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 | 0.890324 | [
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 10.4 | 104 | 91 | 30,600 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.915094 | [
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.09012471139431,
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] | 10.5 | 105 | 91 | 30,601 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.936205 | [
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50.115570068359375,
41.348941802978516,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.09012471139431,
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] | 10.6 | 106 | 91 | 30,602 | 0 |
[
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] | [
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.948324 | [
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50.115570068359375,
41.348941802978516,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.09012471139431,
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] | 10.7 | 107 | 91 | 30,603 | 0 |
[
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] | [
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] | 0 | [
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.013326 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.09012471139431,
0.1981973946094513,
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] | 10.8 | 108 | 91 | 30,604 | 0 |
[
-90.80819702148438,
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49.7518310546875,
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] | [
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] | [
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3.1213393211364746,
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] | 0 | [
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.079994 | [
-90.80819702148438,
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49.7518310546875,
41.858131408691406,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.09012471139431,
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] | 10.9 | 109 | 91 | 30,605 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.146661 | [
-90.80819702148438,
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49.7518310546875,
41.858131408691406,
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0
] | [
0.07149580121040344,
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0.011387457139790058,
3.1213393211364746,
0.3459610342979431,
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] | 0 | pick box lid and place on box body | box lid | [
0.09012471139431,
0.1981973946094513,
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] | 11 | 110 | 91 | 30,606 | 0 |
[
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49.7518310546875,
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] | [
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] | [
0.07149580121040344,
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] | 0 | [
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] | [
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0.669592559337616,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.213328 | [
-90.80819702148438,
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49.7518310546875,
41.858131408691406,
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0
] | [
0.07149580121040344,
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0.011387457139790058,
3.1213393211364746,
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] | 0 | pick box lid and place on box body | box lid | [
0.09012471139431,
0.1981973946094513,
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] | 11.1 | 111 | 91 | 30,607 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.669592559337616,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.279995 | [
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49.7518310546875,
41.858131408691406,
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0
] | [
0.07149580121040344,
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0.011387457139790058,
3.1213393211364746,
0.3459610342979431,
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] | 0 | pick box lid and place on box body | box lid | [
0.09012471139431,
0.1981973946094513,
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] | 11.2 | 112 | 91 | 30,608 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.669592559337616,
0.6607118248939514,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.346662 | [
-90.80819702148438,
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49.7518310546875,
41.858131408691406,
-0.21227484941482544,
0
] | [
0.07149580121040344,
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0.011387457139790058,
3.1213393211364746,
0.3459610342979431,
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] | 0 | pick box lid and place on box body | box lid | [
0.09012471139431,
0.1981973946094513,
0.022000037133693695
] | 11.3 | 113 | 91 | 30,609 | 0 |
[
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49.7518310546875,
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] | [
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49.7518310546875,
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] | [
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0.011387457139790058,
3.1213393211364746,
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] | 0 | [
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0.669592559337616,
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] | [
-1.414246916770935,
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0.669592559337616,
0.6607118248939514,
-0.007434173487126827,
0.35695740580558777
] | grasp box lid | Is the object grasped? | gripper_close | 0.413329 | [
-90.80819702148438,
-5.478433609008789,
49.7518310546875,
41.858131408691406,
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0
] | [
0.07149580121040344,
0.20723514258861542,
0.011387457139790058,
3.1213393211364746,
0.3459610342979431,
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] | 0 | pick box lid and place on box body | box lid | [
0.09012471139431,
0.1981973946094513,
0.022000037133693695
] | 11.4 | 114 | 91 | 30,610 | 0 |
[
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49.7518310546875,
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] | [
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] | [
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0.011387457139790058,
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] | 0 | [
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] | [
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0.669592559337616,
0.6607118248939514,
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0.31323888897895813
] | grasp box lid | Is the object grasped? | gripper_close | 0.479996 | [
-90.80819702148438,
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49.7518310546875,
41.858131408691406,
-0.21227484941482544,
0
] | [
0.07149580121040344,
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0.011387457139790058,
3.1213393211364746,
0.3459610342979431,
-1.7869914770126343
] | 0 | pick box lid and place on box body | box lid | [
0.09012471139431,
0.1981973946094513,
0.022000037133693695
] | 11.5 | 115 | 91 | 30,611 | 0 |
[
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] | [
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] | [
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3.1213393211364746,
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] | 0 | [
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] | [
-1.414246916770935,
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0.669592559337616,
0.6607118248939514,
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0.26952049136161804
] | grasp box lid | Is the object grasped? | gripper_close | 0.546664 | [
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49.7518310546875,
41.858131408691406,
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0
] | [
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[
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[
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0.09012471139431,
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] | 11.8 | 118 | 91 | 30,614 | 0 |
[
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0.09012471139431,
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[
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] | 0 | pick box lid and place on box body | box lid | [
0.09012471139431,
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] | 12 | 120 | 91 | 30,616 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.879999 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.09012471139431,
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] | 12.1 | 121 | 91 | 30,617 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.946666 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.09012471139431,
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] | 12.2 | 122 | 91 | 30,618 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.077994 | [
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] | 12.3 | 123 | 91 | 30,619 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.079027 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.09012471139431,
