
1.179526448249817,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.056589 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 3.6 | 36 | 0 | 36 | 0 |
[
-5.675119400024414,
-52.36227798461914,
40.273765563964844,
71.63068389892578,
-0.21570216119289398,
0
] | [
-13.105851173400879,
-51.18553924560547,
36.252418518066406,
70.59642028808594,
-0.21320094168186188,
0
] | [
0.22463025152683258,
0.009264231659471989,
0.15368522703647614,
3.08062744140625,
0.8249616026878357,
3.1082491874694824
] | 1 | [
-0.04955524578690529,
-0.9543095231056213,
0.5088620185852051,
1.189576506614685,
-0.007541819009929895,
-0.0015339808305725455
] | [
-0.16867060959339142,
-0.9330183863639832,
0.44066742062568665,
1.1712043285369873,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.079319 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 3.7 | 37 | 0 | 37 | 0 |
[
-8.377479553222656,
-51.96657943725586,
39.272727966308594,
71.24556732177734,
-0.21493928134441376,
0
] | [
-16.737957000732422,
-50.21743392944336,
37.383636474609375,
70.08789825439453,
-0.21320094168186188,
0
] | [
0.22593341767787933,
0.017476290464401245,
0.15727242827415466,
3.0785841941833496,
0.8415622115135193,
-3.133113384246826
] | 1 | [
-0.09287434816360474,
-0.9471499919891357,
0.49188628792762756,
1.1827354431152344,
-0.007517858408391476,
-0.0015339808305725455
] | [
-0.22689363360404968,
-0.9155021905899048,
0.4598507881164551,
1.1621712446212769,
-0.0074632600881159306,
-0.0015339808305725455
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.10594 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 3.8 | 38 | 0 | 38 | 0 |
[
-11.427614212036133,
-51.350704193115234,
38.25309371948242,
70.81106567382812,
-0.21402457356452942,
0.28571537137031555
] | [
-20.60932159423828,
-49.1855583190918,
33.97508239746094,
69.5458755493164,
-0.21320094168186188,
1.1428574323654175
] | [
0.2269681692123413,
0.026901012286543846,
0.16041941940784454,
3.0768351554870605,
0.8553802371025085,
-3.085512638092041
] | 1 | [
-0.14176830649375916,
-0.9360067844390869,
0.47459515929222107,
1.175017237663269,
-0.007489128969609737,
0.0047115362249314785
] | [
-0.2889519929885864,
-0.8968321681022644,
0.4020479917526245,
1.152543067932129,
-0.0074632600881159306,
0.023447997868061066
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.136921 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 3.9 | 39 | 0 | 39 | 0 |
[
-14.788653373718262,
-50.57109832763672,
37.01868438720703,
70.33705139160156,
-0.21342867612838745,
1.7142854928970337
] | [
-24.708290100097656,
-48.093017578125,
32.73102569580078,
68.97198486328125,
-0.21320094168186188,
2.571427583694458
] | [
0.22768816351890564,
0.037477005273103714,
0.16403166949748993,
3.0748322010040283,
0.8705725073814392,
-3.03314471244812
] | 1 | [
-0.19564610719680786,
-0.9219011664390564,
0.45366185903549194,
1.1665971279144287,
-0.007470413111150265,
0.03593897446990013
] | [
-0.3546588718891144,
-0.8770644664764404,
0.38095107674598694,
1.1423487663269043,
-0.0074632600881159306,
0.05467543751001358
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.175104 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 4 | 40 | 0 | 40 | 0 |
[
-18.42368507385254,
-49.672996520996094,
35.7833137512207,
69.82341003417969,
-0.21251016855239868,
3.1428589820861816
] | [
-28.966812133789062,
-46.95794677734375,
31.43854522705078,
68.3757553100586,
-0.21320094168186188,
4.000000953674316
] | [
0.2277558594942093,
0.049078550189733505,
0.16738221049308777,
3.072967767715454,
0.884345293045044,
-2.976290464401245
] | 1 | [
-0.25391602516174316,
-0.9056515097618103,
0.43271225690841675,
1.1574729681015015,
-0.007441564463078976,
0.06716648489236832
] | [
-0.42292338609695435,
-0.8565272688865662,
0.3590329885482788,
1.1317576169967651,
-0.0074632600881159306,
0.08590294420719147
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.215912 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 4.1 | 41 | 0 | 41 | 0 |
[
-22.29464340209961,
-48.658409118652344,
34.371368408203125,
69.31866455078125,
-0.21577808260917664,
4.5714287757873535
] | [
-33.354034423828125,
-45.749473571777344,
32.34058380126953,
67.76151275634766,
-0.21320094168186188,
5.4285712242126465
] | [
0.22706922888755798,
0.06158967316150665,
0.17106589674949646,
3.070770025253296,
0.8988328576087952,
-2.916012763977051
] | 1 | [
-0.315967857837677,
-0.8872942924499512,
0.40876826643943787,
1.148506999015808,
-0.007544203661382198,
0.09839391708374023
] | [
-0.4932509958744049,
-0.8346620202064514,
0.37432989478111267,
1.1208465099334717,
-0.0074632600881159306,
0.11713038384914398
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.259381 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 4.2 | 42 | 0 | 42 | 0 |
[
-26.361679077148438,
-47.59058380126953,
33.11568832397461,
68.74295806884766,
-0.21474570035934448,
5.999999046325684
] | [
-37.833953857421875,
-44.50067901611328,
28.74732780456543,
67.13428497314453,
-0.21320094168186188,
6.857144355773926
] | [
0.2253921777009964,
0.07481800764799118,
0.17409533262252808,
3.0690152645111084,
0.9109848737716675,
-2.852177858352661
] | 1 | [
-0.3811628520488739,
-0.867973804473877,
0.3874742388725281,
1.1382803916931152,
-0.0075117782689630985,
0.12962135672569275
] | [
-0.565064549446106,
-0.8120672106742859,
0.3133949041366577,
1.1097047328948975,
-0.0074632600881159306,
0.14835788309574127
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.304335 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 4.3 | 43 | 0 | 43 | 0 |
[
-30.585575103759766,
-46.47411346435547,
31.80412483215332,
68.10848236083984,
-0.20978501439094543,
7.428572654724121
] | [
-42.35929870605469,
-43.23922348022461,
27.37386703491211,
66.50069427490234,
-0.21320094168186188,
8.285714149475098
] | [
0.22273792326450348,
0.08863287419080734,
0.17730683088302612,
3.0671966075897217,
0.9242511987686157,
-2.785818338394165
] | 1 | [
-0.44887232780456543,
-0.8477731347084045,
0.36523252725601196,
1.1270098686218262,
-0.007355972193181515,
0.16084887087345123
] | [
-0.6376062631607056,
-0.7892432808876038,
0.2901035249233246,
1.098449945449829,
-0.0074632600881159306,
0.1795853227376938
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.350914 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 4.4 | 44 | 0 | 44 | 0 |
[
-34.92573547363281,
-45.25983810424805,
30.367565155029297,
67.54316711425781,
-0.21415740251541138,
8.857142448425293
] | [
-46.89405822753906,
-41.97514343261719,
25.997573852539062,
65.86579132080078,
-0.21320094168186188,
9.714284896850586
] | [
0.2189197540283203,
0.10279478877782822,
