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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] | grasp box lid | Is the object grasped? | gripper_close | 0.372169 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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] | 10.7 | 107 | 54 | 18,201 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.43896 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 10.8 | 108 | 54 | 18,202 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.50575 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 10.9 | 109 | 54 | 18,203 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.572541 | [
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] | [
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3.1175894737243652,
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] | 0 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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] | 11 | 110 | 54 | 18,204 | 0 |
[
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36.032676696777344,
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] | [
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] | [
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] | 0 | [
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.639331 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.1 | 111 | 54 | 18,205 | 0 |
[
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.706122 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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] | 11.2 | 112 | 54 | 18,206 | 0 |
[
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] | [
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] | 0 | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.772912 | [
67.5135269165039,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.3 | 113 | 54 | 18,207 | 0 |
[
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] | 0 | [
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0.5572314262390137,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.839703 | [
67.5135269165039,
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0
] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.4 | 114 | 54 | 18,208 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
1.1236660480499268,
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0.5572314262390137,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.906493 | [
67.5135269165039,
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59.82511520385742,
36.032676696777344,
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0
] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
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] | 11.5 | 115 | 54 | 18,209 | 0 |
[
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] | [
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0
] | [
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] | 0 | [
1.1236660480499268,
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] | [
1.1253328323364258,
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0.5517787933349609,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.973284 | [
67.5135269165039,
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59.82511520385742,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.10529594123363495,
-0.18385307490825653,
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] | 11.6 | 116 | 54 | 18,210 | 0 |
[
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0
] | [
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] | [
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] | 0 | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.033527 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.7 | 117 | 54 | 18,211 | 0 |
[
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0
] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.035488 | [
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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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73.73069763183594,
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52.94198226928711,
50.72437286376953,
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[
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73.73069763183594,
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52.94198226928711,
50.72437286376953,
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[
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73.73069763183594,
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52.94198226928711,
50.72437286376953,
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] | 13.9 | 139 | 54 | 18,233 | 0 |
[
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73.73069763183594,
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52.94198226928711,
50.72437286376953,
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[
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73.73069763183594,
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52.94198226928711,
50.72437286376953,
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] | 0 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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] | 14.1 | 141 | 54 | 18,235 | 0 |
[
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73.73069763183594,
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52.94198226928711,
50.72437286376953,
0.41222521662712097,
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] | [
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0.19995562732219696,
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] | 0 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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0.20000000298023224
] | 14.2 | 142 | 54 | 18,236 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.87674 | [
73.73069763183594,
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52.94198226928711,
50.72437286376953,
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] | 0 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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0.20000000298023224
] | 14.3 | 143 | 54 | 18,237 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.900126 | [
73.73069763183594,
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52.94198226928711,
50.72437286376953,
0.41222521662712097,
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] | [
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0.19995562732219696,
3.0140836238861084,
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] | 0 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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0.20000000298023224
] | 14.4 | 144 | 54 | 18,238 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.9235 | [
73.73069763183594,
-69.5106201171875,
52.94198226928711,
50.72437286376953,
0.41222521662712097,
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] | [
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0.19995562732219696,
3.0140836238861084,
1.291153073310852,
1.7856717109680176
] | 0 | pick box lid and place on box body | box lid | [
0.10529594123363495,
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0.20000000298023224
] | 14.5 | 145 | 54 | 18,239 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.946789 | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 14.6 | 146 | 54 | 18,240 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.967776 | [
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] | [
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] | 14.7 | 147 | 54 | 18,241 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.976992 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 14.8 | 148 | 54 | 18,242 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.028826 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 14.9 | 149 | 54 | 18,243 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.028745 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 15 | 150 | 54 | 18,244 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.032893 | [
