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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] | Pick up the box lid | Is the box lid grasped? | move | 0.026848 | [
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[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.045811 | [
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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 | 0.070714 | [
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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 | 0.100537 | [
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17.318771362304688,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
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] | 8.4 | 84 | 52 | 17,504 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.134504 | [
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17.318771362304688,
26.773513793945312,
31.350093841552734,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
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] | 8.5 | 85 | 52 | 17,505 | 0 |
[
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.171997 | [
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17.318771362304688,
26.773513793945312,
31.350093841552734,
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] | [
0.1881711781024933,
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] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
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] | 8.6 | 86 | 52 | 17,506 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.212707 | [
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17.318771362304688,
26.773513793945312,
31.350093841552734,
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] | [
0.1881711781024933,
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] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
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] | 8.7 | 87 | 52 | 17,507 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.256059 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
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30
] | [
0.1881711781024933,
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] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
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] | 8.8 | 88 | 52 | 17,508 | 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 | 0.301488 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
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] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
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] | 8.9 | 89 | 52 | 17,509 | 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 | 0.348486 | [
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17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
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3.1102328300476074,
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] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 9 | 90 | 52 | 17,510 | 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 | 0.396565 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
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] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 9.1 | 91 | 52 | 17,511 | 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 | 0.44526 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
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0.0018224056111648679,
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] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 9.2 | 92 | 52 | 17,512 | 0 |
[
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30
] | [
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30
] | [
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0.3075368106365204,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.49411 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
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3.1102328300476074,
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] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 9.3 | 93 | 52 | 17,513 | 0 |
[
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30.948476791381836,
-0.20847557485103607,
30
] | [
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1.3385515213012695,
28.127565383911133,
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30
] | [
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3.073424816131592,
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] | 1 | [
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] | [
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0.30288487672805786,
0.46938735246658325,
-0.0073730191215872765,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.542667 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
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3.1102328300476074,
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] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 9.4 | 94 | 52 | 17,514 | 0 |
[
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30.995939254760742,
-0.2088361531496048,
30
] | [
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3.4922983646392822,
27.86453628540039,
31.12839698791504,
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30
] | [
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3.0784566402435303,
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] | 1 | [
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] | [
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0.05628430098295212,
0.2984243929386139,
0.47011423110961914,
-0.0073730191215872765,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.590482 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
0.23321104049682617,
0.0018224056111648679,
3.1102328300476074,
0.509502649307251,
-2.132575273513794
] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 9.5 | 95 | 52 | 17,515 | 0 |
[
-68.75160217285156,
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28.32572364807129,
31.04274559020996,
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30
] | [
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5.137341022491455,
