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 gripper at the pick position for box lid pick up the box? | move | 0.083445 | [
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 6 | 60 | 1 | 400 | 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 | [
28.700992584228516,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 6.1 | 61 | 1 | 401 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.003101 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
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] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 6.2 | 62 | 1 | 402 | 0 |
[
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] | [
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.00733 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
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0.0021386314183473587,
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] | 30 | pick box lid and place on box body | box lid | [
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] | 6.3 | 63 | 1 | 403 | 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 | 0.014597 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
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] | 6.4 | 64 | 1 | 404 | 0 |
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.4282405972480774,
1.251851201057434,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.017537 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
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] | 6.5 | 65 | 1 | 405 | 0 |
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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1.2465553283691406,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.026229 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
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] | 6.6 | 66 | 1 | 406 | 0 |
[
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30
] | [
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] | [
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3.0518429279327393,
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] | 1 | [
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] | [
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1.2404441833496094,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.042337 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
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-0.09557423740625381,
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] | 6.7 | 67 | 1 | 407 | 0 |
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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1.233628749847412,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.0643 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
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] | 6.8 | 68 | 1 | 408 | 0 |
[
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30
] | [
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] | [
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] | 1 | [
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] | [
0.5601944327354431,
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0.43842971324920654,
1.2262216806411743,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.091136 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 6.9 | 69 | 1 | 409 | 0 |
[
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30
] | [
32.169097900390625,
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30
] | [
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] | 1 | [
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] | [
0.5570912957191467,
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0.44160282611846924,
1.2182401418685913,
-0.00748042669147253,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.122189 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
-0.09581626206636429,
0.0021386314183473587,
-3.138124704360962,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 7 | 70 | 1 | 410 | 0 |
[
32.457767486572266,
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30
] | [
31.96499252319336,
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30
] | [
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] | 1 | [
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] | [
0.553819477558136,
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0.4449484646320343,
1.209824562072754,
-0.00748042669147253,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.156909 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
-3.138124704360962,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 7.1 | 71 | 1 | 411 | 0 |
[
32.27724838256836,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.44843775033950806,
1.2010477781295776,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.194816 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
-3.138124704360962,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 7.2 | 72 | 1 | 412 | 0 |
[
32.08447265625,
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] | [
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30
] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.235951 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
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] | 7.3 | 73 | 1 | 413 | 0 |
[
31.881444931030273,
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30
] | [
31.307109832763672,
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30
] | [
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0.4557323455810547,
1.1826990842819214,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.279913 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
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0.022000033408403397
] | 7.4 | 74 | 1 | 414 | 0 |
[
31.67010498046875,
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30
] | [
31.079376220703125,
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30
] | [
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0.45946529507637024,
1.1733092069625854,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.326036 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
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0.022000033408403397
] | 7.5 | 75 | 1 | 415 | 0 |
[
31.452484130859375,
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30
] | [
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30
] | [
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0.4632111191749573,
1.1638871431350708,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.373733 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
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] | 7.6 | 76 | 1 | 416 | 0 |
[
31.23057746887207,
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30
] | [
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30
] | [
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] | [
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1.1545121669769287,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.422091 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 7.7 | 77 | 1 | 417 | 0 |
[
31.00641632080078,
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30
