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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] | 11.1 | 111 | 71 | 23,900 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.546664 | [
17.87456703186035,
18.48038101196289,
30.43476104736328,
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0.3171020746231079,
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] | 11.2 | 112 | 71 | 23,901 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.613331 | [
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18.48038101196289,
30.43476104736328,
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.3 | 113 | 71 | 23,902 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.679998 | [
17.87456703186035,
18.48038101196289,
30.43476104736328,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.3171020746231079,
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] | 11.4 | 114 | 71 | 23,903 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.746665 | [
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
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] | [
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3.0880651473999023,
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.5 | 115 | 71 | 23,904 | 0 |
[
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30.43476104736328,
12.535577774047852,
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.813332 | [
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
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0
] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.3171020746231079,
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] | 11.6 | 116 | 71 | 23,905 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.879999 | [
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
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0
] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.7 | 117 | 71 | 23,906 | 0 |
[
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] | [
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18.48038101196289,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.946666 | [
17.87456703186035,
18.48038101196289,
30.43476104736328,
12.535577774047852,
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0
] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.8 | 118 | 71 | 23,907 | 0 |
[
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.057443 | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.9 | 119 | 71 | 23,908 | 0 |
[
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.05772 | [
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30.760822296142578,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12 | 120 | 71 | 23,909 | 0 |
[
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0
] | [
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0
] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.060244 | [
21.985496520996094,
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30.760822296142578,
19.711750030517578,
0.21764253079891205,
0
] | [
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2.954930543899536,
1.3449509143829346,
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] | 0 | pick box lid and place on box body | box lid | [
0.3171020746231079,
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] | 12.1 | 121 | 71 | 23,910 | 0 |
[
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] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.067037 | [
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30.760822296142578,
19.711750030517578,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.3171020746231079,
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] | 12.2 | 122 | 71 | 23,911 | 0 |
[
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0
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] | Lift the box lid | Is the box lid lifted? | move | 0.086457 | [
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30.760822296142578,
19.711750030517578,
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] | [
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1.3449509143829346,
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.3 | 123 | 71 | 23,912 | 0 |
[
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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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] | 15.2 | 152 | 71 | 23,941 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
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] | 15.3 | 153 | 71 | 23,942 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
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] | 15.4 | 154 | 71 | 23,943 | 0 |
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
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] | 15.5 | 155 | 71 | 23,944 | 0 |
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.055493 | [
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
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] | 15.6 | 156 | 71 | 23,945 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
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] | 15.7 | 157 | 71 | 23,946 | 0 |
[
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
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] | 15.8 | 158 | 71 | 23,947 | 0 |
[
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
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] | 15.9 | 159 | 71 | 23,948 | 0 |
[
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
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] | 16 | 160 | 71 | 23,949 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.194265 | [
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19.426528930664062,
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] | [
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0.15116794407367706,
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
0.15120887756347656,
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] | 16.1 | 161 | 71 | 23,950 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.232171 | [
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19.426528930664062,
6.0371928215026855,
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] | [
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0.15116794407367706,
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
0.15120887756347656,
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] | 16.200001 | 162 | 71 | 23,951 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.273188 | [
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19.426528930664062,
6.0371928215026855,
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] | [
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0.15116794407367706,
0.1999981552362442,
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
0.15120887756347656,
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] | 16.299999 | 163 | 71 | 23,952 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.316283 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.4 | 164 | 71 | 23,953 | 0 |
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0.34625381231307983,
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0.34625381231307983,
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] | 16.6 | 166 | 71 | 23,955 | 0 |
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.454369 | [
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
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] | 16.700001 | 167 | 71 | 23,956 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.501651 | [
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
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] | 16.799999 | 168 | 71 | 23,957 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.548885 | [