0.18054234981536865,
3.0650599002838135,
0.9366192817687988,
-2.7180404663085938
] | 1 | [
-0.5184455513954163,
-0.8258029222488403,
0.340871125459671,
1.1169679164886475,
-0.007493300829082727,
0.19207629561424255
] | [
-0.7102988958358765,
-0.7663719058036804,
0.2667641341686249,
1.0871719121932983,
-0.0074632600881159306,
0.2108127772808075
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.398901 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 4.5 | 45 | 0 | 45 | 0 |
[
-39.3427734375,
-44.0689697265625,
29.04949951171875,
66.8759765625,
-0.20809602737426758,
10.28571605682373
] | [
-51.394813537597656,
-40.720542907714844,
24.631685256958008,
65.23564910888672,
-0.21320094168186188,
11.142858505249023
] | [
0.2139483243227005,
0.11711551249027252,
0.18356280028820038,
3.063265323638916,
0.9492332935333252,
-2.648575782775879
] | 1 | [
-0.5892511010169983,
-0.8042561411857605,
0.3185191750526428,
1.1051162481307983,
-0.00730292359367013,
0.22330380976200104
] | [
-0.7824465036392212,
-0.7436720728874207,
0.24360118806362152,
1.0759782791137695,
-0.0074632600881159306,
0.24204029142856598
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.447304 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 4.6 | 46 | 0 | 46 | 0 |
[
-43.79572677612305,
-42.807533264160156,
27.619863510131836,
66.29779815673828,
-0.21313641965389252,
11.714285850524902
] | [
-55.8274040222168,
-39.48494338989258,
25.519882202148438,
64.61505126953125,
-0.21320094168186188,
12.571428298950195
] | [
0.20776204764842987,
0.1313382238149643,
0.18657931685447693,
3.0610785484313965,
0.9608566164970398,
-2.579070806503296
] | 1 | [
-0.6606323719024658,
-0.7814326286315918,
0.294275164604187,
1.0948457717895508,
-0.007461233530193567,
0.25453123450279236
] | [
-0.8535013198852539,
-0.7213159799575806,
0.2586633563041687,
1.064954400062561,
-0.0074632600881159306,
0.2732677161693573
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.4963 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 4.7 | 47 | 0 | 47 | 0 |
[
-48.24501419067383,
-41.574920654296875,
26.33737564086914,
65.66895294189453,
-0.21197880804538727,
13.14285659790039
] | [
-60.140869140625,
-38.28255081176758,
24.210832595825195,
64.0111312866211,
-0.21320094168186188,
14.000001907348633
] | [
0.20042884349822998,
0.14524836838245392,
0.18916015326976776,
3.059288263320923,
0.9714250564575195,
-2.5092005729675293
] | 1 | [
-0.7319548726081848,
-0.7591305375099182,
0.2725265622138977,
1.0836752653121948,
-0.007424875162541866,
0.28575870394706726
] | [
-0.9226466417312622,
-0.6995607018470764,
0.23646429181098938,
1.0542266368865967,
-0.0074632600881159306,
0.3044952154159546
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.544898 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 4.8 | 48 | 0 | 48 | 0 |
[
-52.65037536621094,
-40.3480224609375,
25.04851531982422,
65.05308532714844,
-0.21182319521903992,
14.571429252624512
] | [
-64.30286407470703,
-37.122379302978516,
22.947751998901367,
63.42841720581055,
-0.21320094168186188,
15.428571701049805
] | [
0.1920624077320099,
0.15865318477153778,
0.1917181760072708,
3.057398796081543,
0.9819703102111816,
-2.440145254135132
] | 1 | [
-0.8025732636451721,
-0.7369319200515747,
0.25066983699798584,
1.07273530960083,
-0.007419987581670284,
0.31698617339134216
] | [
-0.9893637895584106,
-0.6785693764686584,
0.2150447815656662,
1.0438755750656128,
-0.0074632600881159306,
0.3357226550579071
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.593074 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 4.9 | 49 | 0 | 49 | 0 |
[
-56.970733642578125,
-39.171207427978516,
23.91313934326172,
64.40147399902344,
-0.20554926991462708,
16
] | [
-68.28077697753906,
-36.01352310180664,
21.740535736083984,
62.87147521972656,
-0.21320094168186188,
16.857141494750977
] | [
0.18279099464416504,
0.17134231328964233,
0.19385318458080292,
3.055940628051758,
0.9914742112159729,
-2.371997833251953
] | 1 | [
-0.8718290328979492,
-0.7156394720077515,
0.23141597211360931,
1.0611604452133179,
-0.007222934626042843,
0.34821364283561707
] | [
-1.0531301498413086,
-0.6585065126419067,
0.19457261264324188,
1.033982276916504,
-0.0074632600881159306,
0.3669500946998596
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.64009 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 5 | 50 | 0 | 50 | 0 |
[
-61.16666030883789,
-37.97239685058594,
22.678407669067383,
63.865901947021484,
-0.21199777722358704,
17.428573608398438
] | [
-70.58770751953125,
-35.370460510253906,
21.040430068969727,
62.548484802246094,
-0.21320094168186188,
18.285715103149414
] | [
0.17278945446014404,
0.18314749002456665,
0.1960197240114212,
3.0539708137512207,
1.0001722574234009,
-2.3064992427825928
] | 1 | [
-0.9390901327133179,
-0.6939489841461182,
0.21047718822956085,
1.0516468286514282,
-0.00742547120898962,
0.37944114208221436
] | [
-1.090110421180725,
-0.6468713879585266,
0.18270011246204376,
1.0282448530197144,
-0.0074632600881159306,
0.3981775939464569
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.686153 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 5.1 | 51 | 0 | 51 | 0 |
[
-64.75362396240234,
-36.99258804321289,
22.03009796142578,
63.322715759277344,
-0.20483951270580292,
18.85714340209961
] | [
-72.5505142211914,
-34.82331848144531,
20.44475555419922,
62.27367401123047,
-0.21320094168186188,
19.714284896850586
] | [
0.16344508528709412,
0.19270695745944977,
0.19648775458335876,
3.0537595748901367,
1.0030913352966309,
-2.2490572929382324
] | 1 | [
-0.9965895414352417,
-0.6762210130691528,
0.19948305189609528,
1.0419979095458984,
-0.007200642488896847,
0.41066858172416687
] | [
-1.1215744018554688,
-0.6369717717170715,
0.17259857058525085,
1.0233632326126099,
-0.0074632600881159306,
0.4294050335884094
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.725427 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 5.2 | 52 | 0 | 52 | 0 |
[
-67.69747924804688,
-36.16637420654297,
21.452531814575195,
62.92521286010742,
-0.20664995908737183,
20.28571319580078
] | [
-74.56670379638672,
-34.26129913330078,
19.832881927490234,
61.99139404296875,
-0.21320094168186188,
21.142858505249023
] | [
0.15526974201202393,
0.20018266141414642,
0.19684478640556335,
3.0533010959625244,
1.004982590675354,
-2.202284097671509
] | 1 | [
-1.0437798500061035,
-0.6612721085548401,
0.18968859314918518,
1.0349369049072266,
-0.007257505320012569,
0.4418960213661194
] | [
-1.1538941860198975,
-0.6268029808998108,
0.16222231090068817,
1.018349051475525,
-0.0074632600881159306,
0.4606325328350067
