observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 10
values | skill.verification_question stringclasses 11
values | skill.type stringclasses 7
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 3
values | subtask.target_position list | timestamp float32 0 35.5 | frame_index int64 0 355 | episode_index int64 0 99 | index int64 0 33.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.655018 | [
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[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.697439 | [
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[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.731183 | [
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] | [
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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 | 0.759955 | [
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] | [
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] | 30 | 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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] | Pick up the box lid | Is the box lid grasped? | move | 0.785954 | [
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47.049190521240234,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 9.3 | 93 | 94 | 31,605 | 0 |
[
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30
] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.810508 | [
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60.80234909057617,
47.049190521240234,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 9.4 | 94 | 94 | 31,606 | 0 |
[
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30
] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.834326 | [
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60.80234909057617,
47.049190521240234,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 9.5 | 95 | 94 | 31,607 | 0 |
[
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30
] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.859102 | [
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60.80234909057617,
47.049190521240234,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
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0.017347807064652443,
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] | 9.6 | 96 | 94 | 31,608 | 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 | 0.883211 | [
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60.80234909057617,
47.049190521240234,
-0.21284796297550201,
30
] | [
0.20682789385318756,
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0.002032938413321972,
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] | 30 | pick box lid and place on box body | box lid | [
0.2069195955991745,
0.017347807064652443,
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] | 9.7 | 97 | 94 | 31,609 | 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 | 0.90748 | [
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60.80234909057617,
47.049190521240234,
-0.21284796297550201,
30
] | [
0.20682789385318756,
0.01733054406940937,
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] | 30 | pick box lid and place on box body | box lid | [
0.2069195955991745,
0.017347807064652443,
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] | 9.8 | 98 | 94 | 31,610 | 0 |
[
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30
] | [
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] | [
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] | [
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0.8503042459487915,
0.7529231905937195,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.931083 | [
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60.80234909057617,
47.049190521240234,
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30
] | [
0.20682789385318756,
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0.002032938413321972,
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] | 30 | pick box lid and place on box body | box lid | [
0.2069195955991745,
0.017347807064652443,
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] | 9.9 | 99 | 94 | 31,611 | 0 |
[
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30
] | [
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] | [
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0.7529231905937195,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.945173 | [
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60.80234909057617,
47.049190521240234,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.2069195955991745,
0.017347807064652443,
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] | 10 | 100 | 94 | 31,612 | 0 |
[
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30
] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.000037 | [
-16.32247543334961,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.2069195955991745,
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] | 10.1 | 101 | 94 | 31,613 | 0 |
[
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] | [
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.066702 | [
-16.32247543334961,
-16.119747161865234,
60.187015533447266,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.2069195955991745,
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] | 10.2 | 102 | 94 | 31,614 | 0 |
[
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26
] | [
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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 | 0.133366 | [
-16.32247543334961,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.2069195955991745,
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] | 10.3 | 103 | 94 | 31,615 | 0 |
[
-16.32247543334961,
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24
] | [
-16.32247543334961,
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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 | 0.20003 | [
-16.32247543334961,
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60.187015533447266,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.2069195955991745,
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] | 10.4 | 104 | 94 | 31,616 | 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 | 0.266694 | [
-16.32247543334961,
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] | [
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3.1259706020355225,
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] | 0 | pick box lid and place on box body | box lid | [
0.2069195955991745,
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] | 10.5 | 105 | 94 | 31,617 | 0 |
[
-16.32247543334961,
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47.4097900390625,
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20
] | [
-16.32247543334961,
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47.4097900390625,
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] | [
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] | 0 | [
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] | [
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0.8465541005134583,
0.7593287229537964,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.333358 | [
-16.32247543334961,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.2069195955991745,
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] | 10.6 | 106 | 94 | 31,618 | 0 |
[
-16.32247543334961,
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] | [
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] | [
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] | 0 | [
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] | [
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0.7593287229537964,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.400022 | [
