observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 10
values | skill.verification_question stringclasses 11
values | skill.type stringclasses 7
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 3
values | subtask.target_position list | timestamp float32 0 35.5 | frame_index int64 0 355 | episode_index int64 0 99 | index int64 0 33.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.372067 | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 8.9 | 89 | 97 | 32,600 | 0 |
[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.420981 | [
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66.33186340332031,
17.340801239013672,
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] | 30 | pick box lid and place on box body | box lid | [
0.17412300407886505,
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] | 9 | 90 | 97 | 32,601 | 0 |
[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.46829 | [
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66.33186340332031,
17.340801239013672,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.17412300407886505,
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] | 9.1 | 91 | 97 | 32,602 | 0 |
[
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.517633 | [
-64.39348602294922,
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66.33186340332031,
17.340801239013672,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
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] | 9.2 | 92 | 97 | 32,603 | 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 | 0.566345 | [
-64.39348602294922,
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66.33186340332031,
17.340801239013672,
-0.20996341109275818,
30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
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] | 9.3 | 93 | 97 | 32,604 | 0 |
[
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30
] | [
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30
] | [
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] | [
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0.8761615753173828,
0.3864571154117584,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.61268 | [
-64.39348602294922,
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66.33186340332031,
17.340801239013672,
-0.20996341109275818,
30
] | [
0.17379145324230194,
0.16964615881443024,
0.0014006828423589468,
3.1062369346618652,
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] | 30 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
0.02199995145201683
] | 9.4 | 94 | 97 | 32,605 | 0 |
[
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30
] | [
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30
] | [
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] | [
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0.3616637885570526,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.657884 | [
-64.39348602294922,
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66.33186340332031,
17.340801239013672,
-0.20996341109275818,
30
] | [
0.17379145324230194,
0.16964615881443024,
0.0014006828423589468,
3.1062369346618652,
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] | 30 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
0.02199995145201683
] | 9.5 | 95 | 97 | 32,606 | 0 |
[
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30
] | [
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30
] | [
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3.0895497798919678,
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] | [
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0.3479057848453522,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.699321 | [
-64.39348602294922,
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66.33186340332031,
17.340801239013672,
-0.20996341109275818,
30
] | [
0.17379145324230194,
0.16964615881443024,
0.0014006828423589468,
3.1062369346618652,
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] | 30 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
0.02199995145201683
] | 9.6 | 96 | 97 | 32,607 | 0 |
[
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30
] | [
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] | [
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] | [
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0.33379578590393066,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.734237 | [
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66.33186340332031,
17.340801239013672,
-0.20996341109275818,
30
] | [
0.17379145324230194,
0.16964615881443024,
0.0014006828423589468,
3.1062369346618652,
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] | 30 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
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] | 9.7 | 97 | 97 | 32,608 | 0 |
[
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30
] | [
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30
] | [
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] | [
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0.31932467222213745,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.762356 | [
-64.39348602294922,
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66.33186340332031,
17.340801239013672,
-0.20996341109275818,
30
] | [
0.17379145324230194,
0.16964615881443024,
0.0014006828423589468,
3.1062369346618652,
0.5621899962425232,
-2.21701979637146
] | 30 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
0.02199995145201683
] | 9.8 | 98 | 97 | 32,609 | 0 |
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.8856871128082275,
0.3044731616973877,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.787968 | [
-64.39348602294922,
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66.33186340332031,
17.340801239013672,
-0.20996341109275818,
30
] | [
0.17379145324230194,
0.16964615881443024,
0.0014006828423589468,
3.1062369346618652,
0.5621899962425232,
-2.21701979637146
] | 30 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
0.02199995145201683
] | 9.9 | 99 | 97 | 32,610 | 0 |
[
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30
] | [
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30
] | [
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] | [
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0.2891909182071686,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.81404 | [
-64.39348602294922,
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66.33186340332031,
17.340801239013672,
-0.20996341109275818,
30
] | [
0.17379145324230194,
0.16964615881443024,
0.0014006828423589468,
3.1062369346618652,
0.5621899962425232,
-2.21701979637146
] | 30 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
0.02199995145201683
] | 10 | 100 | 97 | 32,611 | 0 |
[
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22.487926483154297,