27.663631439208984,
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-0.21032777428627014,
30
] | [
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0.25950437784194946,
0.07987436652183533,
3.0829670429229736,
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] | 1 | [
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] | [
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0.08604855835437775,
0.29501739144325256,
0.4706694483757019,
-0.0073730191215872765,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.637099 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
0.23321104049682617,
0.0018224056111648679,
3.1102328300476074,
0.509502649307251,
-2.132575273513794
] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 9.6 | 96 | 52 | 17,516 | 0 |
[
-68.85660552978516,
1.7510405778884888,
28.0949649810791,
31.101318359375,
-0.2112348973751068,
30
] | [
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27.537242889404297,
31.1793155670166,
-0.21032777428627014,
30
] | [
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0.07063952088356018,
3.0868470668792725,
0.7725273370742798,
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] | 1 | [
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0.3023320138454437,
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] | [
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0.10477330535650253,
0.2928740978240967,
0.4710187315940857,
-0.0073730191215872765,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.680073 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
0.23321104049682617,
0.0018224056111648679,
3.1102328300476074,
0.509502649307251,
-2.132575273513794
] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 9.7 | 97 | 52 | 17,517 | 0 |
[
-68.94149017333984,
3.4359560012817383,
27.90810775756836,
31.150447845458984,
-0.21305671334266663,
30
] | [
-69.13417053222656,
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27.40756607055664,
31.19948959350586,
-0.21032777428627014,
30
] | [
0.1821206510066986,
0.258030503988266,
0.06319820880889893,
3.0897939205169678,
0.7444189190864563,
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] | 1 | [
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0.055264879018068314,
0.299163281917572,
0.470505952835083,
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0.6542428135871887
] | [
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0.12447004020214081,
0.29067501425743103,
0.47137710452079773,
-0.0073730191215872765,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.714791 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
0.23321104049682617,
0.0018224056111648679,
3.1102328300476074,
0.509502649307251,
-2.132575273513794
] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 9.8 | 98 | 52 | 17,518 | 0 |
[
-69.01395416259766,
4.877084255218506,
27.731510162353516,
31.177602767944336,
-0.21301117539405823,
30
] | [
-69.1892318725586,
8.385285377502441,
27.274465560913086,
31.220195770263672,
-0.21032777428627014,
30
] | [
0.18131989240646362,
0.25729256868362427,
0.05694423243403435,
3.0921878814697266,
0.7209238409996033,
-2.1514647006988525
] | 1 | [
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0.08133964985609055,
0.2961685061454773,
0.47098830342292786,
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0.6542428135871887
] | [
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0.144814595580101,
0.28841787576675415,
0.4717448949813843,
-0.0073730191215872765,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.744504 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
0.23321104049682617,
0.0018224056111648679,
3.1102328300476074,
0.509502649307251,
-2.132575273513794
] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 9.9 | 99 | 52 | 17,519 | 0 |
[
-69.0794677734375,
6.188971996307373,
27.56561279296875,
31.196537017822266,
-0.21238112449645996,
30
] | [
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9.54095458984375,
27.137664794921875,
31.241477966308594,
-0.21032777428627014,
30
] | [
0.18054594099521637,
0.2565303444862366,
0.051296383142471313,
3.0942800045013428,
0.6997236609458923,
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] | 1 | [
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0.10507603734731674,
0.29335519671440125,
0.4713246524333954,
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0.6542428135871887
] | [
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0.1657244712114334,
0.2860979735851288,
0.4721229672431946,
-0.0073730191215872765,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.771551 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
0.23321104049682617,
0.0018224056111648679,
3.1102328300476074,
0.509502649307251,
-2.132575273513794
] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 10 | 100 | 52 | 17,520 | 0 |
[
-69.141357421875,
7.435790061950684,
27.40752601623535,
31.213144302368164,
-0.21165239810943604,
30
] | [
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10.73339557647705,
26.996511459350586,
31.263437271118164,
-0.21032777428627014,
30
] | [
0.17976140975952148,
0.2557092010974884,
0.04594797268509865,
3.0961997509002686,
0.6796048879623413,
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] | 1 | [
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0.12763509154319763,
0.2906743288040161,
0.4716196358203888,
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0.6542428135871887
] | [
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0.1872996687889099,
0.2837042808532715,
0.47251302003860474,
-0.0073730191215872765,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.797248 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
0.23321104049682617,
0.0018224056111648679,
3.1102328300476074,
0.509502649307251,
-2.132575273513794
] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 10.1 | 101 | 52 | 17,521 | 0 |
[
-69.20174407958984,
8.657798767089844,
27.253833770751953,
31.229713439941406,
-0.21099577844142914,
30
] | [
-69.36471557617188,
11.96867847442627,
26.85028839111328,
31.28618621826172,
-0.21032777428627014,
30
] | [
0.178942009806633,
0.25480565428733826,
0.04071755334734917,