39.63984298706055,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 15.1 | 151 | 54 | 18,245 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.041753 | [
39.63984298706055,
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43.427207946777344,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 15.2 | 152 | 54 | 18,246 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.055424 | [
39.63984298706055,
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43.427207946777344,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 15.3 | 153 | 54 | 18,247 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.073796 | [
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43.427207946777344,
17.37786102294922,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 15.4 | 154 | 54 | 18,248 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.092421 | [
39.63984298706055,
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43.427207946777344,
17.37786102294922,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 15.5 | 155 | 54 | 18,249 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.116191 | [
39.63984298706055,
-33.199974060058594,
43.427207946777344,
17.37786102294922,
0.13092349469661713,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 15.6 | 156 | 54 | 18,250 | 0 |
[
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.14558 | [
39.63984298706055,
-33.199974060058594,
43.427207946777344,
17.37786102294922,
0.13092349469661713,
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] | [
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0.19993312656879425,
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1.38466477394104,
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 15.7 | 157 | 54 | 18,251 | 0 |
[
67.79309844970703,
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] | [
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0.6666712760925293,
0.0033450883347541094,
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.178834 | [
39.63984298706055,
-33.199974060058594,
43.427207946777344,
17.37786102294922,
0.13092349469661713,
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] | [
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0.19993312656879425,
2.8982772827148438,
1.38466477394104,
2.217334032058716
] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
-0.174952432513237,
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] | 15.8 | 158 | 54 | 18,252 | 0 |
[
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] | [
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] | [
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0.6384262442588806,
0.0033450883347541094,
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.215137 | [
39.63984298706055,
-33.199974060058594,
43.427207946777344,
17.37786102294922,
0.13092349469661713,
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] | [
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0.19993312656879425,
2.8982772827148438,
1.38466477394104,
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 15.9 | 159 | 54 | 18,253 | 0 |
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.296467 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.1 | 161 | 54 | 18,255 | 0 |
[
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[
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 16.299999 | 163 | 54 | 18,257 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.431367 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 16.4 | 164 | 54 | 18,258 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.477384 | [
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43.427207946777344,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 16.5 | 165 | 54 | 18,259 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.524321 | [
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43.427207946777344,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 16.6 | 166 | 54 | 18,260 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.570626 | [
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43.427207946777344,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 16.700001 | 167 | 54 | 18,261 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.615746 | [
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43.427207946777344,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 16.799999 | 168 | 54 | 18,262 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.660846 | [
39.63984298706055,
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43.427207946777344,
17.37786102294922,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 16.9 | 169 | 54 | 18,263 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.701562 | [
39.63984298706055,
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43.427207946777344,
17.37786102294922,
0.13092349469661713,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 17 | 170 | 54 | 18,264 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.734723 | [
39.63984298706055,
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43.427207946777344,
17.37786102294922,
0.13092349469661713,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 17.1 | 171 | 54 | 18,265 | 0 |
[
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0.0033450883347541094,
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.762507 | [
39.63984298706055,
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43.427207946777344,
17.37786102294922,
0.13092349469661713,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 17.200001 | 172 | 54 | 18,266 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.787195 | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 17.299999 | 173 | 54 | 18,267 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.812248 | [
39.63984298706055,
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] | 0 | pick box lid and place on box body | box body | [
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] | 17.4 | 174 | 54 | 18,268 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.834781 | [
39.63984298706055,
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43.427207946777344,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 17.5 | 175 | 54 | 18,269 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.859129 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 17.6 | 176 | 54 | 18,270 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.8824 | [
39.63984298706055,
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43.427207946777344,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 17.700001 | 177 | 54 | 18,271 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.906501 | [
39.63984298706055,
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43.427207946777344,
17.37786102294922,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 17.799999 | 178 | 54 | 18,272 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.928426 | [
39.63984298706055,
-33.199974060058594,
43.427207946777344,
17.37786102294922,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 17.9 | 179 | 54 | 18,273 | 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 | 0.028278 | [
39.53917694091797,
19.658432006835938,
18.057905197143555,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 18 | 180 | 54 | 18,274 | 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 | 0.033251 | [
39.53917694091797,
19.658432006835938,
18.057905197143555,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 18.1 | 181 | 54 | 18,275 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.03898 | [
39.53917694091797,
19.658432006835938,
18.057905197143555,
41.75066375732422,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 18.200001 | 182 | 54 | 18,276 | 0 |
