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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] | Pick up the box lid | Is the box lid grasped? | move | 0.82825 | [
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 10.2 | 102 | 61 | 20,500 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.852937 | [
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.22236913442611694,
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] | 10.3 | 103 | 61 | 20,501 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.878088 | [
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.22236913442611694,
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] | 10.4 | 104 | 61 | 20,502 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.903932 | [
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17.21599006652832,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.22236913442611694,
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] | 10.5 | 105 | 61 | 20,503 | 0 |
[
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] | [
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.925965 | [
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12.941031455993652,
38.877254486083984,
17.21599006652832,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.22236913442611694,
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] | 10.6 | 106 | 61 | 20,504 | 0 |
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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0.22298122942447662,
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] | Pick up the box lid | Is the box lid grasped? | move | 0.939147 | [
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.22236913442611694,
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] | 10.7 | 107 | 61 | 20,505 | 0 |
[
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] | [
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] | [
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] | [
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0.22298122942447662,
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] | Pick up the box lid | Is the box lid grasped? | move | 0.946956 | [
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17.21599006652832,
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] | [
0.22225533425807953,
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] | 30 | pick box lid and place on box body | box lid | [
0.22236913442611694,
0.2070368230342865,
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] | 10.8 | 108 | 61 | 20,506 | 0 |
[
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30
] | [
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.951573 | [
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12.941031455993652,
38.877254486083984,
17.21599006652832,
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] | [
0.22225533425807953,
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] | 30 | pick box lid and place on box body | box lid | [
0.22236913442611694,
0.2070368230342865,
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] | 10.9 | 109 | 61 | 20,507 | 0 |
[
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] | [
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.053329 | [
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10.66052532196045,
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17.39607048034668,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.22236913442611694,
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] | 11 | 110 | 61 | 20,508 | 0 |
[
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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 | 0.119996 | [
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10.66052532196045,
38.60554885864258,
17.39607048034668,
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0
] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.22236913442611694,
0.2070368230342865,
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] | 11.1 | 111 | 61 | 20,509 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.18598119914531708,
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0.2261800915002823,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.186663 | [
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10.66052532196045,
38.60554885864258,
17.39607048034668,
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0
] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.22236913442611694,
0.2070368230342865,
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] | 11.2 | 112 | 61 | 20,510 | 0 |
[
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] | [
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] | 0 | [
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] | [
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0.18598119914531708,
0.4805721640586853,
0.2261800915002823,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.25333 | [
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10.66052532196045,
38.60554885864258,
17.39607048034668,
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0
] | [
0.21006107330322266,
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] | 0 | pick box lid and place on box body | box lid | [
0.22236913442611694,
0.2070368230342865,
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] | 11.3 | 113 | 61 | 20,511 | 0 |
[
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] | [
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] | [
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0.18598119914531708,
0.4805721640586853,
0.2261800915002823,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.319997 | [
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10.66052532196045,
38.60554885864258,
17.39607048034668,
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0
] | [
0.21006107330322266,
0.2236906886100769,
0.013773411512374878,
3.0964109897613525,
0.6768048405647278,
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] | 0 | pick box lid and place on box body | box lid | [
0.22236913442611694,
0.2070368230342865,
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] | 11.4 | 114 | 61 | 20,512 | 0 |
[
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38.60554885864258,
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] | [
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] | [
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] | [
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0.2261800915002823,
-0.007473989389836788,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.386664 | [
-59.80722427368164,
10.66052532196045,
38.60554885864258,
17.39607048034668,
-0.21354253590106964,
0
] | [
0.21006107330322266,
0.2236906886100769,
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3.0964109897613525,
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] | 0 | pick box lid and place on box body | box lid | [
0.22236913442611694,
0.2070368230342865,
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] | 11.5 | 115 | 61 | 20,513 | 0 |
[
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-0.21354253590106964,
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] | [
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] | [
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] | 0 | [
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] | [
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0.18598119914531708,
0.4805721640586853,
0.2261800915002823,
-0.007473989389836788,
0.3307262659072876
] | grasp box lid | Is the object grasped? | gripper_close | 0.453331 | [
-59.80722427368164,
10.66052532196045,
38.60554885864258,
17.39607048034668,
-0.21354253590106964,
0
] | [
0.21006107330322266,
0.2236906886100769,
0.013773411512374878,
3.0964109897613525,
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] | 0 | pick box lid and place on box body | box lid | [
0.22236913442611694,
0.2070368230342865,
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] | 11.6 | 116 | 61 | 20,514 | 0 |
[
