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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] | 0 | pick box lid and place on box body | box lid | [
0.31402966380119324,
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] | 12.4 | 124 | 42 | 14,200 | 0 |
[
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] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.065536 | [
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27.146642684936523,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.31402966380119324,
0.18327279388904572,
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] | 12.5 | 125 | 42 | 14,201 | 0 |
[
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0
] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.065127 | [
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27.146642684936523,
4.022805213928223,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.31402966380119324,
0.18327279388904572,
0.20000000298023224
] | 12.6 | 126 | 42 | 14,202 | 0 |
[
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0
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] | Lift the box lid | Is the box lid lifted? | move | 0.066007 | [
-39.2260627746582,
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27.146642684936523,
4.022805213928223,
0.008204358629882336,
0
] | [
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0.20001868903636932,
2.668356418609619,
1.4631959199905396,
-3.0297954082489014
] | 0 | pick box lid and place on box body | box lid | [
0.31402966380119324,
0.18327279388904572,
0.20000000298023224
] | 12.7 | 127 | 42 | 14,203 | 0 |
[
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0
] | [
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0
] | [
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3.0795819759368896,
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] | [
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0.19821813702583313,
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-0.0005093057989142835,
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] | Lift the box lid | Is the box lid lifted? | move | 0.070561 | [
-39.2260627746582,
-9.518684387207031,
27.146642684936523,
4.022805213928223,
0.008204358629882336,
0
] | [
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0.18305279314517975,
0.20001868903636932,
2.668356418609619,
1.4631959199905396,
-3.0297954082489014
] | 0 | pick box lid and place on box body | box lid | [
0.31402966380119324,
0.18327279388904572,
0.20000000298023224
] | 12.8 | 128 | 42 | 14,204 | 0 |
[
-42.878028869628906,
26.923437118530273,
22.368263244628906,
4.35582160949707,
-0.08310341089963913,
0
] | [
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22.075454711914062,
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0
] | [
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0.015870926901698112,
3.077326774597168,
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] | 0 | [
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] | [
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0.4274945557117462,
0.2002522200345993,
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-0.0005093057989142835,
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] | Lift the box lid | Is the box lid lifted? | move | 0.084815 | [
-39.2260627746582,
-9.518684387207031,
27.146642684936523,
4.022805213928223,
0.008204358629882336,
0
] | [
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0.18305279314517975,
0.20001868903636932,
2.668356418609619,
1.4631959199905396,
-3.0297954082489014
] | 0 | pick box lid and place on box body | box lid | [
0.31402966380119324,
0.18327279388904572,
0.20000000298023224
] | 12.9 | 129 | 42 | 14,205 | 0 |
[
-42.81819534301758,
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0
] | [
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22.217613220214844,
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0
] | [
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0.200893372297287,
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3.0750863552093506,
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] | 0 | [
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] | [
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0.20266297459602356,
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-0.0005093057989142835,
-0.0015339808305725455
] | Lift the box lid | Is the box lid lifted? | move | 0.109311 | [
-39.2260627746582,
-9.518684387207031,
27.146642684936523,
4.022805213928223,
0.008204358629882336,
0
] | [
0.31379449367523193,
0.18305279314517975,
0.20001868903636932,
2.668356418609619,
1.4631959199905396,
-3.0297954082489014
] | 0 | pick box lid and place on box body | box lid | [
0.31402966380119324,
0.18327279388904572,
0.20000000298023224
] | 13 | 130 | 42 | 14,206 | 0 |
[
-42.74171829223633,
24.944467544555664,
22.71392250061035,
4.9825849533081055,
-0.13322646915912628,
0
] | [
-42.48564147949219,
21.75950050354004,
22.381656646728516,
3.3489584922790527,
0.008204358629882336,
0
] | [
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0.20109347999095917,
0.02408207580447197,
3.07279109954834,
0.9077832102775574,
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] | 0 | [
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0.2110794633626938,
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] | [
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0.2054448425769806,
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-0.0015339808305725455
] | Lift the box lid | Is the box lid lifted? | move | 0.134338 | [
-39.2260627746582,
-9.518684387207031,