] | [
30.399473190307617,
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30
] | [
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] | 1 | [
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] | [
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0.470610111951828,
1.1452758312225342,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.470568 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 7.8 | 78 | 1 | 418 | 0 |
[
30.78203582763672,
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37.631256103515625,
70.00121307373047,
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30
] | [
30.18077850341797,
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38.2294921875,
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30
] | [
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] | 1 | [
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] | [
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0.4741949439048767,
1.136258602142334,
-0.00748042669147253,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.518874 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 7.9 | 79 | 1 | 419 | 0 |
[
30.55949592590332,
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69.48477172851562,
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30
] | [
29.968950271606445,
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38.43424606323242,
68.13745880126953,
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30
] | [
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3.11588191986084,
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] | 1 | [
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] | [
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0.4776671826839447,
1.1275246143341064,
-0.00748042669147253,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.566661 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
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0.022000033408403397
] | 8 | 80 | 1 | 420 | 0 |
[
30.34076690673828,
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38.061119079589844,
68.97742462158203,
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30
] | [
29.767234802246094,
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38.62922286987305,
67.66925048828125,
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30
] | [
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3.119361162185669,
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2.553527355194092
] | 1 | [
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1.1424453258514404,
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] | [
0.518589198589325,
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0.48097363114356995,
1.1192076206207275,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.613771 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 8.1 | 81 | 1 | 421 | 0 |
[
30.127920150756836,
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38.269012451171875,
68.48419952392578,
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30
] | [
29.631288528442383,
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38.7606315612793,
67.35369873046875,
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30
] | [
0.2073899209499359,
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0.06866497546434402,
3.122626781463623,
0.32584160566329956,
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] | 1 | [
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0.4748651385307312,
1.1336839199066162,
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0.6542428135871887
] | [
0.5164099931716919,
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0.4832020699977875,
1.1136022806167603,
-0.00748042669147253,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.659809 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
-3.138124704360962,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 8.2 | 82 | 1 | 422 | 0 |
[
29.938570022583008,
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38.468955993652344,
68.04983520507812,
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30
] | [
29.532821655273438,
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38.85580825805664,
67.1251449584961,
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30
] | [
0.20592883229255676,
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0.06010358780622482,
3.1254687309265137,
0.27955299615859985,
2.5619099140167236
] | 1 | [
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1.125968098640442,
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] | [
0.51483154296875,
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0.4848161041736603,
1.1095423698425293,
-0.00748042669147253,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.701015 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
-3.138124704360962,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 8.3 | 83 | 1 | 423 | 0 |
[
29.78508186340332,
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38.62483596801758,
67.69868469238281,
-0.2122596651315689,
30
] | [
29.431743621826172,
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38.95351028442383,
66.8905258178711,
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30
] | [
0.20447078347206116,
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0.053254786878824234,
3.12770938873291,
0.24219486117362976,
2.5649211406707764
] | 1 | [
0.5188753008842468,
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1.1197304725646973,
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0.6542428135871887
] | [
0.5132112503051758,
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0.4864729344844818,
1.1053746938705444,
-0.00748042669147253,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.734347 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
-0.09581626206636429,
0.0021386314183473587,
-3.138124704360962,
-0.061712540686130524,
2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 8.4 | 84 | 1 | 424 | 0 |
[
29.652423858642578,
-12.717891693115234,
38.752906799316406,
67.39372253417969,
-0.21266578137874603,
30
] | [
29.327896118164062,
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39.053890228271484,
66.64948272705078,
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30
] | [
0.2030269205570221,
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0.04741582274436951,
3.129605531692505,
0.21009476482868195,
2.567460536956787
] | 1 | [
0.5167487859725952,
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0.48307108879089355,
1.1143132448196411,
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0.6542428135871887
] | [
0.5115465521812439,
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0.4881752133369446,
1.1010929346084595,
-0.00748042669147253,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.763111 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
-0.09581626206636429,
0.0021386314183473587,
-3.138124704360962,
-0.061712540686130524,
2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 8.5 | 85 | 1 | 425 | 0 |
[
29.531293869018555,
-10.931899070739746,
38.86690139770508,
67.11408233642578,
-0.21283279359340668,
30