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30
] | [
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30
] | [
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0.2733409106731415,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.837407 | [
-64.39348602294922,
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66.33186340332031,
17.340801239013672,
-0.20996341109275818,
30
] | [
0.17379145324230194,
0.16964615881443024,
0.0014006828423589468,
3.1062369346618652,
0.5621899962425232,
-2.21701979637146
] | 30 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
0.02199995145201683
] | 10.1 | 101 | 97 | 32,612 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.862398 | [
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
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] | 10.2 | 102 | 97 | 32,613 | 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 | 0.885539 | [
-64.39348602294922,
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66.33186340332031,
17.340801239013672,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
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] | 10.3 | 103 | 97 | 32,614 | 0 |
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.910512 | [
-64.39348602294922,
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66.33186340332031,
17.340801239013672,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
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] | 10.4 | 104 | 97 | 32,615 | 0 |
[
-64.26207733154297,
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30
] | [
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.933196 | [
-64.39348602294922,
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66.33186340332031,
17.340801239013672,
-0.20996341109275818,
30
] | [
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3.1062369346618652,
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] | 30 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
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] | 10.5 | 105 | 97 | 32,616 | 0 |
[
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-0.21566420793533325,
30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.9424156546592712,
0.22519831359386444,
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] | Pick up the box lid | Is the box lid grasped? | move | 0.947056 | [
-64.39348602294922,
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66.33186340332031,
17.340801239013672,
-0.20996341109275818,
30
] | [
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0.16964615881443024,
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3.1062369346618652,
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] | 30 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
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] | 10.6 | 106 | 97 | 32,617 | 0 |
[
-64.34538269042969,
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65.751953125,
17.940460205078125,
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30
] | [
-64.34538269042969,
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65.751953125,
17.940460205078125,
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28.80000114440918
] | [
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] | [
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0.23585036396980286,
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] | grasp box lid | Is the object grasped? | gripper_close | 0 | [
-64.34538269042969,
-11.605351448059082,
65.751953125,
17.940460205078125,
-0.2144496589899063,
0
] | [
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0.18637123703956604,
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3.102285146713257,
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] | 0 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
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] | 10.7 | 107 | 97 | 32,618 | 0 |
[
-64.34538269042969,
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65.751953125,
17.940460205078125,
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] | [
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65.751953125,
17.940460205078125,
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] | [
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] | 0 | [
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] | [
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0.23585036396980286,
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0.5842932462692261
] | grasp box lid | Is the object grasped? | gripper_close | 0.066661 | [
-64.34538269042969,
-11.605351448059082,
65.751953125,
17.940460205078125,
-0.2144496589899063,
0
] | [
0.161080464720726,
0.18637123703956604,
0.012134796008467674,
3.102285146713257,
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] | 0 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
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] | 10.8 | 108 | 97 | 32,619 | 0 |
[
-64.34538269042969,
-11.605351448059082,
65.751953125,
17.940460205078125,
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26
] | [
-64.34538269042969,
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65.751953125,
17.940460205078125,
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] | [
0.161080464720726,
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3.102285146713257,
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] | 0 | [
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] | [
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0.9409251809120178,
0.23585036396980286,
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0.5405747890472412
] | grasp box lid | Is the object grasped? | gripper_close | 0.133328 | [
-64.34538269042969,
-11.605351448059082,
65.751953125,
17.940460205078125,
-0.2144496589899063,
0
] | [
0.161080464720726,
0.18637123703956604,
0.012134796008467674,
3.102285146713257,
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-2.2200944423675537
] | 0 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
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] | 10.9 | 109 | 97 | 32,620 | 0 |
[
-64.34538269042969,
-11.605351448059082,
65.751953125,
17.940460205078125,
-0.2144496589899063,
24
] | [
-64.34538269042969,
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65.751953125,
17.940460205078125,
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] | [
0.161080464720726,
0.18637123703956604,
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] | 0 | [
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] | [
-0.9900453686714172,
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0.9409251809120178,
0.23585036396980286,
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0.4968564510345459
] | grasp box lid | Is the object grasped? | gripper_close | 0.199995 | [
