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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] | Pick up the box lid | Is the box lid grasped? | move | 0.904282 | [
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73.81224822998047,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 10.5 | 105 | 66 | 22,200 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.929298 | [
-96.68317413330078,
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73.81224822998047,
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30
] | [
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3.084928035736084,
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] | 30 | pick box lid and place on box body | box lid | [
0.07328668236732483,
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] | 10.6 | 106 | 66 | 22,201 | 0 |
[
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30
] | [
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] | [
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] | [
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1.074428677558899,
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] | Pick up the box lid | Is the box lid grasped? | move | 0.945624 | [
-96.68317413330078,
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73.81224822998047,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 10.7 | 107 | 66 | 22,202 | 0 |
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.955374 | [
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-3.9038426876068115,
73.81224822998047,
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30
] | [
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0.001967844320461154,
3.084928035736084,
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] | 30 | pick box lid and place on box body | box lid | [
0.07328668236732483,
0.23208937048912048,
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] | 10.8 | 108 | 66 | 22,203 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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1.0729504823684692,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.026663 | [
-96.6478500366211,
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73.53730773925781,
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0
] | [
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0.23926949501037598,
0.012568123638629913,
3.0796525478363037,
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] | 0 | pick box lid and place on box body | box lid | [
0.07328668236732483,
0.23208937048912048,
0.02200007066130638
] | 10.9 | 109 | 66 | 22,204 | 0 |
[
-96.6478500366211,
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73.53730773925781,
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27.200002670288086
] | [
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] | [
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] | 0 | [
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] | [
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1.0729504823684692,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.09333 | [
-96.6478500366211,
-6.579933166503906,
73.53730773925781,
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] | [
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0.23926949501037598,
0.012568123638629913,
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] | 0 | pick box lid and place on box body | box lid | [
0.07328668236732483,
0.23208937048912048,
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] | 11 | 110 | 66 | 22,205 | 0 |
[
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25.200000762939453
] | [
-96.6478500366211,
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73.53730773925781,
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24
] | [
0.05386440455913544,
0.23926949501037598,
0.012568123638629913,
3.0796525478363037,
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] | 0 | [
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1.0729504823684692,
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] | [
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1.0729504823684692,
-0.21078242361545563,
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0.5230874419212341
] | grasp box lid | Is the object grasped? | gripper_close | 0.159997 | [
-96.6478500366211,
-6.579933166503906,
73.53730773925781,
-7.2028303146362305,
-0.21581603586673737,
0
] | [
0.05386440455913544,
0.23926949501037598,
0.012568123638629913,
3.0796525478363037,
0.832853376865387,
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] | 0 | pick box lid and place on box body | box lid | [
0.07328668236732483,
0.23208937048912048,
0.02200007066130638
] | 11.1 | 111 | 66 | 22,206 | 0 |
[
-96.6478500366211,
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73.53730773925781,
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23.200000762939453
] | [
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73.53730773925781,
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] | [
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] | 0 | [
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1.0729504823684692,
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] | [
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1.0729504823684692,
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0.47936907410621643
] | grasp box lid | Is the object grasped? | gripper_close | 0.226663 | [
-96.6478500366211,
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73.53730773925781,
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0
] | [
0.05386440455913544,
0.23926949501037598,
0.012568123638629913,
3.0796525478363037,
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] | 0 | pick box lid and place on box body | box lid | [
0.07328668236732483,
0.23208937048912048,
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] | 11.2 | 112 | 66 | 22,207 | 0 |
[
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73.53730773925781,
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] | [
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20
] | [
0.05386440455913544,
0.23926949501037598,
0.012568123638629913,
3.0796525478363037,
0.832853376865387,
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] | 0 | [
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1.0729504823684692,
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] | [
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1.0729504823684692,
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0.4356505572795868
] | grasp box lid | Is the object grasped? | gripper_close | 0.29333 | [
-96.6478500366211,
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73.53730773925781,
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0
] | [
0.05386440455913544,
0.23926949501037598,
