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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] | Pick up the box lid | Is the box lid grasped? | move | 0.159895 | [
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] | 30 | pick box lid and place on box body | box lid | [
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[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.200796 | [
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] | 30 | pick box lid and place on box body | box lid | [
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[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.243835 | [
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 8.8 | 88 | 80 | 26,902 | 0 |
[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.289337 | [
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18.83770751953125,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 8.9 | 89 | 80 | 26,903 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.336494 | [
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18.83770751953125,
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42.42155456542969,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
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0.22528032958507538,
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] | 9 | 90 | 80 | 26,904 | 0 |
[
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30
] | [
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] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.384181 | [
-69.62835693359375,
18.83770751953125,
20.50282859802246,
42.42155456542969,
-0.20933715999126434,
30
] | [
0.18331973254680634,
0.22511763870716095,
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] | 30 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
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] | 9.1 | 91 | 80 | 26,905 | 0 |
[
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30
] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.433307 | [
-69.62835693359375,
18.83770751953125,
20.50282859802246,
42.42155456542969,
-0.20933715999126434,
30
] | [
0.18331973254680634,
0.22511763870716095,
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] | 30 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
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] | 9.2 | 92 | 80 | 26,906 | 0 |
[
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30
] | [
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30
] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.481725 | [
-69.62835693359375,
18.83770751953125,
20.50282859802246,
42.42155456542969,
-0.20933715999126434,
30
] | [
0.18331973254680634,
0.22511763870716095,
0.0021914357785135508,
3.118407726287842,
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] | 30 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 9.3 | 93 | 80 | 26,907 | 0 |
[
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30
] | [
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] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.530898 | [
-69.62835693359375,
18.83770751953125,
20.50282859802246,
42.42155456542969,
-0.20933715999126434,
30
] | [
0.18331973254680634,
0.22511763870716095,
0.0021914357785135508,
3.118407726287842,
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] | 30 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
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] | 9.4 | 94 | 80 | 26,908 | 0 |
[
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30
] | [
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] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.578461 | [
-69.62835693359375,
18.83770751953125,
20.50282859802246,
42.42155456542969,
-0.20933715999126434,
30
] | [
0.18331973254680634,
0.22511763870716095,
0.0021914357785135508,
3.118407726287842,
0.3919210135936737,
-2.1274778842926025
] | 30 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 9.5 | 95 | 80 | 26,909 | 0 |
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.625037 | [
-69.62835693359375,
18.83770751953125,
20.50282859802246,
42.42155456542969,
-0.20933715999126434,
30
] | [
0.18331973254680634,
0.22511763870716095,
0.0021914357785135508,
3.118407726287842,
0.3919210135936737,
-2.1274778842926025
] | 30 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 9.6 | 96 | 80 | 26,910 | 0 |
[
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30
] | [
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30
] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.670231 | [
-69.62835693359375,
18.83770751953125,
20.50282859802246,
42.42155456542969,
-0.20933715999126434,
30
] | [
0.18331973254680634,
0.22511763870716095,
0.0021914357785135508,
3.118407726287842,
0.3919210135936737,
-2.1274778842926025
] | 30 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 9.7 | 97 | 80 | 26,911 | 0 |
[
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30
] | [
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30
] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.70646 | [
-69.62835693359375,
18.83770751953125,
20.50282859802246,
42.42155456542969,
-0.20933715999126434,
30
] | [
0.18331973254680634,
0.22511763870716095,
0.0021914357785135508,
3.118407726287842,
0.3919210135936737,
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] | 30 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 9.8 | 98 | 80 | 26,912 | 0 |
[
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30
] | [
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30
] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.737051 | [
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18.83770751953125,
20.50282859802246,
42.42155456542969,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
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] | 9.9 | 99 | 80 | 26,913 | 0 |
[
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30
] | [
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30
] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.764523 | [
-69.62835693359375,
18.83770751953125,
20.50282859802246,
42.42155456542969,
-0.20933715999126434,
30
] | [
0.18331973254680634,
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] | 30 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
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] | 10 | 100 | 80 | 26,914 | 0 |
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.790382 | [
-69.62835693359375,
18.83770751953125,
20.50282859802246,
42.42155456542969,
-0.20933715999126434,
30
] | [
0.18331973254680634,
0.22511763870716095,
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3.118407726287842,
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] | 30 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
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] | 10.1 | 101 | 80 | 26,915 | 0 |
[
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30
] | [
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30
] | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.815556 | [
-69.62835693359375,
18.83770751953125,
20.50282859802246,
42.42155456542969,
-0.20933715999126434,
30
] | [
0.18331973254680634,
0.22511763870716095,
0.0021914357785135508,
3.118407726287842,
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-2.1274778842926025