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.758707 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 5.3 | 53 | 0 | 53 | 0 |
[
-70.2723159790039,
-35.447723388671875,
20.85936737060547,
62.57398986816406,
-0.2082933932542801,
21.71428680419922
] | [
-76.64044952392578,
-33.68323516845703,
19.203542709350586,
61.7010498046875,
-0.21320094168186188,
22.571428298950195
] | [
0.1477866768836975,
0.2064773589372635,
0.19753049314022064,
3.0525753498077393,
1.008255124092102,
-2.1616501808166504
] | 1 | [
-1.0850547552108765,
-0.6482693552970886,
0.1796296238899231,
1.0286979675292969,
-0.007309122942388058,
0.4731235206127167
] | [
-1.1871365308761597,
-0.6163439154624939,
0.15154989063739777,
1.0131914615631104,
-0.0074632600881159306,
0.49185997247695923
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.788642 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 5.4 | 54 | 0 | 54 | 0 |
[
-72.64497375488281,
-34.787227630615234,
20.251426696777344,
62.24747848510742,
-0.20961421728134155,
23.14285659790039
] | [
-78.77984619140625,
-33.09009552001953,
18.55428123474121,
61.401519775390625,
-0.21320094168186188,
23.999998092651367
] | [
0.14061975479125977,
0.21206077933311462,
0.19841910898685455,
3.0516858100891113,
1.0123873949050903,
-2.124391555786133
] | 1 | [
-1.1230885982513428,
-0.6363188028335571,
0.16932006180286407,
1.0228979587554932,
-0.007350607309490442,
0.5043509602546692
] | [
-1.2214312553405762,
-0.60561203956604,
0.14053960144519806,
1.0078707933425903,
-0.0074632600881159306,
0.5230873823165894
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.816713 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 5.5 | 55 | 0 | 55 | 0 |
[
-74.91849517822266,
-34.15562057495117,
19.628433227539062,
61.93267059326172,
-0.21060484647750854,
24.571430206298828
] | [
-80.9692611694336,
-32.49885559082031,
17.88983726501465,
61.0949821472168,
-0.21320094168186188,
25.428571701049805
] | [
0.13350939750671387,
0.2171977162361145,
0.1994381546974182,
3.050685167312622,
1.0170869827270508,
-2.088813066482544
] | 1 | [
-1.1595333814620972,
-0.624890923500061,
0.15875524282455444,
1.017305850982666,
-0.0073817213997244835,
0.5355784893035889
] | [
-1.2565277814865112,
-0.5949145555496216,
0.12927186489105225,
1.0024255514144897,
-0.0074632600881159306,
0.554314911365509
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.843798 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 5.6 | 56 | 0 | 56 | 0 |
[
-77.1573486328125,
-33.539737701416016,
18.989097595214844,
61.621402740478516,
-0.211348757147789,
26
] | [
-83.24359130859375,
-31.884681701660156,
17.19962501525879,
60.77655792236328,
-0.21320094168186188,
26.85714340209961
] | [
0.12627503275871277,
0.2220286875963211,
0.2005653977394104,
3.049578905105591,
1.022282600402832,
-2.0538785457611084
] | 1 | [
-1.1954225301742554,
-0.6137475371360779,
0.14791329205036163,
1.0117766857147217,
-0.007405086420476437,
0.566805899143219
] | [
-1.2929855585098267,
-0.5838021039962769,
0.11756712943315506,
0.9967692494392395,
-0.0074632600881159306,
0.5855423808097839
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.870386 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 5.7 | 57 | 0 | 57 | 0 |
[
-79.40628051757812,
-32.925926208496094,
18.330413818359375,
61.30795669555664,
-0.2119029015302658,
27.428569793701172
] | [
-85.6082763671875,
-31.246109008789062,
16.48198890686035,
60.44548034667969,
-0.21320094168186188,
28.285715103149414
] | [
0.11878172308206558,
0.22664009034633636,
0.2017768770456314,
3.0483784675598145,
1.0278801918029785,
-2.0188632011413574
] | 1 | [
-1.2314730882644653,
-0.6026417016983032,
0.1367432326078415,
1.0062087774276733,
-0.007422490976750851,
0.5980333089828491
] | [
-1.330891728401184,
-0.5722482204437256,
0.10539734363555908,
0.9908881783485413,
-0.0074632600881159306,
0.6167698502540588
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.896741 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 5.8 | 58 | 0 | 58 | 0 |
[
-81.69513702392578,
-32.30936813354492,
17.479135513305664,
60.97881317138672,
-0.21087431907653809,
28.85714340209961
] | [
-88.11398315429688,
-30.569454193115234,
15.721558570861816,
60.094661712646484,
-0.21320094168186188,
29.71428680419922
] | [
0.11095190048217773,
0.23114147782325745,
0.20382483303546906,
3.0464861392974854,
1.0369558334350586,
-1.9837806224822998
] | 1 | [
-1.2681636810302734,
-0.5914860963821411,
0.12230711430311203,
1.0003620386123657,
-0.007390185259282589,
0.6292608380317688
] | [
-1.371058464050293,
-0.5600053071975708,
0.09250184893608093,
0.9846563935279846,
-0.0074632600881159306,
0.6479973196983337
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.923117 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 5.9 | 59 | 0 | 59 | 0 |
[
-84.05978393554688,
-31.66595458984375,
16.838470458984375,
60.653072357177734,
-0.21191048622131348,
30
] | [
-88.65827178955078,
-30.42247200012207,
15.556377410888672,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.10260079801082611,
0.23540686070919037,
0.20485468208789825,
3.045337438583374,
1.041931390762329,
-1.946881890296936
] | 1 | [
-1.306069254875183,
-0.5798446536064148,
0.11144261807203293,
0.9945757389068604,
-0.007422729395329952,
0.6542428135871887
] | [
-1.3797833919525146,
-0.5573459267616272,
0.08970068395137787,
0.9833027124404907,
-0.0074632600881159306,
0.6542428135871887
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.9481 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 6 | 60 | 0 | 60 | 0 |
[
-85.87602996826172,
-31.172460556030273,
16.32936668395996,
60.38997268676758,
-0.2084679901599884,
30
] | [
-88.65827178955078,
-30.42247200012207,
15.556377410888672,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.09604331105947495,
0.23850250244140625,
0.20574326813220978,
3.0445520877838135,
1.0462926626205444,
-1.9183921813964844
] | 1 | [
-1.33518385887146,
-0.570915699005127,
0.10280915349721909,
0.989902138710022,
-0.007314606569707394,
0.6542428135871887
] | [
-1.3797833919525146,
-0.5573459267616272,
0.08970068395137787,
0.9833027124404907,
-0.0074632600881159306,
0.6542428135871887
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.966174 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 6.1 | 61 | 0 | 61 | 0 |
[
-86.97512817382812,
-30.875118255615234,
16.02220344543457,
60.23585891723633,
-0.20798975229263306,
30
] | [
-88.65827178955078,
-30.42247200012207,
15.556377410888672,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.09201077371835709,
0.24027737975120544,
0.20626649260520935,
3.0440030097961426,
1.048844575881958,
-1.9012417793273926
] | 1 | [
-1.3528023958206177,
-0.5655357837677002,
