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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] | Lift the box lid | Is the box lid lifted? | move | 0.085381 | [
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48.33381652832031,
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.109706 | [
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48.33381652832031,
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] | 0 | pick box lid and place on box body | box lid | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.135653 | [
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48.33381652832031,
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.164079 | [
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48.33381652832031,
15.022343635559082,
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] | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.19535 | [
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48.33381652832031,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.7 | 127 | 96 | 32,305 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.229493 | [
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48.33381652832031,
15.022343635559082,
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] | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.266373 | [
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48.33381652832031,
15.022343635559082,
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] | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.30574 | [
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48.33381652832031,
15.022343635559082,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.347258 | [
30.354570388793945,
-37.13913345336914,
48.33381652832031,
15.022343635559082,
0.31388822197914124,
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] | [
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2.8865807056427,
1.415040373802185,
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] | 0 | pick box lid and place on box body | box lid | [
0.2741311490535736,
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0.20000000298023224
] | 13.1 | 131 | 96 | 32,309 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.39057 | [
30.354570388793945,
-37.13913345336914,
48.33381652832031,
15.022343635559082,
0.31388822197914124,
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] | [
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0.19976936280727386,
2.8865807056427,
1.415040373802185,
2.355597972869873
] | 0 | pick box lid and place on box body | box lid | [
0.2741311490535736,
-0.13756778836250305,
0.20000000298023224
] | 13.2 | 132 | 96 | 32,310 | 0 |
[
27.61621856689453,
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] | Lift the box lid | Is the box lid lifted? | move | 0.435282 | [
30.354570388793945,
-37.13913345336914,
48.33381652832031,
15.022343635559082,
0.31388822197914124,
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] | [
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0.19976936280727386,
2.8865807056427,
1.415040373802185,
2.355597972869873
] | 0 | pick box lid and place on box body | box lid | [
0.2741311490535736,
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0.20000000298023224
] | 13.3 | 133 | 96 | 32,311 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.480989 | [
30.354570388793945,
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48.33381652832031,
15.022343635559082,
0.31388822197914124,
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] | [
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0.19976936280727386,
2.8865807056427,
1.415040373802185,
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] | 0 | pick box lid and place on box body | box lid | [
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0.20000000298023224
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[
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[
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48.33381652832031,
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.619478 | [
30.354570388793945,
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48.33381652832031,
15.022343635559082,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.2741311490535736,
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] | 13.7 | 137 | 96 | 32,315 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.664383 | [
30.354570388793945,
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48.33381652832031,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 13.8 | 138 | 96 | 32,316 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.708022 | [
30.354570388793945,
-37.13913345336914,
48.33381652832031,
15.022343635559082,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.749047 | [
30.354570388793945,
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48.33381652832031,
15.022343635559082,
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] | 14 | 140 | 96 | 32,318 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.782332 | [
30.354570388793945,
-37.13913345336914,
48.33381652832031,
15.022343635559082,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.2741311490535736,
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] | 14.1 | 141 | 96 | 32,319 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.810019 | [
30.354570388793945,
-37.13913345336914,
48.33381652832031,
15.022343635559082,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.2741311490535736,
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] | 14.2 | 142 | 96 | 32,320 | 0 |
[
29.51784896850586,
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] | Lift the box lid | Is the box lid lifted? | move | 0.834449 | [
30.354570388793945,
-37.13913345336914,
48.33381652832031,
15.022343635559082,
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] | [
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0.19976936280727386,
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] | 0 | pick box lid and place on box body | box lid | [
0.2741311490535736,
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] | 14.3 | 143 | 96 | 32,321 | 0 |
[
29.631370544433594,
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] | Lift the box lid | Is the box lid lifted? | move | 0.856995 | [
30.354570388793945,
-37.13913345336914,
48.33381652832031,
15.022343635559082,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.2741311490535736,
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0.20000000298023224
] | 14.4 | 144 | 96 | 32,322 | 0 |
[
29.74151039123535,
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] | Lift the box lid | Is the box lid lifted? | move | 0.878495 | [
30.354570388793945,
-37.13913345336914,
48.33381652832031,
15.022343635559082,
0.31388822197914124,
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] | [
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0.19976936280727386,
2.8865807056427,
1.415040373802185,
2.355597972869873
] | 0 | pick box lid and place on box body | box lid | [
0.2741311490535736,
-0.13756778836250305,
0.20000000298023224
] | 14.5 | 145 | 96 | 32,323 | 0 |
[
29.85095977783203,
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] | Lift the box lid | Is the box lid lifted? | move | 0.899332 | [
30.354570388793945,
-37.13913345336914,
48.33381652832031,
15.022343635559082,
0.31388822197914124,
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] | [
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0.19976936280727386,
2.8865807056427,
1.415040373802185,
2.355597972869873
] | 0 | pick box lid and place on box body | box lid | [
0.2741311490535736,
-0.13756778836250305,
0.20000000298023224
] | 14.6 | 146 | 96 | 32,324 | 0 |
[
29.96146583557129,
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0.009091691114008427,
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] | Lift the box lid | Is the box lid lifted? | move | 0.919137 | [
30.354570388793945,
-37.13913345336914,
48.33381652832031,
15.022343635559082,
0.31388822197914124,
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] | [
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0.19976936280727386,
2.8865807056427,
1.415040373802185,
2.355597972869873
] | 0 | pick box lid and place on box body | box lid | [
0.2741311490535736,
-0.13756778836250305,
0.20000000298023224
] | 14.7 | 147 | 96 | 32,325 | 0 |
[
30.07459259033203,
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0.18401439487934113,
0.009091691114008427,
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] | Lift the box lid | Is the box lid lifted? | move | 0.936648 | [
30.354570388793945,
-37.13913345336914,
48.33381652832031,
15.022343635559082,
0.31388822197914124,
0
] | [
0.27409303188323975,
-0.13730581104755402,
0.19976936280727386,
2.8865807056427,
1.415040373802185,
2.355597972869873
] | 0 | pick box lid and place on box body | box lid | [
0.2741311490535736,
-0.13756778836250305,
0.20000000298023224
] | 14.8 | 148 | 96 | 32,326 | 0 |
[
30.185590744018555,
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] | Lift the box lid | Is the box lid lifted? | move | 0.951209 | [
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.011821 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 15.1 | 151 | 96 | 32,329 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.014922 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 15.2 | 152 | 96 | 32,330 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.020048 | [
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.028629 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 15.4 | 154 | 96 | 32,332 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.04267 | [
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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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] | Move box lid above box body | Is the box lid above the box body? | move | 0.061102 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 15.6 | 156 | 96 | 32,334 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.083576 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 15.7 | 157 | 96 | 32,335 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.110424 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.17130137979984283,
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] | 15.8 | 158 | 96 | 32,336 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.141052 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.17130137979984283,
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] | 15.9 | 159 | 96 | 32,337 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.175213 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.17130137979984283,
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] | 16 | 160 | 96 | 32,338 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.212584 | [
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55.3057861328125,
44.4462890625,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.17130137979984283,
0.15620751678943634,
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] | 16.1 | 161 | 96 | 32,339 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.252749 | [
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[
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[
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[
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[
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44.4462890625,
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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0.15620751678943634,
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