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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] | 11.9 | 119 | 45 | 15,200 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.933333 | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12 | 120 | 45 | 15,201 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.044009 | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.1 | 121 | 45 | 15,202 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.043401 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.12078782916069031,
0.16758863627910614,
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] | 12.2 | 122 | 45 | 15,203 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.045776 | [
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69.45370483398438,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.12078782916069031,
0.16758863627910614,
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] | 12.3 | 123 | 45 | 15,204 | 0 |
[
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0
] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.053677 | [
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69.45370483398438,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.12078782916069031,
0.16758863627910614,
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] | 12.4 | 124 | 45 | 15,205 | 0 |
[
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0
] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.072492 | [
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-86.63525390625,
69.45370483398438,
41.69753646850586,
1.0357270240783691,
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] | [
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0.16739888489246368,
0.19971692562103271,
2.950289726257324,
1.482046365737915,
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] | 0 | pick box lid and place on box body | box lid | [
0.12078782916069031,
0.16758863627910614,
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] | 12.5 | 125 | 45 | 15,206 | 0 |
[
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0
] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.094035 | [
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-86.63525390625,
69.45370483398438,
41.69753646850586,
1.0357270240783691,
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] | [
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0.16739888489246368,
0.19971692562103271,
2.950289726257324,
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] | 0 | pick box lid and place on box body | box lid | [
0.12078782916069031,
0.16758863627910614,
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] | 12.6 | 126 | 45 | 15,207 | 0 |
[
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0
] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.11723 | [
-72.2667236328125,
-86.63525390625,
69.45370483398438,
41.69753646850586,
1.0357270240783691,
0
] | [
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0.16739888489246368,
0.19971692562103271,
2.950289726257324,
1.482046365737915,
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] | 0 | pick box lid and place on box body | box lid | [
0.12078782916069031,
0.16758863627910614,
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] | 12.7 | 127 | 45 | 15,208 | 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 | 0.144248 | [
-72.2667236328125,
-86.63525390625,
69.45370483398438,
41.69753646850586,
1.0357270240783691,
0
] | [
0.12076856940984726,
0.16739888489246368,
0.19971692562103271,
2.950289726257324,
1.482046365737915,
-2.21659779548645
] | 0 | pick box lid and place on box body | box lid | [
0.12078782916069031,
0.16758863627910614,
0.20000000298023224
] | 12.8 | 128 | 45 | 15,209 | 0 |
[
-78.02812957763672,
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0
] | [
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1.0357270240783691,
0
] | [
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0.18989403545856476,
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3.0987467765808105,
0.8949763774871826,
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] | 0 | [
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1.4230209589004517,
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] | [
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1.357383131980896,
0.001349747646600008,
0.03176338970661163,
-0.0015339808305725455
] | Lift the box lid | Is the box lid lifted? | move | 0.173906 | [
-72.2667236328125,
-86.63525390625,
69.45370483398438,
41.69753646850586,
1.0357270240783691,
0
] | [
0.12076856940984726,
0.16739888489246368,
0.19971692562103271,
2.950289726257324,
1.482046365737915,
-2.21659779548645
] | 0 | pick box lid and place on box body | box lid | [
0.12078782916069031,
0.16758863627910614,
0.20000000298023224
] | 12.9 | 129 | 45 | 15,210 | 0 |
[
-77.81241607666016,
-40.709327697753906,
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0
] | [
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] | [
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] | [
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0.03605653718113899,
0.03176338970661163,
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] | Lift the box lid | Is the box lid lifted? | move | 0.207232 | [
-72.2667236328125,
-86.63525390625,
69.45370483398438,
41.69753646850586,
1.0357270240783691,
0
] | [
0.12076856940984726,
0.16739888489246368,
0.19971692562103271,
2.950289726257324,
1.482046365737915,
-2.21659779548645
] | 0 | pick box lid and place on box body | box lid | [
0.12078782916069031,
0.16758863627910614,
0.20000000298023224
] | 13 | 130 | 45 | 15,211 | 0 |
[
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0
] | [
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] | [
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0.03176338970661163,
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] | Lift the box lid | Is the box lid lifted? | move | 0.242667 | [
-72.2667236328125,
-86.63525390625,
69.45370483398438,
41.69753646850586,
1.0357270240783691,
0
] | [
0.12076856940984726,
0.16739888489246368,
0.19971692562103271,
2.950289726257324,
1.482046365737915,
-2.21659779548645
] | 0 | pick box lid and place on box body | box lid | [
0.12078782916069031,
0.16758863627910614,
0.20000000298023224
] | 13.1 | 131 | 45 | 15,212 | 0 |
[
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0
] | [
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[
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[
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[
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[
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0.12078782916069031,
0.16758863627910614,
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.916451 | [
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[
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.963936 | [
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] | 15.1 | 151 | 45 | 15,232 | 0 |
[
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] | 15.2 | 152 | 45 | 15,233 | 0 |
[
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[
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[
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[
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66.2950210571289,
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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 | 0.140176 | [
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66.2950210571289,
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[
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66.2950210571289,
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0.11871771514415741,
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[