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10.66052532196045,
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-0.21354253590106964,
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] | [
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10.66052532196045,
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] | [
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3.0964109897613525,
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] | 0 | [
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] | [
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0.2261800915002823,
-0.007473989389836788,
0.2870078384876251
] | grasp box lid | Is the object grasped? | gripper_close | 0.519998 | [
-59.80722427368164,
10.66052532196045,
38.60554885864258,
17.39607048034668,
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0
] | [
0.21006107330322266,
0.2236906886100769,
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3.0964109897613525,
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] | 0 | pick box lid and place on box body | box lid | [
0.22236913442611694,
0.2070368230342865,
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] | 11.7 | 117 | 61 | 20,515 | 0 |
[
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-0.21354253590106964,
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] | [
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] | [
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] | 0 | [
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] | [
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0.2261800915002823,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.586665 | [
-59.80722427368164,
10.66052532196045,
38.60554885864258,
17.39607048034668,
-0.21354253590106964,
0
] | [
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3.0964109897613525,
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] | 0 | pick box lid and place on box body | box lid | [
0.22236913442611694,
0.2070368230342865,
0.021999968215823174
] | 11.8 | 118 | 61 | 20,516 | 0 |
[
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-0.21354253590106964,
10.399999618530273
] | [
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] | [
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] | 0 | [
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] | [
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0.18598119914531708,
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0.2261800915002823,
-0.007473989389836788,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.653332 | [
-59.80722427368164,
10.66052532196045,
38.60554885864258,
17.39607048034668,
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0
] | [
0.21006107330322266,
0.2236906886100769,
0.013773411512374878,
3.0964109897613525,
0.6768048405647278,
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] | 0 | pick box lid and place on box body | box lid | [
0.22236913442611694,
0.2070368230342865,
0.021999968215823174
] | 11.9 | 119 | 61 | 20,517 | 0 |
[
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17.39607048034668,
-0.21354253590106964,
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] | [
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] | [
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] | 0 | [
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] | [
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0.18598119914531708,
0.4805721640586853,
0.2261800915002823,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.719999 | [
-59.80722427368164,
10.66052532196045,
38.60554885864258,
17.39607048034668,
-0.21354253590106964,
0
] | [
0.21006107330322266,
0.2236906886100769,
0.013773411512374878,
3.0964109897613525,
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] | 0 | pick box lid and place on box body | box lid | [
0.22236913442611694,
0.2070368230342865,
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] | 12 | 120 | 61 | 20,518 | 0 |
[
-59.80722427368164,
10.66052532196045,
38.60554885864258,
17.39607048034668,
-0.21354253590106964,
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] | [
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] | [
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] | 0 | [
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] | [
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0.18598119914531708,
0.4805721640586853,
0.2261800915002823,
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0.11213399469852448
] | grasp box lid | Is the object grasped? | gripper_close | 0.786665 | [
-59.80722427368164,
10.66052532196045,
38.60554885864258,
17.39607048034668,
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0
] | [
0.21006107330322266,
0.2236906886100769,
0.013773411512374878,
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] | 0 | pick box lid and place on box body | box lid | [
0.22236913442611694,
0.2070368230342865,
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] | 12.1 | 121 | 61 | 20,519 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.18598119914531708,
0.4805721640586853,
0.2261800915002823,
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0.0684155821800232
] | grasp box lid | Is the object grasped? | gripper_close | 0.853333 | [
-59.80722427368164,
10.66052532196045,
38.60554885864258,
17.39607048034668,
-0.21354253590106964,
0
] | [
0.21006107330322266,
0.2236906886100769,
0.013773411512374878,
3.0964109897613525,
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] | 0 | pick box lid and place on box body | box lid | [
0.22236913442611694,
0.2070368230342865,
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] | 12.2 | 122 | 61 | 20,520 | 0 |
[
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] | [
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10.66052532196045,
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] | [
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3.0964109897613525,
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] | 0 | [
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] | [
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0.18598119914531708,
0.4805721640586853,
0.2261800915002823,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.92 | [
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10.66052532196045,
38.60554885864258,
17.39607048034668,
-0.21354253590106964,
0
] | [
0.21006107330322266,
0.2236906886100769,
0.013773411512374878,
3.0964109897613525,
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] | 0 | pick box lid and place on box body | box lid | [
0.22236913442611694,
0.2070368230342865,
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] | 12.3 | 123 | 61 | 20,521 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.47627952694892883,
0.22408558428287506,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.986667 | [
-59.80722427368164,
10.66052532196045,
38.60554885864258,
17.39607048034668,
-0.21354253590106964,
0
] | [
0.21006107330322266,
0.2236906886100769,
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] | 0 | pick box lid and place on box body | box lid | [
0.22236913442611694,
0.2070368230342865,
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] | 12.4 | 124 | 61 | 20,522 | 0 |
[
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0
] | [
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0
] | [
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0.014231758192181587,
3.1014490127563477,
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] | 0 | [
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] | [
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0.17687158286571503,
0.47685667872428894,
0.22410818934440613,
-0.0010596950305625796,
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] | Lift the box lid | Is the box lid lifted? | move | 0.046952 | [
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44.4275016784668,
17.499048233032227,
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0
] | [
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2.8729934692382812,
