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 | 0.80339 | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.828343 | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.851658 | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.874216 | [
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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 | 0.938095 | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.954001 | [
88.3934097290039,
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[
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88.3934097290039,
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.958968 | [
88.3934097290039,
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73.4930419921875,
11.93361759185791,
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1.2967283725738525,
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] | 0 | pick box lid and place on box body | box lid | [
0.0642232894897461,
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] | 14.8 | 148 | 70 | 23,610 | 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 | 0.065428 | [
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.072987 | [
63.143959045410156,
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] | 0 | pick box lid and place on box body | box body | [
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] | 15.2 | 152 | 70 | 23,614 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.085647 | [
63.143959045410156,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 15.3 | 153 | 70 | 23,615 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.104688 | [
63.143959045410156,
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] | 0 | pick box lid and place on box body | box body | [
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] | 15.4 | 154 | 70 | 23,616 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.127392 | [
63.143959045410156,
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] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 15.5 | 155 | 70 | 23,617 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.15415 | [
63.143959045410156,
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61.52705383300781,
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] | 0 | pick box lid and place on box body | box body | [
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] | 15.6 | 156 | 70 | 23,618 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.184311 | [
63.143959045410156,
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61.52705383300781,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 15.7 | 157 | 70 | 23,619 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.21799 | [
63.143959045410156,
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61.52705383300781,
1.9362521171569824,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 15.8 | 158 | 70 | 23,620 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.248772 | [
63.143959045410156,
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61.52705383300781,
1.9362521171569824,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 15.9 | 159 | 70 | 23,621 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.282972 | [
63.143959045410156,
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61.52705383300781,
1.9362521171569824,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 16 | 160 | 70 | 23,622 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.320395 | [
63.143959045410156,
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61.52705383300781,
1.9362521171569824,
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] | [
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2.0624783039093018,
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] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 16.1 | 161 | 70 | 23,623 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.361126 | [
63.143959045410156,
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61.52705383300781,
1.9362521171569824,
0.40019354224205017,
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] | [
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2.0624783039093018,
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] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 16.200001 | 162 | 70 | 23,624 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.40302 | [
63.143959045410156,
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61.52705383300781,
1.9362521171569824,
0.40019354224205017,
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] | [
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2.0624783039093018,
1.5289676189422607,
1.008502721786499
] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 16.299999 | 163 | 70 | 23,625 | 0 |
[
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0.011802391149103642,
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.446002 | [
63.143959045410156,
-43.89387893676758,
61.52705383300781,
1.9362521171569824,
0.40019354224205017,
0
] | [
0.16879402101039886,
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0.19999803602695465,
2.0624783039093018,
1.5289676189422607,
1.008502721786499
] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 16.4 | 164 | 70 | 23,626 | 0 |
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[
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[
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[
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61.52705383300781,
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[
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61.52705383300781,
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[
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63.143959045410156,
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61.52705383300781,
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.887679 | [
63.143959045410156,
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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 | 0.041195 | [
63.111534118652344,
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56.563819885253906,
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] | 0 | pick box lid and place on box body | box body | [
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] | 17.9 | 179 | 70 | 23,641 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.04337 | [
63.111534118652344,
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56.563819885253906,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 18 | 180 | 70 | 23,642 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.048701 | [
63.111534118652344,
3.997992753982544,
56.563819885253906,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 18.1 | 181 | 70 | 23,643 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.058204 | [
63.111534118652344,
3.997992753982544,
56.563819885253906,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 18.200001 | 182 | 70 | 23,644 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.058648 | [
63.111534118652344,
3.997992753982544,
56.563819885253906,
2.699291706085205,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 18.299999 | 183 | 70 | 23,645 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.068911 | [
63.111534118652344,
3.997992753982544,
56.563819885253906,
2.699291706085205,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 18.4 | 184 | 70 | 23,646 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.0869 | [
63.111534118652344,
3.997992753982544,
56.563819885253906,
2.699291706085205,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 18.5 | 185 | 70 | 23,647 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.111046 | [
63.111534118652344,
3.997992753982544,
56.563819885253906,
2.699291706085205,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 18.6 | 186 | 70 | 23,648 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.14024 | [
63.111534118652344,
3.997992753982544,
56.563819885253906,
2.699291706085205,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 18.700001 | 187 | 70 | 23,649 | 0 |
[
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0.010790065862238407,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.17365 | [
63.111534118652344,
3.997992753982544,
56.563819885253906,
2.699291706085205,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 18.799999 | 188 | 70 | 23,650 | 0 |
[
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0.010790065862238407,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.210579 | [
63.111534118652344,
3.997992753982544,
56.563819885253906,
2.699291706085205,
0.3679623603820801,
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] | [
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3.105947494506836,
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] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 18.9 | 189 | 70 | 23,651 | 0 |
[
64.22500610351562,
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0.010790065862238407,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.250191 | [
63.111534118652344,
3.997992753982544,
56.563819885253906,
2.699291706085205,
0.3679623603820801,