-16.32247543334961,
-16.119747161865234,
60.187015533447266,
47.4097900390625,
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0
] | [
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0.010795628651976585,
3.1259706020355225,
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] | 0 | pick box lid and place on box body | box lid | [
0.2069195955991745,
0.017347807064652443,
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] | 10.7 | 107 | 94 | 31,619 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
-0.22023342549800873,
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0.8465541005134583,
0.7593287229537964,
-0.009246512316167355,
0.32198256254196167
] | grasp box lid | Is the object grasped? | gripper_close | 0.466687 | [
-16.32247543334961,
-16.119747161865234,
60.187015533447266,
47.4097900390625,
-0.26997748017311096,
0
] | [
0.21032346785068512,
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0.010795628651976585,
3.1259706020355225,
0.2630328834056854,
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] | 0 | pick box lid and place on box body | box lid | [
0.2069195955991745,
0.017347807064652443,
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] | 10.8 | 108 | 94 | 31,620 | 0 |
[
-16.32247543334961,
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] | [
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] | [
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] | 0 | [
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] | [
-0.22023342549800873,
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0.8465541005134583,
0.7593287229537964,
-0.009246512316167355,
0.2782641649246216
] | grasp box lid | Is the object grasped? | gripper_close | 0.533351 | [
-16.32247543334961,
-16.119747161865234,
60.187015533447266,
47.4097900390625,
-0.26997748017311096,
0
] | [
0.21032346785068512,
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0.010795628651976585,
3.1259706020355225,
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] | 0 | pick box lid and place on box body | box lid | [
0.2069195955991745,
0.017347807064652443,
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] | 10.9 | 109 | 94 | 31,621 | 0 |
[
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] | [
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] | [
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3.1259706020355225,
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] | 0 | [
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0.8465541005134583,
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] | [
-0.22023342549800873,
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0.8465541005134583,
0.7593287229537964,
-0.009246512316167355,
0.23454564809799194
] | grasp box lid | Is the object grasped? | gripper_close | 0.600015 | [
-16.32247543334961,
-16.119747161865234,
60.187015533447266,
47.4097900390625,
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0
] | [
0.21032346785068512,
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0.010795628651976585,
3.1259706020355225,
0.2630328834056854,
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] | 0 | pick box lid and place on box body | box lid | [
0.2069195955991745,
0.017347807064652443,
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] | 11 | 110 | 94 | 31,622 | 0 |
[
-16.32247543334961,
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60.187015533447266,
47.4097900390625,
-0.26997748017311096,
10
] | [
-16.32247543334961,
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60.187015533447266,
47.4097900390625,
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] | [
0.21032346785068512,
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0.010795628651976585,
3.1259706020355225,
0.2630328834056854,
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] | 0 | [
-0.22023342549800873,
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0.8465541005134583,
0.7593287229537964,
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] | [
-0.22023342549800873,
-0.2985623776912689,
0.8465541005134583,
0.7593287229537964,
-0.009246512316167355,
0.19082723557949066
] | grasp box lid | Is the object grasped? | gripper_close | 0.666679 | [
-16.32247543334961,
-16.119747161865234,
60.187015533447266,
47.4097900390625,
-0.26997748017311096,
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] | [
0.21032346785068512,
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0.010795628651976585,
3.1259706020355225,
0.2630328834056854,
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] | 0 | pick box lid and place on box body | box lid | [
0.2069195955991745,
0.017347807064652443,
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] | 11.1 | 111 | 94 | 31,623 | 0 |
[
-16.32247543334961,
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60.187015533447266,
47.4097900390625,
-0.26997748017311096,
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] | [
-16.32247543334961,
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47.4097900390625,
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] | [
0.21032346785068512,
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0.010795628651976585,
3.1259706020355225,
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] | 0 | [
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0.8465541005134583,
0.7593287229537964,
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] | [
-0.22023342549800873,
-0.2985623776912689,
0.8465541005134583,
0.7593287229537964,
-0.009246512316167355,
0.14710871875286102
] | grasp box lid | Is the object grasped? | gripper_close | 0.733343 | [
-16.32247543334961,
-16.119747161865234,
60.187015533447266,
47.4097900390625,
-0.26997748017311096,
0
] | [
0.21032346785068512,
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0.010795628651976585,
3.1259706020355225,
0.2630328834056854,
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] | 0 | pick box lid and place on box body | box lid | [
0.2069195955991745,
0.017347807064652443,
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] | 11.2 | 112 | 94 | 31,624 | 0 |
[
-16.32247543334961,
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60.187015533447266,
47.4097900390625,
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] | [
-16.32247543334961,
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60.187015533447266,
47.4097900390625,
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] | [
0.21032346785068512,
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0.010795628651976585,
3.1259706020355225,
0.2630328834056854,
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] | 0 | [
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0.8465541005134583,
0.7593287229537964,
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0.12962135672569275
] | [
-0.22023342549800873,
-0.2985623776912689,
0.8465541005134583,
0.7593287229537964,
-0.009246512316167355,
0.10339030623435974
] | grasp box lid | Is the object grasped? | gripper_close | 0.800008 | [
-16.32247543334961,
-16.119747161865234,
60.187015533447266,
47.4097900390625,
-0.26997748017311096,
0
] | [
0.21032346785068512,
0.038454972207546234,
0.010795628651976585,
3.1259706020355225,
0.2630328834056854,
-2.9813454151153564
] | 0 | pick box lid and place on box body | box lid | [
0.2069195955991745,
0.017347807064652443,
0.022000018507242203
] | 11.3 | 113 | 94 | 31,625 | 0 |
[
-16.32247543334961,
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[
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[
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[
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[
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34.457847595214844,
