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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0.1864902675151825,
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[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.679999 | [
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] | 0 | pick box lid and place on box body | box lid | [
0.1864902675151825,
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] | 12.1 | 121 | 68 | 22,901 | 0 |
[
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] | [
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] | 12.2 | 122 | 68 | 22,902 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.813332 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.3 | 123 | 68 | 22,903 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.879999 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.1864902675151825,
0.27317744493484497,
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] | 12.4 | 124 | 68 | 22,904 | 0 |
[
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.946666 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.5 | 125 | 68 | 22,905 | 0 |
[
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0
] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.061189 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.6 | 126 | 68 | 22,906 | 0 |
[
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0
] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.06227 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.7 | 127 | 68 | 22,907 | 0 |
[
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0
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] | Lift the box lid | Is the box lid lifted? | move | 0.064983 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.8 | 128 | 68 | 22,908 | 0 |
[
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] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.071765 | [
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12.53118896484375,
35.27268600463867,
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0
] | [
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0.2731491029262543,
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] | 0 | pick box lid and place on box body | box lid | [
0.1864902675151825,
0.27317744493484497,
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] | 12.9 | 129 | 68 | 22,909 | 0 |
[
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0
] | [
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] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.091116 | [
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-12.121752738952637,
12.53118896484375,
35.27268600463867,
-0.04598744958639145,
0
] | [
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0.2731491029262543,
0.1999945491552353,
3.0055835247039795,
1.2114357948303223,
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] | 0 | pick box lid and place on box body | box lid | [
0.1864902675151825,
0.27317744493484497,
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] | 13 | 130 | 68 | 22,910 | 0 |
[
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0
] | [
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] | [
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] | [
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0.32335615158081055,
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0.3000495433807373,
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] | Lift the box lid | Is the box lid lifted? | move | 0.114088 | [
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-12.121752738952637,
12.53118896484375,
35.27268600463867,
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0
] | [
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0.2731491029262543,
0.1999945491552353,
3.0055835247039795,
1.2114357948303223,
-2.211455821990967
] | 0 | pick box lid and place on box body | box lid | [
0.1864902675151825,
0.27317744493484497,
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] | 13.1 | 131 | 68 | 22,911 | 0 |
[
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0
] | [
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0
] | [
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0.3089727461338043,
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] | Lift the box lid | Is the box lid lifted? | move | 0.140839 | [
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-12.121752738952637,
12.53118896484375,
35.27268600463867,
-0.04598744958639145,
0
] | [
0.18645790219306946,
0.2731491029262543,
0.1999945491552353,
3.0055835247039795,
1.2114357948303223,
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] | 0 | pick box lid and place on box body | box lid | [
0.1864902675151825,
0.27317744493484497,
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] | 13.2 | 132 | 68 | 22,912 | 0 |
[
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[
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[
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[
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[
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12.53118896484375,
35.27268600463867,
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.486406 | [
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12.53118896484375,
35.27268600463867,
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] | 0 | pick box lid and place on box body | box lid | [
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0.27317744493484497,
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.532571 | [
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12.53118896484375,
35.27268600463867,
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] | 0 | pick box lid and place on box body | box lid | [
0.1864902675151825,
0.27317744493484497,
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.578022 | [
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12.53118896484375,
35.27268600463867,
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] | 0 | pick box lid and place on box body | box lid | [
0.1864902675151825,
0.27317744493484497,
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] | 14.3 | 143 | 68 | 22,923 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.624227 | [
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12.53118896484375,
35.27268600463867,
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] | 0 | pick box lid and place on box body | box lid | [
0.1864902675151825,
0.27317744493484497,
0.20000000298023224
] | 14.4 | 144 | 68 | 22,924 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.66982 | [
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12.53118896484375,
35.27268600463867,
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0.2731491029262543,
0.1999945491552353,
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] | 0 | pick box lid and place on box body | box lid | [
0.1864902675151825,
0.27317744493484497,
0.20000000298023224
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.793862 | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 14.8 | 148 | 68 | 22,928 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.820549 | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 14.9 | 149 | 68 | 22,929 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.842216 | [
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] | 0 | pick box lid and place on box body | box lid | [
0.1864902675151825,
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] | 15 | 150 | 68 | 22,930 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.861383 | [
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12.53118896484375,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.1864902675151825,
0.27317744493484497,
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] | 15.1 | 151 | 68 | 22,931 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.883739 | [
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12.53118896484375,
35.27268600463867,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.1864902675151825,
0.27317744493484497,
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] | 15.2 | 152 | 68 | 22,932 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.905672 | [
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12.53118896484375,
35.27268600463867,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.1864902675151825,
0.27317744493484497,
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] | 15.3 | 153 | 68 | 22,933 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.92474 | [
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12.53118896484375,
35.27268600463867,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.1864902675151825,
0.27317744493484497,
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] | 15.4 | 154 | 68 | 22,934 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.945859 | [
