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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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.590273 | [
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[
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.681082 | [
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56.30332565307617,
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[
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[
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[
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29.681854248046875,
56.30332565307617,
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.82316 | [
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29.681854248046875,
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] | 0 | pick box lid and place on box body | box lid | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.848242 | [
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29.681854248046875,
56.30332565307617,
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3.062041759490967,
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] | 0 | pick box lid and place on box body | box lid | [
0.2290133684873581,
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] | 13.6 | 136 | 60 | 20,209 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.872083 | [
34.65949630737305,
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29.681854248046875,
56.30332565307617,
0.27084749937057495,
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3.062041759490967,
1.0948103666305542,
2.455142021179199
] | 0 | pick box lid and place on box body | box lid | [
0.2290133684873581,
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] | 13.7 | 137 | 60 | 20,210 | 0 |
[
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34.65949630737305,
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29.681854248046875,
56.30332565307617,
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3.062041759490967,
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] | 0 | pick box lid and place on box body | box lid | [
0.2290133684873581,
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[
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34.65949630737305,
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29.681854248046875,
56.30332565307617,
0.27084749937057495,
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3.062041759490967,
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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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] | 0 | pick box lid and place on box body | box body | [
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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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] | 0 | pick box lid and place on box body | box body | [
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[
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] | 0 | pick box lid and place on box body | box body | [
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] | 15 | 150 | 60 | 20,223 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.136061 | [
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44.206031799316406,
51.57050704956055,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
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] | 15.1 | 151 | 60 | 20,224 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.170259 | [
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44.206031799316406,
51.57050704956055,
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] | 0 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
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] | 15.2 | 152 | 60 | 20,225 | 0 |
[
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[
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[
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[
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[
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44.206031799316406,
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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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53.11363983154297,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.167041 | [
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53.11363983154297,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.202298 | [
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53.11363983154297,
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] | 0 | pick box lid and place on box body | box body | [
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0.13121432065963745,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.241126 | [
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53.11363983154297,
39.65837478637695,
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] | 0 | pick box lid and place on box body | box body | [
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] | 18.700001 | 187 | 60 | 20,260 | 0 |
[
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53.11363983154297,
39.65837478637695,
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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 | 0.326678 | [
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53.11363983154297,
39.65837478637695,
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] | 0 | pick box lid and place on box body | box body | [
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0.13121432065963745,
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] | 18.9 | 189 | 60 | 20,262 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.372248 | [
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53.11363983154297,
39.65837478637695,
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] | 0 | pick box lid and place on box body | box body | [
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0.13121432065963745,
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] | 19 | 190 | 60 | 20,263 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.418964 | [
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53.11363983154297,
39.65837478637695,
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] | 0 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
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] | 19.1 | 191 | 60 | 20,264 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.46597 | [
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53.11363983154297,
39.65837478637695,
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] | 0 | pick box lid and place on box body | box body | [
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0.13121432065963745,
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] | 19.200001 | 192 | 60 | 20,265 | 0 |
[
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0.7032414674758911,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.512876 | [
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53.11363983154297,
39.65837478637695,
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[
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[
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53.11363983154297,
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] | 0 | pick box lid and place on box body | box body | [
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[
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53.11363983154297,
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] | 0 | pick box lid and place on box body | box body | [
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[
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53.11363983154297,
39.65837478637695,
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[
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53.11363983154297,
39.65837478637695,
