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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-84.79705047607422,
23.273508071899414,
10.585699081420898,
41.769222259521484,
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] | [
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3.1114978790283203,
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] | 0 | pick box lid and place on box body | box lid | [
0.13015058636665344,
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] | 11.5 | 115 | 48 | 16,200 | 0 |
[
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] | [
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0.41419172286987305,
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0.6591325402259827,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.29333 | [
-84.79705047607422,
23.273508071899414,
10.585699081420898,
41.769222259521484,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.13015058636665344,
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] | 11.6 | 116 | 48 | 16,201 | 0 |
[
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0.6591325402259827,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.359997 | [
-84.79705047607422,
23.273508071899414,
10.585699081420898,
41.769222259521484,
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] | [
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0.014106759801506996,
3.1114978790283203,
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] | 0 | pick box lid and place on box body | box lid | [
0.13015058636665344,
0.273997038602829,
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] | 11.7 | 117 | 48 | 16,202 | 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 | 0.426664 | [
-84.79705047607422,
23.273508071899414,
10.585699081420898,
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] | [
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0.2855468988418579,
0.014106759801506996,
3.1114978790283203,
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] | 0 | pick box lid and place on box body | box lid | [
0.13015058636665344,
0.273997038602829,
0.022000037133693695
] | 11.8 | 118 | 48 | 16,203 | 0 |
[
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41.769222259521484,
-0.21436995267868042,
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] | [
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10.585699081420898,
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0.2855468988418579,
0.014106759801506996,
3.1114978790283203,
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] | 0 | [
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0.6591325402259827,
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] | [
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0.41419172286987305,
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0.6591325402259827,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.493331 | [
-84.79705047607422,
23.273508071899414,
10.585699081420898,
41.769222259521484,
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0
] | [
0.11258096992969513,
0.2855468988418579,
0.014106759801506996,
3.1114978790283203,
0.49123090505599976,
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] | 0 | pick box lid and place on box body | box lid | [
0.13015058636665344,
0.273997038602829,
0.022000037133693695
] | 11.9 | 119 | 48 | 16,204 | 0 |
[
-84.79705047607422,
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10.585699081420898,
41.769222259521484,
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] | [
-84.79705047607422,
23.273508071899414,
10.585699081420898,
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] | [
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0.2855468988418579,
0.014106759801506996,
3.1114978790283203,
0.49123090505599976,
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] | 0 | [
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0.6591325402259827,
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] | [
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0.41419172286987305,
0.00540713407099247,
0.6591325402259827,
-0.0074999770149588585,
0.26077669858932495
] | grasp box lid | Is the object grasped? | gripper_close | 0.559998 | [
-84.79705047607422,
23.273508071899414,
10.585699081420898,
41.769222259521484,
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0
] | [
0.11258096992969513,
0.2855468988418579,
0.014106759801506996,
3.1114978790283203,
0.49123090505599976,
-1.8874220848083496
] | 0 | pick box lid and place on box body | box lid | [
0.13015058636665344,
0.273997038602829,
0.022000037133693695
] | 12 | 120 | 48 | 16,205 | 0 |
[
-84.79705047607422,
23.273508071899414,
10.585699081420898,
41.769222259521484,
-0.21436995267868042,
11.19999885559082
] | [
-84.79705047607422,
23.273508071899414,
10.585699081420898,
41.769222259521484,
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10
] | [
0.11258096992969513,
0.2855468988418579,
0.014106759801506996,
3.1114978790283203,
0.49123090505599976,
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] | 0 | [
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0.6591325402259827,
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] | [
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0.41419172286987305,
0.00540713407099247,
0.6591325402259827,
-0.0074999770149588585,
0.21705828607082367
] | grasp box lid | Is the object grasped? | gripper_close | 0.626665 | [
-84.79705047607422,
23.273508071899414,
10.585699081420898,
41.769222259521484,
-0.21436995267868042,
0
] | [
0.11258096992969513,
0.2855468988418579,
0.014106759801506996,
3.1114978790283203,
0.49123090505599976,
-1.8874220848083496
] | 0 | pick box lid and place on box body | box lid | [
0.13015058636665344,
0.273997038602829,
0.022000037133693695