0.09760022908449173,
0.9871645569801331,
-0.007299585733562708,
0.6542428135871887
] | [
-1.3797833919525146,
-0.5573459267616272,
0.08970068395137787,
0.9833027124404907,
-0.0074632600881159306,
0.6542428135871887
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.97635 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 6.2 | 62 | 0 | 62 | 0 |
[
-87.64005279541016,
-30.695707321166992,
15.837167739868164,
60.145729064941406,
-0.20863498747348785,
30
] | [
-87.74459838867188,
-30.59024429321289,
15.372156143188477,
60.13185501098633,
-0.20886652171611786,
30
] | [
0.08954795449972153,
0.24131253361701965,
0.20657281577587128,
3.043630838394165,
1.050325870513916,
-1.8909156322479248
] | 1 | [
-1.3634612560272217,
-0.5622896552085876,
0.09446236491203308,
0.9855635762214661,
-0.007319851778447628,
0.6542428135871887
] | [
-1.3651371002197266,
-0.5603814721107483,
0.08657662570476532,
0.9853171110153198,
-0.007327123545110226,
0.6542428135871887
] | Approach box lid and open gripper | Is the gripper above the box lid and open? | move_and_open | 0.981717 | [
-88.65827178955078,
-29.117013931274414,
15.992232322692871,
60.018455505371094,
-0.21320094168186188,
30
] | [
0.08609724789857864,
0.24467207491397858,
0.19999782741069794,
3.0496346950531006,
1.0215553045272827,
-1.8695002794265747
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.20000000298023224
] | 6.3 | 63 | 0 | 63 | 0 |
[
-87.74429321289062,
-30.638263702392578,
15.673219680786133,
60.13426208496094,
-0.20830099284648895,
30
] | [
-87.82203674316406,
-30.58259391784668,
15.367729187011719,
60.12153244018555,
-0.20886652171611786,
30
] | [
0.08917877823114395,
0.24156010150909424,
0.20707756280899048,
3.0432076454162598,
1.052259087562561,
-1.8896068334579468
] | 1 | [
-1.365132212638855,
-0.5612503290176392,
0.09168211370706558,
0.9853598475456238,
-0.007309361360967159,
0.6542428135871887
] | [
-1.3663784265518188,
-0.5602430701255798,
0.08650155365467072,
0.985133707523346,
-0.007327123545110226,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.002605 | [
-93.66300964355469,
-30.070228576660156,
15.474563598632812,
59.34288787841797,
-0.20886652171611786,
30
] | [
0.08609628677368164,
0.2446727305650711,
0.20661413669586182,
3.041527271270752,
1.0593599081039429,
-1.7962002754211426
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 6.4 | 64 | 0 | 64 | 0 |
[
-87.76851654052734,
-30.61863136291504,
15.549051284790039,
60.12689208984375,
-0.20818711817264557,
30
] | [
-87.97354888916016,
-30.567625045776367,
15.359067916870117,
60.10133361816406,
-0.20886652171611786,
30
] | [
0.08910221606492996,
0.24166229367256165,
0.20755018293857574,
3.042783737182617,
1.0541287660598755,
-1.889585018157959
] | 1 | [
-1.3655205965042114,
-0.5608950853347778,
0.08957644551992416,
0.985228955745697,
-0.0073057846166193485,
0.6542428135871887
] | [
-1.3688071966171265,
-0.5599722266197205,
0.08635467290878296,
0.9847749471664429,
-0.007327123545110226,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.007513 | [
-93.66300964355469,
-30.070228576660156,
15.474563598632812,
59.34288787841797,
-0.20886652171611786,
30
] | [
0.08609628677368164,
0.2446727305650711,
0.20661413669586182,
3.041527271270752,
1.0593599081039429,
-1.7962002754211426
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 6.5 | 65 | 0 | 65 | 0 |
[
-87.83834838867188,
-30.600664138793945,
15.47231674194336,
60.116451263427734,
-0.2083768993616104,
30
] | [
-88.19403839111328,
-30.54584312438965,
15.346463203430176,
60.07194137573242,
-0.20886652171611786,
30
] | [
0.0888458639383316,
0.24178723990917206,
0.20783355832099915,
3.042506456375122,
1.0552823543548584,
-1.8887099027633667
] | 1 | [
-1.3666399717330933,
-0.5605700016021729,
0.08827516436576843,
0.985043466091156,
-0.007311745546758175,
0.6542428135871887
] | [
-1.3723417520523071,
-0.5595781207084656,
0.08614092320203781,
0.9842528104782104,
-0.007327123545110226,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.019546 | [
-93.66300964355469,
-30.070228576660156,
15.474563598632812,
59.34288787841797,
-0.20886652171611786,
30
] | [
0.08609628677368164,
0.2446727305650711,
0.20661413669586182,
3.041527271270752,
1.0593599081039429,
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] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 6.6 | 66 | 0 | 66 | 0 |
[
-87.96296691894531,
-30.581266403198242,
15.422170639038086,
60.10000991821289,
-0.20863118767738342,
30
] | [
-88.47236633300781,
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15.330552101135254,
60.03483963012695,
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30
] | [
0.08837734162807465,
0.2419581413269043,
0.20801182091236115,
3.0423099994659424,
1.056067943572998,
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] | 1 | [
-1.3686375617980957,
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0.08742477744817734,
0.9847514033317566,
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] | [
-1.3768032789230347,
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0.08587110042572021,
0.983593761920929,
-0.007327123545110226,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.0406 | [
-93.66300964355469,
-30.070228576660156,
15.474563598632812,
59.34288787841797,
-0.20886652171611786,
30
] | [
0.08609628677368164,
0.2446727305650711,
0.20661413669586182,
3.041527271270752,
1.0593599081039429,
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] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 6.7 | 67 | 0 | 67 | 0 |
[
-88.14450073242188,
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15.386335372924805,
60.07638931274414,
-0.20871089398860931,
30
] | [
-88.80068969726562,
-30.48590850830078,
15.311782836914062,
59.99106979370117,
-0.20886652171611786,
30
] | [
0.08768969774246216,
0.2421838939189911,
0.2081337422132492,
3.0421621799468994,
1.0566834211349487,
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] | 1 | [
-1.3715475797653198,
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0.08681707829236984,
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] | [
-1.3820663690567017,
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0.08555280417203903,
0.9828162789344788,
-0.007327123545110226,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.071158 | [
-93.66300964355469,
-30.070228576660156,
15.474563598632812,
59.34288787841797,
-0.20886652171611786,
30
] | [
0.08609628677368164,
0.2446727305650711,
0.20661413669586182,
3.041527271270752,
1.0593599081039429,
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] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 6.8 | 68 | 0 | 68 | 0 |
