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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[
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[
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.492007 | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.538774 | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.585852 | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.632647 | [
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22.137046813964844,
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.678612 | [
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22.137046813964844,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 14.4 | 144 | 76 | 25,608 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.723247 | [
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60.67171859741211,
22.137046813964844,
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] | [
0.10913374274969101,
0.2254025787115097,
0.19999906420707703,
2.785228729248047,
1.4373449087142944,
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] | 0 | pick box lid and place on box body | box lid | [
0.10913557559251785,
0.2254084199666977,
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] | 14.5 | 145 | 76 | 25,609 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.761251 | [
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60.67171859741211,
22.137046813964844,
0.08426190912723541,
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] | [
0.10913374274969101,
0.2254025787115097,
0.19999906420707703,
2.785228729248047,
1.4373449087142944,
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] | 0 | pick box lid and place on box body | box lid | [
0.10913557559251785,
0.2254084199666977,
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] | 14.6 | 146 | 76 | 25,610 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.791948 | [
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60.67171859741211,
22.137046813964844,
0.08426190912723541,
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] | [
0.10913374274969101,
0.2254025787115097,
0.19999906420707703,
2.785228729248047,
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] | 0 | pick box lid and place on box body | box lid | [
0.10913557559251785,
0.2254084199666977,
0.20000000298023224
] | 14.7 | 147 | 76 | 25,611 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.818386 | [
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60.67171859741211,
22.137046813964844,
0.08426190912723541,
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0.2254025787115097,
0.19999906420707703,
2.785228729248047,
1.4373449087142944,
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0.10913557559251785,
0.2254084199666977,
0.20000000298023224
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[
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.887118 | [
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[
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.929397 | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.948272 | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 15.4 | 154 | 76 | 25,618 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.959282 | [
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60.67171859741211,
22.137046813964844,
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] | 0 | pick box lid and place on box body | box lid | [
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] | 15.5 | 155 | 76 | 25,619 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.960891 | [
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60.67171859741211,
22.137046813964844,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 15.6 | 156 | 76 | 25,620 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.035871 | [
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] | 15.7 | 157 | 76 | 25,621 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.041007 | [
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] | 0 | pick box lid and place on box body | box body | [
0.2012932300567627,
0.0987231507897377,
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] | 15.8 | 158 | 76 | 25,622 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.047984 | [
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60.34680938720703,
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] | 0 | pick box lid and place on box body | box body | [
0.2012932300567627,
0.0987231507897377,
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] | 15.9 | 159 | 76 | 25,623 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.059229 | [
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60.34680938720703,
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0.2012932300567627,
0.0987231507897377,
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.075555 | [
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60.34680938720703,
47.27836990356445,
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0.09839867800474167,
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0.2012932300567627,
0.0987231507897377,
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[
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[
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] | 0 | pick box lid and place on box body | box body | [
0.2012932300567627,
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[
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[
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0.2012932300567627,
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[
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] | 0 | pick box lid and place on box body | box body | [
0.2012932300567627,
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[
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60.34680938720703,
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0.2012932300567627,
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] | 17.200001 | 172 | 76 | 25,636 | 0 |
[
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60.34680938720703,
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] | 0 | pick box lid and place on box body | box body | [
0.2012932300567627,
0.0987231507897377,
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] | 17.299999 | 173 | 76 | 25,637 | 0 |
[
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60.34680938720703,
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] | 0 | pick box lid and place on box body | box body | [
0.2012932300567627,
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.61383 | [
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60.34680938720703,
47.27836990356445,
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] | [
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0.09839867800474167,
0.2000824213027954,
2.888587474822998,
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] | 0 | pick box lid and place on box body | box body | [
0.2012932300567627,
0.0987231507897377,
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] | 17.5 | 175 | 76 | 25,639 | 0 |
[
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[
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0.2012932300567627,
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[
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0.2012932300567627,
0.0987231507897377,
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[
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0.2012932300567627,
0.0987231507897377,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.358116 | [
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80.33355712890625,
21.67828941345215,
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0.2012932300567627,
0.0987231507897377,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.403265 | [
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80.33355712890625,
21.67828941345215,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.87857 | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.880928 | [
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] | 0 | pick box lid and place on box body | box body | [
0.2012932300567627,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.87922 | [
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0.2012932300567627,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.875235 | [
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] | [
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0.2012932300567627,
0.0987231507897377,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.872377 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2012932300567627,
0.0987231507897377,
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] | 22.1 | 221 | 76 | 25,685 | 0 |
[
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] | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.869792 | [
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80.33355712890625,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2012932300567627,
0.0987231507897377,
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] | 22.200001 | 222 | 76 | 25,686 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.865295 | [
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80.33355712890625,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2012932300567627,
0.0987231507897377,
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] | 22.299999 | 223 | 76 | 25,687 | 0 |
[
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1.2396025657653809,
0.3022472858428955,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.865935 | [
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80.33355712890625,
21.67828941345215,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2012932300567627,
0.0987231507897377,
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] | 22.4 | 224 | 76 | 25,688 | 0 |
[
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1.2396025657653809,
0.3022472858428955,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.863077 | [
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80.33355712890625,
21.67828941345215,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2012932300567627,
0.0987231507897377,
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] | 22.5 | 225 | 76 | 25,689 | 0 |
[
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1.1895759105682373,
0.3022472858428955,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.860566 | [
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-26.796667098999023,
80.33355712890625,
21.67828941345215,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2012932300567627,
0.0987231507897377,
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] | 22.6 | 226 | 76 | 25,690 | 0 |
[
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1.1711101531982422,
0.17285099625587463,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.862181 | [
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80.33355712890625,
21.67828941345215,
-0.15690644085407257,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2012932300567627,
0.0987231507897377,
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] | 22.700001 | 227 | 76 | 25,691 | 0 |
[
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1.1711101531982422,
0.17285099625587463,
0.029367761686444283,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
-36.93939971923828,
-31.038742065429688,
79.32565307617188,
14.39389705657959,
0.9594531655311584,
30
] | [
0.22272564470767975,
0.11264398694038391,
0.03725188970565796,
3.12188982963562,
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] | 30 | pick box lid and place on box body | box body | [
0.2012932300567627,
0.0987231507897377,
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] | 22.799999 | 228 | 76 | 25,692 | 0 |
[
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] | [
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0.2012932300567627,
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[
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0.2012932300567627,
0.0987231507897377,
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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79.32565307617188,
14.39389705657959,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.2012932300567627,
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] | 23.5 | 235 | 76 | 25,699 | 0 |
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