] | [
29.220977783203125,
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39.1572380065918,
66.40130615234375,
-0.21374750137329102,
30
] | [
0.20155346393585205,
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0.042142774909734726,
3.1313116550445557,
0.18086238205432892,
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] | 1 | [
0.5148070454597473,
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0.4850042164325714,
1.1093459129333496,
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0.6542428135871887
] | [
0.5098326802253723,
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0.4899277985095978,
1.096684455871582,
-0.00748042669147253,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.789367 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 8.6 | 86 | 1 | 426 | 0 |
[
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] | Pick up the box lid | Is the box lid grasped? | move | 0.814371 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
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] | 8.7 | 87 | 1 | 427 | 0 |
[
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] | [
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.838895 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
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] | 8.8 | 88 | 1 | 428 | 0 |
[
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30
] | [
28.87865447998047,
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] | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.863439 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
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30
] | [
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] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
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] | 8.9 | 89 | 1 | 429 | 0 |
[
29.075162887573242,
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30
] | [
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30
] | [
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1.0774304866790771,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.888375 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
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] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
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0.022000033408403397
] | 9 | 90 | 1 | 430 | 0 |
[
28.956979751586914,
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30
] | [
28.700992584228516,
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] | [
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0.017378604039549828,
0.4984513223171234,
1.0752447843551636,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.914037 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
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0.022000033408403397
] | 9.1 | 91 | 1 | 431 | 0 |
[
28.876022338867188,
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39.18027877807617,
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30
] | [
28.700992584228516,
1.3420168161392212,
42.59968566894531,
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30
] | [
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] | 1 | [
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] | [
0.5014972686767578,
0.017378604039549828,
0.5483053922653198,
1.0752447843551636,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.930422 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
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0.022000033408403397
] | 9.2 | 92 | 1 | 432 | 0 |
[
28.87160873413086,
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38.814823150634766,
66.13670349121094,
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30
] | [
28.700992584228516,
1.3420168161392212,
42.59968566894531,
65.19435119628906,
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30
] | [
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3.140599250793457,
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] | 1 | [
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] | [
0.5014972686767578,
0.017378604039549828,
0.5483053922653198,
1.0752447843551636,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.932923 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
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0.022000033408403397
] | 9.3 | 93 | 1 | 433 | 0 |
[
28.871641159057617,
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38.78425598144531,
66.15918731689453,
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30
] | [
28.700992584228516,
1.3420168161392212,
42.59968566894531,
65.19435119628906,
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30
] | [
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3.1406116485595703,
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] | 1 | [
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] | [
0.5014972686767578,
0.017378604039549828,
0.5483053922653198,
1.0752447843551636,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.933104 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 9.4 | 94 | 1 | 434 | 0 |
[
28.869626998901367,
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38.91632843017578,
66.02782440185547,
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30
] | [
28.700992584228516,
1.3420168161392212,
39.65985870361328,
65.19435119628906,
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30
] | [
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3.1405458450317383,
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] | [
0.5014972686767578,
0.017378604039549828,
0.4984513223171234,
1.0752447843551636,
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0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.933407 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 9.5 | 95 | 1 | 435 | 0 |
[
28.87021827697754,
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38.87175750732422,
66.07330322265625,
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30
] | [
28.700992584228516,
1.3420168161392212,
39.65985870361328,
65.19435119628906,
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30
] | [
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3.1405744552612305,
0.019138364121317863,
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] | 1 | [
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1.090857982635498,
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] | [
0.5014972686767578,
0.017378604039549828,
0.4984513223171234,
1.0752447843551636,
-0.00748042669147253,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.933391 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 9.6 | 96 | 1 | 436 | 0 |
[
28.870155334472656,
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38.849212646484375,
66.09008026123047,
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30
] | [
28.700992584228516,
1.3420168161392212,
42.59968566894531,
65.19435119628906,
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30
] | [
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0.015143581666052341,
3.1405885219573975,
0.018907157704234123,
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] | 1 | [