] | 12.1 | 121 | 48 | 16,206 | 0 |
[
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41.769222259521484,
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] | [
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23.273508071899414,
10.585699081420898,
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] | [
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] | 0 | [
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] | [
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0.41419172286987305,
0.00540713407099247,
0.6591325402259827,
-0.0074999770149588585,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.693332 | [
-84.79705047607422,
23.273508071899414,
10.585699081420898,
41.769222259521484,
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0
] | [
0.11258096992969513,
0.2855468988418579,
0.014106759801506996,
3.1114978790283203,
0.49123090505599976,
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] | 0 | pick box lid and place on box body | box lid | [
0.13015058636665344,
0.273997038602829,
0.022000037133693695
] | 12.2 | 122 | 48 | 16,207 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.41419172286987305,
0.00540713407099247,
0.6591325402259827,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.759999 | [
-84.79705047607422,
23.273508071899414,
10.585699081420898,
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0
] | [
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0.2855468988418579,
0.014106759801506996,
3.1114978790283203,
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] | 0 | pick box lid and place on box body | box lid | [
0.13015058636665344,
0.273997038602829,
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] | 12.3 | 123 | 48 | 16,208 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.41419172286987305,
0.00540713407099247,
0.6591325402259827,
-0.0074999770149588585,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.826666 | [
-84.79705047607422,
23.273508071899414,
10.585699081420898,
41.769222259521484,
-0.21436995267868042,
0
] | [
0.11258096992969513,
0.2855468988418579,
0.014106759801506996,
3.1114978790283203,
0.49123090505599976,
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] | 0 | pick box lid and place on box body | box lid | [
0.13015058636665344,
0.273997038602829,
0.022000037133693695
] | 12.4 | 124 | 48 | 16,209 | 0 |
[
-84.79705047607422,
23.273508071899414,
10.585699081420898,
41.769222259521484,
-0.21436995267868042,
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] | [
-84.79705047607422,
23.273508071899414,
10.585699081420898,
41.769222259521484,
-0.21436995267868042,
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] | [
0.11258096992969513,
0.2855468988418579,
0.014106759801506996,
3.1114978790283203,
0.49123090505599976,
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] | 0 | [
-1.3178876638412476,
0.41419172286987305,
0.00540713407099247,
0.6591325402259827,
-0.0074999770149588585,
0.0684155821800232
] | [
-1.3178876638412476,
0.41419172286987305,
0.00540713407099247,
0.6591325402259827,
-0.0074999770149588585,
0.04218443110585213
] | grasp box lid | Is the object grasped? | gripper_close | 0.893333 | [
-84.79705047607422,
23.273508071899414,
10.585699081420898,
41.769222259521484,
-0.21436995267868042,
0
] | [
0.11258096992969513,
0.2855468988418579,
0.014106759801506996,
3.1114978790283203,
0.49123090505599976,
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] | 0 | pick box lid and place on box body | box lid | [
0.13015058636665344,
0.273997038602829,
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] | 12.5 | 125 | 48 | 16,210 | 0 |
[
-84.79705047607422,
23.273508071899414,
10.585699081420898,
41.769222259521484,
-0.21436995267868042,
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] | [
-84.76304626464844,
23.316919326782227,
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0
] | [
0.11258096992969513,
0.2855468988418579,
0.014106759801506996,
3.1114978790283203,
0.49123090505599976,
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] | 0 | [
-1.3178876638412476,
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0.00540713407099247,
0.6591325402259827,
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] | [
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0.656390368938446,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.96 | [
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23.273508071899414,
10.585699081420898,
41.769222259521484,
-0.21436995267868042,
0
] | [
0.11258096992969513,
0.2855468988418579,
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] | 0 | pick box lid and place on box body | box lid | [
0.13015058636665344,
0.273997038602829,
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] | 12.6 | 126 | 48 | 16,211 | 0 |
[
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0
] | [
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0
] | [
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] | 0 | [
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] | [
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0.6573755741119385,
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] | Lift the box lid | Is the box lid lifted? | move | 0.060253 | [
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] | [
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[
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0.273997038602829,
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0.273997038602829,
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.175165 | [
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.212013 | [
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] | 0 | pick box lid and place on box body | box body | [
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0.049986399710178375,