[
-88.3807373046875,
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15.357763290405273,
60.04552459716797,
-0.2087792158126831,
30
] | [
-89.17002868652344,
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15.290668487548828,
59.94183349609375,
-0.20886652171611786,
30
] | [
0.08679144084453583,
0.2424643486738205,
0.2082272171974182,
3.04202938079834,
1.0572370290756226,
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] | 1 | [
-1.3753345012664795,
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0.08633255213499069,
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] | [
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0.08519474416971207,
0.9819416403770447,
-0.007327123545110226,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.110884 | [
-93.66300964355469,
-30.070228576660156,
15.474563598632812,
59.34288787841797,
-0.20886652171611786,
30
] | [
0.08609628677368164,
0.2446727305650711,
0.20661413669586182,
3.041527271270752,
1.0593599081039429,
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] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 6.9 | 69 | 0 | 69 | 0 |
[
-88.66679382324219,
-30.502342224121094,
15.33248519897461,
60.00788116455078,
-0.20885512232780457,
30
] | [
-89.57098388671875,
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15.267746925354004,
59.88838577270508,
-0.20886652171611786,
30
] | [
0.08570083975791931,
0.2427942007780075,
0.20830769836902618,
3.0418968200683594,
1.0577853918075562,
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] | 1 | [
-1.3799200057983398,
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0.08590388298034668,
0.9831148982048035,
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] | [
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0.08480603992938995,
0.9809922575950623,
-0.007327123545110226,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.158967 | [
-93.66300964355469,
-30.070228576660156,
15.474563598632812,
59.34288787841797,
-0.20886652171611786,
30
] | [
0.08609628677368164,
0.2446727305650711,
0.20661413669586182,
3.041527271270752,
1.0593599081039429,
-1.7962002754211426
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 7 | 70 | 0 | 70 | 0 |
[
-88.99629211425781,
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15.30836009979248,
59.96430587768555,
-0.20894242823123932,
30
] | [
-89.99551391601562,
-30.367868423461914,
15.243477821350098,
59.831790924072266,
-0.20886652171611786,
30
] | [
0.08444157242774963,
0.24316522479057312,
0.20838332176208496,
3.0417587757110596,
1.0583542585372925,
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] | 1 | [
-1.3852019309997559,
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0.085494764149189,
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0.6542428135871887
] | [
-1.4012194871902466,
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0.08439447730779648,
0.9799869060516357,
-0.007327123545110226,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.214324 | [
-93.66300964355469,
-30.070228576660156,
15.474563598632812,
59.34288787841797,
-0.20886652171611786,
30
] | [
0.08609628677368164,
0.2446727305650711,
0.20661413669586182,
3.041527271270752,
1.0593599081039429,
-1.7962002754211426
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 7.1 | 71 | 0 | 71 | 0 |
[
-89.3617935180664,
-30.43174171447754,
15.28432559967041,
59.915828704833984,
-0.20901833474636078,
30
] | [
-90.43390655517578,
-30.324560165405273,
15.218417167663574,
59.77334976196289,
-0.20886652171611786,
30
] | [
0.08304137736558914,
0.2435675710439682,
0.20845799148082733,
3.041614294052124,
1.058951735496521,
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] | 1 | [
-1.3910609483718872,
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0.08508718013763428,
0.9814797043800354,
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0.6542428135871887
] | [
-1.4082469940185547,
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0.08396949619054794,
0.9789487719535828,
-0.007327123545110226,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.275691 | [
-93.66300964355469,
-30.070228576660156,
15.474563598632812,
59.34288787841797,
-0.20886652171611786,
30
] | [
0.08609628677368164,
0.2446727305650711,
0.20661413669586182,
3.041527271270752,
1.0593599081039429,
-1.7962002754211426
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 7.2 | 72 | 0 | 72 | 0 |
[
-89.75528717041016,
-30.392364501953125,
15.259966850280762,
59.86351776123047,
-0.20907147228717804,
30
] | [
-90.87782287597656,
-30.280704498291016,
15.193039894104004,
59.71417236328125,
-0.20886652171611786,
30
] | [
0.08153028786182404,
0.24399086833000183,
0.208533376455307,
3.041464328765869,
1.059577226638794,
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] | 1 | [
-1.3973686695098877,
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0.08467410504817963,
0.9805504679679871,
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0.6542428135871887
] | [
-1.415363073348999,
-0.554780900478363,
0.08353914320468903,
0.977897584438324,
-0.007327123545110226,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.341698 | [
-93.66300964355469,
-30.070228576660156,
15.474563598632812,
59.34288787841797,
-0.20886652171611786,
30
] | [
0.08609628677368164,
0.2446727305650711,
0.20661413669586182,
3.041527271270752,
1.0593599081039429,
-1.7962002754211426
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 7.3 | 73 | 0 | 73 | 0 |
[
-90.16841125488281,
-30.351232528686523,
15.235247611999512,
59.808502197265625,
-0.20908665657043457,
30
] | [
-91.31828308105469,
-30.23719024658203,
15.16786003112793,
59.65545654296875,
-0.20886652171611786,
30
] | [
0.07993987947702408,
0.24442467093467712,
0.20860987901687622,
3.0413107872009277,
1.0602251291275024,
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] | 1 | [
-1.4039911031723022,
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0.0842549130320549,
0.9795731902122498,
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0.6542428135871887
] | [
-1.4224236011505127,
-0.5539935827255249,
0.08311214298009872,
0.9768545627593994,
-0.007327123545110226,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.410908 | [
-93.66300964355469,
-30.070228576660156,
15.474563598632812,
59.34288787841797,
-0.20886652171611786,
30
] | [
0.08609628677368164,
0.2446727305650711,
0.20661413669586182,
3.041527271270752,
1.0593599081039429,
-1.7962002754211426
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 7.4 | 74 | 0 | 74 | 0 |
[
-90.59260559082031,
-30.309101104736328,
15.210345268249512,
