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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] | 11.2 | 112 | 74 | 24,901 | 0 |
[
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] | 11.3 | 113 | 74 | 24,902 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.25333 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.319997 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.5 | 115 | 74 | 24,904 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.386664 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.6 | 116 | 74 | 24,905 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.453331 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.7 | 117 | 74 | 24,906 | 0 |
[
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] | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.8 | 118 | 74 | 24,907 | 0 |
[
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.9 | 119 | 74 | 24,908 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.653332 | [
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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 | 74 | 24,909 | 0 |
[
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] | [
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.719999 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.1 | 121 | 74 | 24,910 | 0 |
[
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.786666 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
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] | 12.2 | 122 | 74 | 24,911 | 0 |
[
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.853333 | [
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] | [
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] | 12.3 | 123 | 74 | 24,912 | 0 |
[
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[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.986667 | [
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] | 12.5 | 125 | 74 | 24,914 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.060935 | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.6 | 126 | 74 | 24,915 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.061292 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
0.2509646415710449,
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] | 12.7 | 127 | 74 | 24,916 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.06483 | [
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32.50004196166992,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
0.2509646415710449,
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] | 12.8 | 128 | 74 | 24,917 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.077856 | [
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32.50004196166992,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
0.2509646415710449,
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] | 12.9 | 129 | 74 | 24,918 | 0 |
[
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] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.098501 | [
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32.50004196166992,
3.0285091400146484,
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] | [
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2.625013828277588,
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] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
0.2509646415710449,
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] | 13 | 130 | 74 | 24,919 | 0 |
[
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] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.12302 | [
-58.53660583496094,
-13.955730438232422,
32.50004196166992,
3.0285091400146484,
-0.032441396266222,
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] | [
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0.25089091062545776,
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2.625013828277588,
1.4688841104507446,
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] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
0.2509646415710449,
0.20000000298023224
] | 13.1 | 131 | 74 | 24,920 | 0 |
[
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] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.149516 | [
-58.53660583496094,
-13.955730438232422,
32.50004196166992,
3.0285091400146484,
-0.032441396266222,
0
] | [
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0.25089091062545776,
0.19996316730976105,
2.625013828277588,
1.4688841104507446,
-2.7634682655334473
] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
0.2509646415710449,
0.20000000298023224
] | 13.2 | 132 | 74 | 24,921 | 0 |
[
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] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.178698 | [
-58.53660583496094,
-13.955730438232422,
32.50004196166992,
3.0285091400146484,
-0.032441396266222,
0
] | [
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0.25089091062545776,
0.19996316730976105,
2.625013828277588,
1.4688841104507446,
-2.7634682655334473
] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
0.2509646415710449,
0.20000000298023224
] | 13.3 | 133 | 74 | 24,922 | 0 |
[
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] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.210823 | [
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-13.955730438232422,
32.50004196166992,
3.0285091400146484,
-0.032441396266222,
0
] | [
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0.25089091062545776,
0.19996316730976105,
2.625013828277588,
1.4688841104507446,
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] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
0.2509646415710449,
0.20000000298023224
] | 13.4 | 134 | 74 | 24,923 | 0 |
[
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] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.245879 | [
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-13.955730438232422,
32.50004196166992,
3.0285091400146484,
-0.032441396266222,
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] | [
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0.25089091062545776,
0.19996316730976105,
2.625013828277588,
1.4688841104507446,
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] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
0.2509646415710449,
0.20000000298023224
] | 13.5 | 135 | 74 | 24,924 | 0 |
[
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] | [
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3.0595109462738037,
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0.2993221879005432,
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] | Lift the box lid | Is the box lid lifted? | move | 0.283664 | [
-58.53660583496094,
-13.955730438232422,
32.50004196166992,
3.0285091400146484,
-0.032441396266222,
0
] | [
0.23918206989765167,
0.25089091062545776,
0.19996316730976105,
2.625013828277588,
1.4688841104507446,
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] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
0.2509646415710449,
0.20000000298023224
] | 13.6 | 136 | 74 | 24,925 | 0 |
[
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] | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.410315 | [
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32.50004196166992,
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] | [
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0.23924176394939423,
0.2509646415710449,
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] | 13.9 | 139 | 74 | 24,928 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.455334 | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.500835 | [
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32.50004196166992,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.546554 | [
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32.50004196166992,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
0.2509646415710449,
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] | 14.2 | 142 | 74 | 24,931 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.592156 | [
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32.50004196166992,
3.0285091400146484,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
0.2509646415710449,
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] | 14.3 | 143 | 74 | 24,932 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.637262 | [