3.098021984100342,
0.6598583459854126,
-2.144688367843628
] | 1 | [
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0.14974527060985565,
0.2880679965019226,
0.4719139635562897,
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0.6542428135871887
] | [
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0.20965000987052917,
0.2812246084213257,
0.4729171395301819,
-0.0073730191215872765,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.822419 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
0.23321104049682617,
0.0018224056111648679,
3.1102328300476074,
0.509502649307251,
-2.132575273513794
] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 10.2 | 102 | 52 | 17,522 | 0 |
[
-69.26191711425781,
9.879373550415039,
27.102458953857422,
31.247516632080078,
-0.2104492336511612,
30
] | [
-69.4271240234375,
13.24307632446289,
26.699434280395508,
31.309654235839844,
-0.21032777428627014,
30
] | [
0.17807021737098694,
0.2537998855113983,
0.03549763560295105,
3.099790334701538,
0.6400567889213562,
-2.1426398754119873
] | 1 | [
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0.17184759676456451,
0.2855009436607361,
0.4722302258014679,
-0.0073768338188529015,
0.6542428135871887
] | [
-1.0715062618255615,
0.23270808160305023,
0.2786664068698883,
0.47333401441574097,
-0.0073730191215872765,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.847561 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
0.23321104049682617,
0.0018224056111648679,
3.1102328300476074,
0.509502649307251,
-2.132575273513794
] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 10.3 | 103 | 52 | 17,523 | 0 |
[
-69.32288360595703,
11.119404792785645,
26.95009422302246,
31.266408920288086,
-0.20999376475811005,
30
] | [
-69.49261474609375,
14.580317497253418,
26.541141510009766,
31.334280014038086,
-0.21032777428627014,
30
] | [
0.17713329195976257,
0.2526775896549225,
0.030214760452508926,
3.1015329360961914,
0.6199179291725159,
-2.1406242847442627
] | 1 | [
-1.0698351860046387,
0.1942838579416275,
0.2829171121120453,
0.47256582975387573,
-0.00736252823844552,
0.6542428135871887
] | [
-1.0725560188293457,
0.25690320134162903,
0.2759820520877838,
0.47377145290374756,
-0.0073730191215872765,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.873054 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
0.23321104049682617,
0.0018224056111648679,
3.1102328300476074,
0.509502649307251,
-2.132575273513794
] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 10.4 | 104 | 52 | 17,524 | 0 |
[
-69.38540649414062,
12.393415451049805,
26.794469833374023,
31.286331176757812,
-0.20961043238639832,
30
] | [
-69.53466033935547,
15.438971519470215,
26.439498901367188,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.17611755430698395,
0.25142014026641846,
0.024808591231703758,
3.103271722793579,
0.5992010831832886,
-2.1386168003082275
] | 1 | [
-1.0708374977111816,
0.21733491122722626,
0.2802780270576477,
0.4729197025299072,
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0.6542428135871887
] | [
-1.0732300281524658,
0.2724390923976898,
0.2742583751678467,
0.4740523397922516,
-0.0073730191215872765,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.899196 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
0.23321104049682617,
0.0018224056111648679,
3.1102328300476074,
0.509502649307251,
-2.132575273513794
] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 10.5 | 105 | 52 | 17,525 | 0 |
[
-69.44329833984375,
13.582521438598633,
26.678739547729492,
31.327056884765625,
-0.21157649159431458,
30
] | [
-69.53466033935547,
15.438971519470215,
26.439498901367188,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.17505043745040894,
0.25001874566078186,
0.019656071439385414,
3.1048738956451416,
0.5789691209793091,
-2.136849880218506
] | 1 | [
-1.071765422821045,
0.23884977400302887,
0.2783154547214508,
0.47364312410354614,
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0.6542428135871887
] | [
-1.0732300281524658,
0.2724390923976898,
0.2742583751678467,
0.4740523397922516,
-0.0073730191215872765,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.923526 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
0.23321104049682617,
0.0018224056111648679,
3.1102328300476074,
0.509502649307251,
-2.132575273513794
] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 10.6 | 106 | 52 | 17,526 | 0 |
[
-69.47937774658203,
14.326539039611816,
26.617027282714844,
31.363515853881836,
-0.21404734253883362,
30
] | [
-69.53466033935547,
15.438971519470215,
26.439498901367188,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.17432869970798492,
0.2490384727716446,
0.016397396102547646,
3.105861186981201,
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] | 1 | [
-1.0723438262939453,
0.25231149792671204,
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] | [
-1.0732300281524658,
0.2724390923976898,
0.2742583751678467,
0.4740523397922516,
-0.0073730191215872765,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.938699 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
0.23321104049682617,
0.0018224056111648679,
3.1102328300476074,
0.509502649307251,
-2.132575273513794
] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 10.7 | 107 | 52 | 17,527 | 0 |
[
-69.50120544433594,
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26.566226959228516,
31.374242782592773,
-0.21431303024291992,
30
] | [
-69.53466033935547,
15.438971519470215,
26.439498901367188,
31.350093841552734,
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30
] | [
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0.014513839967548847,
3.106435775756836,
0.5585553050041199,
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] | 1 | [
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] | [
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0.2724390923976898,
0.2742583751678467,
0.4740523397922516,
-0.0073730191215872765,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.947731 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
0.23321104049682617,
0.0018224056111648679,
3.1102328300476074,
0.509502649307251,
-2.132575273513794
] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 10.8 | 108 | 52 | 17,528 | 0 |
