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 gripper at the pick position for box lid pick up the box? | move | 0.013847 | [
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 6.5 | 65 | 92 | 30,900 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.029431 | [
73.14842987060547,
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40.23443603515625,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 6.6 | 66 | 92 | 30,901 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.053484 | [
73.14842987060547,
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40.23443603515625,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 6.7 | 67 | 92 | 30,902 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.086569 | [
73.14842987060547,
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40.23443603515625,
11.090583801269531,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 6.8 | 68 | 92 | 30,903 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.12844 | [
73.14842987060547,
-27.7351016998291,
40.23443603515625,
11.090583801269531,
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30
] | [
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1.4441094398498535,
1.4676249027252197
] | 30 | pick box lid and place on box body | box lid | [
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] | 6.9 | 69 | 92 | 30,904 | 0 |
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | Pick up the box lid | Is the gripper at the pick position for box lid pick up the box? | move | 0.178313 | [
73.14842987060547,
-27.7351016998291,
40.23443603515625,
11.090583801269531,
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] | [
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1.4441094398498535,
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] | 30 | pick box lid and place on box body | box lid | [
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] | 7 | 70 | 92 | 30,905 | 0 |
[
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30
] | [
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] | [
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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 | 0.000102 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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30
] | [
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3.0766704082489014,
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] | 30 | pick box lid and place on box body | box lid | [
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] | 7.1 | 71 | 92 | 30,906 | 0 |
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.11776303499937057,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.001586 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
-6.179529190063477,
-0.21240010857582092,
30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
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1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
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] | 7.2 | 72 | 92 | 30,907 | 0 |
[
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] | [
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] | [
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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 | 0.006226 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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30
] | [
0.12201202660799026,
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3.0766704082489014,
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1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
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] | 7.3 | 73 | 92 | 30,908 | 0 |
[
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30
] | [
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] | [
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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 | 0.011825 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
-6.179529190063477,
-0.21240010857582092,
30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
0.8571068048477173,
1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 7.4 | 74 | 92 | 30,909 | 0 |
[
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30
] | [
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40.850914001464844,
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30
] | [
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2.690383195877075,
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] | 1 | [
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] | [
1.2550450563430786,
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0.5186493992805481,
0.09748397767543793,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.01296 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
-6.179529190063477,
-0.21240010857582092,
30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
0.8571068048477173,
1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 7.5 | 75 | 92 | 30,910 | 0 |
[
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30
] | [
75.62503814697266,
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30
] | [
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] | 1 | [
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] | [
1.2536942958831787,
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0.08782447129487991,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.023601 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
-6.179529190063477,
-0.21240010857582092,
30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
0.8571068048477173,
1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 7.6 | 76 | 92 | 30,911 | 0 |
[
75.736328125,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
1.2521640062332153,
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0.07687988132238388,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.041626 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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-0.21240010857582092,
30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
0.8571068048477173,
1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 7.7 | 77 | 92 | 30,912 | 0 |
[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.065671 | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 7.8 | 78 | 92 | 30,913 | 0 |
[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.09475 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
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] | 7.9 | 79 | 92 | 30,914 | 0 |
[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.12807 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
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] | 8 | 80 | 92 | 30,915 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.165187 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
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] | 8.1 | 81 | 92 | 30,916 | 0 |
[
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.20555 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
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] | 8.2 | 82 | 92 | 30,917 | 0 |
[
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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 | 0.24856 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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30
] | [
0.12201202660799026,
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3.0766704082489014,
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1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
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] | 8.3 | 83 | 92 | 30,918 | 0 |
[
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30
] | [
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] | [
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0.5548880696296692,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.293696 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
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1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
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] | 8.4 | 84 | 92 | 30,919 | 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 | 0.34046 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
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1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
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0.022000029683113098
] | 8.5 | 85 | 92 | 30,920 | 0 |
[
74.75338745117188,
