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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] | Pick up the box lid | Is the box lid grasped? | move | 0.329244 | [
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] | 30 | pick box lid and place on box body | box lid | [
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[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.376238 | [
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.425508 | [
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.473862 | [
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40.79218292236328,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.522175 | [
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40.79218292236328,
22.334793090820312,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 9.1 | 91 | 43 | 14,504 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.571396 | [
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40.79218292236328,
22.334793090820312,
-0.21326547861099243,
30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.29415592551231384,
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] | 9.2 | 92 | 43 | 14,505 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.618435 | [
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40.79218292236328,
22.334793090820312,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 9.3 | 93 | 43 | 14,506 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.66421 | [
-23.03765106201172,
9.793805122375488,
40.79218292236328,
22.334793090820312,
-0.21326547861099243,
30
] | [
0.29402297735214233,
0.06576410681009293,
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] | 30 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 9.4 | 94 | 43 | 14,507 | 0 |
[
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] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.702137 | [
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9.793805122375488,
40.79218292236328,
22.334793090820312,
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30
] | [
0.29402297735214233,
0.06576410681009293,
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3.1057169437408447,
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] | 30 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 9.5 | 95 | 43 | 14,508 | 0 |
[
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] | [
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] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.733459 | [
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9.793805122375488,
40.79218292236328,
22.334793090820312,
-0.21326547861099243,
30
] | [
0.29402297735214233,
0.06576410681009293,
0.0021527570206671953,
3.1057169437408447,
0.5679367780685425,
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] | 30 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
0.022000020369887352
] | 9.6 | 96 | 43 | 14,509 | 0 |
[
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30
] | [
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] | [
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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 | 0.761054 | [
-23.03765106201172,
9.793805122375488,
40.79218292236328,
22.334793090820312,
-0.21326547861099243,
30
] | [
0.29402297735214233,
0.06576410681009293,
0.0021527570206671953,
3.1057169437408447,
0.5679367780685425,
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] | 30 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
0.022000020369887352
] | 9.7 | 97 | 43 | 14,510 | 0 |
[
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30
] | [
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] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.786632 | [
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9.793805122375488,
40.79218292236328,
22.334793090820312,
-0.21326547861099243,
30
] | [
0.29402297735214233,
0.06576410681009293,
0.0021527570206671953,
3.1057169437408447,
0.5679367780685425,
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] | 30 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
0.022000020369887352
] | 9.8 | 98 | 43 | 14,511 | 0 |
[
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30
] | [
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30
] | [
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0.34783074259757996,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.811238 | [
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9.793805122375488,
40.79218292236328,
22.334793090820312,
-0.21326547861099243,
30
] | [
0.29402297735214233,
0.06576410681009293,
0.0021527570206671953,
3.1057169437408447,
0.5679367780685425,
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] | 30 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
0.022000020369887352
] | 9.9 | 99 | 43 | 14,512 | 0 |
[
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30
] | [
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30
] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.835513 | [
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.29415592551231384,
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] | 10 | 100 | 43 | 14,513 | 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 | 0.859888 | [
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40.79218292236328,
22.334793090820312,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 10.1 | 101 | 43 | 14,514 | 0 |
[
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30
] | [
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30
] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.884624 | [
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40.79218292236328,
22.334793090820312,
-0.21326547861099243,
30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.29415592551231384,
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] | 10.2 | 102 | 43 | 14,515 | 0 |
[
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30
] | [
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30
] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.910934 | [
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40.79218292236328,
22.334793090820312,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.29415592551231384,
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] | 10.3 | 103 | 43 | 14,516 | 0 |
[
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30
] | [
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30
] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.930321 | [
-23.03765106201172,
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40.79218292236328,
22.334793090820312,
-0.21326547861099243,
30
] | [
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3.1057169437408447,
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] | 30 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 10.4 | 104 | 43 | 14,517 | 0 |
[
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40.46839904785156,
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30
] | [
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30
] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.941672 | [
-23.03765106201172,