[
-69.5144271850586,
15.03923225402832,
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-0.21370954811573029,
30
] | [
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15.113171577453613,
26.51485252380371,
31.37235450744629,
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] | [
0.17369817197322845,
0.24821186065673828,
0.013425088487565517,
3.10677170753479,
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] | 1 | [
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0.275747686624527,
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] | [
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0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
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] | Pick up the box lid | Is the box lid grasped? | move | 0.953096 | [
-69.53466033935547,
17.318771362304688,
26.773513793945312,
31.350093841552734,
-0.21032777428627014,
30
] | [
0.1881711781024933,
0.23321104049682617,
0.0018224056111648679,
3.1102328300476074,
0.509502649307251,
-2.132575273513794
] | 30 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 10.9 | 109 | 52 | 17,529 | 0 |
[
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
28.80000114440918
] | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
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] | [
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0.013131249696016312,
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] | 0 | [
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0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
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] | [
-1.0729643106460571,
0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
0.6017807126045227
] | grasp box lid | Is the object grasped? | gripper_close | 0.039995 | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
0
] | [
0.17364007234573364,
0.24813948571681976,
0.013131249696016312,
3.1068618297576904,
0.5533039569854736,
-2.1346347332000732
] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 11 | 110 | 52 | 17,530 | 0 |
[
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
26.800003051757812
] | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
25.600004196166992
] | [
0.17364007234573364,
0.24813948571681976,
0.013131249696016312,
3.1068618297576904,
0.5533039569854736,
-2.1346347332000732
] | 0 | [
-1.0729643106460571,
0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
0.5842933654785156
] | [
-1.0729643106460571,
0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
0.5580623149871826
] | grasp box lid | Is the object grasped? | gripper_close | 0.106662 | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
0
] | [
0.17364007234573364,
0.24813948571681976,
0.013131249696016312,
3.1068618297576904,
0.5533039569854736,
-2.1346347332000732
] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 11.1 | 111 | 52 | 17,531 | 0 |
[
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
24.799999237060547
] | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
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] | [
0.17364007234573364,
0.24813948571681976,
0.013131249696016312,
3.1068618297576904,
0.5533039569854736,
-2.1346347332000732
] | 0 | [
-1.0729643106460571,
0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
0.5405747890472412
] | [
-1.0729643106460571,
0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
0.514343798160553
] | grasp box lid | Is the object grasped? | gripper_close | 0.173329 | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
0
] | [
0.17364007234573364,
0.24813948571681976,
0.013131249696016312,
3.1068618297576904,
0.5533039569854736,
-2.1346347332000732
] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 11.2 | 112 | 52 | 17,532 | 0 |
[
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
22.800003051757812
] | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
21.60000228881836
] | [
0.17364007234573364,
0.24813948571681976,
0.013131249696016312,
3.1068618297576904,
0.5533039569854736,
-2.1346347332000732
] | 0 | [
-1.0729643106460571,
0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
0.4968564510345459
] | [
-1.0729643106460571,
0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
0.4706253409385681
] | grasp box lid | Is the object grasped? | gripper_close | 0.239996 | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
0
] | [
0.17364007234573364,
0.24813948571681976,
0.013131249696016312,
3.1068618297576904,
0.5533039569854736,
-2.1346347332000732
] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 11.3 | 113 | 52 | 17,533 | 0 |
[
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
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] | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
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] | [
0.17364007234573364,
0.24813948571681976,
0.013131249696016312,
3.1068618297576904,
0.5533039569854736,
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] | 0 | [
-1.0729643106460571,
0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
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] | [
-1.0729643106460571,
0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
0.42690685391426086
] | grasp box lid | Is the object grasped? | gripper_close | 0.306663 | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
0
] | [
0.17364007234573364,
0.24813948571681976,
0.013131249696016312,
3.1068618297576904,
0.5533039569854736,
-2.1346347332000732
] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 11.4 | 114 | 52 | 17,534 | 0 |
[
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
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] | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
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] | [
0.17364007234573364,
0.24813948571681976,
0.013131249696016312,
3.1068618297576904,
0.5533039569854736,
-2.1346347332000732
] | 0 | [
-1.0729643106460571,
0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
0.4094195067882538
] | [
-1.0729643106460571,
0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
0.3831884562969208
