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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] | Lift the box lid | Is the box lid lifted? | move | 0.953708 | [
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[
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[
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.951218 | [
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82.37709045410156,
1.9010547399520874,
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.95098 | [
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1.9010547399520874,
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] | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.950848 | [
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82.37709045410156,
1.9010547399520874,
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] | [
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0.22202640771865845,
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] | 0 | pick box lid and place on box body | box lid | [
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0.2216862589120865,
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] | 16.1 | 161 | 65 | 21,909 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.950773 | [
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82.37709045410156,
1.9010547399520874,
-0.10583831369876862,
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] | [
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0.22202640771865845,
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] | 0 | pick box lid and place on box body | box lid | [
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0.2216862589120865,
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] | 16.200001 | 162 | 65 | 21,910 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.950732 | [
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82.37709045410156,
1.9010547399520874,
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] | [
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0.22202640771865845,
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] | 0 | pick box lid and place on box body | box lid | [
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0.2216862589120865,
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] | 16.299999 | 163 | 65 | 21,911 | 0 |
[
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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 | [
0.23128506541252136,
0.09247484803199768,
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] | 17.5 | 175 | 65 | 21,923 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
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] | 17.6 | 176 | 65 | 21,924 | 0 |
[
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80.43254852294922,
13.263742446899414,
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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] | 17.700001 | 177 | 65 | 21,925 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.397396 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 17.799999 | 178 | 65 | 21,926 | 0 |
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.444447 | [
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
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] | 17.9 | 179 | 65 | 21,927 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.492075 | [
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
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] | 18 | 180 | 65 | 21,928 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.539621 | [
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
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] | 18.1 | 181 | 65 | 21,929 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.587199 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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] | 18.200001 | 182 | 65 | 21,930 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.634059 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
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] | 18.299999 | 183 | 65 | 21,931 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.679577 | [
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80.43254852294922,
13.263742446899414,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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] | 18.4 | 184 | 65 | 21,932 | 0 |
[
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.722249 | [
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80.43254852294922,
13.263742446899414,
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] | [
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0.09246937930583954,
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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] | 18.5 | 185 | 65 | 21,933 | 0 |
[
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.756927 | [
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80.43254852294922,
13.263742446899414,
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] | [
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0.09246937930583954,
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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] | 18.6 | 186 | 65 | 21,934 | 0 |
[
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.786034 | [
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80.43254852294922,
13.263742446899414,
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] | [
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0.09246937930583954,
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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] | 18.700001 | 187 | 65 | 21,935 | 0 |
[
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.811818 | [
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80.43254852294922,
13.263742446899414,
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] | [
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0.09246937930583954,
0.1999969780445099,
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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] | 18.799999 | 188 | 65 | 21,936 | 0 |
[
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] | [
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.836076 | [
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80.43254852294922,
13.263742446899414,
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] | [
0.23127481341362,
0.09246937930583954,
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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] | 18.9 | 189 | 65 | 21,937 | 0 |
[
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] | [
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.859418 | [
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80.43254852294922,
13.263742446899414,
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] | [
0.23127481341362,
0.09246937930583954,
0.1999969780445099,
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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] | 19 | 190 | 65 | 21,938 | 0 |
[
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] | [