-64.34538269042969,
-11.605351448059082,
65.751953125,
17.940460205078125,
-0.2144496589899063,
0
] | [
0.161080464720726,
0.18637123703956604,
0.012134796008467674,
3.102285146713257,
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-2.2200944423675537
] | 0 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
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] | 11 | 110 | 97 | 32,621 | 0 |
[
-64.34538269042969,
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65.751953125,
17.940460205078125,
-0.2144496589899063,
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] | [
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65.751953125,
17.940460205078125,
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] | [
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3.102285146713257,
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] | 0 | [
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] | [
-0.9900453686714172,
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0.9409251809120178,
0.23585036396980286,
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0.45313790440559387
] | grasp box lid | Is the object grasped? | gripper_close | 0.266662 | [
-64.34538269042969,
-11.605351448059082,
65.751953125,
17.940460205078125,
-0.2144496589899063,
0
] | [
0.161080464720726,
0.18637123703956604,
0.012134796008467674,
3.102285146713257,
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] | 0 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
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] | 11.1 | 111 | 97 | 32,622 | 0 |
[
-64.34538269042969,
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65.751953125,
17.940460205078125,
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20
] | [
-64.34538269042969,
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65.751953125,
17.940460205078125,
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] | [
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0.18637123703956604,
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3.102285146713257,
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] | 0 | [
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] | [
-0.9900453686714172,
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0.23585036396980286,
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0.4094195067882538
] | grasp box lid | Is the object grasped? | gripper_close | 0.333329 | [
-64.34538269042969,
-11.605351448059082,
65.751953125,
17.940460205078125,
-0.2144496589899063,
0
] | [
0.161080464720726,
0.18637123703956604,
0.012134796008467674,
3.102285146713257,
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-2.2200944423675537
] | 0 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
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] | 11.2 | 112 | 97 | 32,623 | 0 |
[
-64.34538269042969,
-11.605351448059082,
65.751953125,
17.940460205078125,
-0.2144496589899063,
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] | [
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65.751953125,
17.940460205078125,
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] | [
0.161080464720726,
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] | 0 | [
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] | [
-0.9900453686714172,
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0.9409251809120178,
0.23585036396980286,
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0.36570098996162415
] | grasp box lid | Is the object grasped? | gripper_close | 0.399996 | [
-64.34538269042969,
-11.605351448059082,
65.751953125,
17.940460205078125,
-0.2144496589899063,
0
] | [
0.161080464720726,
0.18637123703956604,
0.012134796008467674,
3.102285146713257,
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-2.2200944423675537
] | 0 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
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] | 11.3 | 113 | 97 | 32,624 | 0 |
[
-64.34538269042969,
-11.605351448059082,
65.751953125,
17.940460205078125,
-0.2144496589899063,
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] | [
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-11.605351448059082,
65.751953125,
17.940460205078125,
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] | [
0.161080464720726,
0.18637123703956604,
0.012134796008467674,
3.102285146713257,
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] | 0 | [
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0.23585036396980286,
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0.3482136130332947
] | [
-0.9900453686714172,
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0.9409251809120178,
0.23585036396980286,
-0.007502480410039425,
0.32198256254196167
] | grasp box lid | Is the object grasped? | gripper_close | 0.466664 | [
-64.34538269042969,
-11.605351448059082,
65.751953125,
17.940460205078125,
-0.2144496589899063,
0
] | [
0.161080464720726,
0.18637123703956604,
0.012134796008467674,
3.102285146713257,
0.6098094582557678,
-2.2200944423675537
] | 0 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
0.02199995145201683
] | 11.4 | 114 | 97 | 32,625 | 0 |
[
-64.34538269042969,
-11.605351448059082,
65.751953125,
17.940460205078125,
-0.2144496589899063,
14.000000953674316
] | [
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-11.605351448059082,
65.751953125,
17.940460205078125,
-0.2144496589899063,
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] | [
0.161080464720726,
0.18637123703956604,
0.012134796008467674,
3.102285146713257,
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-2.2200944423675537
] | 0 | [
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0.23585036396980286,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.5 | 115 | 97 | 32,626 | 0 |
[
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.6 | 116 | 97 | 32,627 | 0 |
[
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10
] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.666665 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.17412300407886505,
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] | 11.7 | 117 | 97 | 32,628 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.733332 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.8 | 118 | 97 | 32,629 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.799999 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.9 | 119 | 97 | 32,630 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.866666 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12 | 120 | 97 | 32,631 | 0 |
[
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] | [
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.933333 | [
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65.751953125,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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0.17013537883758545,