] | grasp box lid | Is the object grasped? | gripper_close | 0.37333 | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
0
] | [
0.17364007234573364,
0.24813948571681976,
0.013131249696016312,
3.1068618297576904,
0.5533039569854736,
-2.1346347332000732
] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 11.5 | 115 | 52 | 17,535 | 0 |
[
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
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] | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
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] | [
0.17364007234573364,
0.24813948571681976,
0.013131249696016312,
3.1068618297576904,
0.5533039569854736,
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] | 0 | [
-1.0729643106460571,
0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
0.3657010793685913
] | [
-1.0729643106460571,
0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
0.3394700288772583
] | grasp box lid | Is the object grasped? | gripper_close | 0.439997 | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
0
] | [
0.17364007234573364,
0.24813948571681976,
0.013131249696016312,
3.1068618297576904,
0.5533039569854736,
-2.1346347332000732
] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 11.6 | 116 | 52 | 17,536 | 0 |
[
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
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] | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
13.600001335144043
] | [
0.17364007234573364,
0.24813948571681976,
0.013131249696016312,
3.1068618297576904,
0.5533039569854736,
-2.1346347332000732
] | 0 | [
-1.0729643106460571,
0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
0.32198256254196167
] | [
-1.0729643106460571,
0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
0.29575151205062866
] | grasp box lid | Is the object grasped? | gripper_close | 0.506664 | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
0
] | [
0.17364007234573364,
0.24813948571681976,
0.013131249696016312,
3.1068618297576904,
0.5533039569854736,
-2.1346347332000732
] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 11.7 | 117 | 52 | 17,537 | 0 |
[
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
12.800002098083496
] | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
11.600003242492676
] | [
0.17364007234573364,
0.24813948571681976,
0.013131249696016312,
3.1068618297576904,
0.5533039569854736,
-2.1346347332000732
] | 0 | [
-1.0729643106460571,
0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
0.2782641649246216
] | [
-1.0729643106460571,
0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
0.2520331144332886
] | grasp box lid | Is the object grasped? | gripper_close | 0.573331 | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
0
] | [
0.17364007234573364,
0.24813948571681976,
0.013131249696016312,
3.1068618297576904,
0.5533039569854736,
-2.1346347332000732
] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.021999944001436234
] | 11.8 | 118 | 52 | 17,538 | 0 |
[
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
10.800004005432129
] | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
9.600000381469727
] | [
0.17364007234573364,
0.24813948571681976,
0.013131249696016312,
3.1068618297576904,
0.5533039569854736,
-2.1346347332000732
] | 0 | [
-1.0729643106460571,
0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
0.2345457524061203
] | [
-1.0729643106460571,
0.26654428243637085,
0.2755362391471863,
0.4744477868080139,
-0.0074716052040457726,
0.20831459760665894
] | grasp box lid | Is the object grasped? | gripper_close | 0.639998 | [
-69.51808166503906,
15.113171577453613,
26.51485252380371,
31.37235450744629,
-0.21346662938594818,
0
] | [
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0.18830350041389465,
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[
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0.18830350041389465,
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[
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
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] | 12.1 | 121 | 52 | 17,541 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.839999 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
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] | 12.2 | 122 | 52 | 17,542 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.906666 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
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] | 12.3 | 123 | 52 | 17,543 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.973333 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
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] | 12.4 | 124 | 52 | 17,544 | 0 |
[
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] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
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] | 12.5 | 125 | 52 | 17,545 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.052269 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
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] | 12.6 | 126 | 52 | 17,546 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.05644 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.7 | 127 | 52 | 17,547 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.067366 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
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] | 12.8 | 128 | 52 | 17,548 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.088904 | [
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27.03130340576172,
37.180328369140625,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
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] | 12.9 | 129 | 52 | 17,549 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.114466 | [
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27.03130340576172,
37.180328369140625,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
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] | 13 | 130 | 52 | 17,550 | 0 |
[
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] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.141509 | [
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27.03130340576172,
37.180328369140625,