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12.53118896484375,
35.27268600463867,
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] | [
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0.2731491029262543,
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] | 0 | pick box lid and place on box body | box lid | [
0.1864902675151825,
0.27317744493484497,
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] | 15.5 | 155 | 68 | 22,935 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.95855 | [
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12.53118896484375,
35.27268600463867,
-0.04598744958639145,
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] | [
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0.2731491029262543,
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] | 0 | pick box lid and place on box body | box lid | [
0.1864902675151825,
0.27317744493484497,
0.20000000298023224
] | 15.6 | 156 | 68 | 22,936 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.960182 | [
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12.53118896484375,
35.27268600463867,
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] | [
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0.2731491029262543,
0.1999945491552353,
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] | 0 | pick box lid and place on box body | box lid | [
0.1864902675151825,
0.27317744493484497,
0.20000000298023224
] | 15.7 | 157 | 68 | 22,937 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.041133 | [
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0.19995760917663574,
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] | 0 | pick box lid and place on box body | box body | [
0.2850204408168793,
0.0987231433391571,
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] | 15.8 | 158 | 68 | 22,938 | 0 |
[
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0.04479692131280899,
0.5723487734794617,
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.04507 | [
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26.24028205871582,
44.03994369506836,
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[
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] | 0 | pick box lid and place on box body | box body | [
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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 | [
0.2850204408168793,
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] | 17.1 | 171 | 68 | 22,951 | 0 |
[
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26.24028205871582,
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] | 0 | pick box lid and place on box body | box body | [
0.2850204408168793,
0.0987231433391571,
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] | 17.200001 | 172 | 68 | 22,952 | 0 |
[
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[
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2850204408168793,
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[
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2850204408168793,
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] | 18.299999 | 183 | 68 | 22,963 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.867487 | [
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26.24028205871582,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2850204408168793,
0.0987231433391571,
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] | 18.4 | 184 | 68 | 22,964 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.88999 | [
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26.24028205871582,
44.03994369506836,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2850204408168793,
0.0987231433391571,
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] | 18.5 | 185 | 68 | 22,965 | 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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[
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] | [
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[
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3.1679227352142334,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.082162 | [
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3.1679227352142334,
54.570472717285156,
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] | 0 | pick box lid and place on box body | box body | [
0.2850204408168793,
0.0987231433391571,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.110038 | [
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3.1679227352142334,
54.570472717285156,
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0.0987231433391571,
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] | 19.700001 | 197 | 68 | 22,977 | 0 |
[
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3.1679227352142334,
54.570472717285156,
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] | 0 | pick box lid and place on box body | box body | [
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0.0987231433391571,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.175091 | [
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3.1679227352142334,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.787253 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 21.4 | 214 | 68 | 22,994 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.816491 | [
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3.1679227352142334,
54.570472717285156,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2850204408168793,
0.0987231433391571,
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] | 21.5 | 215 | 68 | 22,995 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.840089 | [
-26.505138397216797,
3.1679227352142334,
54.570472717285156,
7.416013240814209,
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0
] | [
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0.008482552133500576,
3.0804548263549805,
0.7180479764938354,
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] | 0 | pick box lid and place on box body | box body | [
0.2850204408168793,
0.0987231433391571,
0.013000024482607841
] | 21.6 | 216 | 68 | 22,996 | 0 |
[
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0
] | [
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] | [
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] | [
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0.7750240564346313,
0.07874688506126404,
-0.02113775722682476,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.866868 | [
-26.505138397216797,
3.1679227352142334,
54.570472717285156,
7.416013240814209,
-0.648580014705658,
0
] | [
0.2870067358016968,
0.07877697050571442,
0.008482552133500576,
3.0804548263549805,
0.7180479764938354,
-2.85089111328125
] | 0 | pick box lid and place on box body | box body | [
0.2850204408168793,
0.0987231433391571,
0.013000024482607841
] | 21.700001 | 217 | 68 | 22,997 | 0 |
[
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8.675609588623047,
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0
] | [
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0
] | [
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] | 0 | [
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] | [
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0.7875750660896301,
0.060570549219846725,
-0.02113775722682476,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.889498 | [
-26.505138397216797,
3.1679227352142334,
54.570472717285156,
7.416013240814209,
-0.648580014705658,
0
] | [
0.2870067358016968,
0.07877697050571442,
0.008482552133500576,
3.0804548263549805,
0.7180479764938354,
-2.85089111328125
] | 0 | pick box lid and place on box body | box body | [
0.2850204408168793,
0.0987231433391571,
0.013000024482607841
] | 21.799999 | 218 | 68 | 22,998 | 0 |
[
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-2.49587082862854,
53.227325439453125,
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0
] | [
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1.0693482160568237,
54.28652572631836,
7.416013240814209,
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0
] | [
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0.10414266586303711,
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3.0499682426452637,
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] | [
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0.7464926242828369,
0.048899371176958084,
-0.02113775722682476,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.900808 | [
-26.505138397216797,
3.1679227352142334,
54.570472717285156,
7.416013240814209,
-0.648580014705658,
0
] | [
0.2870067358016968,
0.07877697050571442,
0.008482552133500576,
3.0804548263549805,
0.7180479764938354,
-2.85089111328125
] | 0 | pick box lid and place on box body | box body | [
0.2850204408168793,
0.0987231433391571,
0.013000024482607841
] | 21.9 | 219 | 68 | 22,999 | 0 |
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