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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[
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.2 | 112 | 51 | 17,201 | 0 |
[
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] | 11.3 | 113 | 51 | 17,202 | 0 |
[
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.4 | 114 | 51 | 17,203 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.879997 | [
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69.68140411376953,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.22694550454616547,
0.023599782958626747,
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] | 11.5 | 115 | 51 | 17,204 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.946665 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.6 | 116 | 51 | 17,205 | 0 |
[
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.071101 | [
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] | 11.7 | 117 | 51 | 17,206 | 0 |
[
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0
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] | Lift the box lid | Is the box lid lifted? | move | 0.07297 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.8 | 118 | 51 | 17,207 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.076633 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.9 | 119 | 51 | 17,208 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.083928 | [
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47.60784149169922,
57.53070068359375,
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0
] | [
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3.0887248516082764,
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] | 0 | pick box lid and place on box body | box lid | [
0.22694550454616547,
0.023599782958626747,
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] | 12 | 120 | 51 | 17,209 | 0 |
[
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] | [
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] | [
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] | [
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0.4847103953361511,
0.02988584339618683,
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] | Lift the box lid | Is the box lid lifted? | move | 0.100183 | [
-10.450360298156738,
-67.65628051757812,
47.60784149169922,
57.53070068359375,
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0
] | [
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0.19999365508556366,
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] | 0 | pick box lid and place on box body | box lid | [
0.22694550454616547,
0.023599782958626747,
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] | 12.1 | 121 | 51 | 17,210 | 0 |
[
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] | [
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] | [
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0.02988584339618683,
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] | Lift the box lid | Is the box lid lifted? | move | 0.120173 | [
-10.450360298156738,
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47.60784149169922,
57.53070068359375,
0.9759482741355896,
0
] | [
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0.19999365508556366,
3.0887248516082764,
1.2289913892745972,
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] | 0 | pick box lid and place on box body | box lid | [
0.22694550454616547,
0.023599782958626747,
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] | 12.2 | 122 | 51 | 17,211 | 0 |
[
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0.02988584339618683,
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] | Lift the box lid | Is the box lid lifted? | move | 0.143718 | [
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47.60784149169922,
57.53070068359375,
0.9759482741355896,
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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0.22694550454616547,
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[
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47.60784149169922,
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[
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47.60784149169922,
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0.023599782958626747,
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[
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47.60784149169922,
57.53070068359375,
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0.023599782958626747,
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[
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47.60784149169922,
57.53070068359375,
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0.22694550454616547,
0.023599782958626747,
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[
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[
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[
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.899541 | [
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[
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.967036 | [
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47.60784149169922,
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0.023599782958626747,
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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 | 0.030284 | [
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0.23743543028831482,
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.031649 | [
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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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] | [
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] | 0 | pick box lid and place on box body | box body | [
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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 | [
0.07882653176784515,
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] | 16.1 | 161 | 51 | 17,250 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.366122 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.200001 | 162 | 51 | 17,251 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.41203 | [
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59.98752212524414,
20.102134704589844,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
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] | 16.299999 | 163 | 51 | 17,252 | 0 |
[
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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 | 0.690789 | [
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] | 0 | pick box lid and place on box body | box body | [
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[
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[
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] | [
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[
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] | [
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] | 17.200001 | 172 | 51 | 17,261 | 0 |
[
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 17.299999 | 173 | 51 | 17,262 | 0 |
[
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 17.4 | 174 | 51 | 17,263 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.862819 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 17.5 | 175 | 51 | 17,264 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.886116 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
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] | 17.6 | 176 | 51 | 17,265 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.909503 | [
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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 | 0.952206 | [
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.962486 | [
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.967772 | [
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] | [
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0.07882653176784515,
0.23743543028831482,
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] | 18.1 | 181 | 51 | 17,270 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.072435 | [
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] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
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] | 18.200001 | 182 | 51 | 17,271 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.076407 | [
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48.76346969604492,
26.284852981567383,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
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] | 18.299999 | 183 | 51 | 17,272 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.082131 | [
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2.8619511127471924,
48.76346969604492,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
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] | 18.4 | 184 | 51 | 17,273 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.091013 | [
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2.8619511127471924,
48.76346969604492,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
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] | 18.5 | 185 | 51 | 17,274 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.094749 | [
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2.8619511127471924,
48.76346969604492,
26.284852981567383,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
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] | 18.6 | 186 | 51 | 17,275 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.104056 | [
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2.8619511127471924,
48.76346969604492,
26.284852981567383,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
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] | 18.700001 | 187 | 51 | 17,276 | 0 |
[