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1.091156005859375,
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] | [
0.5014972686767578,
0.017378604039549828,
0.5483053922653198,
1.0752447843551636,
-0.00748042669147253,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.933513 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
-3.138124704360962,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 9.7 | 97 | 1 | 437 | 0 |
[
28.871801376342773,
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38.79050064086914,
66.15544128417969,
-0.09188614040613174,
30
] | [
28.700992584228516,
1.3420168161392212,
42.59968566894531,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1911778748035431,
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0.01527627557516098,
3.140601634979248,
0.018806716427206993,
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] | 1 | [
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0.48370859026908875,
1.0923171043395996,
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] | [
0.5014972686767578,
0.017378604039549828,
0.5483053922653198,
1.0752447843551636,
-0.00748042669147253,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.933075 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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0.0021386314183473587,
-3.138124704360962,
-0.061712540686130524,
2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 9.8 | 98 | 1 | 438 | 0 |
[
28.86968994140625,
-0.9825781583786011,
38.92012405395508,
66.0253677368164,
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30
] | [
28.700992584228516,
1.3420168161392212,
42.59968566894531,
65.19435119628906,
-0.21374750137329102,
30
] | [
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0.015094983391463757,
3.1405410766601562,
0.019543655216693878,
2.583932876586914
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0.5042014718055725,
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1.0900064706802368,
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0.6542428135871887
] | [
0.5014972686767578,
0.017378604039549828,
0.5483053922653198,
1.0752447843551636,
-0.00748042669147253,
0.6542428135871887
] | Pick up the box lid | Is the box lid grasped? | move | 0.933386 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
-0.09581626206636429,
0.0021386314183473587,
-3.138124704360962,
-0.061712540686130524,
2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 9.9 | 99 | 1 | 439 | 0 |
[
28.869585037231445,
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38.89266586303711,
66.0456314086914,
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30
] | [
28.700992584228516,
1.3420168161392212,
39.65985870361328,
65.19435119628906,
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30
] | [
0.19115261733531952,
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3.140559673309326,
0.019265182316303253,
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] | 1 | [
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] | Pick up the box lid | Is the box lid grasped? | move | 0.933543 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
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-3.138124704360962,
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] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
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0.022000033408403397
] | 10 | 100 | 1 | 440 | 0 |
[
28.870206832885742,
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66.0841293334961,
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30
] | [
28.871797561645508,
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] | [
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3.14058256149292,
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] | 1 | [
0.5042097568511963,
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] | [
0.5042352676391602,
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1.0923190116882324,
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] | Pick up the box lid | Is the box lid grasped? | move | 0.933469 | [
28.700992584228516,
3.4417407512664795,
39.86910629272461,
65.19435119628906,
-0.21374750137329102,
30
] | [
0.1721688061952591,
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-3.138124704360962,
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2.583834648132324
] | 30 | pick box lid and place on box body | box lid | [
0.17280630767345428,
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0.022000033408403397
] | 10.1 | 101 | 1 | 441 | 0 |
[
28.871797561645508,
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38.79041290283203,
66.15554809570312,
-0.09221255779266357,
28.80000114440918
] | [
28.871797561645508,
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38.79041290283203,
66.15554809570312,
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] | [
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] | 0 | [
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] | [
0.5042352676391602,
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0.48370712995529175,
1.0923190116882324,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.034775 | [
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
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0
] | [
0.1911778301000595,
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0.015276296995580196,
3.140601396560669,
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] | 0 | pick box lid and place on box body | box lid | [
0.17280630767345428,
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0.022000033408403397
] | 10.2 | 102 | 1 | 442 | 0 |
[
28.871797561645508,
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38.79041290283203,
66.15554809570312,
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] | [
28.871797561645508,
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] | [
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] | 0 | [
0.5042352676391602,
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1.0923190116882324,
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] | [
0.5042352676391602,
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0.48370712995529175,
1.0923190116882324,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.101804 | [
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
0
] | [
0.1911778301000595,
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0.015276296995580196,
3.140601396560669,
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2.5850117206573486
] | 0 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 10.3 | 103 | 1 | 443 | 0 |
[
28.871797561645508,
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38.79041290283203,
66.15554809570312,
-0.09221255779266357,
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] | [
28.871797561645508,
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38.79041290283203,
66.15554809570312,
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23.60000228881836
] | [
0.1911778301000595,
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3.140601396560669,
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] | 0 | [