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] | 0 | pick box lid and place on box body | box body | [
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0.13121432065963745,
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[
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53.11363983154297,
39.65837478637695,
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] | 0 | pick box lid and place on box body | box body | [
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0.13121432065963745,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.842167 | [
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53.11363983154297,
39.65837478637695,
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] | 0 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
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] | 20.4 | 204 | 60 | 20,277 | 0 |
[
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0.6216364502906799,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.84408 | [
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53.11363983154297,
39.65837478637695,
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0.007773634046316147,
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] | 0 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
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] | 20.5 | 205 | 60 | 20,278 | 0 |
[
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0.6216364502906799,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.846747 | [
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53.11363983154297,
39.65837478637695,
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] | [
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0.11291646957397461,
0.007773634046316147,
3.1202335357666016,
0.3518066704273224,
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] | 0 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
0.013000024482607841
] | 20.6 | 206 | 60 | 20,279 | 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 | 0.84832 | [
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53.11363983154297,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.203792542219162,
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] | 20.700001 | 207 | 60 | 20,280 | 0 |
[
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] | [
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] | [
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0.6216364502906799,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.85499 | [
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53.11363983154297,
39.65837478637695,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
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] | 20.799999 | 208 | 60 | 20,281 | 0 |
[
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] | [
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] | [
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0.6216364502906799,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.858704 | [
-44.92084884643555,
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53.11363983154297,
39.65837478637695,
-0.27556443214416504,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
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] | 20.9 | 209 | 60 | 20,282 | 0 |
[
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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 | 0.864375 | [
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53.11363983154297,
39.65837478637695,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
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] | 21 | 210 | 60 | 20,283 | 0 |
[
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0
] | [
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] | [
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] | [
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0.6216364502906799,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.866081 | [
-44.92084884643555,
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53.11363983154297,
39.65837478637695,
-0.27556443214416504,
0
] | [
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3.1202335357666016,
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] | 0 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
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] | 21.1 | 211 | 60 | 20,284 | 0 |
[
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0
] | [
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] | [
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] | [
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0.7713660597801208,
0.6216364502906799,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.86678 | [
-44.92084884643555,
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53.11363983154297,
39.65837478637695,
-0.27556443214416504,
0
] | [
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0.11291646957397461,
0.007773634046316147,
3.1202335357666016,
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] | 0 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
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] | 21.200001 | 212 | 60 | 20,285 | 0 |
[
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0
] | [
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0
] | [
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] | [
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0.7713660597801208,
0.6216364502906799,
-0.009421988390386105,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.867099 | [
-44.92084884643555,
-6.795697212219238,
53.11363983154297,
39.65837478637695,
-0.27556443214416504,
0
] | [
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0.11291646957397461,
0.007773634046316147,
3.1202335357666016,
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] | 0 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
0.013000024482607841
] | 21.299999 | 213 | 60 | 20,286 | 0 |
[
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39.718299865722656,
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0
] | [
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] | [
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] | [
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0.7713660597801208,
0.6216364502906799,
-0.009421988390386105,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.867148 | [
-44.92084884643555,
-6.795697212219238,
53.11363983154297,
39.65837478637695,
-0.27556443214416504,
0
] | [
0.21055249869823456,
0.11291646957397461,
0.007773634046316147,
3.1202335357666016,
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] | 0 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
0.013000024482607841
] | 21.4 | 214 | 60 | 20,287 | 0 |
[
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39.641204833984375,
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0
] | [
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55.75327682495117,
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] | [
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] | [
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0.7713660597801208,
0.6216364502906799,
-0.009421988390386105,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.867722 | [
-44.92084884643555,
-6.795697212219238,
53.11363983154297,
39.65837478637695,
-0.27556443214416504,
0
] | [
0.21055249869823456,
0.11291646957397461,
0.007773634046316147,
3.1202335357666016,
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] | 0 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
0.013000024482607841
] | 21.5 | 215 | 60 | 20,288 | 0 |
[
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39.61547088623047,
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] | [
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50.23392868041992,
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] | 1 | [
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] | [
