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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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.2 | 122 | 63 | 21,200 | 0 |
[
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.062963 | [
12.865713119506836,
-12.480217933654785,
21.87215232849121,
19.160127639770508,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.34905093908309937,
-0.07849087566137314,
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] | 12.3 | 123 | 63 | 21,201 | 0 |
[
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0
] | [
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0.12675683200359344,
0.21530544757843018,
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] | Lift the box lid | Is the box lid lifted? | move | 0.062969 | [
12.865713119506836,
-12.480217933654785,
21.87215232849121,
19.160127639770508,
0.19280493259429932,
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] | [
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2.9513750076293945,
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] | 0 | pick box lid and place on box body | box lid | [
0.34905093908309937,
-0.07849087566137314,
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] | 12.4 | 124 | 63 | 21,202 | 0 |
[
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0
] | [
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0.21600329875946045,
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] | Lift the box lid | Is the box lid lifted? | move | 0.066085 | [
12.865713119506836,
-12.480217933654785,
21.87215232849121,
19.160127639770508,
0.19280493259429932,
0
] | [
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0.19992601871490479,
2.9513750076293945,
1.345055341720581,
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] | 0 | pick box lid and place on box body | box lid | [
0.34905093908309937,
-0.07849087566137314,
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] | 12.5 | 125 | 63 | 21,203 | 0 |
[
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0
] | [
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] | [
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] | [
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0.4204796552658081,
0.12920019030570984,
0.21692714095115662,
0.005288676358759403,
-0.0015339808305725455
] | Lift the box lid | Is the box lid lifted? | move | 0.076312 | [
12.865713119506836,
-12.480217933654785,
21.87215232849121,
19.160127639770508,
0.19280493259429932,
0
] | [
0.34896907210350037,
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0.19992601871490479,
2.9513750076293945,
1.345055341720581,
2.6989009380340576
] | 0 | pick box lid and place on box body | box lid | [
0.34905093908309937,
-0.07849087566137314,
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] | 12.6 | 126 | 63 | 21,204 | 0 |
[
9.148923873901367,
24.25876235961914,
18.44204330444336,
17.905776977539062,
0.10913745313882828,
0
] | [
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17.986568450927734,
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0
] | [
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3.097458600997925,
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] | [
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0.37726694345474243,
0.13091224431991577,
0.21806344389915466,
0.005288676358759403,
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] | Lift the box lid | Is the box lid lifted? | move | 0.09736 | [
12.865713119506836,
-12.480217933654785,
21.87215232849121,
19.160127639770508,
0.19280493259429932,
0
] | [
0.34896907210350037,
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0.19992601871490479,
2.9513750076293945,
1.345055341720581,
2.6989009380340576
] | 0 | pick box lid and place on box body | box lid | [
0.34905093908309937,
-0.07849087566137314,
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] | 12.7 | 127 | 63 | 21,205 | 0 |
[
9.219892501831055,
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0
] | [
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0
] | [
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] | [
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0.13289159536361694,
0.21937716007232666,
0.005288676358759403,
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] | Lift the box lid | Is the box lid lifted? | move | 0.122398 | [
12.865713119506836,
-12.480217933654785,
21.87215232849121,
19.160127639770508,
0.19280493259429932,
0
] | [
0.34896907210350037,
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0.19992601871490479,
2.9513750076293945,
1.345055341720581,
2.6989009380340576
] | 0 | pick box lid and place on box body | box lid | [
0.34905093908309937,
-0.07849087566137314,
0.20000000298023224
] | 12.8 | 128 | 63 | 21,206 | 0 |
[
9.308157920837402,
22.18355369567871,
18.734115600585938,
18.374481201171875,
0.06441915780305862,
0
] | [
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18.709503173828125,
18.235536575317383,
17.096891403198242,
0.19280493259429932,
0
] | [
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0.027324393391609192,
3.093855857849121,
0.7880522608757019,
2.883697509765625
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0.39447084069252014,
0.14358925819396973,
0.2435600906610489,
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] | [
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0.33161380887031555,
0.1351342797279358,
0.2208656221628189,
0.005288676358759403,
-0.0015339808305725455
] | Lift the box lid | Is the box lid lifted? | move | 0.148708 | [