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34.457847595214844,
75.29232788085938,
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0.017347807064652443,
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[
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[
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[
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[
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[
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12.605719566345215,
21.706295013427734,
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.104318 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
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] | 16.4 | 164 | 94 | 31,676 | 0 |
[
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15.63076400756836,
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12.605719566345215,
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
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] | 16.5 | 165 | 94 | 31,677 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.592181 | [
15.63076400756836,
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12.605719566345215,
21.706295013427734,
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2.936875820159912,
1.3259689807891846,
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
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] | 16.6 | 166 | 94 | 31,678 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.637268 | [
15.63076400756836,
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12.605719566345215,
21.706295013427734,
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0.3585163354873657,
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0.19968320429325104,
2.936875820159912,
1.3259689807891846,
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
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] | 16.700001 | 167 | 94 | 31,679 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
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[
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12.605719566345215,
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] | 0 | pick box lid and place on box body | box body | [
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] | 17.299999 | 173 | 94 | 31,685 | 0 |
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12.605719566345215,
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
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] | 17.6 | 176 | 94 | 31,688 | 0 |
[
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15.63076400756836,
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12.605719566345215,
21.706295013427734,
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.940606 | [
15.63076400756836,
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12.605719566345215,
21.706295013427734,
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2.936875820159912,
1.3259689807891846,
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
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] | 17.799999 | 178 | 94 | 31,690 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.951695 | [
15.63076400756836,
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12.605719566345215,
21.706295013427734,
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] | [
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2.936875820159912,
1.3259689807891846,
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
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] | 17.9 | 179 | 94 | 31,691 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.021429 | [
15.406078338623047,
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0.3587504029273987,
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[
15.260363578796387,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.024048 | [
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0.3587504029273987,
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] | 18.1 | 181 | 94 | 31,693 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.032126 | [
15.406078338623047,
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] | 18.200001 | 182 | 94 | 31,694 | 0 |
[
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0.40163174271583557,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.042577 | [
15.406078338623047,
63.52909469604492,
-60.99684143066406,
75.88444519042969,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
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] | 18.299999 | 183 | 94 | 31,695 | 0 |
[
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] | [
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0.4246608018875122,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.056185 | [
15.406078338623047,
63.52909469604492,
-60.99684143066406,
75.88444519042969,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.013000023551285267
] | 18.4 | 184 | 94 | 31,696 | 0 |
[
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29.060213088989258,
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] | [
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] | [
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0.4518352150917053,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.074375 | [
15.406078338623047,
63.52909469604492,
-60.99684143066406,
75.88444519042969,
-0.8277454972267151,
0
] | [
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0.0001829787652241066,
3.112220048904419,
0.3705103099346161,
2.772271156311035
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.013000023551285267
] | 18.5 | 185 | 94 | 31,697 | 0 |
[
15.270120620727539,
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5.87143087387085,
30.18781852722168,
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0
] | [
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0.24235129356384277,
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0
] | [
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] | [
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0.48267173767089844,
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-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.098317 | [
15.406078338623047,
63.52909469604492,
-60.99684143066406,
75.88444519042969,
-0.8277454972267151,
0
] | [
0.3474414646625519,
-0.1121380627155304,
0.0001829787652241066,
3.112220048904419,
0.3705103099346161,
2.772271156311035
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.013000023551285267
] | 18.6 | 186 | 94 | 31,698 | 0 |
[
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3.4207677841186523,
31.538185119628906,
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0
] | [
15.282882690429688,
2.8831660747528076,
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33.74434280395508,
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0
] | [
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0.20269346237182617,
2.8417930603027344,
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] | 0 | [
0.2862620949745178,
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] | [
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0.04526308551430702,
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0.5165826082229614,
-0.02676503360271454,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.126197 | [
15.406078338623047,
63.52909469604492,
-60.99684143066406,
75.88444519042969,
-0.8277454972267151,
0
] | [
0.3474414646625519,
-0.1121380627155304,
0.0001829787652241066,
3.112220048904419,
0.3705103099346161,
2.772271156311035
] | 0 | pick box lid and place on box body | box body | [
0.3587504029273987,
-0.096223846077919,
0.013000023551285267
] | 18.700001 | 187 | 94 | 31,699 | 0 |
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