] | 30 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 10.2 | 102 | 80 | 26,916 | 0 |
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.840634 | [
-69.62835693359375,
18.83770751953125,
20.50282859802246,
42.42155456542969,
-0.20933715999126434,
30
] | [
0.18331973254680634,
0.22511763870716095,
0.0021914357785135508,
3.118407726287842,
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-2.1274778842926025
] | 30 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 10.3 | 103 | 80 | 26,917 | 0 |
[
-69.3965072631836,
12.861750602722168,
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-0.20885512232780457,
30
] | [
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15.971357345581055,
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30
] | [
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] | 1 | [
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] | [
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0.16402284801006317,
0.6753432750701904,
-0.0073419054970145226,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.865986 | [
-69.62835693359375,
18.83770751953125,
20.50282859802246,
42.42155456542969,
-0.20933715999126434,
30
] | [
0.18331973254680634,
0.22511763870716095,
0.0021914357785135508,
3.118407726287842,
0.3919210135936737,
-2.1274778842926025
] | 30 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 10.4 | 104 | 80 | 26,918 | 0 |
[
-69.4608154296875,
14.00745677947998,
19.612621307373047,
43.171607971191406,
-0.2085363119840622,
30
] | [
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16.99949836730957,
20.109577178955078,
42.42155456542969,
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30
] | [
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3.112335205078125,
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] | 1 | [
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] | [
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0.300674170255661,
0.16691455245018005,
0.6707202196121216,
-0.0073419054970145226,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.891931 | [
-69.62835693359375,
18.83770751953125,
20.50282859802246,
42.42155456542969,
-0.20933715999126434,
30
] | [
0.18331973254680634,
0.22511763870716095,
0.0021914357785135508,
3.118407726287842,
0.3919210135936737,
-2.1274778842926025
] | 30 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 10.5 | 105 | 80 | 26,919 | 0 |
[
-69.52384185791016,
15.139998435974121,
19.81316375732422,
42.895503997802734,
-0.2094586044549942,
30
] | [
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16.99949836730957,
20.109577178955078,
42.42155456542969,
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30
] | [
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0.24250295758247375,
0.02041073702275753,
3.1136598587036133,
0.4619681239128113,
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] | 1 | [
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0.16188792884349823,
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] | [
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0.300674170255661,
0.16691455245018005,
0.6707202196121216,
-0.0073419054970145226,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.917554 | [
-69.62835693359375,
18.83770751953125,
20.50282859802246,
42.42155456542969,
-0.20933715999126434,
30
] | [
0.18331973254680634,
0.22511763870716095,
0.0021914357785135508,
3.118407726287842,
0.3919210135936737,
-2.1274778842926025
] | 30 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 10.6 | 106 | 80 | 26,920 | 0 |
[
-69.56510925292969,
15.890843391418457,
19.970130920410156,
42.734500885009766,
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30
] | [
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16.99949836730957,
20.109577178955078,
42.42155456542969,
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30
] | [
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0.016765709966421127,
3.1145434379577637,
0.44860443472862244,
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] | 1 | [
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0.2806149423122406,
0.1645498126745224,
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] | [
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0.300674170255661,
0.16691455245018005,
0.6707202196121216,
-0.0073419054970145226,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.934533 | [
-69.62835693359375,
18.83770751953125,
20.50282859802246,
42.42155456542969,
-0.20933715999126434,
30
] | [
0.18331973254680634,
0.22511763870716095,
0.0021914357785135508,
3.118407726287842,
0.3919210135936737,
-2.1274778842926025
] | 30 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 10.7 | 107 | 80 | 26,921 | 0 |
[
-69.59008026123047,
16.338468551635742,
20.04913330078125,
42.626766204833984,
-0.21300359070301056,
30
] | [
-69.62835693359375,
16.99949836730957,
20.109577178955078,
42.42155456542969,
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30
] | [
0.16921985149383545,
0.2406676560640335,
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3.115053653717041,
0.4410935342311859,
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] | 1 | [
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0.6542428135871887
] | [
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0.300674170255661,
0.16691455245018005,
0.6707202196121216,
-0.0073419054970145226,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.944597 | [
-69.62835693359375,
18.83770751953125,
20.50282859802246,
42.42155456542969,
-0.20933715999126434,
30
] | [
0.18331973254680634,
0.22511763870716095,
0.0021914357785135508,
3.118407726287842,
0.3919210135936737,
-2.1274778842926025
] | 30 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 10.8 | 108 | 80 | 26,922 | 0 |
[
-69.60517883300781,
16.605173110961914,
20.086782455444336,
42.55474853515625,
-0.21252915263175964,
30
] | [
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16.7101993560791,
20.09857940673828,
42.52389144897461,
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30
] | [
0.16895431280136108,
0.24031630158424377,
0.013448338955640793,
3.115347146987915,
0.436917245388031,
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] | 1 | [
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0.6730862259864807,
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] | [
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0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.950545 | [
-69.62835693359375,
18.83770751953125,
20.50282859802246,
42.42155456542969,
-0.20933715999126434,
30
] | [
0.18331973254680634,
0.22511763870716095,
0.0021914357785135508,
3.118407726287842,
0.3919210135936737,
-2.1274778842926025
] | 30 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 10.9 | 109 | 80 | 26,923 | 0 |
[
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
29.200000762939453
] | [
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16.7101993560791,
20.09857940673828,
42.52389144897461,
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28.000001907348633
] | [
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0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
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] | 0 | [
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0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