12.865713119506836,
-12.480217933654785,
21.87215232849121,
19.160127639770508,
0.19280493259429932,
0
] | [
0.34896907210350037,
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0.19992601871490479,
2.9513750076293945,
1.345055341720581,
2.6989009380340576
] | 0 | pick box lid and place on box body | box lid | [
0.34905093908309937,
-0.07849087566137314,
0.20000000298023224
] | 12.9 | 129 | 63 | 21,207 | 0 |
[
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21.017375946044922,
18.868900299072266,
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0.053871527314186096,
0
] | [
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17.218017578125,
18.380891799926758,
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] | [
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3.091956377029419,
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0.22250160574913025,
0.005288676358759403,
-0.0015339808305725455
] | Lift the box lid | Is the box lid lifted? | move | 0.177436 | [
12.865713119506836,
-12.480217933654785,
21.87215232849121,
19.160127639770508,
0.19280493259429932,
0
] | [
0.34896907210350037,
-0.07846904546022415,
0.19992601871490479,
2.9513750076293945,
1.345055341720581,
2.6989009380340576
] | 0 | pick box lid and place on box body | box lid | [
0.34905093908309937,
-0.07849087566137314,
0.20000000298023224
] | 13 | 130 | 63 | 21,208 | 0 |
[
9.53297233581543,
19.732589721679688,
19.012332916259766,
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0
] | [
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0
] | [
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3.089855432510376,
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] | [
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0.27560073137283325,
0.14025063812732697,
0.22426137328147888,
0.005288676358759403,
-0.0015339808305725455
] | Lift the box lid | Is the box lid lifted? | move | 0.209063 | [
12.865713119506836,
-12.480217933654785,
21.87215232849121,
19.160127639770508,
0.19280493259429932,
0
] | [
0.34896907210350037,
-0.07846904546022415,
0.19992601871490479,
2.9513750076293945,
1.345055341720581,
2.6989009380340576
] | 0 | pick box lid and place on box body | box lid | [
0.34905093908309937,
-0.07849087566137314,
0.20000000298023224
] | 13.1 | 131 | 63 | 21,209 | 0 |
[
9.66698169708252,
18.328338623046875,
19.16437339782715,
18.810495376586914,
0.0407809317111969,
0
] | [
10.06711483001709,
13.900786399841309,
18.704177856445312,
17.393829345703125,
0.19280493259429932,
0
] | [
0.36140015721321106,
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0.04548964276909828,
3.08750057220459,
0.8425933718681335,
2.8728086948394775
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0.196380153298378,
0.32471728324890137,
0.15088564157485962,
0.2513052225112915,
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] | [
0.20279432833194733,
0.24460823833942413,
0.14308157563209534,
0.22614027559757233,
0.005288676358759403,
-0.0015339808305725455
] | Lift the box lid | Is the box lid lifted? | move | 0.243608 | [
12.865713119506836,
-12.480217933654785,
21.87215232849121,
19.160127639770508,
0.19280493259429932,
0
] | [
0.34896907210350037,
-0.07846904546022415,
0.19992601871490479,
2.9513750076293945,
1.345055341720581,
2.6989009380340576
] | 0 | pick box lid and place on box body | box lid | [
0.34905093908309937,
-0.07849087566137314,
0.20000000298023224
] | 13.2 | 132 | 63 | 21,210 | 0 |
[
9.813457489013672,
16.810396194458008,
19.325458526611328,
18.949058532714844,
0.036222562193870544,
0
] | [
10.242461204528809,
12.108587265014648,
18.87883949279785,
17.50449562072754,
0.19280493259429932,
0
] | [
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0.05277042090892792,
3.0848498344421387,
0.8647969365119934,
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0.29725268483161926,
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0.25376659631729126,
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] | [
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0.2121814340353012,
0.14604350924491882,
0.22810609638690948,
0.005288676358759403,
-0.0015339808305725455
] | Lift the box lid | Is the box lid lifted? | move | 0.280932 | [
12.865713119506836,
-12.480217933654785,
21.87215232849121,
19.160127639770508,
0.19280493259429932,
0
] | [
0.34896907210350037,
-0.07846904546022415,
0.19992601871490479,
2.9513750076293945,
1.345055341720581,
2.6989009380340576
] | 0 | pick box lid and place on box body | box lid | [
0.34905093908309937,
-0.07849087566137314,
0.20000000298023224
] | 13.3 | 133 | 63 | 21,211 | 0 |
[
9.970841407775879,
15.189180374145508,
19.49555206298828,
19.090839385986328,
0.03221454098820686,
0
] | [
10.424188613891602,
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19.059856414794922,
17.619190216064453,
0.19280493259429932,
0
] | [
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0.06058112159371376,
3.0818700790405273,
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0.1491132229566574,
0.2301434725522995,
0.005288676358759403,
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] | Lift the box lid | Is the box lid lifted? | move | 0.320777 | [
12.865713119506836,
-12.480217933654785,
21.87215232849121,
19.160127639770508,
0.19280493259429932,
0
] | [
0.34896907210350037,
-0.07846904546022415,
0.19992601871490479,
2.9513750076293945,
1.345055341720581,
2.6989009380340576
] | 0 | pick box lid and place on box body | box lid | [
0.34905093908309937,
-0.07849087566137314,