27.146642684936523,
4.022805213928223,
0.008204358629882336,
0
] | [
0.31379449367523193,
0.18305279314517975,
0.20001868903636932,
2.668356418609619,
1.4631959199905396,
-3.0297954082489014
] | 0 | pick box lid and place on box body | box lid | [
0.31402966380119324,
0.18327279388904572,
0.20000000298023224
] | 13.1 | 131 | 42 | 14,207 | 0 |
[
-42.64894104003906,
23.87420654296875,
22.871538162231445,
5.131145477294922,
-0.14369818568229675,
0
] | [
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20.41560173034668,
22.564607620239258,
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0
] | [
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0.20128943026065826,
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3.07033371925354,
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] | [
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0.20854735374450684,
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-0.0005093057989142835,
-0.0015339808305725455
] | Lift the box lid | Is the box lid lifted? | move | 0.161108 | [
-39.2260627746582,
-9.518684387207031,
27.146642684936523,
4.022805213928223,
0.008204358629882336,
0
] | [
0.31379449367523193,
0.18305279314517975,
0.20001868903636932,
2.668356418609619,
1.4631959199905396,
-3.0297954082489014
] | 0 | pick box lid and place on box body | box lid | [
0.31402966380119324,
0.18327279388904572,
0.20000000298023224
] | 13.2 | 132 | 42 | 14,208 | 0 |
[
-42.54064178466797,
22.70631217956543,
23.04340171813965,
5.244863033294678,
-0.15077675879001617,
0
] | [
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18.92417335510254,
22.76343536376953,
3.4069721698760986,
0.008204358629882336,
0
] | [
0.309075266122818,
0.20146438479423523,
0.0345839262008667,
3.0675880908966064,
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] | 0 | [
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0.2166668176651001,
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] | [
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0.3354978859424591,
0.21191909909248352,
-0.022315220907330513,
-0.0005093057989142835,
-0.0015339808305725455
] | Lift the box lid | Is the box lid lifted? | move | 0.190355 | [
-39.2260627746582,
-9.518684387207031,
27.146642684936523,
4.022805213928223,
0.008204358629882336,
0
] | [
0.31379449367523193,
0.18305279314517975,
0.20001868903636932,
2.668356418609619,
1.4631959199905396,
-3.0297954082489014
] | 0 | pick box lid and place on box body | box lid | [
0.31402966380119324,
0.18327279388904572,
0.20000000298023224
] | 13.3 | 133 | 42 | 14,209 | 0 |
[
-42.41805648803711,
21.42102813720703,
23.230789184570312,
5.339908123016357,
-0.15601830184459686,
0
] | [
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17.307281494140625,
22.977684020996094,
3.439528465270996,
0.008204358629882336,
0
] | [
0.3103697597980499,
0.2016019970178604,
0.040760792791843414,
3.0644359588623047,
0.9561694264411926,
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] | 0 | [
-0.6385481953620911,
0.38067424297332764,
0.21984456479549408,
0.012020481750369072,
-0.0056672533974051476,
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] | [
-0.6326085925102234,
0.306242972612381,
0.21555237472057343,
-0.021736906841397285,
-0.0005093057989142835,
-0.0015339808305725455
] | Lift the box lid | Is the box lid lifted? | move | 0.222554 | [
-39.2260627746582,
-9.518684387207031,
27.146642684936523,
4.022805213928223,
0.008204358629882336,
0
] | [
0.31379449367523193,
0.18305279314517975,
0.20001868903636932,
2.668356418609619,
1.4631959199905396,
-3.0297954082489014
] | 0 | pick box lid and place on box body | box lid | [
0.31402966380119324,
0.18327279388904572,
0.20000000298023224
] | 13.4 | 134 | 42 | 14,210 | 0 |
[
-42.28254318237305,
20.013591766357422,
23.430936813354492,
5.421584129333496,
-0.15995042026042938,
0
] | [
-41.88147735595703,
15.602436065673828,
23.203588485717773,
3.473855972290039,
0.008204358629882336,
0
] | [
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0.20168738067150116,
0.047609176486730576,
3.060783863067627,
0.9766851663589478,
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] | 0 | [
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0.355209082365036,
0.22323870658874512,
0.013471333310008049,
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] | [
-0.629946768283844,
0.2753967046737671,
0.21938328444957733,
-0.021127130836248398,
-0.0005093057989142835,
-0.0015339808305725455
] | Lift the box lid | Is the box lid lifted? | move | 0.257806 | [
-39.2260627746582,
-9.518684387207031,
27.146642684936523,
4.022805213928223,
0.008204358629882336,
0
] | [
0.31379449367523193,
0.18305279314517975,
0.20001868903636932,
2.668356418609619,
1.4631959199905396,
-3.0297954082489014
] | 0 | pick box lid and place on box body | box lid | [
0.31402966380119324,
0.18327279388904572,
0.20000000298023224
] | 13.5 | 135 | 42 | 14,211 | 0 |
[
-42.135520935058594,
18.494314193725586,
23.643558502197266,
5.496112823486328,
-0.1630740910768509,
0
] | [
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13.82443904876709,
23.439184188842773,
3.5096561908721924,
0.008204358629882336,
0
] | [
0.3130687475204468,
0.20168748497962952,
0.055061228573322296,
3.0565764904022217,
0.9991253614425659,
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0.3277203142642975,
0.22684437036514282,
0.01479522418230772,
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] | [
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0.24322685599327087,
0.22337855398654938,
-0.02049119397997856,
-0.0005093057989142835,
-0.0015339808305725455