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] | [
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] | [
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1.193570852279663,
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.882272 | [
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80.43254852294922,
13.263742446899414,
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] | [
0.23127481341362,
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] | 19.1 | 191 | 65 | 21,939 | 0 |
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.926547 | [
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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 | [
0.23128506541252136,
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] | 19.5 | 195 | 65 | 21,943 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.957569 | [
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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] | 19.6 | 196 | 65 | 21,944 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.023141 | [
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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] | 19.700001 | 197 | 65 | 21,945 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.02323 | [
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85.61552429199219,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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] | 19.799999 | 198 | 65 | 21,946 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.02514 | [
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85.61552429199219,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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] | 19.9 | 199 | 65 | 21,947 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.031022 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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] | 20 | 200 | 65 | 21,948 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.041402 | [
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85.61552429199219,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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] | 20.1 | 201 | 65 | 21,949 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.046534 | [
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85.61552429199219,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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] | 20.200001 | 202 | 65 | 21,950 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.06032 | [
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85.61552429199219,
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] | [
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0.07509119063615799,
0.00710417702794075,
3.068310499191284,
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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] | 20.299999 | 203 | 65 | 21,951 | 0 |
[
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1.2169957160949707,
0.12682436406612396,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.080819 | [
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85.61552429199219,
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0
] | [
0.2394678145647049,
0.07509119063615799,
0.00710417702794075,
3.068310499191284,
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
0.013000024482607841
] | 20.4 | 204 | 65 | 21,952 | 0 |
[
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0.09247484803199768,
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85.61552429199219,
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0.09247484803199768,
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85.61552429199219,
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[
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85.61552429199219,
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85.61552429199219,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.810755 | [
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85.61552429199219,
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0.23128506541252136,
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[
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85.61552429199219,
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0.09247484803199768,
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[
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85.61552429199219,
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0.09247484803199768,
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85.61552429199219,
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0.09247484803199768,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.898922 | [
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85.61552429199219,
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0.09247484803199768,
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[
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1.2791482210159302,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.904084 | [
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85.61552429199219,
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0.09247484803199768,
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] | 22.799999 | 228 | 65 | 21,976 | 0 |
[
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1.2791482210159302,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.902764 | [
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85.61552429199219,
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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[
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1.2791482210159302,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.899317 | [
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85.61552429199219,
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] | 0 | pick box lid and place on box body | box body | [
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0.09247484803199768,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.896057 | [
-30.699325561523438,
-15.787496566772461,
85.61552429199219,
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0
] | [
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0.00710417702794075,
3.068310499191284,
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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] | 23.1 | 231 | 65 | 21,979 | 0 |
[
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0
] | [
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0
] | [
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0.037370264530181885,
3.068650960922241,
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] | 0 | [
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1.2629464864730835,
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] | [
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1.2791482210159302,
-0.230814129114151,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.893786 | [
-30.699325561523438,
-15.787496566772461,
85.61552429199219,
-8.330519676208496,
-0.6240233182907104,
0
] | [