0.20000000298023224
] | 13.4 | 134 | 63 | 21,212 | 0 |
[
10.13744068145752,
13.478461265563965,
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19.236661911010742,
0.028491178527474403,
0
] | [
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19.245872497558594,
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[
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19.160127639770508,
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[
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[
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[
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[
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[
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56.10386276245117,
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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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71.97270202636719,
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56.10386276245117,
50.222251892089844,
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] | 0 | pick box lid and place on box body | box body | [
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[
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71.97270202636719,
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56.10386276245117,
50.222251892089844,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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[
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[
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[
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[
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[
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[
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[
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71.79270935058594,
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[
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71.79270935058594,
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[
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71.79270935058594,
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71.79270935058594,
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95.29369354248047,
3.109788179397583,
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[
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71.79270935058594,
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95.29369354248047,
3.109788179397583,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.446859 | [
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[
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71.79270935058594,
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[
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71.79270935058594,
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[
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71.79270935058594,
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[
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71.79270935058594,
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[
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71.79270935058594,
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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 | 0.715148 | [
71.79270935058594,
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95.29369354248047,
3.109788179397583,
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] | 0 | pick box lid and place on box body | box body | [
0.10881835967302322,
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[
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71.79270935058594,
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95.29369354248047,
3.109788179397583,
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] | 0 | pick box lid and place on box body | box body | [
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[
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71.79270935058594,
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95.29369354248047,
3.109788179397583,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.807286 | [
71.79270935058594,
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95.29369354248047,
3.109788179397583,
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] | 0 | pick box lid and place on box body | box body | [
0.10881835967302322,
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] | 21.1 | 211 | 63 | 21,289 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.835318 | [
71.79270935058594,
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95.29369354248047,
3.109788179397583,
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] | 0 | pick box lid and place on box body | box body | [
0.10881835967302322,
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] | 21.200001 | 212 | 63 | 21,290 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.861804 | [
71.79270935058594,
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95.29369354248047,
3.109788179397583,
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] | 0 | pick box lid and place on box body | box body | [
0.10881835967302322,
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] | 21.299999 | 213 | 63 | 21,291 | 0 |
[
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0.009939847514033318,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.885232 | [
71.79270935058594,
-33.39476013183594,
95.29369354248047,
3.109788179397583,
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0.007903081364929676,