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0.32941633462905884,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.120323 | [
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2.8619511127471924,
48.76346969604492,
26.284852981567383,
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] | [
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0.00021816871594637632,
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] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
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] | 18.799999 | 188 | 51 | 17,277 | 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 | 0.142902 | [
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2.8619511127471924,
48.76346969604492,
26.284852981567383,
-0.5425875782966614,
0
] | [
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0.00021816871594637632,
3.1062490940093994,
0.4878454804420471,
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] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
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] | 18.9 | 189 | 51 | 17,278 | 0 |
[
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] | [
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0.7983835339546204,
0.3344806730747223,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.169351 | [
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2.8619511127471924,
48.76346969604492,
26.284852981567383,
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[
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[
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[
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[
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[
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2.8619511127471924,
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[
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2.8619511127471924,
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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 | 0.534542 | [
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2.8619511127471924,
48.76346969604492,
26.284852981567383,
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] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
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] | 19.9 | 199 | 51 | 17,288 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.578922 | [
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2.8619511127471924,
48.76346969604492,
26.284852981567383,
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] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.623006 | [
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2.8619511127471924,
48.76346969604492,
26.284852981567383,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
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] | 20.1 | 201 | 51 | 17,290 | 0 |
[
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0.37052392959594727,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.666232 | [
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2.8619511127471924,
48.76346969604492,
26.284852981567383,
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] | [
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0.00021816871594637632,
3.1062490940093994,
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] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
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] | 20.200001 | 202 | 51 | 17,291 | 0 |
[
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0.6857272386550903,
0.37189018726348877,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.706495 | [
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2.8619511127471924,
48.76346969604492,
26.284852981567383,
-0.5425875782966614,
0
] | [
0.09657008945941925,
0.2304992526769638,
0.00021816871594637632,
3.1062490940093994,
0.4878454804420471,
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] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
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] | 20.299999 | 203 | 51 | 17,292 | 0 |
[
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0
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.739443 | [
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48.76346969604492,
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] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
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] | 20.4 | 204 | 51 | 17,293 | 0 |
[
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0
] | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.767289 | [
-90.47437286376953,
2.8619511127471924,
48.76346969604492,
26.284852981567383,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
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] | 20.5 | 205 | 51 | 17,294 | 0 |
[
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] | [
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49.930484771728516,
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] | [
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3.0898547172546387,
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] | [
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0.6726222038269043,
0.37620335817337036,
-0.017808720469474792,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.792116 | [
-90.47437286376953,
2.8619511127471924,
48.76346969604492,
26.284852981567383,
-0.5425875782966614,
0
] | [
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0.00021816871594637632,
3.1062490940093994,
0.4878454804420471,
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] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
0.013000025413930416
] | 20.6 | 206 | 51 | 17,295 | 0 |
[
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26.09300994873047,
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0
] | [
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0
] | [
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3.1036741733551025,
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] | 0 | [
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] | [
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0.6680110692977905,
0.37772101163864136,
-0.017808720469474792,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.814674 | [
-90.47437286376953,
2.8619511127471924,
48.76346969604492,
26.284852981567383,
-0.5425875782966614,
0
] | [
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0.2304992526769638,
0.00021816871594637632,
3.1062490940093994,
0.4878454804420471,
-1.8079752922058105
] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
0.013000025413930416
] | 20.700001 | 207 | 51 | 17,296 | 0 |
[
-89.9677734375,
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49.63754653930664,
25.379087448120117,
1.8841526508331299,
0
] | [
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49.376556396484375,
26.015710830688477,
-0.5425875782966614,
0
] | [
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0.25156256556510925,
0.04043130576610565,
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] | 0 | [
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0.36798638105392456,
0.05841096118092537,
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] | [
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0.6632286310195923,
0.3792950510978699,
-0.017808720469474792,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.827155 | [
-90.47437286376953,
2.8619511127471924,
48.76346969604492,
26.284852981567383,
-0.5425875782966614,
0
] | [
0.09657008945941925,
0.2304992526769638,
0.00021816871594637632,
3.1062490940093994,
0.4878454804420471,
-1.8079752922058105
] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
0.013000025413930416
] | 20.799999 | 208 | 51 | 17,297 | 0 |
[
-90.01530456542969,
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48.909698486328125,
24.276819229125977,
1.5159382820129395,
0
] | [
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-2.0450544357299805,
49.085914611816406,
26.107030868530273,
-0.5425875782966614,
0
] | [
0.08274877816438675,
0.2547091841697693,
0.0397830568253994,
3.1400771141052246,
0.6893728375434875,
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] | 0 | [
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0.6553115844726562,
0.34840625524520874,
0.04684598743915558,
-0.0015339808305725455
] | [
-1.4080103635787964,
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0.6582998633384705,
0.3809172213077545,
-0.017808720469474792,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.845728 | [
-90.47437286376953,
2.8619511127471924,
48.76346969604492,
26.284852981567383,
-0.5425875782966614,
0
] | [
0.09657008945941925,
0.2304992526769638,
0.00021816871594637632,
3.1062490940093994,
0.4878454804420471,
-1.8079752922058105
] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
0.013000025413930416
] | 20.9 | 209 | 51 | 17,298 | 0 |
[
-90.05038452148438,
-5.687008857727051,
48.15275955200195,
24.338043212890625,
1.696268916130066,
0
] | [
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51.71937561035156,
26.202733993530273,
-0.5425875782966614,
0
] | [
0.0828789621591568,
0.2560727596282959,
0.03957124799489975,
-3.138444423675537,
0.6886326670646667,
-1.7345267534255981
] | 0 | [
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0.3494938015937805,
0.0525098592042923,
-0.0015339808305725455
] | [
-1.4084868431091309,
-0.016544295474886894,
0.7029585242271423,
0.3826172351837158,
-0.017808720469474792,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.855418 | [
-90.47437286376953,
2.8619511127471924,
48.76346969604492,
26.284852981567383,
-0.5425875782966614,
0
] | [
0.09657008945941925,
0.2304992526769638,
0.00021816871594637632,
3.1062490940093994,
0.4878454804420471,
-1.8079752922058105
] | 0 | pick box lid and place on box body | box body | [
0.07882653176784515,
0.23743543028831482,
0.013000025413930416
] | 21 | 210 | 51 | 17,299 | 0 |
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