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0.00710417702794075,
3.068310499191284,
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
0.013000024482607841
] | 23.200001 | 232 | 65 | 21,980 | 0 |
[
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0
] | [
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0
] | [
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] | [
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1.2791482210159302,
-0.230814129114151,
-0.020366474986076355,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.8923 | [
-30.699325561523438,
-15.787496566772461,
85.61552429199219,
-8.330519676208496,
-0.6240233182907104,
0
] | [
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0.07509119063615799,
0.00710417702794075,
3.068310499191284,
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
0.013000024482607841
] | 23.299999 | 233 | 65 | 21,981 | 0 |
[
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0
] | [
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0
] | [
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] | [
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1.2791482210159302,
-0.230814129114151,
-0.020366474986076355,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.891371 | [
-30.699325561523438,
-15.787496566772461,
85.61552429199219,
-8.330519676208496,
-0.6240233182907104,
0
] | [
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3.068310499191284,
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
0.013000024482607841
] | 23.4 | 234 | 65 | 21,982 | 0 |
[
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0
] | [
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0
] | [
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] | [
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-0.3290657699108124,
1.2791482210159302,
-0.230814129114151,
-0.020366474986076355,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.890754 | [
-30.699325561523438,
-15.787496566772461,
85.61552429199219,
-8.330519676208496,
-0.6240233182907104,
0
] | [
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0.07509119063615799,
0.00710417702794075,
3.068310499191284,
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
0.013000024482607841
] | 23.5 | 235 | 65 | 21,983 | 0 |
[
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0
] | [
-30.699325561523438,
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85.69651794433594,
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0
] | [
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0.10239724069833755,
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1.2630650997161865,
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] | [
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-0.3290657699108124,
1.2791482210159302,
-0.230814129114151,
-0.020366474986076355,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.890467 | [
-30.699325561523438,
-15.787496566772461,
85.61552429199219,
-8.330519676208496,
-0.6240233182907104,
0
] | [
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0.07509119063615799,
0.00710417702794075,
3.068310499191284,
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] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
0.013000024482607841
] | 23.6 | 236 | 65 | 21,984 | 0 |
[
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0
] | [
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84.72215270996094,
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] | [
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0.10242008417844772,
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] | [
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1.262624740600586,
-0.34397172927856445,
0.002838090993463993,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.890353 | [
-30.699325561523438,
-15.787496566772461,
85.61552429199219,
-8.330519676208496,
-0.6240233182907104,
0
] | [
0.2394678145647049,
0.07509119063615799,
0.00710417702794075,
3.068310499191284,
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-2.7915313243865967
] | 0 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
0.013000024482607841
] | 23.700001 | 237 | 65 | 21,985 | 0 |
[
-30.703317642211914,
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84.72215270996094,
-14.700751304626465,
0.11478132754564285,
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] | [
-30.703317642211914,
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84.72215270996094,
-14.700751304626465,
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] | [
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3.0689454078674316,
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] | 1 | [
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1.262624740600586,
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] | [
-0.45075973868370056,
-0.356633722782135,
1.262624740600586,
-0.34397172927856445,
0.002838090993463993,
0.03781259059906006
] | release object on box body | Is the object released? | gripper_open | 0 | [
-30.703317642211914,
-19.329296112060547,
84.72215270996094,
-14.700751304626465,
0.11478132754564285,
30
] | [
0.25053346157073975,
0.10242488980293274,
0.03736185282468796,
3.0689454078674316,
1.007120966911316,
-2.7767035961151123
] | 30 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
0.013000024482607841
] | 23.799999 | 238 | 65 | 21,986 | 0 |
[
-30.703317642211914,
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84.72215270996094,
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0.11478132754564285,
2.3999977111816406
] | [
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3.3000004291534424
] | [
0.25053346157073975,
0.10242488980293274,
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3.0689454078674316,
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] | 1 | [
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1.262624740600586,
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] | [
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-0.356633722782135,
1.262624740600586,
-0.34397172927856445,
0.002838090993463993,
0.07060147821903229
] | release object on box body | Is the object released? | gripper_open | 0 | [
-30.703317642211914,
-19.329296112060547,
84.72215270996094,
-14.700751304626465,
0.11478132754564285,
30
] | [
0.25053346157073975,
0.10242488980293274,
0.03736185282468796,
3.0689454078674316,
1.007120966911316,
-2.7767035961151123
] | 30 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
0.013000024482607841
] | 23.9 | 239 | 65 | 21,987 | 0 |
[
-30.703317642211914,
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84.72215270996094,
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0.11478132754564285,
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] | [
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] | [
0.25053346157073975,
0.10242488980293274,
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3.0689454078674316,
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] | 1 | [
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1.262624740600586,
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] | [