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[
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[
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[
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18.018800735473633,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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0.049986399710178375,
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] | 17.799999 | 178 | 48 | 16,263 | 0 |
[
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18.018800735473633,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.24503132700920105,
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] | 17.9 | 179 | 48 | 16,264 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.781606 | [
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18.018800735473633,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.24503132700920105,
0.049986399710178375,
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] | 18 | 180 | 48 | 16,265 | 0 |
[
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[
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[
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] | 18.6 | 186 | 48 | 16,271 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.954536 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 18.700001 | 187 | 48 | 16,272 | 0 |
[
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18.018800735473633,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.24503132700920105,
0.049986399710178375,
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] | 18.799999 | 188 | 48 | 16,273 | 0 |
[
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.019175 | [
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] | 19 | 190 | 48 | 16,275 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.022085 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 19.1 | 191 | 48 | 16,276 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.029362 | [
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65.44158935546875,
28.162649154663086,
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] | 0 | pick box lid and place on box body | box body | [
0.24503132700920105,
0.049986399710178375,
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] | 19.200001 | 192 | 48 | 16,277 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.04368 | [
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65.44158935546875,
28.162649154663086,
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] | 0 | pick box lid and place on box body | box body | [
0.24503132700920105,
0.049986399710178375,
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] | 19.299999 | 193 | 48 | 16,278 | 0 |
[
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[
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.72311 | [
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] | 0 | pick box lid and place on box body | box body | [
0.24503132700920105,
0.049986399710178375,
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] | 21 | 210 | 48 | 16,295 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.75177 | [
-17.52805519104004,
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65.44158935546875,
28.162649154663086,
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] | [
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3.10829758644104,
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] | 0 | pick box lid and place on box body | box body | [
0.24503132700920105,
0.049986399710178375,
0.013000024482607841
] | 21.1 | 211 | 48 | 16,296 | 0 |
[
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39.10592269897461,
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] | [
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0
] | [
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0.5379524230957031,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.779228 | [
-17.52805519104004,
-15.088335037231445,
65.44158935546875,
28.162649154663086,
-0.3787672221660614,
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] | [
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0.02916742116212845,
0.010116059333086014,
3.10829758644104,
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] | 0 | pick box lid and place on box body | box body | [
0.24503132700920105,
0.049986399710178375,
0.013000024482607841
] | 21.200001 | 212 | 48 | 16,297 | 0 |
[
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] | [
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0.8756215572357178,
0.5195959210395813,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.804242 | [
-17.52805519104004,
-15.088335037231445,
65.44158935546875,
28.162649154663086,
-0.3787672221660614,
0
] | [
0.24200274050235748,
0.02916742116212845,
0.010116059333086014,
3.10829758644104,
0.4965909421443939,
-2.9718120098114014
] | 0 | pick box lid and place on box body | box body | [
0.24503132700920105,
0.049986399710178375,
0.013000024482607841
] | 21.299999 | 213 | 48 | 16,298 | 0 |
[
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0
] | [
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] | [
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0.8942692279815674,
0.5007530450820923,
-0.012663408182561398,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.828872 | [
-17.52805519104004,
-15.088335037231445,
65.44158935546875,
28.162649154663086,
-0.3787672221660614,
0
] | [
0.24200274050235748,
0.02916742116212845,
0.010116059333086014,
3.10829758644104,
0.4965909421443939,
-2.9718120098114014
] | 0 | pick box lid and place on box body | box body | [
0.24503132700920105,
0.049986399710178375,
0.013000024482607841
] | 21.4 | 214 | 48 | 16,299 | 0 |
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