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0.6777680516242981,
0.6208743453025818,
-0.011717601679265499,
0.024697065353393555
] | release object on box body | Is the object released? | gripper_open | 0 | [
-44.79216003417969,
-13.423032760620117,
50.23392868041992,
39.61547088623047,
-0.3486539125442505,
30
] | [
0.21587800979614258,
0.14228279888629913,
0.03937331959605217,
3.1068854331970215,
0.5208859443664551,
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] | 30 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
0.013000024482607841
] | 21.6 | 216 | 60 | 20,289 | 0 |
[
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50.23392868041992,
39.61547088623047,
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] | [
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50.23392868041992,
39.61547088623047,
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] | [
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0.14228279888629913,
0.03937331959605217,
3.1068854331970215,
0.5208859443664551,
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] | 1 | [
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0.6777680516242981,
0.6208743453025818,
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] | [
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0.6777680516242981,
0.6208743453025818,
-0.011717601679265499,
0.057485874742269516
] | release object on box body | Is the object released? | gripper_open | 0 | [
-44.79216003417969,
-13.423032760620117,
50.23392868041992,
39.61547088623047,
-0.3486539125442505,
30
] | [
0.21587800979614258,
0.14228279888629913,
0.03937331959605217,
3.1068854331970215,
0.5208859443664551,
-2.534627914428711
] | 30 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
0.013000024482607841
] | 21.700001 | 217 | 60 | 20,290 | 0 |
[
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50.23392868041992,
39.61547088623047,
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3.3000004291534424
] | [
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50.23392868041992,
39.61547088623047,
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] | [
0.21587800979614258,
0.14228279888629913,
0.03937331959605217,
3.1068854331970215,
0.5208859443664551,
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] | 1 | [
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0.6777680516242981,
0.6208743453025818,
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] | [
-0.6766052842140198,
-0.2497699111700058,
0.6777680516242981,
0.6208743453025818,
-0.011717601679265499,
0.09027476608753204
] | release object on box body | Is the object released? | gripper_open | 0 | [
-44.79216003417969,
-13.423032760620117,
50.23392868041992,
39.61547088623047,
-0.3486539125442505,
30
] | [
0.21587800979614258,
0.14228279888629913,
0.03937331959605217,
3.1068854331970215,
0.5208859443664551,
-2.534627914428711
] | 30 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
0.013000024482607841
] | 21.799999 | 218 | 60 | 20,291 | 0 |
[
-44.79216003417969,
-13.423032760620117,
50.23392868041992,
39.61547088623047,
-0.3486539125442505,
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] | [
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50.23392868041992,
39.61547088623047,
-0.3486539125442505,
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] | [
0.21587800979614258,
0.14228279888629913,
0.03937331959605217,
3.1068854331970215,
0.5208859443664551,
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] | 1 | [
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0.6777680516242981,
0.6208743453025818,
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] | [
-0.6766052842140198,
-0.2497699111700058,
0.6777680516242981,
0.6208743453025818,
-0.011717601679265499,
0.12306356430053711
] | release object on box body | Is the object released? | gripper_open | 0 | [
-44.79216003417969,
-13.423032760620117,
50.23392868041992,
39.61547088623047,
-0.3486539125442505,
30
] | [
0.21587800979614258,
0.14228279888629913,
0.03937331959605217,
3.1068854331970215,
0.5208859443664551,
-2.534627914428711
] | 30 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
0.013000024482607841
] | 21.9 | 219 | 60 | 20,292 | 0 |
[
-44.79216003417969,
-13.423032760620117,
50.23392868041992,
39.61547088623047,
-0.3486539125442505,
6.299997329711914
] | [
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-13.423032760620117,
50.23392868041992,
39.61547088623047,
-0.3486539125442505,
7.200000286102295
] | [
0.21587800979614258,
0.14228279888629913,
0.03937331959605217,
3.1068854331970215,
0.5208859443664551,
-2.534627914428711
] | 1 | [
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0.6777680516242981,
0.6208743453025818,
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] | [
-0.6766052842140198,
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0.6777680516242981,
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0.203792542219162,
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.203792542219162,
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.203792542219162,
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] | 22.299999 | 223 | 60 | 20,296 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
-44.79216003417969,
-13.423032760620117,
50.23392868041992,
39.61547088623047,
-0.3486539125442505,
30
] | [
0.21587800979614258,
0.14228279888629913,
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3.1068854331970215,
0.5208859443664551,
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] | 30 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
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] | 22.4 | 224 | 60 | 20,297 | 0 |
[
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39.61547088623047,
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] | [
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39.61547088623047,
-0.3486539125442505,
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] | [
0.21587800979614258,
0.14228279888629913,
0.03937331959605217,
3.1068854331970215,
0.5208859443664551,
-2.534627914428711
] | 1 | [
-0.6766052842140198,
-0.2497699111700058,
0.6777680516242981,
0.6208743453025818,
-0.011717601679265499,
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] | [
-0.6766052842140198,
-0.2497699111700058,
0.6777680516242981,
0.6208743453025818,
-0.011717601679265499,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
-44.79216003417969,
-13.423032760620117,
50.23392868041992,
39.61547088623047,
-0.3486539125442505,
30
] | [
0.21587800979614258,
0.14228279888629913,
0.03937331959605217,
3.1068854331970215,
0.5208859443664551,
-2.534627914428711
] | 30 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
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] | 22.5 | 225 | 60 | 20,298 | 0 |
[
-44.79216003417969,
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] | [
-44.79216003417969,
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39.61547088623047,
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] | [
0.21587800979614258,
0.14228279888629913,
0.03937331959605217,
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] | 1 | [
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] | [
-0.6766052842140198,
-0.2497699111700058,
0.6777680516242981,
0.6208743453025818,
-0.011717601679265499,
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] | release object on box body | Is the object released? | gripper_open | 0.050094 | [
-44.79216003417969,
-13.423032760620117,
50.23392868041992,
39.61547088623047,
-0.3486539125442505,
30
] | [
0.21587800979614258,
0.14228279888629913,
0.03937331959605217,
3.1068854331970215,
0.5208859443664551,
-2.534627914428711
] | 30 | pick box lid and place on box body | box body | [
0.203792542219162,
0.13121432065963745,
0.013000024482607841
] | 22.6 | 226 | 60 | 20,299 | 0 |
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