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] | [
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0.007250340189784765,
3.105947494506836,
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2.036484479904175
] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 19 | 190 | 70 | 23,652 | 0 |
[
64.1603012084961,
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0.8365585207939148,
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0.010790065862238407,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.291776 | [
63.111534118652344,
3.997992753982544,
56.563819885253906,
2.699291706085205,
0.3679623603820801,
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] | [
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0.007250340189784765,
3.105947494506836,
0.7544683814048767,
2.036484479904175
] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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0.013000025413930416
] | 19.1 | 191 | 70 | 23,653 | 0 |
[
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[
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63.111534118652344,
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[
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63.111534118652344,
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[
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63.111534118652344,
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[
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63.111534118652344,
3.997992753982544,
56.563819885253906,
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[
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63.111534118652344,
3.997992753982544,
56.563819885253906,
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[
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63.111534118652344,
3.997992753982544,
56.563819885253906,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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[
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63.111534118652344,
3.997992753982544,
56.563819885253906,
2.699291706085205,
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] | 19.9 | 199 | 70 | 23,661 | 0 |
[
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63.111534118652344,
3.997992753982544,
56.563819885253906,
2.699291706085205,
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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 | 0.727545 | [
63.111534118652344,
3.997992753982544,
56.563819885253906,
2.699291706085205,
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] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.755778 | [
63.111534118652344,
3.997992753982544,
56.563819885253906,
2.699291706085205,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 20.200001 | 202 | 70 | 23,664 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.781295 | [
63.111534118652344,
3.997992753982544,
56.563819885253906,
2.699291706085205,
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] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 20.299999 | 203 | 70 | 23,665 | 0 |
[
63.36269760131836,
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0.010790065862238407,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.805367 | [
63.111534118652344,
3.997992753982544,
56.563819885253906,
2.699291706085205,
0.3679623603820801,
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0.007250340189784765,
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] | 0 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 20.4 | 204 | 70 | 23,666 | 0 |
[
63.32148361206055,
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63.111534118652344,
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63.111534118652344,
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63.111534118652344,
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56.563819885253906,
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[
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63.111534118652344,
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56.563819885253906,
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[
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63.111534118652344,
3.997992753982544,
56.563819885253906,
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[
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63.111534118652344,
3.997992753982544,
56.563819885253906,
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[
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63.111534118652344,
3.997992753982544,
56.563819885253906,
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63.111534118652344,
3.997992753982544,
56.563819885253906,
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[
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63.111534118652344,
3.997992753982544,
56.563819885253906,
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[
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63.111534118652344,
3.997992753982544,
56.563819885253906,
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[
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63.111534118652344,
3.997992753982544,
56.563819885253906,
2.699291706085205,
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[
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63.111534118652344,
3.997992753982544,
56.563819885253906,
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[
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[
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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 | 0.449955 | [
63.15959167480469,
0.53325355052948,
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] | [
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0.16880205273628235,
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[
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] | release object on box body | Is the object released? | gripper_open | 0.548177 | [
63.15959167480469,
0.53325355052948,
55.66346740722656,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.16880205273628235,
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] | 23.4 | 234 | 70 | 23,696 | 0 |
[
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25.5
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.6464 | [
63.15959167480469,
0.53325355052948,
55.66346740722656,
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4.128690719604492,
30
] | [
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0.03856077417731285,
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0.9368841052055359,
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] | 30 | pick box lid and place on box body | box body | [
0.16880205273628235,
-0.2286878228187561,
0.013000025413930416
] | 23.5 | 235 | 70 | 23,697 | 0 |
[
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0.53325355052948,
55.66346740722656,
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26.100000381469727
] | [
63.15959167480469,
0.53325355052948,
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] | [
0.1778140515089035,
-0.24654875695705414,
0.03856077417731285,
-3.0320088863372803,
0.9368841052055359,
2.2234482765197754
] | 1 | [
1.053871989250183,
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0.12890799343585968,
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] | [
1.053871989250183,
0.002745404839515686,
0.7698430418968201,
-0.1430717557668686,
0.12890799343585968,
0.5886651873588562
] | release object on box body | Is the object released? | gripper_open | 0.744622 | [
63.15959167480469,
0.53325355052948,
55.66346740722656,
-3.3910434246063232,
4.128690719604492,
30
] | [
0.1778140515089035,
-0.24654875695705414,
0.03856077417731285,
-3.0320088863372803,
0.9368841052055359,
2.2234482765197754
] | 30 | pick box lid and place on box body | box body | [
0.16880205273628235,
-0.2286878228187561,
0.013000025413930416
] | 23.6 | 236 | 70 | 23,698 | 0 |
[
63.15959167480469,
0.53325355052948,
55.66346740722656,
-3.3910434246063232,
4.128690719604492,
27.60000228881836
] | [
63.15959167480469,
0.53325355052948,
55.66346740722656,
-3.3910434246063232,
4.128690719604492,
28.500001907348633
] | [
0.1778140515089035,
-0.24654875695705414,
0.03856077417731285,
-3.0320088863372803,
0.9368841052055359,
2.2234482765197754
] | 1 | [
1.053871989250183,
0.002745404839515686,
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0.12890799343585968,
0.6017807126045227
] | [
1.053871989250183,
0.002745404839515686,
0.7698430418968201,
-0.1430717557668686,
0.12890799343585968,
0.6214540004730225
] | release object on box body | Is the object released? | gripper_open | 0.842844 | [
63.15959167480469,
0.53325355052948,
55.66346740722656,
-3.3910434246063232,
4.128690719604492,
30
] | [
0.1778140515089035,
-0.24654875695705414,
0.03856077417731285,
-3.0320088863372803,
0.9368841052055359,
2.2234482765197754
] | 30 | pick box lid and place on box body | box body | [
0.16880205273628235,
-0.2286878228187561,
0.013000025413930416
] | 23.700001 | 237 | 70 | 23,699 | 0 |
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