] | Lift the box lid | Is the box lid lifted? | move | 0.295848 | [
-39.2260627746582,
-9.518684387207031,
27.146642684936523,
4.022805213928223,
0.008204358629882336,
0
] | [
0.31379449367523193,
0.18305279314517975,
0.20001868903636932,
2.668356418609619,
1.4631959199905396,
-3.0297954082489014
] | 0 | pick box lid and place on box body | box lid | [
0.31402966380119324,
0.18327279388904572,
0.20000000298023224
] | 13.6 | 136 | 42 | 14,212 | 0 |
[
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0.18327279388904572,
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27.146642684936523,
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0.18327279388904572,
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] | 15.1 | 151 | 42 | 14,227 | 0 |
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] | 15.2 | 152 | 42 | 14,228 | 0 |
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] | 15.3 | 153 | 42 | 14,229 | 0 |
[
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] | 15.4 | 154 | 42 | 14,230 | 0 |
[
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] | 15.5 | 155 | 42 | 14,231 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.937179 | [
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] | 15.6 | 156 | 42 | 14,232 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.936389 | [
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] | [
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0.18327279388904572,
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] | 15.7 | 157 | 42 | 14,233 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.026659 | [
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[
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] | 0 | pick box lid and place on box body | box body | [
0.17130137979984283,
0.16745446622371674,
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.04674 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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0.16745446622371674,
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] | 16 | 160 | 42 | 14,236 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.060184 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.17130137979984283,
0.16745446622371674,
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] | 16.1 | 161 | 42 | 14,237 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.078707 | [
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38.08440399169922,
55.67672348022461,
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] | [
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0.16730788350105286,
0.20005075633525848,
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] | 0 | pick box lid and place on box body | box body | [
0.17130137979984283,
0.16745446622371674,
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] | 16.200001 | 162 | 42 | 14,238 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.100039 | [
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38.08440399169922,
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[
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0.16745446622371674,
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[
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[
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] | 18.700001 | 187 | 42 | 14,263 | 0 |
[
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[
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[
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[
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[
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[
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[
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[
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.395332 | [
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93.47239685058594,
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0.15115661919116974,
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] | 0 | pick box lid and place on box body | box body | [
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0.16745446622371674,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.442897 | [
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93.47239685058594,
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[
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[
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[
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0.17130137979984283,
0.16745446622371674,
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[
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1.412386417388916,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.919924 | [
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] | 0 | pick box lid and place on box body | box body | [
0.17130137979984283,
0.16745446622371674,
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] | 22.200001 | 222 | 42 | 14,298 | 0 |
[
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1.412386417388916,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.918396 | [
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93.47239685058594,
-19.439889907836914,
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] | [
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0.15115661919116974,
0.0085791340097785,
3.064206600189209,
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] | 0 | pick box lid and place on box body | box body | [
0.17130137979984283,
0.16745446622371674,
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] | 22.299999 | 223 | 42 | 14,299 | 0 |
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