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0.6367554664611816
] | [
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0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.6105244159698486
] | grasp box lid | Is the object grasped? | gripper_close | 0.026661 | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
0
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 11 | 110 | 80 | 26,924 | 0 |
[
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
27.200002670288086
] | [
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16.7101993560791,
20.09857940673828,
42.52389144897461,
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26
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
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] | 0 | [
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0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.5930370092391968
] | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.566805899143219
] | grasp box lid | Is the object grasped? | gripper_close | 0.093328 | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
0
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 11.1 | 111 | 80 | 26,925 | 0 |
[
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
25.200000762939453
] | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
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24
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
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] | 0 | [
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0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.5493185520172119
] | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.5230874419212341
] | grasp box lid | Is the object grasped? | gripper_close | 0.159995 | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
0
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 11.2 | 112 | 80 | 26,926 | 0 |
[
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
23.200000762939453
] | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
22.000003814697266
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.505600094795227
] | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.47936907410621643
] | grasp box lid | Is the object grasped? | gripper_close | 0.226662 | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
0
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 11.3 | 113 | 80 | 26,927 | 0 |
[
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
21.20000457763672
] | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
20
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.46188172698020935
] | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.4356505572795868
] | grasp box lid | Is the object grasped? | gripper_close | 0.293329 | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
0
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 11.4 | 114 | 80 | 26,928 | 0 |
[
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
19.200000762939453
] | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
18.000001907348633
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.4181631803512573
] | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.3919321298599243
] | grasp box lid | Is the object grasped? | gripper_close | 0.359996 | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
0
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 11.5 | 115 | 80 | 26,929 | 0 |
[
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
17.200002670288086
] | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
15.999999046325684
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.37444478273391724
] | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.3482136130332947
] | grasp box lid | Is the object grasped? | gripper_close | 0.426663 | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
0
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 11.6 | 116 | 80 | 26,930 | 0 |
[
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
15.199999809265137
] | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
14.000000953674316
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.3307262659072876
] | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.3044952154159546
] | grasp box lid | Is the object grasped? | gripper_close | 0.493331 | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
0
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 11.7 | 117 | 80 | 26,931 | 0 |
[
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
13.20000171661377
] | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
12.00000286102295
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.2870078384876251
] | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.2607767879962921
] | grasp box lid | Is the object grasped? | gripper_close | 0.559998 | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
0
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 11.8 | 118 | 80 | 26,932 | 0 |
[
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
11.200003623962402
] | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
10
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.24328942596912384
] | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.21705828607082367
] | grasp box lid | Is the object grasped? | gripper_close | 0.626665 | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
0
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 11.9 | 119 | 80 | 26,933 | 0 |
[
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
9.200000762939453
] | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
8.000001907348633
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.1995709240436554
] | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.1733398735523224
] | grasp box lid | Is the object grasped? | gripper_close | 0.693332 | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
0
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 12 | 120 | 80 | 26,934 | 0 |
[
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
7.200002670288086
] | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
5.999999046325684
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.1558525115251541
] | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.12962135672569275
] | grasp box lid | Is the object grasped? | gripper_close | 0.759999 | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
0
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 12.1 | 121 | 80 | 26,935 | 0 |
[
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
5.199999809265137
] | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
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] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.11213399469852448
] | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.08590294420719147
] | grasp box lid | Is the object grasped? | gripper_close | 0.826666 | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
0
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 12.2 | 122 | 80 | 26,936 | 0 |
[
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
3.2000017166137695
] | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
2.000002861022949
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.0684155821800232
] | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.042184535413980484