0.012568123638629913,
3.0796525478363037,
0.832853376865387,
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] | 0 | pick box lid and place on box body | box lid | [
0.07328668236732483,
0.23208937048912048,
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] | 11.3 | 113 | 66 | 22,208 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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1.0729504823684692,
-0.21078242361545563,
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0.3919321298599243
] | grasp box lid | Is the object grasped? | gripper_close | 0.359997 | [
-96.6478500366211,
-6.579933166503906,
73.53730773925781,
-7.2028303146362305,
-0.21581603586673737,
0
] | [
0.05386440455913544,
0.23926949501037598,
0.012568123638629913,
3.0796525478363037,
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] | 0 | pick box lid and place on box body | box lid | [
0.07328668236732483,
0.23208937048912048,
0.02200007066130638
] | 11.4 | 114 | 66 | 22,209 | 0 |
[
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] | [
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73.53730773925781,
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] | [
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0.23926949501037598,
0.012568123638629913,
3.0796525478363037,
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] | 0 | [
-1.5078572034835815,
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1.0729504823684692,
-0.21078242361545563,
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0.37444478273391724
] | [
-1.5078572034835815,
-0.12595564126968384,
1.0729504823684692,
-0.21078242361545563,
-0.007545395754277706,
0.34821373224258423
] | grasp box lid | Is the object grasped? | gripper_close | 0.426664 | [
-96.6478500366211,
-6.579933166503906,
73.53730773925781,
-7.2028303146362305,
-0.21581603586673737,
0
] | [
0.05386440455913544,
0.23926949501037598,
0.012568123638629913,
3.0796525478363037,
0.832853376865387,
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] | 0 | pick box lid and place on box body | box lid | [
0.07328668236732483,
0.23208937048912048,
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] | 11.5 | 115 | 66 | 22,210 | 0 |
[
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] | [
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] | [
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0.23926949501037598,
0.012568123638629913,
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] | 0 | [
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] | [
-1.5078572034835815,
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1.0729504823684692,
-0.21078242361545563,
-0.007545395754277706,
0.3044952154159546
] | grasp box lid | Is the object grasped? | gripper_close | 0.493331 | [
-96.6478500366211,
-6.579933166503906,
73.53730773925781,
-7.2028303146362305,
-0.21581603586673737,
0
] | [
0.05386440455913544,
0.23926949501037598,
0.012568123638629913,
3.0796525478363037,
0.832853376865387,
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] | 0 | pick box lid and place on box body | box lid | [
0.07328668236732483,
0.23208937048912048,
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] | 11.6 | 116 | 66 | 22,211 | 0 |
[
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] | [
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] | [
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0.23926949501037598,
0.012568123638629913,
3.0796525478363037,
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] | 0 | [
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1.0729504823684692,
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] | [
-1.5078572034835815,
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1.0729504823684692,
-0.21078242361545563,
-0.007545395754277706,
0.2607767879962921
] | grasp box lid | Is the object grasped? | gripper_close | 0.559998 | [
-96.6478500366211,
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73.53730773925781,
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] | 0 | pick box lid and place on box body | box lid | [
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[
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[
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] | 11.9 | 119 | 66 | 22,214 | 0 |
[
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[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.826666 | [
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] | [
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] | 12.1 | 121 | 66 | 22,216 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.893333 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.2 | 122 | 66 | 22,217 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.96 | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.3 | 123 | 66 | 22,218 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.031755 | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.4 | 124 | 66 | 22,219 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.033047 | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.5 | 125 | 66 | 22,220 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.036608 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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0.23208937048912048,
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] | 12.6 | 126 | 66 | 22,221 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.047077 | [
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82.70917510986328,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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0.23208937048912048,
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] | 12.7 | 127 | 66 | 22,222 | 0 |
[
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] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.065961 | [
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82.70917510986328,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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0.23208937048912048,
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] | 12.8 | 128 | 66 | 22,223 | 0 |
[
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.086827 | [
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82.70917510986328,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.07328668236732483,
0.23208937048912048,
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] | 12.9 | 129 | 66 | 22,224 | 0 |
[
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.110507 | [
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82.70917510986328,
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] | [
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0.23186369240283966,
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0.23208937048912048,