0.06254798918962479,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
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] | 13.1 | 131 | 52 | 17,551 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.170942 | [
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27.03130340576172,
37.180328369140625,
0.06254798918962479,
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] | [
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0.23382605612277985,
0.1998627930879593,
3.015549659729004,
1.2093818187713623,
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] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
0.20000000298023224
] | 13.2 | 132 | 52 | 17,552 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.759479 | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.82155 | [
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] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
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] | 14.8 | 148 | 52 | 17,568 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.846356 | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 14.9 | 149 | 52 | 17,569 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.869258 | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 15 | 150 | 52 | 17,570 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.888766 | [
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27.03130340576172,
37.180328369140625,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 15.1 | 151 | 52 | 17,571 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.91061 | [
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27.03130340576172,
37.180328369140625,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
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] | 15.2 | 152 | 52 | 17,572 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.931191 | [
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27.03130340576172,
37.180328369140625,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 15.3 | 153 | 52 | 17,573 | 0 |
[
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27.03130340576172,
37.180328369140625,
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] | 0 | pick box lid and place on box body | box lid | [
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] | 15.4 | 154 | 52 | 17,574 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.960179 | [
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27.03130340576172,
37.180328369140625,
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] | 0 | pick box lid and place on box body | box lid | [
0.18830350041389465,
0.23389874398708344,
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] | 15.5 | 155 | 52 | 17,575 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.112234 | [
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0.15370818972587585,
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] | 15.6 | 156 | 52 | 17,576 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.108939 | [
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
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] | 15.7 | 157 | 52 | 17,577 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.108099 | [
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34.649105072021484,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
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] | 15.8 | 158 | 52 | 17,578 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.111799 | [
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25.304075241088867,
34.649105072021484,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
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] | 15.9 | 159 | 52 | 17,579 | 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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34.649105072021484,
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] | 17.200001 | 172 | 52 | 17,592 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.581899 | [
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.624475 | [
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
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] | 17.5 | 175 | 52 | 17,595 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.666173 | [
-37.97315216064453,
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25.304075241088867,
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] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
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] | 17.6 | 176 | 52 | 17,596 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.706552 | [
-37.97315216064453,
-24.23422622680664,
25.304075241088867,
34.649105072021484,
-0.12852387130260468,
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] | [
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0.15370188653469086,
0.2000008225440979,
2.9926536083221436,
1.2245376110076904,
-2.732470750808716
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 17.700001 | 177 | 52 | 17,597 | 0 |
[
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.742276 | [
-37.97315216064453,
-24.23422622680664,
25.304075241088867,
34.649105072021484,
-0.12852387130260468,
0
] | [
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0.15370188653469086,
0.2000008225440979,
2.9926536083221436,
1.2245376110076904,
-2.732470750808716
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 17.799999 | 178 | 52 | 17,598 | 0 |
[
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37.50861358642578,
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] | [
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] | [
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0.2552458345890045,
0.5444375872612,
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.770942 | [
-37.97315216064453,
-24.23422622680664,
25.304075241088867,
34.649105072021484,
-0.12852387130260468,
0
] | [
0.28001195192337036,
0.15370188653469086,
0.2000008225440979,
2.9926536083221436,
1.2245376110076904,
-2.732470750808716
] | 0 | pick box lid and place on box body | box body | [
0.2800218164920807,
0.15370818972587585,
0.20000000298023224
] | 17.9 | 179 | 52 | 17,599 | 0 |
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