] | grasp box lid | Is the object grasped? | gripper_close | 0.893333 | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
0
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 12.3 | 123 | 80 | 26,937 | 0 |
[
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
1.2000036239624023
] | [
-69.55436706542969,
16.6254940032959,
19.537790298461914,
42.26784896850586,
0.27438488602638245,
0
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | [
-1.0744571685791016,
0.29543977975845337,
0.16672806441783905,
0.6725381016731262,
-0.007430716417729855,
0.02469716966152191
] | [
-1.0735459327697754,
0.29390719532966614,
0.1572181135416031,
0.6679898500442505,
0.007850960828363895,
-0.0015339808305725455
] | grasp box lid | Is the object grasped? | gripper_close | 0.96 | [
-69.61121368408203,
16.7101993560791,
20.09857940673828,
42.52389144897461,
-0.21216478943824768,
0
] | [
0.16885678470134735,
0.2401915341615677,
0.012983269989490509,
3.1154584884643555,
0.4353683292865753,
-2.1290197372436523
] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.02199995517730713
] | 12.4 | 124 | 80 | 26,938 | 0 |
[
-69.55105590820312,
16.645278930664062,
19.903797149658203,
42.30226516723633,
0.2851792275905609,
0
] | [
-69.538330078125,
16.473731994628906,
19.52729034423828,
42.30048751831055,
0.27438488602638245,
0
] | [
0.16984960436820984,
0.24120979011058807,
0.014114607125520706,
3.122309684753418,
0.4441259801387787,
-2.112936496734619
] | 0 | [
-1.0734928846359253,
0.29426518082618713,
0.16342490911483765,
0.6686012148857117,
0.008189992047846317,
-0.0015339808305725455
] | [
-1.0732887983322144,
0.29116132855415344,
0.1570400446653366,
0.6685696244239807,
0.007850960828363895,
-0.0015339808305725455
] | Lift the box lid | Is the box lid lifted? | move | 0.051676 | [
-65.01335906982422,
-25.199657440185547,
16.990386962890625,
51.51058578491211,
0.27438488602638245,
0
] | [
0.18325860798358917,
0.2251664400100708,
0.19982756674289703,
3.0639736652374268,
1.0858780145645142,
-2.228513240814209
] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.20000000298023224
] | 12.5 | 125 | 80 | 26,939 | 0 |
[
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.054659 | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.064136 | [
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] | 0 | pick box lid and place on box body | box lid | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.084911 | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.9 | 129 | 80 | 26,943 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.109252 | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.135172 | [
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16.990386962890625,
51.51058578491211,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
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] | 13.1 | 131 | 80 | 26,945 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.16363 | [
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16.990386962890625,
51.51058578491211,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
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] | 13.2 | 132 | 80 | 26,946 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.195023 | [
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16.990386962890625,
51.51058578491211,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.20000000298023224
] | 13.3 | 133 | 80 | 26,947 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.229358 | [
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16.990386962890625,
51.51058578491211,
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] | [
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0.2251664400100708,
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] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
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] | 13.4 | 134 | 80 | 26,948 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.266183 | [
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16.990386962890625,
51.51058578491211,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.20000000298023224
] | 13.5 | 135 | 80 | 26,949 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.305317 | [
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16.990386962890625,
51.51058578491211,
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] | [
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0.2251664400100708,
0.19982756674289703,
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] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.20000000298023224
] | 13.6 | 136 | 80 | 26,950 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.346551 | [
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16.990386962890625,
51.51058578491211,
0.27438488602638245,
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] | [
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0.2251664400100708,
0.19982756674289703,
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] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.20000000298023224
] | 13.7 | 137 | 80 | 26,951 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.389583 | [
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16.990386962890625,
51.51058578491211,
0.27438488602638245,
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] | [
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0.2251664400100708,
0.19982756674289703,
3.0639736652374268,
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] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.20000000298023224
] | 13.8 | 138 | 80 | 26,952 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.43406 | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.525834 | [
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] | 0 | pick box lid and place on box body | box lid | [
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[
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.618646 | [
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16.990386962890625,
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.664399 | [
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16.990386962890625,
51.51058578491211,
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] | 0 | pick box lid and place on box body | box lid | [
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[
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16.990386962890625,
51.51058578491211,
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] | 0 | pick box lid and place on box body | box lid | [
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0.22528032958507538,
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[
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16.990386962890625,
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0.22528032958507538,
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[
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[
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16.990386962890625,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
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[
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16.990386962890625,
51.51058578491211,
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] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