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
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] | 16.9 | 169 | 71 | 23,958 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.595624 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
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] | 17 | 170 | 71 | 23,959 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.64132 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
0.15120887756347656,
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] | 17.1 | 171 | 71 | 23,960 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.685714 | [
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19.426528930664062,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
0.15120887756347656,
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] | 17.200001 | 172 | 71 | 23,961 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.722589 | [
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19.426528930664062,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
0.15120887756347656,
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] | 17.299999 | 173 | 71 | 23,962 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.753499 | [
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19.426528930664062,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
0.15120887756347656,
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] | 17.4 | 174 | 71 | 23,963 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.780257 | [
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19.426528930664062,
6.0371928215026855,
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] | [
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0.15116794407367706,
0.1999981552362442,
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
0.15120887756347656,
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] | 17.5 | 175 | 71 | 23,964 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.804524 | [
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19.426528930664062,
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0.01647849567234516,
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] | [
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0.15116794407367706,
0.1999981552362442,
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
0.15120887756347656,
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] | 17.6 | 176 | 71 | 23,965 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.828262 | [
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19.426528930664062,
6.0371928215026855,
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[
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
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[
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[
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[
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0.34625381231307983,
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[
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[
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33.76838684082031,
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] | 18.799999 | 188 | 71 | 23,977 | 0 |
[
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33.76838684082031,
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[
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33.76838684082031,
6.191583633422852,
20.017343521118164,
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] | [
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0.15120887756347656,
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[
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[
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33.76838684082031,
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33.76838684082031,
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33.76838684082031,
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33.76838684082031,
6.191583633422852,
20.017343521118164,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.667954 | [
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
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] | 20.4 | 204 | 71 | 23,993 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.708261 | [
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33.76838684082031,
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] | 20.5 | 205 | 71 | 23,994 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.741434 | [
-31.258899688720703,
33.76838684082031,
6.191583633422852,
20.017343521118164,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
0.15120887756347656,
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] | 20.6 | 206 | 71 | 23,995 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.76944 | [
-31.258899688720703,
33.76838684082031,
6.191583633422852,
20.017343521118164,
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] | [
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0.1328197419643402,
0.00773908756673336,
3.088334560394287,
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] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
0.15120887756347656,
0.013000023551285267
] | 20.700001 | 207 | 71 | 23,996 | 0 |
[
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] | [
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0.24850280582904816,
-0.007083459757268429,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.794535 | [
-31.258899688720703,
33.76838684082031,
6.191583633422852,
20.017343521118164,
-0.20110855996608734,
0
] | [
0.35204455256462097,
0.1328197419643402,
0.00773908756673336,
3.088334560394287,
0.7616079449653625,
-2.7590088844299316
] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
0.15120887756347656,
0.013000023551285267
] | 20.799999 | 208 | 71 | 23,997 | 0 |
[
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25.847618103027344,
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20.155315399169922,
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0
] | [
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] | [
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3.0699262619018555,
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] | [
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0.2531757354736328,
-0.007083459757268429,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.818037 | [
-31.258899688720703,
33.76838684082031,
6.191583633422852,
20.017343521118164,
-0.20110855996608734,
0
] | [
0.35204455256462097,
0.1328197419643402,
0.00773908756673336,
3.088334560394287,
0.7616079449653625,
-2.7590088844299316
] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
0.15120887756347656,
0.013000023551285267
] | 20.9 | 209 | 71 | 23,998 | 0 |
[
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0
] | [
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19.18863296508789,
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0
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3.0773589611053467,
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] | [
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0.5195649862289429,
-0.07283391058444977,
0.258022278547287,
-0.007083459757268429,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.838812 | [
-31.258899688720703,
33.76838684082031,
6.191583633422852,
20.017343521118164,
-0.20110855996608734,
0
] | [
0.35204455256462097,
0.1328197419643402,
0.00773908756673336,
3.088334560394287,
0.7616079449653625,
-2.7590088844299316
] | 0 | pick box lid and place on box body | box body | [
0.34625381231307983,
0.15120887756347656,
0.013000023551285267
] | 21 | 210 | 71 | 23,999 | 0 |
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