3.0869951248168945,
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] | 0 | pick box lid and place on box body | box body | [
0.10881835967302322,
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] | 21.4 | 214 | 63 | 21,292 | 0 |
[
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1.48177969455719,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.901017 | [
71.79270935058594,
-33.39476013183594,
95.29369354248047,
3.109788179397583,
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] | [
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0.007903081364929676,
3.0869951248168945,
0.7660755515098572,
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] | 0 | pick box lid and place on box body | box body | [
0.10881835967302322,
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] | 21.5 | 215 | 63 | 21,293 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.904219 | [
71.79270935058594,
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] | 0 | pick box lid and place on box body | box body | [
0.10881835967302322,
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] | 21.6 | 216 | 63 | 21,294 | 0 |
[
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] | [
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1.1922616958618164,
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1.4432722330093384,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.896726 | [
71.79270935058594,
-33.39476013183594,
95.29369354248047,
3.109788179397583,
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] | [
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3.0869951248168945,
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] | 0 | pick box lid and place on box body | box body | [
0.10881835967302322,
-0.1774517446756363,
0.013000025413930416
] | 21.700001 | 217 | 63 | 21,295 | 0 |
[
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] | [
71.79270935058594,
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1.4432722330093384,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.894293 | [
71.79270935058594,
-33.39476013183594,
95.29369354248047,
3.109788179397583,
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] | [
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3.0869951248168945,
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] | 0 | pick box lid and place on box body | box body | [
0.10881835967302322,
-0.1774517446756363,
0.013000025413930416
] | 21.799999 | 218 | 63 | 21,296 | 0 |
[
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0
] | [
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3.109788179397583,
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] | [
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1.4932987689971924,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.889272 | [
71.79270935058594,
-33.39476013183594,
95.29369354248047,
3.109788179397583,
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] | [
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0.007903081364929676,
3.0869951248168945,
0.7660755515098572,
1.8706789016723633
] | 0 | pick box lid and place on box body | box body | [
0.10881835967302322,
-0.1774517446756363,
0.013000025413930416
] | 21.9 | 219 | 63 | 21,297 | 0 |
[
71.69213104248047,
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94.36515808105469,
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0
] | [
71.79270935058594,
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3.109788179397583,
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0
] | [
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] | [
1.1922616958618164,
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1.4432722330093384,
-0.027594247832894325,
-0.007975741289556026,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.887996 | [
71.79270935058594,
-33.39476013183594,
95.29369354248047,
3.109788179397583,
-0.22951769828796387,
0
] | [
0.0896654799580574,
-0.18169333040714264,
0.007903081364929676,
3.0869951248168945,
0.7660755515098572,
1.8706789016723633
] | 0 | pick box lid and place on box body | box body | [
0.10881835967302322,
-0.1774517446756363,
0.013000025413930416
] | 22 | 220 | 63 | 21,298 | 0 |
[
71.69993591308594,
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94.29913330078125,
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0.5520846843719482,
0
] | [
71.79270935058594,
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95.37469482421875,
3.109788179397583,
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0
] | [
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0.03992803394794464,
3.0930449962615967,
0.9861001372337341,
1.8926304578781128
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1.1907745599746704,
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1.4250327348709106,
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] | [
1.1922616958618164,
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1.4432722330093384,
-0.027594247832894325,
-0.007975741289556026,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.887589 | [
71.79270935058594,
-33.39476013183594,
95.29369354248047,
3.109788179397583,
-0.22951769828796387,
0
] | [
0.0896654799580574,
-0.18169333040714264,
0.007903081364929676,
3.0869951248168945,
0.7660755515098572,
1.8706789016723633
] | 0 | pick box lid and place on box body | box body | [
0.10881835967302322,
-0.1774517446756363,
0.013000025413930416
] | 22.1 | 221 | 63 | 21,299 | 0 |
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