59.751953125,
-0.20907147228717804,
30
] | [
-91.74592590332031,
-30.1949405670166,
15.143412590026855,
59.59844970703125,
-0.20886652171611786,
30
] | [
0.0783027857542038,
0.2448590248823166,
0.20868687331676483,
3.0411558151245117,
1.0608853101730347,
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] | 1 | [
-1.4107909202575684,
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0.08383261412382126,
0.9785687327384949,
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0.6542428135871887
] | [
-1.42927885055542,
-0.5532291531562805,
0.0826975554227829,
0.9758419394493103,
-0.007327123545110226,
0.6542428135871887
] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.481837 | [
-93.66300964355469,
-30.070228576660156,
15.474563598632812,
59.34288787841797,
-0.20886652171611786,
30
] | [
0.08609628677368164,
0.2446727305650711,
0.20661413669586182,
3.041527271270752,
1.0593599081039429,
-1.7962002754211426
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 7.5 | 75 | 0 | 75 | 0 |
[
-91.01925659179688,
-30.266796112060547,
15.185562133789062,
59.695045471191406,
-0.2090449035167694,
30
] | [
-91.02245330810547,
-30.14341163635254,
14.752635955810547,
59.67993927001953,
-0.2090449035167694,
30
] | [
0.0766521468758583,
0.24528463184833527,
0.2087635099887848,
3.0410006046295166,
1.061546802520752,
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] | 1 | [
-1.4176301956176758,
-0.5545292496681213,
0.08341233432292938,
0.9775578379631042,
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0.6542428135871887
] | [
-1.4176814556121826,
-0.5522968173027039,
0.07607070356607437,
0.9772894978523254,
-0.007332726381719112,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
0.08609630167484283,
0.24467210471630096,
0.002010497497394681,
3.12370228767395,
0.3087778389453888,
-1.7403733730316162
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 7.6 | 76 | 0 | 76 | 0 |
[
-91.02381896972656,
-30.21961212158203,
15.019100189208984,
59.6928596496582,
-0.20878301560878754,
30
] | [
-91.04171752929688,
-29.81661033630371,
14.816275596618652,
59.58879852294922,
-0.2090449035167694,
30
] | [
0.07665456086397171,
0.24541889131069183,
0.2092977613210678,
3.0405406951904297,
1.0635422468185425,
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] | 1 | [
-1.41770339012146,
-0.5536755323410034,
0.08058945089578629,
0.9775189757347107,
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0.6542428135871887
] | [
-1.4179903268814087,
-0.5463839173316956,
0.07714992016553879,
0.9756705164909363,
-0.007332726381719112,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.00032 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
0.08609630167484283,
0.24467210471630096,
0.002010497497394681,
3.12370228767395,
0.3087778389453888,
-1.7403733730316162
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 7.7 | 77 | 0 | 77 | 0 |
[
-91.02938842773438,
-30.0947265625,
14.918892860412598,
59.65156173706055,
-0.20784173905849457,
30
] | [
-91.07588958740234,
-29.236963272094727,
14.929152488708496,
59.42713928222656,
-0.2090449035167694,
30
] | [
0.0766787901520729,
0.24571996927261353,
0.20933493971824646,
3.0405523777008057,
1.0637173652648926,
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] | 1 | [
-1.4177926778793335,
-0.5514159202575684,
0.0788901150226593,
0.97678542137146,
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0.6542428135871887
] | [
-1.4185380935668945,
-0.5358961820602417,
0.07906410098075867,
0.9727988839149475,
-0.007332726381719112,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.002609 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
0.08609630167484283,
0.24467210471630096,
0.002010497497394681,
3.12370228767395,
0.3087778389453888,
-1.7403733730316162
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 7.8 | 78 | 0 | 78 | 0 |
[
-91.0453109741211,
-29.80843162536621,
14.896326065063477,
59.56654357910156,
-0.2071547508239746,
30
] | [
-91.12459564208984,
-30.208271026611328,
15.090038299560547,
59.196720123291016,
-0.2090449035167694,
30
] | [
0.07670938223600388,
0.24633465707302094,
0.20850449800491333,
3.0413661003112793,
1.060454249382019,
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] | 1 | [
-1.4180479049682617,
-0.5462359189987183,
0.0785074234008789,
0.9752751588821411,
-0.007273360155522823,
0.6542428135871887
] | [
-1.4193187952041626,
-0.5534703135490417,
0.0817924290895462,
0.9687058329582214,
-0.007332726381719112,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.00859 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
0.08609630167484283,
0.24467210471630096,
0.002010497497394681,
3.12370228767395,
0.3087778389453888,
-1.7403733730316162
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 7.9 | 79 | 0 | 79 | 0 |
[
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30
] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.010703 | [
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15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
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0.24468077719211578,
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] | 8 | 80 | 0 | 80 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.014885 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
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] | 8.1 | 81 | 0 | 81 | 0 |
[
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30
] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.028119 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
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0.24467210471630096,
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3.12370228767395,
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] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
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] | 8.2 | 82 | 0 | 82 | 0 |
[
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30
] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.048457 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
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] | 8.3 | 83 | 0 | 83 | 0 |
[
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30
] | [
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30
] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.075502 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
0.08609630167484283,
0.24467210471630096,
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3.12370228767395,
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] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