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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 | 0.388376 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
0.8571068048477173,
1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 8.6 | 86 | 92 | 30,921 | 0 |
[
74.61896514892578,
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30
] | [
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] | [
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0.5691068768501282,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.436984 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
0.8571068048477173,
1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
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0.022000029683113098
] | 8.7 | 87 | 92 | 30,922 | 0 |
[
74.48394012451172,
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2.221099376678467,
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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 | 0.485829 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
0.8571068048477173,
1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 8.8 | 88 | 92 | 30,923 | 0 |
[
74.34953308105469,
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43.61995315551758,
1.3595374822616577,
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30
] | [
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1.2227591276168823,
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] | [
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1.227513313293457,
0.015220838598906994,
0.57818603515625,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.534463 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
0.8571068048477173,
1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 8.9 | 89 | 92 | 30,924 | 0 |
[
74.21696472167969,
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43.89458084106445,
0.5103278160095215,
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30
] | [
73.86763000488281,
3.2485921382904053,
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30
] | [
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0.05187484994530678,
0.5824905037879944,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.582429 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
0.8571068048477173,
1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 9 | 90 | 92 | 30,925 | 0 |
[
74.08740997314453,
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] | [
73.7617416381836,
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.629293 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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30
] | [
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3.0766704082489014,
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1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
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0.022000029683113098
] | 9.1 | 91 | 92 | 30,926 | 0 |
[
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.673466 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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30
] | [
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3.0766704082489014,
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] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
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0.022000029683113098
] | 9.2 | 92 | 92 | 30,927 | 0 |
[
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] | [
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0.5902866721153259,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.70942 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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30
] | [
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3.0766704082489014,
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1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
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] | 9.3 | 93 | 92 | 30,928 | 0 |
[
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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 | 0.73986 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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30
] | [
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3.0766704082489014,
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1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
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] | 9.4 | 94 | 92 | 30,929 | 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 | 0.767315 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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30
] | [
0.12201202660799026,
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3.0766704082489014,
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1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
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] | 9.5 | 95 | 92 | 30,930 | 0 |
[
73.63621520996094,
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] | [
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] | [
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0.17657902836799622,
0.5968901515007019,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.793193 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
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1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 9.6 | 96 | 92 | 30,931 | 0 |
[
73.5679702758789,
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30
] | [
73.3845443725586,
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] | [
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1.2177790403366089,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.81838 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
-6.179529190063477,
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30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
0.8571068048477173,
1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 9.7 | 97 | 92 | 30,932 | 0 |
[
73.50012969970703,
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30
] | [
73.31478118896484,
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] | [
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3.0600779056549072,
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0.21843911707401276,
0.6016548871994019,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.843449 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
-6.179529190063477,
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30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
0.8571068048477173,
1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 9.8 | 98 | 92 | 30,933 | 0 |
[
73.43164825439453,
10.492745399475098,
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30
] | [
73.24166870117188,
13.685016632080078,
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] | [
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.868755 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
0.8571068048477173,
1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 9.9 | 99 | 92 | 30,934 | 0 |
[
73.361572265625,
11.669447898864746,
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30
] | [
73.17893981933594,
14.740915298461914,
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] | [
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3.0652260780334473,
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0.2598089277744293,
0.606363832950592,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.894611 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
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30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
0.8571068048477173,
1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 10 | 100 | 92 | 30,935 | 0 |
[
73.2928695678711,
12.828426361083984,
45.79850769042969,
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30
] | [
73.17893981933594,
14.740915298461914,
46.0233154296875,
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] | [
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3.067662477493286,
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] | [
1.2144831418991089,
0.2598089277744293,
0.606363832950592,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.919865 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
-6.179529190063477,
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30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
0.8571068048477173,