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] | 0 | pick box lid and place on box body | box lid | [
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[
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0.23208937048912048,
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[
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82.70917510986328,
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0.23208937048912048,
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[
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82.70917510986328,
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[
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] | 18.1 | 181 | 66 | 22,276 | 0 |
[
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] | 18.200001 | 182 | 66 | 22,277 | 0 |
[
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] | 18.299999 | 183 | 66 | 22,278 | 0 |
[
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[
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[
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] | 19.4 | 194 | 66 | 22,289 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.958894 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 19.5 | 195 | 66 | 22,290 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.969255 | [
40.538841247558594,
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57.73124313354492,
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] | 0 | pick box lid and place on box body | box body | [
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] | 19.6 | 196 | 66 | 22,291 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.974301 | [
40.538841247558594,
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] | 0 | pick box lid and place on box body | box body | [
0.25877758860588074,
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] | 19.700001 | 197 | 66 | 22,292 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.976608 | [
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0.25877758860588074,
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] | 19.799999 | 198 | 66 | 22,293 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.049313 | [
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] | 0 | pick box lid and place on box body | box body | [
0.25877758860588074,
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] | 19.9 | 199 | 66 | 22,294 | 0 |
[
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] | [
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] | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.054674 | [
40.48774337768555,
12.755818367004395,
48.2836799621582,
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] | [
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3.0665175914764404,
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] | 0 | pick box lid and place on box body | box body | [
0.25877758860588074,
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] | 20 | 200 | 66 | 22,295 | 0 |
[
39.652015686035156,
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] | [
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] | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.061644 | [
40.48774337768555,
12.755818367004395,
48.2836799621582,
-2.9472882747650146,
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0
] | [
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3.0665175914764404,
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] | 0 | pick box lid and place on box body | box body | [
0.25877758860588074,
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0.013000024482607841
] | 20.1 | 201 | 66 | 22,296 | 0 |
[
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0
] | [
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57.23628616333008,
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0
] | [
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0.18231557309627533,
2.17903470993042,
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] | 0 | [
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] | [
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0.796515166759491,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.07182 | [
40.48774337768555,
12.755818367004395,
48.2836799621582,
-2.9472882747650146,
-0.584967851638794,
0
] | [
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0.007057695183902979,
3.0665175914764404,
0.8348573446273804,
2.3500325679779053
] | 0 | pick box lid and place on box body | box body | [
0.25877758860588074,
-0.18245039880275726,
0.013000024482607841
] | 20.200001 | 202 | 66 | 22,297 | 0 |
[
39.6708984375,
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0
] | [
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56.97172927856445,
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0
] | [
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0.18070822954177856,
2.2503983974456787,
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] | 0 | [
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] | [
0.6780944466590881,
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0.7920287251472473,
-0.23131701350212097,
-0.019139811396598816,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.076999 | [
40.48774337768555,
12.755818367004395,
48.2836799621582,
-2.9472882747650146,
-0.584967851638794,
0
] | [
0.24663200974464417,
-0.19735342264175415,
0.007057695183902979,
3.0665175914764404,
0.8348573446273804,
2.3500325679779053
] | 0 | pick box lid and place on box body | box body | [
0.25877758860588074,
-0.18245039880275726,
0.013000024482607841
] | 20.299999 | 203 | 66 | 22,298 | 0 |
[
39.68669891357422,
-30.328468322753906,
57.99192428588867,
-5.977354049682617,
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0
] | [
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-28.515565872192383,
56.66514205932617,
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0
] | [
0.2610606849193573,
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0.18001480400562286,
2.2812037467956543,
1.4715477228164673,
1.601176381111145
] | 0 | [
0.6775991916656494,
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0.8093293905258179,
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] | [
0.6785215735435486,
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0.7868295907974243,
-0.22799094021320343,
-0.019139811396598816,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.084382 | [
40.48774337768555,
12.755818367004395,
48.2836799621582,
-2.9472882747650146,
-0.584967851638794,
0
] | [
0.24663200974464417,
-0.19735342264175415,
0.007057695183902979,
3.0665175914764404,
0.8348573446273804,
2.3500325679779053
] | 0 | pick box lid and place on box body | box body | [
0.25877758860588074,
-0.18245039880275726,
0.013000024482607841
] | 20.4 | 204 | 66 | 22,299 | 0 |
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