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] | 8.4 | 84 | 0 | 84 | 0 |
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.106021 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
0.08609630167484283,
0.24467210471630096,
0.002010497497394681,
3.12370228767395,
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] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 8.5 | 85 | 0 | 85 | 0 |
[
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30
] | [
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30
] | [
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] | [
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0.11830191314220428,
0.9139350056648254,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.141544 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
0.08609630167484283,
0.24467210471630096,
0.002010497497394681,
3.12370228767395,
0.3087778389453888,
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] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 8.6 | 86 | 0 | 86 | 0 |
[
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30
] | [
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17.649354934692383,
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30
] | [
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] | 1 | [
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] | [
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0.1251937299966812,
0.903596043586731,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.179394 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
0.08609630167484283,
0.24467210471630096,
0.002010497497394681,
3.12370228767395,
0.3087778389453888,
-1.7403733730316162
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 8.7 | 87 | 0 | 87 | 0 |
[
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17.301692962646484,
56.428680419921875,
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30
] | [
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18.069795608520508,
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30
] | [
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] | [
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0.13232362270355225,
0.8928998708724976,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.22129 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
0.08609630167484283,
0.24467210471630096,
0.002010497497394681,
3.12370228767395,
0.3087778389453888,
-1.7403733730316162
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 8.8 | 88 | 0 | 88 | 0 |
[
-91.8247299194336,
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17.8017578125,
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30
] | [
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18.49897575378418,
54.31454849243164,
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30
] | [
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3.0752675533294678,
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] | 1 | [
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] | [
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0.1396017223596573,
0.881981372833252,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.265579 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
0.08609630167484283,
0.24467210471630096,
0.002010497497394681,
3.12370228767395,
0.3087778389453888,
-1.7403733730316162
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 8.9 | 89 | 0 | 89 | 0 |
[
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18.221240997314453,
55.215309143066406,
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30
] | [
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18.933759689331055,
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30
] | [
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0.26658567786216736,
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3.079860210418701,
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] | 1 | [
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] | [
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0.1469748616218567,
0.8709203600883484,
-0.007332726381719112,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.311127 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
0.08609630167484283,
0.24467210471630096,
0.002010497497394681,
3.12370228767395,
0.3087778389453888,
-1.7403733730316162
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 9 | 90 | 0 | 90 | 0 |
[
-92.07267761230469,
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18.535400390625,
54.69924545288086,
-0.20771269500255585,
30
] | [
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19.370040893554688,
53.06703567504883,
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30
] | [
0.07557116448879242,
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0.13750478625297546,
3.083826780319214,
0.8003485798835754,
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] | 1 | [
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] | [
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0.1543733924627304,
0.8598212003707886,
-0.007332726381719112,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.358452 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
0.08609630167484283,
0.24467210471630096,
0.002010497497394681,
3.12370228767395,
0.3087778389453888,
-1.7403733730316162
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 9.1 | 91 | 0 | 91 | 0 |
[
-92.20098876953125,
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19.048885345458984,
54.09638214111328,
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30
] | [
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22.781999588012695,
52.44533920288086,
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30
] | [
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0.2693328857421875,
0.1268879622220993,
3.0880439281463623,
0.7623453140258789,
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] | 1 | [
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0.6542428135871887
] | [
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0.21223391592502594,
0.848777711391449,
-0.007332726381719112,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.407077 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
0.08609630167484283,
0.24467210471630096,
0.002010497497394681,
3.12370228767395,
0.3087778389453888,
-1.7403733730316162
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 9.2 | 92 | 0 | 92 | 0 |
[
-92.33051300048828,
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19.548032760620117,
53.462528228759766,
-0.2049761563539505,
30
] | [
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20.231822967529297,