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] | 12.1 | 121 | 97 | 32,632 | 0 |
[
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.027463 | [
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] | 12.2 | 122 | 97 | 32,633 | 0 |
[
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.030785 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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0.17013537883758545,
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] | 12.3 | 123 | 97 | 32,634 | 0 |
[
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.035334 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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0.17013537883758545,
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] | 12.4 | 124 | 97 | 32,635 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.043694 | [
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39.077362060546875,
53.19921875,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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0.17013537883758545,
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] | 12.5 | 125 | 97 | 32,636 | 0 |
[
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.056741 | [
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39.077362060546875,
53.19921875,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
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] | 12.6 | 126 | 97 | 32,637 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.076551 | [
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39.077362060546875,
53.19921875,
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] | [
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0.17001952230930328,
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3.042742967605591,
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] | 0 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
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] | 12.7 | 127 | 97 | 32,638 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.102714 | [
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39.077362060546875,
53.19921875,
0.23340894281864166,
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] | [
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0.17001952230930328,
0.20003719627857208,
3.042742967605591,
1.1672018766403198,
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] | 0 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
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] | 12.8 | 128 | 97 | 32,639 | 0 |
[
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[
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] | 14.5 | 145 | 97 | 32,656 | 0 |
[
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] | 14.6 | 146 | 97 | 32,657 | 0 |
[
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] | 14.7 | 147 | 97 | 32,658 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.875024 | [
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39.077362060546875,
53.19921875,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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0.17013537883758545,
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] | 14.8 | 148 | 97 | 32,659 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.898832 | [
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39.077362060546875,
53.19921875,
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] | [
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0.17013537883758545,
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] | 14.9 | 149 | 97 | 32,660 | 0 |
[
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39.077362060546875,
53.19921875,
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] | [
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] | 15 | 150 | 97 | 32,661 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.946351 | [
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39.077362060546875,
53.19921875,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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0.17013537883758545,
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] | 15.1 | 151 | 97 | 32,662 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.971628 | [
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39.077362060546875,
53.19921875,
0.23340894281864166,
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] | [
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0.17001952230930328,
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] | 0 | pick box lid and place on box body | box lid | [
0.17412300407886505,
0.17013537883758545,
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] | 15.2 | 152 | 97 | 32,663 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.006351 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 15.3 | 153 | 97 | 32,664 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.006055 | [
65.36825561523438,
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48.73332595825195,
27.441543579101562,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
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] | 15.4 | 154 | 97 | 32,665 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.008172 | [
65.36825561523438,
-45.823974609375,
48.73332595825195,
27.441543579101562,
0.020573815330863,
0
] | [
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1.3446296453475952,
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] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
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] | 15.5 | 155 | 97 | 32,666 | 0 |
[
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48.73332595825195,
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[
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[
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] | 18.5 | 185 | 97 | 32,696 | 0 |
[
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65.36825561523438,
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0.15505579113960266,
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] | 18.6 | 186 | 97 | 32,697 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
0.15505579113960266,
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] | 18.700001 | 187 | 97 | 32,698 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.041027 | [
65.23724365234375,
0.6373750567436218,
53.0522575378418,
17.241735458374023,
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3.10229229927063,
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0.15505579113960266,
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] | 18.799999 | 188 | 97 | 32,699 | 0 |
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