[
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0.29779869318008423,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.0474 | [
39.53917694091797,
19.658432006835938,
18.057905197143555,
41.75066375732422,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 18.299999 | 183 | 54 | 18,277 | 0 |
[
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0.3070538640022278,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.056514 | [
39.53917694091797,
19.658432006835938,
18.057905197143555,
41.75066375732422,
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] | [
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0.006613763049244881,
3.1164939403533936,
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 18.4 | 184 | 54 | 18,278 | 0 |
[
40.45832443237305,
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23.45562744140625,
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] | [
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0.5276100039482117,
0.3180631101131439,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.067787 | [
39.53917694091797,
19.658432006835938,
18.057905197143555,
41.75066375732422,
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] | [
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0.006613763049244881,
3.1164939403533936,
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2.4062838554382324
] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 18.5 | 185 | 54 | 18,279 | 0 |
[
40.43864440917969,
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0.462719202041626,
0.3305404484272003,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.085114 | [
39.53917694091797,
19.658432006835938,
18.057905197143555,
41.75066375732422,
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] | [
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0.006613763049244881,
3.1164939403533936,
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2.4062838554382324
] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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39.53917694091797,
19.658432006835938,
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[
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39.53917694091797,
19.658432006835938,
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39.53917694091797,
19.658432006835938,
18.057905197143555,
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[
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39.53917694091797,
19.658432006835938,
18.057905197143555,
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] | 0 | pick box lid and place on box body | box body | [
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[
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39.53917694091797,
19.658432006835938,
18.057905197143555,
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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[
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39.53917694091797,
19.658432006835938,
18.057905197143555,
41.75066375732422,
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 19.700001 | 197 | 54 | 18,291 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.559162 | [
39.53917694091797,
19.658432006835938,
18.057905197143555,
41.75066375732422,
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 19.799999 | 198 | 54 | 18,292 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.606697 | [
39.53917694091797,
19.658432006835938,
18.057905197143555,
41.75066375732422,
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3.1164939403533936,
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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[
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0.57402104139328,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.651507 | [
39.53917694091797,
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18.057905197143555,
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
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] | 20 | 200 | 54 | 18,294 | 0 |
[
39.830413818359375,
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0.5836191773414612,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.695287 | [
39.53917694091797,
19.658432006835938,
18.057905197143555,
41.75066375732422,
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3.1164939403533936,
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
-0.174952432513237,
0.013000024482607841
] | 20.1 | 201 | 54 | 18,295 | 0 |
[
39.792415618896484,
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0
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3.090620994567871,
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0.5917855501174927,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.730533 | [
39.53917694091797,
19.658432006835938,
18.057905197143555,
41.75066375732422,
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] | [
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3.1164939403533936,
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] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
-0.174952432513237,
0.013000024482607841
] | 20.200001 | 202 | 54 | 18,296 | 0 |
[
39.76133728027344,
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0
] | [
39.68724060058594,
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21.72947120666504,
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] | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.760024 | [
39.53917694091797,
19.658432006835938,
18.057905197143555,
41.75066375732422,
-0.16390150785446167,
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] | [
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0.006613763049244881,
3.1164939403533936,
0.4304104447364807,
2.4062838554382324
] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
-0.174952432513237,
0.013000024482607841
] | 20.299999 | 203 | 54 | 18,297 | 0 |
[
39.734188079833984,
6.763261795043945,
22.881608963012695,
38.58732223510742,
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0
] | [
39.66545104980469,
10.393814086914062,
21.127887725830078,
38.93585205078125,
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0
] | [
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] | [
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0.1811555176973343,
0.18418322503566742,
0.6088019609451294,
-0.00591485109180212,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.78626 | [
39.53917694091797,
19.658432006835938,
18.057905197143555,
41.75066375732422,
-0.16390150785446167,
0
] | [
0.2414635866880417,
-0.18780295550823212,
0.006613763049244881,
3.1164939403533936,
0.4304104447364807,
2.4062838554382324
] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
-0.174952432513237,
0.013000024482607841
] | 20.4 | 204 | 54 | 18,298 | 0 |
[
39.70907211303711,
8.248475074768066,
22.15546226501465,
39.188690185546875,
-0.32709938287734985,
0
] | [
39.64297103881836,
11.719853401184082,
20.50725555419922,
39.43693923950195,
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0
] | [
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0.04873253032565117,
3.099579334259033,
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0.14233924448490143,
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] | [
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0.20514795184135437,
0.17365844547748566,
0.6177030205726624,
-0.00591485109180212,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.812514 | [
39.53917694091797,
19.658432006835938,
18.057905197143555,
41.75066375732422,
-0.16390150785446167,
0
] | [
0.2414635866880417,
-0.18780295550823212,
0.006613763049244881,
3.1164939403533936,
0.4304104447364807,
2.4062838554382324
] | 0 | pick box lid and place on box body | box body | [
0.25627827644348145,
-0.174952432513237,
0.013000024482607841
] | 20.5 | 205 | 54 | 18,299 | 0 |
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