1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 10.1 | 101 | 92 | 30,936 | 0 |
[
73.24786376953125,
13.592524528503418,
45.91300582885742,
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30
] | [
73.17893981933594,
14.740915298461914,
46.0233154296875,
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30
] | [
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3.0692312717437744,
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1.2144831418991089,
0.2598089277744293,
0.606363832950592,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.936341 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
-6.179529190063477,
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30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
0.8571068048477173,
1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 10.2 | 102 | 92 | 30,937 | 0 |
[
73.22062683105469,
14.051271438598633,
45.971824645996094,
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30
] | [
73.17893981933594,
14.740915298461914,
46.0233154296875,
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30
] | [
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3.0701372623443604,
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1.2144831418991089,
0.2598089277744293,
0.606363832950592,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.946227 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
-6.179529190063477,
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30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
0.8571068048477173,
1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 10.3 | 103 | 92 | 30,938 | 0 |
[
73.20414733886719,
14.326634407043457,
46.0009651184082,
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30
] | [
73.17893981933594,
14.740915298461914,
46.0233154296875,
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30
] | [
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] | [
1.2144831418991089,
0.2598089277744293,
0.606363832950592,
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-0.007438107393682003,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.952131 | [
73.17893981933594,
16.639320373535156,
46.25666046142578,
-6.179529190063477,
-0.21240010857582092,
30
] | [
0.12201202660799026,
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0.0025390982627868652,
3.0766704082489014,
0.8571068048477173,
1.8413300514221191
] | 30 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 10.4 | 104 | 92 | 30,939 | 0 |
[
73.19417572021484,
14.49197769165039,
46.014869689941406,
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-0.21597164869308472,
30
] | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
28.79999542236328
] | [
0.14257749915122986,
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0.014220929704606533,
3.070984363555908,
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] | 0 | [
1.2147274017333984,
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] | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
-0.007550283335149288,
0.6280116438865662
] | grasp box lid | Is the object grasped? | gripper_close | 0 | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
0
] | [
0.14257749915122986,
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0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 10.5 | 105 | 92 | 30,940 | 0 |
[
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
27.999996185302734
] | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
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26.799999237060547
] | [
0.14257749915122986,
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3.070984363555908,
0.8973240852355957,
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] | 0 | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
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] | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
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0.5842932462692261
] | grasp box lid | Is the object grasped? | gripper_close | 0.066663 | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
0
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 10.6 | 106 | 92 | 30,941 | 0 |
[
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
26
] | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
24.79999542236328
] | [
0.14257749915122986,
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0.014220929704606533,
3.070984363555908,
0.8973240852355957,
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] | 0 | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
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0.566805899143219
] | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
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0.5405747294425964
] | grasp box lid | Is the object grasped? | gripper_close | 0.13333 | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
0
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 10.7 | 107 | 92 | 30,942 | 0 |
[
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
23.999996185302734
] | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
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22.799997329711914
] | [
0.14257749915122986,
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0.014220929704606533,
3.070984363555908,
0.8973240852355957,
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] | 0 | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
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0.5230873823165894
] | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
-0.007550283335149288,
0.49685633182525635
] | grasp box lid | Is the object grasped? | gripper_close | 0.199997 | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
0
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 10.8 | 108 | 92 | 30,943 | 0 |
[
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
21.999998092651367
] | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
20.799999237060547
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
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] | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
-0.007550283335149288,
0.45313790440559387
] | grasp box lid | Is the object grasped? | gripper_close | 0.266664 | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
0
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 10.9 | 109 | 92 | 30,944 | 0 |
[
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
20
] | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
18.79999542236328
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
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] | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
-0.007550283335149288,
0.40941935777664185
] | grasp box lid | Is the object grasped? | gripper_close | 0.333331 | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
0
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 11 | 110 | 92 | 30,945 | 0 |
[
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
17.999996185302734
] | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
16.799999237060547
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
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] | 0 | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
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0.39193201065063477
] | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
-0.007550283335149288,
0.36570098996162415
] | grasp box lid | Is the object grasped? | gripper_close | 0.399998 | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
0
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 11.1 | 111 | 92 | 30,946 | 0 |
[
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
15.999999046325684
] | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
14.799995422363281
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
-0.007550283335149288,
0.3482136130332947
] | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
-0.007550283335149288,
0.3219824731349945
] | grasp box lid | Is the object grasped? | gripper_close | 0.466664 | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
0
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 11.2 | 112 | 92 | 30,947 | 0 |
[
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
13.999996185302734
] | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
12.799997329711914
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
-0.007550283335149288,
0.30449509620666504
] | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