51.83281707763672,
-0.2090449035167694,
30
] | [
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3.0920121669769287,
0.7249354720115662,
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0.86684650182724,
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] | [
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0.16898761689662933,
0.8378971815109253,
-0.007332726381719112,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.456009 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
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30
] | [
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3.12370228767395,
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] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
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] | 9.3 | 93 | 0 | 93 | 0 |
[
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30
] | [
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30
] | [
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3.095273017883301,
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-0.007332726381719112,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.504367 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 9.4 | 94 | 0 | 94 | 0 |
[
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52.26466751098633,
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30
] | [
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21.053773880004883,
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30
] | [
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0.2703803777694702,
0.09564078599214554,
3.098769187927246,
0.6521449089050293,
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] | 1 | [
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] | [
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0.8169865012168884,
-0.007332726381719112,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.55321 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
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0.24467210471630096,
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3.12370228767395,
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] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 9.5 | 95 | 0 | 95 | 0 |
[
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30
] | [
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2.829869270324707,
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30
] | [
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0.27025896310806274,
0.08606937527656555,
3.101647138595581,
0.6191900968551636,
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] | 1 | [
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] | [
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0.8071891069412231,
-0.007332726381719112,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.600245 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
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0.24467210471630096,
0.002010497497394681,
3.12370228767395,
0.3087778389453888,
-1.7403733730316162
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 9.6 | 96 | 0 | 96 | 0 |
[
-92.83827209472656,
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21.09836196899414,
51.08818435668945,
-0.20912840962409973,
30
] | [
-93.12525177001953,
4.18848991394043,
21.698434829711914,
49.732383728027344,
-0.2090449035167694,
30
] | [
0.07231947034597397,
0.26902610063552856,
0.07569397240877151,
3.1046764850616455,
0.5820720791816711,
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] | 1 | [
-1.446789264678955,
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] | [
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0.06888070702552795,
0.19385865330696106,
0.8005861043930054,
-0.007332726381719112,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.647016 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
0.08609630167484283,
0.24467210471630096,
0.002010497497394681,
3.12370228767395,
0.3087778389453888,
-1.7403733730316162
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 9.7 | 97 | 0 | 97 | 0 |
[
-92.94770812988281,
1.14117431640625,
21.344755172729492,
50.577117919921875,
-0.20987990498542786,
30
] | [
-93.18215942382812,
5.172534942626953,
21.886425018310547,
49.46315002441406,
-0.2090449035167694,
30
] | [
0.07173088192939758,
0.26813700795173645,
0.0672595202922821,
3.1069841384887695,
0.5526407957077026,
-1.7588953971862793
] | 1 | [
-1.4485435485839844,
0.013744699768722057,
0.187860906124115,
0.81559157371521,
-0.007358952425420284,
0.6542428135871887
] | [
-1.4523017406463623,
0.08668532967567444,
0.19704662263393402,
0.7958036065101624,
-0.007332726381719112,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.687992 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
0.08609630167484283,
0.24467210471630096,
0.002010497497394681,
3.12370228767395,
0.3087778389453888,
-1.7403733730316162
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 9.8 | 98 | 0 | 98 | 0 |
[
-93.03643035888672,
2.676865339279175,
21.564882278442383,
50.16276550292969,
-0.2104947715997696,
30
] | [
-93.24058532714844,
6.182699680328369,
22.079402923583984,
49.186771392822266,
-0.2090449035167694,
30
] | [
0.07122322171926498,
0.2671447992324829,
0.06038927286863327,
3.108813762664795,
0.5285334587097168,
-1.7565480470657349
] | 1 | [
-1.4499657154083252,
0.04153042286634445,
0.19159385561943054,
0.8082311749458313,
-0.007378264330327511,
0.6542428135871887
] | [
-1.4532383680343628,
0.1049625501036644,
0.20031917095184326,
0.7908941507339478,
-0.007332726381719112,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.721163 | [
-93.66295623779297,
15.636590003967285,
23.83631134033203,
47.188690185546875,
-0.2090449035167694,
30
] | [
0.08609630167484283,
0.24467210471630096,
0.002010497497394681,
3.12370228767395,
0.3087778389453888,
-1.7403733730316162
] | 30 | pick box lid and place on box body | box lid | [
0.08609705418348312,
0.24468077719211578,
0.02200007438659668
] | 9.9 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
CoRL2026-CSI/IsaacLab-SO101_close_box_baseCaP_100epi_10fps
This dataset is derived from CoRL2026-CSI/IsaacLab-SO101_close_box_baseCaP_300epi.
- Episodes: 100 (
episode_index0 through 99) - FPS: 10
- Source FPS: 30
- Downsampling: observations use source frames
0, 3, 6, ...; action columns use source frames2, 5, 8, .... - Tail policy: source frames without a valid
3k+2action are dropped.
The dataset follows LeRobot v3.0 format.
- Downloads last month
- 60
Models trained or fine-tuned on CoRL2026-CSI/IsaacLab-SO101_close_box_baseCaP_100epi_10fps