9.793805122375488,
40.79218292236328,
22.334793090820312,
-0.21326547861099243,
30
] | [
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0.06576410681009293,
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3.1057169437408447,
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] | 30 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 10.5 | 105 | 43 | 14,518 | 0 |
[
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40.52424240112305,
22.63505744934082,
-0.21760369837284088,
30
] | [
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40.580970764160156,
22.334793090820312,
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30
] | [
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] | 1 | [
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] | [
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0.13255950808525085,
0.5140717029571533,
0.3139090836048126,
-0.007465287111699581,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.948381 | [
-23.03765106201172,
9.793805122375488,
40.79218292236328,
22.334793090820312,
-0.21326547861099243,
30
] | [
0.29402297735214233,
0.06576410681009293,
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3.1057169437408447,
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] | 30 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 10.6 | 106 | 43 | 14,519 | 0 |
[
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-0.21663205325603485,
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.013328 | [
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7.397793769836426,
40.548866271972656,
22.54254722595215,
-0.21663205325603485,
0
] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 10.7 | 107 | 43 | 14,520 | 0 |
[
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0.12694761157035828,
0.5135272741317749,
0.31759950518608093,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.079995 | [
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7.397793769836426,
40.548866271972656,
22.54254722595215,
-0.21663205325603485,
0
] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 10.8 | 108 | 43 | 14,521 | 0 |
[
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] | 0 | [
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] | [
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0.5135272741317749,
0.31759950518608093,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.146662 | [
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7.397793769836426,
40.548866271972656,
22.54254722595215,
-0.21663205325603485,
0
] | [
0.2933313548564911,
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] | 0 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 10.9 | 109 | 43 | 14,522 | 0 |
[
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] | 0 | [
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] | [
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0.12694761157035828,
0.5135272741317749,
0.31759950518608093,
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0.4881127178668976
] | grasp box lid | Is the object grasped? | gripper_close | 0.213329 | [
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7.397793769836426,
40.548866271972656,
22.54254722595215,
-0.21663205325603485,
0
] | [
0.2933313548564911,
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] | 0 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 11 | 110 | 43 | 14,523 | 0 |
[
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] | [
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] | [
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] | 0 | [
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0.31759950518608093,
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] | [
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0.5135272741317749,
0.31759950518608093,
-0.007571025285869837,
0.44439423084259033
] | grasp box lid | Is the object grasped? | gripper_close | 0.279996 | [
-23.01911735534668,
7.397793769836426,
40.548866271972656,
22.54254722595215,
-0.21663205325603485,
0
] | [
0.2933313548564911,
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3.102083683013916,
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] | 0 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 11.1 | 111 | 43 | 14,524 | 0 |
[
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] | [
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] | [
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] | 0 | [
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0.31759950518608093,
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] | [
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0.5135272741317749,
0.31759950518608093,
-0.007571025285869837,
0.40067580342292786
] | grasp box lid | Is the object grasped? | gripper_close | 0.346663 | [
-23.01911735534668,
7.397793769836426,
40.548866271972656,
22.54254722595215,
-0.21663205325603485,
0
] | [
0.2933313548564911,
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] | 0 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 11.2 | 112 | 43 | 14,525 | 0 |
[
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] | [
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] | 0 | [
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.41333 | [
-23.01911735534668,
7.397793769836426,
40.548866271972656,
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0
] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.29415592551231384,
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] | 11.3 | 113 | 43 | 14,526 | 0 |
[
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] | [
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] | 0 | [
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.479997 | [
-23.01911735534668,
7.397793769836426,
40.548866271972656,
22.54254722595215,
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0
] | [
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3.102083683013916,
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] | 0 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
0.022000020369887352
] | 11.4 | 114 | 43 | 14,527 | 0 |
[
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-0.21663205325603485,
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] | [
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] | 0 | [
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] | [
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0.31759950518608093,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.546664 | [
-23.01911735534668,
7.397793769836426,
40.548866271972656,
22.54254722595215,
-0.21663205325603485,
0
] | [
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3.102083683013916,
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] | 0 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 11.5 | 115 | 43 | 14,528 | 0 |
[
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-0.21663205325603485,
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] | [
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] | [
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] | 0 | [
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.613331 | [