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32.50004196166992,
3.0285091400146484,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
0.2509646415710449,
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] | 14.4 | 144 | 74 | 24,933 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.68145 | [
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32.50004196166992,
3.0285091400146484,
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] | [
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2.625013828277588,
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] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
0.2509646415710449,
0.20000000298023224
] | 14.5 | 145 | 74 | 24,934 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.724259 | [
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32.50004196166992,
3.0285091400146484,
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] | [
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0.19996316730976105,
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] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
0.2509646415710449,
0.20000000298023224
] | 14.6 | 146 | 74 | 24,935 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.763516 | [
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-13.955730438232422,
32.50004196166992,
3.0285091400146484,
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] | [
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0.25089091062545776,
0.19996316730976105,
2.625013828277588,
1.4688841104507446,
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] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
0.2509646415710449,
0.20000000298023224
] | 14.7 | 147 | 74 | 24,936 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.794916 | [
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-13.955730438232422,
32.50004196166992,
3.0285091400146484,
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] | [
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0.25089091062545776,
0.19996316730976105,
2.625013828277588,
1.4688841104507446,
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] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
0.2509646415710449,
0.20000000298023224
] | 14.8 | 148 | 74 | 24,937 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.818735 | [
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-13.955730438232422,
32.50004196166992,
3.0285091400146484,
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] | [
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0.25089091062545776,
0.19996316730976105,
2.625013828277588,
1.4688841104507446,
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] | 0 | pick box lid and place on box body | box lid | [
0.23924176394939423,
0.2509646415710449,
0.20000000298023224
] | 14.9 | 149 | 74 | 24,938 | 0 |
[
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0.3595178723335266,
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] | Lift the box lid | Is the box lid lifted? | move | 0.838008 | [
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32.50004196166992,
3.0285091400146484,
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[
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[
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[
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[
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54.31058120727539,
16.095298767089844,
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[
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[
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36.78921127319336,
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] | 18.700001 | 187 | 74 | 24,976 | 0 |
[
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36.78921127319336,
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] | 18.799999 | 188 | 74 | 24,977 | 0 |
[
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36.78921127319336,
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0.24753063917160034,
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[
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36.78921127319336,
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54.31058120727539,
16.095298767089844,
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0.2000013291835785,
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0.24753063917160034,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.293983 | [
36.63835525512695,
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0.24753063917160034,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.338376 | [
36.63835525512695,
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] | 20.5 | 205 | 74 | 24,994 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.383978 | [
36.63835525512695,
2.5921366214752197,
66.7323226928711,
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] | [
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3.068279981613159,
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] | 0 | pick box lid and place on box body | box body | [
0.24753063917160034,
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] | 20.6 | 206 | 74 | 24,995 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.430381 | [
36.63835525512695,
2.5921366214752197,
66.7323226928711,
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] | [
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3.068279981613159,
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] | 0 | pick box lid and place on box body | box body | [
0.24753063917160034,
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0.013000024482607841
] | 20.700001 | 207 | 74 | 24,996 | 0 |
[
36.237300872802734,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.477287 | [
36.63835525512695,
2.5921366214752197,
66.7323226928711,
-11.988545417785645,
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] | [
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0.007674737833440304,
3.068279981613159,
0.8667706251144409,
2.4168148040771484
] | 0 | pick box lid and place on box body | box body | [
0.24753063917160034,
-0.1524585485458374,
0.013000024482607841
] | 20.799999 | 208 | 74 | 24,997 | 0 |
[
36.27707290649414,
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61.634681701660156,
3.8137128353118896,
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0
] | [
36.38327407836914,
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62.50163650512695,
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] | [
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3.0145699977874756,
1.080286979675293,
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] | [
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0.8858057856559753,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.524347 | [
36.63835525512695,
2.5921366214752197,
66.7323226928711,
-11.988545417785645,
-0.40335431694984436,
0
] | [
0.2342916876077652,
-0.1666928380727768,
0.007674737833440304,
3.068279981613159,
0.8667706251144409,
2.4168148040771484
] | 0 | pick box lid and place on box body | box body | [
0.24753063917160034,
-0.1524585485458374,
0.013000024482607841
] | 20.9 | 209 | 74 | 24,998 | 0 |
[
36.31645584106445,
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2.3350448608398438,
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0
] | [
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63.04624557495117,
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0
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0.08121691644191742,
3.0216786861419678,
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] | [
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0.8950413465499878,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.571063 | [
36.63835525512695,
2.5921366214752197,
66.7323226928711,
-11.988545417785645,
-0.40335431694984436,
0
] | [
0.2342916876077652,
-0.1666928380727768,
0.007674737833440304,
3.068279981613159,
0.8667706251144409,
2.4168148040771484
] | 0 | pick box lid and place on box body | box body | [
0.24753063917160034,
-0.1524585485458374,
0.013000024482607841
] | 21 | 210 | 74 | 24,999 | 0 |
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