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[
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16.990386962890625,
51.51058578491211,
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] | 0 | pick box lid and place on box body | box lid | [
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0.22528032958507538,
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] | 15 | 150 | 80 | 26,964 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.888112 | [
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16.990386962890625,
51.51058578491211,
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] | [
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0.2251664400100708,
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] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.20000000298023224
] | 15.1 | 151 | 80 | 26,965 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.9107 | [
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16.990386962890625,
51.51058578491211,
0.27438488602638245,
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] | [
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0.2251664400100708,
0.19982756674289703,
3.0639736652374268,
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] | 0 | pick box lid and place on box body | box lid | [
0.1833367496728897,
0.22528032958507538,
0.20000000298023224
] | 15.2 | 152 | 80 | 26,966 | 0 |
[
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[
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[
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[
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] | [
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] | [
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[
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[
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[
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[
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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 | 0.139398 | [
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.175228 | [
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[
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[
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] | [
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[
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] | [
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] | 17.4 | 174 | 80 | 26,988 | 0 |
[
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 17.5 | 175 | 80 | 26,989 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.631057 | [
31.872241973876953,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2837707996368408,
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] | 17.6 | 176 | 80 | 26,990 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.67719 | [
31.872241973876953,
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43.31428909301758,
11.691649436950684,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2837707996368408,
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] | 17.700001 | 177 | 80 | 26,991 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.719267 | [
31.872241973876953,
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43.31428909301758,
11.691649436950684,
0.2608274519443512,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2837707996368408,
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] | 17.799999 | 178 | 80 | 26,992 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.753068 | [
31.872241973876953,
-29.630281448364258,
43.31428909301758,
11.691649436950684,
0.2608274519443512,
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] | [
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0.19989852607250214,
2.861194133758545,
1.4227200746536255,
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] | 0 | pick box lid and place on box body | box body | [
0.2837707996368408,
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] | 17.9 | 179 | 80 | 26,993 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.781972 | [
31.872241973876953,
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] | 0 | pick box lid and place on box body | box body | [
0.2837707996368408,
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] | 18 | 180 | 80 | 26,994 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.808121 | [
31.872241973876953,
-29.630281448364258,
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] | 0 | pick box lid and place on box body | box body | [
0.2837707996368408,
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] | 18.1 | 181 | 80 | 26,995 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.832835 | [
31.872241973876953,
-29.630281448364258,
43.31428909301758,
11.691649436950684,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2837707996368408,
-0.15120889246463776,
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] | 18.200001 | 182 | 80 | 26,996 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.85693 | [
31.872241973876953,
-29.630281448364258,
43.31428909301758,
11.691649436950684,
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] | [
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2.861194133758545,
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] | 0 | pick box lid and place on box body | box body | [
0.2837707996368408,
-0.15120889246463776,
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] | 18.299999 | 183 | 80 | 26,997 | 0 |
[
21.033483505249023,
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] | [
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2.971285820007324,
1.3242324590682983,
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] | [
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0.15698128938674927,
0.007425145246088505,
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.880874 | [
31.872241973876953,
-29.630281448364258,
43.31428909301758,
11.691649436950684,
0.2608274519443512,
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] | [
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-0.15099278092384338,
0.19989852607250214,
2.861194133758545,
1.4227200746536255,
2.305931806564331
] | 0 | pick box lid and place on box body | box body | [
0.2837707996368408,
-0.15120889246463776,
0.20000000298023224
] | 18.4 | 184 | 80 | 26,998 | 0 |
[
23.457504272460938,
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0
] | [
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12.39896297454834,
0.2608274519443512,
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] | [
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2.9640555381774902,
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] | [
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0.13741397857666016,
0.007425145246088505,
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.904977 | [
31.872241973876953,
-29.630281448364258,
43.31428909301758,
11.691649436950684,
0.2608274519443512,
0
] | [
0.2836965322494507,
-0.15099278092384338,
0.19989852607250214,
2.861194133758545,
1.4227200746536255,
2.305931806564331
] | 0 | pick box lid and place on box body | box body | [
0.2837707996368408,
-0.15120889246463776,
0.20000000298023224
] | 18.5 | 185 | 80 | 26,999 | 0 |
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