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7.397793769836426,
40.548866271972656,
22.54254722595215,
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0
] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 11.6 | 116 | 43 | 14,529 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.679998 | [
-23.01911735534668,
7.397793769836426,
40.548866271972656,
22.54254722595215,
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0
] | [
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3.102083683013916,
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] | 0 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 11.7 | 117 | 43 | 14,530 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.746665 | [
-23.01911735534668,
7.397793769836426,
40.548866271972656,
22.54254722595215,
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] | [
0.2933313548564911,
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3.102083683013916,
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] | 0 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 11.8 | 118 | 43 | 14,531 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.31759950518608093,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.813332 | [
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7.397793769836426,
40.548866271972656,
22.54254722595215,
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0
] | [
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3.102083683013916,
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] | 0 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 11.9 | 119 | 43 | 14,532 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.5135272741317749,
0.31759950518608093,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.879999 | [
-23.01911735534668,
7.397793769836426,
40.548866271972656,
22.54254722595215,
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0
] | [
0.2933313548564911,
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] | 0 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 12 | 120 | 43 | 14,533 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.5135272741317749,
0.31759950518608093,
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0.0072097014635801315
] | grasp box lid | Is the object grasped? | gripper_close | 0.946666 | [
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7.397793769836426,
40.548866271972656,
22.54254722595215,
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0
] | [
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3.102083683013916,
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] | 0 | pick box lid and place on box body | box lid | [
0.29415592551231384,
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] | 12.1 | 121 | 43 | 14,534 | 0 |
[
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0
] | [
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] | [
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] | 0 | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.043008 | [
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45.57473373413086,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 12.2 | 122 | 43 | 14,535 | 0 |
[
-22.954036712646484,
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0
] | [
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0
] | [
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] | 0 | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.044718 | [
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45.57473373413086,
23.989103317260742,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 12.3 | 123 | 43 | 14,536 | 0 |
[
-22.940195083618164,
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0
] | [
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0
] | [
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] | [
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0.004474000073969364,
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] | Lift the box lid | Is the box lid lifted? | move | 0.048373 | [
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45.57473373413086,
23.989103317260742,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 12.4 | 124 | 43 | 14,537 | 0 |
[
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0
] | [
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] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.055428 | [
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45.57473373413086,
23.989103317260742,
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] | [
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2.9429216384887695,
1.3503007888793945,
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] | 0 | pick box lid and place on box body | box lid | [
0.29415592551231384,
0.06580718606710434,
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] | 12.5 | 125 | 43 | 14,538 | 0 |
[
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0
] | [
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] | [
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23.989103317260742,
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0.06580718606710434,
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[
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23.989103317260742,
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0.29415592551231384,
0.06580718606710434,
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[
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[
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[
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.901821 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 18.299999 | 183 | 43 | 14,596 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.924776 | [
39.067413330078125,
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25.778034210205078,
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] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
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] | 18.4 | 184 | 43 | 14,597 | 0 |
[
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0.08863816410303116,
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.940479 | [
39.067413330078125,
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25.778034210205078,
9.653117179870605,
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0.19921652972698212,
2.8084442615509033,
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] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
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] | 18.5 | 185 | 43 | 14,598 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.948198 | [
39.067413330078125,
-11.028116226196289,
25.778034210205078,
9.653117179870605,
-0.03777783364057541,
0
] | [
0.2949267625808716,
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0.19921652972698212,
2.8084442615509033,
1.4170472621917725,
2.1370983123779297
] | 0 | pick box lid and place on box body | box body | [
0.29501771926879883,
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0.20000000298023224
] | 18.6 | 186 | 43 | 14,599 | 0 |
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