-0.007550283335149288,
0.27826404571533203
] | grasp box lid | Is the object grasped? | gripper_close | 0.533332 | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
0
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 11.3 | 113 | 92 | 30,948 | 0 |
[
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
11.999998092651367
] | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
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10.799999237060547
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
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] | 0 | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
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0.26077669858932495
] | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
-0.007550283335149288,
0.23454564809799194
] | grasp box lid | Is the object grasped? | gripper_close | 0.599998 | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
0
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 11.4 | 114 | 92 | 30,949 | 0 |
[
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
10
] | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
8.799996376037598
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
-0.007550283335149288,
0.21705828607082367
] | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
-0.007550283335149288,
0.1908271312713623
] | grasp box lid | Is the object grasped? | gripper_close | 0.666665 | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
0
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 11.5 | 115 | 92 | 30,950 | 0 |
[
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
7.999997138977051
] | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
6.7999982833862305
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
-0.007550283335149288,
0.17333976924419403
] | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
-0.007550283335149288,
0.14710871875286102
] | grasp box lid | Is the object grasped? | gripper_close | 0.733332 | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
0
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 11.6 | 116 | 92 | 30,951 | 0 |
[
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
5.999999046325684
] | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
4.799995422363281
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
-0.007550283335149288,
0.12962135672569275
] | [
1.2147274017333984,
0.25530484318733215,
0.6062206029891968,
-0.1900331676006317,
-0.007550283335149288,
0.10339020192623138
] | grasp box lid | Is the object grasped? | gripper_close | 0.799999 | [
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
0
] | [
0.14257749915122986,
-0.2787907123565674,
0.014220929704606533,
3.070984363555908,
0.8973240852355957,
1.8366409540176392
] | 0 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
0.022000029683113098
] | 11.7 | 117 | 92 | 30,952 | 0 |
[
73.19417572021484,
14.49197769165039,
46.014869689941406,
-6.0347466468811035,
-0.21597164869308472,
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[
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[
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[
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] | 12.2 | 122 | 92 | 30,957 | 0 |
[
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.3 | 123 | 92 | 30,958 | 0 |
[
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] | 12.4 | 124 | 92 | 30,959 | 0 |
[
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.5 | 125 | 92 | 30,960 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.118927 | [
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53.84424591064453,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.6 | 126 | 92 | 30,961 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.146488 | [
77.41053009033203,
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53.84424591064453,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.1222258135676384,
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] | 12.7 | 127 | 92 | 30,962 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.176621 | [
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53.84424591064453,
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] | 0 | pick box lid and place on box body | box lid | [
0.1222258135676384,
-0.2811398506164551,
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] | 12.8 | 128 | 92 | 30,963 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.20927 | [
77.41053009033203,
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53.84424591064453,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.1222258135676384,
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] | 12.9 | 129 | 92 | 30,964 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.244454 | [
77.41053009033203,
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53.84424591064453,
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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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[
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[
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[
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77.41053009033203,
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[
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77.41053009033203,
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] | 0 | pick box lid and place on box body | box lid | [
0.1222258135676384,
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] | 14.2 | 142 | 92 | 30,977 | 0 |
[
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77.41053009033203,
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53.84424591064453,
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0.1222258135676384,
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.814403 | [
77.41053009033203,
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53.84424591064453,
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0.19996042549610138,
0.8426181674003601,
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0.1222258135676384,
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.063573 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 15.8 | 158 | 92 | 30,993 | 0 |
[
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.114071 | [
-9.503786087036133,
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] | 0 | pick box lid and place on box body | box body | [
0.2975170612335205,
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] | 16 | 160 | 92 | 30,995 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.145292 | [
-9.503786087036133,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2975170612335205,
0.028742175549268723,
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] | 16.1 | 161 | 92 | 30,996 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.180265 | [
-9.503786087036133,
-45.20857238769531,
59.92428970336914,
6.806048393249512,
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] | [
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0.02879990264773369,
0.19974905252456665,
2.4194960594177246,
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] | 0 | pick box lid and place on box body | box body | [
0.2975170612335205,
0.028742175549268723,
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] | 16.200001 | 162 | 92 | 30,997 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.217908 | [
-9.503786087036133,
-45.20857238769531,
59.92428970336914,
6.806048393249512,
0.022038869559764862,
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] | [
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0.02879990264773369,
0.19974905252456665,
2.4194960594177246,
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] | 0 | pick box lid and place on box body | box body | [
0.2975170612335205,
0.028742175549268723,
0.20000000298023224
] | 16.299999 | 163 | 92 | 30,998 | 0 |
[
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] | [
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0.7739450335502625,
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.259014 | [
-9.503786087036133,
-45.20857238769531,
59.92428970336914,
6.806048393249512,
0.022038869559764862,
0
] | [
0.29747629165649414,
0.02879990264773369,
0.19974905252456665,
2.4194960594177246,
1.497104287147522,
2.5290870666503906
] | 0 | pick box lid and place on box body | box body | [
0.2975170612335205,
0.028742175549268723,
0.20000000298023224
] | 16.4 | 164 | 92 | 30,999 | 0 |
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