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[
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[
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[
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] | [
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] | 16.6 | 166 | 45 | 15,247 | 0 |
[
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.700001 | 167 | 45 | 15,248 | 0 |
[
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66.2950210571289,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.22628642618656158,
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] | 16.799999 | 168 | 45 | 15,249 | 0 |
[
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66.2950210571289,
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] | 0 | pick box lid and place on box body | box body | [
0.22628642618656158,
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[
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66.2950210571289,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.22628642618656158,
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] | 17 | 170 | 45 | 15,251 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.604556 | [
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66.2950210571289,
24.399843215942383,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.22628642618656158,
0.11871771514415741,
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] | 17.1 | 171 | 45 | 15,252 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.6463 | [
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66.2950210571289,
24.399843215942383,
0.2608843743801117,
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] | [
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0.11869227886199951,
0.19999201595783234,
2.714550018310547,
1.4714611768722534,
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] | 0 | pick box lid and place on box body | box body | [
0.22628642618656158,
0.11871771514415741,
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] | 17.200001 | 172 | 45 | 15,253 | 0 |
[
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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 | 0.827969 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 17.799999 | 178 | 45 | 15,259 | 0 |
[
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66.2950210571289,
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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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66.2950210571289,
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] | [
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[
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66.2950210571289,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.22628642618656158,
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] | 18.1 | 181 | 45 | 15,262 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.910267 | [
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66.2950210571289,
24.399843215942383,
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] | [
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0.11869227886199951,
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] | 0 | pick box lid and place on box body | box body | [
0.22628642618656158,
0.11871771514415741,
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] | 18.200001 | 182 | 45 | 15,263 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
0.22628642618656158,
0.11871771514415741,
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] | 18.299999 | 183 | 45 | 15,264 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.042476 | [
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83.2162857055664,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.22628642618656158,
0.11871771514415741,
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] | 18.4 | 184 | 45 | 15,265 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.044889 | [
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83.2162857055664,
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] | [
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0.10181475430727005,
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] | 0 | pick box lid and place on box body | box body | [
0.22628642618656158,
0.11871771514415741,
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] | 18.5 | 185 | 45 | 15,266 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.051798 | [
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[
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0.22628642618656158,
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[
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83.2162857055664,
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0.22628642618656158,
0.11871771514415741,
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[
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83.2162857055664,
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0.10181475430727005,
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0.22628642618656158,
0.11871771514415741,
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] | 19.799999 | 198 | 45 | 15,279 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.462121 | [
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83.2162857055664,
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0.10181475430727005,
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] | 0 | pick box lid and place on box body | box body | [
0.22628642618656158,
0.11871771514415741,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.891951 | [
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0.22628642618656158,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.883468 | [
-38.10485076904297,
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83.2162857055664,
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0.22628642618656158,
0.11871771514415741,
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[
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-38.10485076904297,
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83.2162857055664,
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] | 0 | pick box lid and place on box body | box body | [
0.22628642618656158,
0.11871771514415741,
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] | 21.6 | 216 | 45 | 15,297 | 0 |
[
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1.2384616136550903,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.880228 | [
-38.10485076904297,
-7.28257417678833,
83.2162857055664,
-15.452264785766602,
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] | [
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0.10181475430727005,
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3.06999135017395,
0.8273556232452393,
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] | 0 | pick box lid and place on box body | box body | [
0.22628642618656158,
0.11871771514415741,
0.013000024482607841
] | 21.700001 | 217 | 45 | 15,298 | 0 |
[
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0
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0
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1.2384616136550903,
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-0.01699499785900116,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.879108 | [
-38.10485076904297,
-7.28257417678833,
83.2162857055664,
-15.452264785766602,
-0.5166796445846558,
0
] | [
0.23467318713665009,
0.10181475430727005,
-0.00008889900345820934,
3.06999135017395,
0.8273556232452393,
-2.669297933578491
] | 0 | pick box lid and place on box body | box body | [
0.22628642618656158,
0.11871771514415741,
0.013000024482607841
] | 21.799999 | 218 | 45 | 15,299 | 0 |
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