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-0.356633722782135,
1.262624740600586,
-0.34397172927856445,
0.002838090993463993,
0.10339029133319855
] | release object on box body | Is the object released? | gripper_open | 0 | [
-30.703317642211914,
-19.329296112060547,
84.72215270996094,
-14.700751304626465,
0.11478132754564285,
30
] | [
0.25053346157073975,
0.10242488980293274,
0.03736185282468796,
3.0689454078674316,
1.007120966911316,
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] | 30 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
0.013000024482607841
] | 24 | 240 | 65 | 21,988 | 0 |
[
-30.703317642211914,
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84.72215270996094,
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] | [
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] | [
0.25053346157073975,
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3.0689454078674316,
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] | 1 | [
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1.262624740600586,
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] | [
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-0.356633722782135,
1.262624740600586,
-0.34397172927856445,
0.002838090993463993,
0.1361790895462036
] | release object on box body | Is the object released? | gripper_open | 0 | [
-30.703317642211914,
-19.329296112060547,
84.72215270996094,
-14.700751304626465,
0.11478132754564285,
30
] | [
0.25053346157073975,
0.10242488980293274,
0.03736185282468796,
3.0689454078674316,
1.007120966911316,
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] | 30 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
0.013000024482607841
] | 24.1 | 241 | 65 | 21,989 | 0 |
[
-30.703317642211914,
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84.72215270996094,
-14.700751304626465,
0.11478132754564285,
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] | [
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84.72215270996094,
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] | [
0.25053346157073975,
0.10242488980293274,
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3.0689454078674316,
1.007120966911316,
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] | 1 | [
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1.262624740600586,
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] | [
-0.45075973868370056,
-0.356633722782135,
1.262624740600586,
-0.34397172927856445,
0.002838090993463993,
0.16896797716617584
] | release object on box body | Is the object released? | gripper_open | 0 | [
-30.703317642211914,
-19.329296112060547,
84.72215270996094,
-14.700751304626465,
0.11478132754564285,
30
] | [
0.25053346157073975,
0.10242488980293274,
0.03736185282468796,
3.0689454078674316,
1.007120966911316,
-2.7767035961151123
] | 30 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
0.013000024482607841
] | 24.200001 | 242 | 65 | 21,990 | 0 |
[
-30.703317642211914,
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84.72215270996094,
-14.700751304626465,
0.11478132754564285,
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] | [
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] | [
0.25053346157073975,
0.10242488980293274,
0.03736185282468796,
3.0689454078674316,
1.007120966911316,
-2.7767035961151123
] | 1 | [
-0.45075973868370056,
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1.262624740600586,
-0.34397172927856445,
0.002838090993463993,
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] | [
-0.45075973868370056,
-0.356633722782135,
1.262624740600586,
-0.34397172927856445,
0.002838090993463993,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
-30.703317642211914,
-19.329296112060547,
84.72215270996094,
-14.700751304626465,
0.11478132754564285,
30
] | [
0.25053346157073975,
0.10242488980293274,
0.03736185282468796,
3.0689454078674316,
1.007120966911316,
-2.7767035961151123
] | 30 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
0.013000024482607841
] | 24.299999 | 243 | 65 | 21,991 | 0 |
[
-30.703317642211914,
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84.72215270996094,
-14.700751304626465,
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] | [
-30.703317642211914,
-19.329296112060547,
84.72215270996094,
-14.700751304626465,
0.11478132754564285,
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] | [
0.25053346157073975,
0.10242488980293274,
0.03736185282468796,
3.0689454078674316,
1.007120966911316,
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] | 1 | [
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1.262624740600586,
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0.002838090993463993,
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] | [
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-0.356633722782135,
1.262624740600586,
-0.34397172927856445,
0.002838090993463993,
0.23454566299915314
] | release object on box body | Is the object released? | gripper_open | 0 | [
-30.703317642211914,
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] | [
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] | [
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[
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] | release object on box body | Is the object released? | gripper_open | 0.097997 | [
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] | [
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] | 30 | pick box lid and place on box body | box body | [
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[
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] | release object on box body | Is the object released? | gripper_open | 0.193954 | [
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] | [
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0.23128506541252136,
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[
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1.262624740600586,
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] | release object on box body | Is the object released? | gripper_open | 0.289912 | [
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84.72215270996094,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.23128506541252136,
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] | 25 | 250 | 65 | 21,998 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
-0.45075973868370056,
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1.262624740600586,
-0.34397172927856445,
0.002838090993463993,
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] | release object on box body | Is the object released? | gripper_open | 0.38587 | [
-30.703317642211914,
-19.329296112060547,
84.72215270996094,
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0.11478132754564285,
30
] | [
0.25053346157073975,
0.10242488980293274,
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] | 30 | pick box lid and place on box body | box body | [
0.23128506541252136,
0.09247484803199768,
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] | 25.1 | 251 | 65 | 21,999 | 0 |
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