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] | 12.4 | 124 | 91 | 30,620 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.082111 | [
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47.68235778808594,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.09012471139431,
0.1981973946094513,
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] | 12.5 | 125 | 91 | 30,621 | 0 |
[
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.090569 | [
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47.68235778808594,
51.09876251220703,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.09012471139431,
0.1981973946094513,
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] | 12.6 | 126 | 91 | 30,622 | 0 |
[
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.109242 | [
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47.68235778808594,
51.09876251220703,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.09012471139431,
0.1981973946094513,
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] | 12.7 | 127 | 91 | 30,623 | 0 |
[
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] | [
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0.6822158694267273,
0.020681457594037056,
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] | Lift the box lid | Is the box lid lifted? | move | 0.129136 | [
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47.68235778808594,
51.09876251220703,
0.6828920245170593,
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] | [
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3.059396505355835,
1.2420529127120972,
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] | 0 | pick box lid and place on box body | box lid | [
0.09012471139431,
0.1981973946094513,
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] | 12.8 | 128 | 91 | 30,624 | 0 |
[
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] | [
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] | [
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0.020681457594037056,
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] | Lift the box lid | Is the box lid lifted? | move | 0.151441 | [
-84.83008575439453,
-62.169368743896484,
47.68235778808594,
51.09876251220703,
0.6828920245170593,
0
] | [
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0.1981777548789978,
0.19999739527702332,
3.059396505355835,
1.2420529127120972,
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] | 0 | pick box lid and place on box body | box lid | [
0.09012471139431,
0.1981973946094513,
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] | 12.9 | 129 | 91 | 30,625 | 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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47.68235778808594,
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[
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47.68235778808594,
51.09876251220703,
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.653149 | [
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47.68235778808594,
51.09876251220703,
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0.09012471139431,
0.1981973946094513,
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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 | 0.65362 | [
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[
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] | 17.700001 | 177 | 91 | 30,673 | 0 |
[
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] | 17.799999 | 178 | 91 | 30,674 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.796907 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 17.9 | 179 | 91 | 30,675 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.822244 | [
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31.89177131652832,
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] | 0 | pick box lid and place on box body | box body | [
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] | 18 | 180 | 91 | 30,676 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.846611 | [
38.69709396362305,
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31.89177131652832,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 18.1 | 181 | 91 | 30,677 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.870666 | [
38.69709396362305,
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31.89177131652832,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.29876670241355896,
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] | 18.200001 | 182 | 91 | 30,678 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.894802 | [
38.69709396362305,
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[
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[
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38.46233367919922,
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[
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38.46233367919922,
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[
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38.46233367919922,
57.533687591552734,
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[
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38.46233367919922,
57.533687591552734,
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[
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38.46233367919922,
57.533687591552734,
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0.29876670241355896,
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] | 19.6 | 196 | 91 | 30,692 | 0 |
[
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38.46233367919922,
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.177016 | [
38.46233367919922,
57.533687591552734,
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] | 0 | pick box lid and place on box body | box body | [
0.29876670241355896,
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] | 19.799999 | 198 | 91 | 30,694 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.213042 | [
38.46233367919922,
57.533687591552734,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.29876670241355896,
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] | 19.9 | 199 | 91 | 30,695 | 0 |
[
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0.7445708513259888,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.25161 | [
38.46233367919922,
57.533687591552734,
-49.78329849243164,
72.5653076171875,
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] | [
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3.1141197681427,
0.34785422682762146,
2.403202533721924
] | 0 | pick box lid and place on box body | box body | [
0.29876670241355896,
-0.20244495570659637,
0.013000023551285267
] | 20 | 200 | 91 | 30,696 | 0 |
[
38.07323455810547,
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45.63361740112305,
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] | [
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] | [
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0.7771976590156555,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.292575 | [
38.46233367919922,
57.533687591552734,
-49.78329849243164,
72.5653076171875,
-0.8325923085212708,
0
] | [
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0.0003246221167501062,
3.1141197681427,
0.34785422682762146,
2.403202533721924
] | 0 | pick box lid and place on box body | box body | [
0.29876670241355896,
-0.20244495570659637,
0.013000023551285267
] | 20.1 | 201 | 91 | 30,697 | 0 |
[
38.096153259277344,
11.221372604370117,
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] | [
38.1602783203125,
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] | [
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] | [
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0.8106182813644409,
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-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.335628 | [
38.46233367919922,
57.533687591552734,
-49.78329849243164,
72.5653076171875,
-0.8325923085212708,
0
] | [
0.28155574202537537,
-0.2125364989042282,
0.0003246221167501062,
3.1141197681427,
0.34785422682762146,
2.403202533721924
] | 0 | pick box lid and place on box body | box body | [
0.29876670241355896,
-0.20244495570659637,
0.013000023551285267
] | 20.200001 | 202 | 91 | 30,698 | 0 |
[
38.12004089355469,
14.232771873474121,
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0
] | [
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0
] | [
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2.994533061981201,
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] | [
0.6535457968711853,
0.39297670125961304,
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0.8445394039154053,
-0.026917263865470886,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.380407 | [
38.46233367919922,
57.533687591552734,
-49.78329849243164,
72.5653076171875,
-0.8325923085212708,
0
] | [
0.28155574202537537,
-0.2125364989042282,
0.0003246221167501062,
3.1141197681427,
0.34785422682762146,
2.403202533721924
] | 0 | pick box lid and place on box body | box body | [
0.29876670241355896,
-0.20244495570659637,
0.013000023551285267
] | 20.299999 | 203 | 91 | 30,699 | 0 |
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