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] | 0 | pick box lid and place on box body | box lid | [
0.22236913442611694,
0.2070368230342865,
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] | 12.5 | 125 | 61 | 20,523 | 0 |
[
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0
] | [
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0
] | [
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] | 0 | [
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] | [
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0.22415412962436676,
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] | Lift the box lid | Is the box lid lifted? | move | 0.049152 | [
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44.4275016784668,
17.499048233032227,
-0.00931935478001833,
0
] | [
0.2223324179649353,
0.2069985419511795,
0.1998765915632248,
2.8729934692382812,
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] | 0 | pick box lid and place on box body | box lid | [
0.22236913442611694,
0.2070368230342865,
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] | 12.6 | 126 | 61 | 20,524 | 0 |
[
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0
] | [
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0
] | [
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] | 0 | [
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] | [
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0.47979530692100525,
0.22422325611114502,
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] | Lift the box lid | Is the box lid lifted? | move | 0.054352 | [
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44.4275016784668,
17.499048233032227,
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0
] | [
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0.2069985419511795,
0.1998765915632248,
2.8729934692382812,
1.3853620290756226,
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] | 0 | pick box lid and place on box body | box lid | [
0.22236913442611694,
0.2070368230342865,
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] | 12.7 | 127 | 61 | 20,525 | 0 |
[
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0
] | [
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0
] | [
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[
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[
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[
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[
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.5 | 165 | 61 | 20,563 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.172187 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.6 | 166 | 61 | 20,564 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.210207 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.700001 | 167 | 61 | 20,565 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.251012 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.482064 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 17.299999 | 173 | 61 | 20,571 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.530652 | [
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[
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] | 17.5 | 175 | 61 | 20,573 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.626676 | [
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] | 17.6 | 176 | 61 | 20,574 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.673237 | [
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] | 17.700001 | 177 | 61 | 20,575 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
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] | 17.799999 | 178 | 61 | 20,576 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.751602 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 17.9 | 179 | 61 | 20,577 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.781473 | [
51.80604553222656,
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18.0279541015625,
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] | 0 | pick box lid and place on box body | box body | [
0.2437816560268402,
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] | 18 | 180 | 61 | 20,578 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.808054 | [
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18.0279541015625,
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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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25.350927352905273,
17.245647430419922,
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[
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51.65320587158203,
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0.2437816560268402,
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] | 19.6 | 196 | 61 | 20,594 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.093405 | [
51.65320587158203,
25.350927352905273,
17.245647430419922,
22.64090919494629,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2437816560268402,
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] | 19.700001 | 197 | 61 | 20,595 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.115366 | [
51.65320587158203,
25.350927352905273,
17.245647430419922,
22.64090919494629,
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] | [
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3.085660457611084,
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] | 0 | pick box lid and place on box body | box body | [
0.2437816560268402,
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] | 19.799999 | 198 | 61 | 20,596 | 0 |
[
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28.548019409179688,
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0.3803521394729614,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.142775 | [
51.65320587158203,
25.350927352905273,
17.245647430419922,
22.64090919494629,
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] | [
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0.007697775028645992,
3.085660457611084,
0.6793960928916931,
2.1833066940307617
] | 0 | pick box lid and place on box body | box body | [
0.2437816560268402,
-0.24368374049663544,
0.013000024482607841
] | 19.9 | 199 | 61 | 20,597 | 0 |
[
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19.115787506103516,
28.387231826782227,
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0
] | [
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17.927284240722656,
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2.9647181034088135,
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0.3768439292907715,
-0.0204190444201231,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.174602 | [
51.65320587158203,
25.350927352905273,
17.245647430419922,
22.64090919494629,
-0.6256970763206482,
0
] | [
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0.007697775028645992,
3.085660457611084,
0.6793960928916931,
2.1833066940307617
] | 0 | pick box lid and place on box body | box body | [
0.2437816560268402,
-0.24368374049663544,
0.013000024482607841
] | 20 | 200 | 61 | 20,598 | 0 |
[
51.069908142089844,
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19.05927085876465,
28.206031799316406,
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] | [
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25.670324325561523,
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2.9747157096862793,
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0.12870550155639648,
0.3731597661972046,
-0.0204190444201231,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.210038 | [
51.65320587158203,
25.350927352905273,
17.245647430419922,
22.64090919494629,
-0.6256970763206482,
0
] | [
0.22644127905368805,
-0.2527989149093628,
0.007697775028645992,
3.085660457611084,
0.6793960928916931,
2.1833066940307617
] | 0 | pick box lid and place on box body | box body | [
0.2437816560268402,
-0.24368374049663544,
0.013000024482607841
] | 20.1 | 201 | 61 | 20,599 | 0 |
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