0.5042352676391602,
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1.0923190116882324,
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] | [
0.5042352676391602,
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0.48370712995529175,
1.0923190116882324,
-0.003663226030766964,
0.514343798160553
] | grasp box lid | Is the object grasped? | gripper_close | 0.168834 | [
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
0
] | [
0.1911778301000595,
-0.08404295891523361,
0.015276296995580196,
3.140601396560669,
0.018805161118507385,
2.5850117206573486
] | 0 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 10.4 | 104 | 1 | 444 | 0 |
[
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
22.799997329711914
] | [
28.871797561645508,
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38.79041290283203,
66.15554809570312,
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21.599998474121094
] | [
0.1911778301000595,
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0.015276296995580196,
3.140601396560669,
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] | 0 | [
0.5042352676391602,
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0.48370712995529175,
1.0923190116882324,
-0.003663226030766964,
0.49685633182525635
] | [
0.5042352676391602,
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0.48370712995529175,
1.0923190116882324,
-0.003663226030766964,
0.47062528133392334
] | grasp box lid | Is the object grasped? | gripper_close | 0.235863 | [
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
0
] | [
0.1911778301000595,
-0.08404295891523361,
0.015276296995580196,
3.140601396560669,
0.018805161118507385,
2.5850117206573486
] | 0 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 10.5 | 105 | 1 | 445 | 0 |
[
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
20.799999237060547
] | [
28.871797561645508,
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38.79041290283203,
66.15554809570312,
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] | [
0.1911778301000595,
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0.015276296995580196,
3.140601396560669,
0.018805161118507385,
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] | 0 | [
0.5042352676391602,
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0.48370712995529175,
1.0923190116882324,
-0.003663226030766964,
0.45313790440559387
] | [
0.5042352676391602,
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0.48370712995529175,
1.0923190116882324,
-0.003663226030766964,
0.42690685391426086
] | grasp box lid | Is the object grasped? | gripper_close | 0.302893 | [
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
0
] | [
0.1911778301000595,
-0.08404295891523361,
0.015276296995580196,
3.140601396560669,
0.018805161118507385,
2.5850117206573486
] | 0 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 10.6 | 106 | 1 | 446 | 0 |
[
28.871797561645508,
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38.79041290283203,
66.15554809570312,
-0.09221255779266357,
18.80000114440918
] | [
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
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] | [
0.1911778301000595,
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0.015276296995580196,
3.140601396560669,
0.018805161118507385,
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] | 0 | [
0.5042352676391602,
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0.48370712995529175,
1.0923190116882324,
-0.003663226030766964,
0.4094195067882538
] | [
0.5042352676391602,
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0.48370712995529175,
1.0923190116882324,
-0.003663226030766964,
0.3831883668899536
] | grasp box lid | Is the object grasped? | gripper_close | 0.369922 | [
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
0
] | [
0.1911778301000595,
-0.08404295891523361,
0.015276296995580196,
3.140601396560669,
0.018805161118507385,
2.5850117206573486
] | 0 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 10.7 | 107 | 1 | 447 | 0 |
[
28.871797561645508,
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38.79041290283203,
66.15554809570312,
-0.09221255779266357,
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] | [
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
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] | [
0.1911778301000595,
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0.015276296995580196,
3.140601396560669,
0.018805161118507385,
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] | 0 | [
0.5042352676391602,
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0.48370712995529175,
1.0923190116882324,
-0.003663226030766964,
0.36570098996162415
] | [
0.5042352676391602,
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0.48370712995529175,
1.0923190116882324,
-0.003663226030766964,
0.33946993947029114
] | grasp box lid | Is the object grasped? | gripper_close | 0.436952 | [
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
0
] | [
0.1911778301000595,
-0.08404295891523361,
0.015276296995580196,
3.140601396560669,
0.018805161118507385,
2.5850117206573486
] | 0 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 10.8 | 108 | 1 | 448 | 0 |
[
28.871797561645508,
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38.79041290283203,
66.15554809570312,
-0.09221255779266357,
14.800000190734863
] | [
28.871797561645508,
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38.79041290283203,
66.15554809570312,
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13.600001335144043
] | [
0.1911778301000595,
-0.08404295891523361,
0.015276296995580196,
3.140601396560669,
0.018805161118507385,
2.5850117206573486
] | 0 | [
0.5042352676391602,
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0.48370712995529175,
1.0923190116882324,
-0.003663226030766964,
0.32198256254196167
] | [
0.5042352676391602,
-0.02405312843620777,
0.48370712995529175,
1.0923190116882324,
-0.003663226030766964,
0.29575151205062866
] | grasp box lid | Is the object grasped? | gripper_close | 0.503981 | [
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
0
] | [
0.1911778301000595,
-0.08404295891523361,
0.015276296995580196,
3.140601396560669,
0.018805161118507385,
2.5850117206573486
] | 0 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 10.9 | 109 | 1 | 449 | 0 |
[
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
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] | [
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
11.599998474121094
] | [
0.1911778301000595,
-0.08404295891523361,
0.015276296995580196,
3.140601396560669,
0.018805161118507385,
2.5850117206573486
] | 0 | [
0.5042352676391602,
-0.02405312843620777,
0.48370712995529175,
1.0923190116882324,
-0.003663226030766964,
0.27826404571533203
] | [
0.5042352676391602,
-0.02405312843620777,
0.48370712995529175,
1.0923190116882324,
-0.003663226030766964,
0.252032995223999
] | grasp box lid | Is the object grasped? | gripper_close | 0.571011 | [
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
0
] | [
0.1911778301000595,
-0.08404295891523361,
0.015276296995580196,
3.140601396560669,
0.018805161118507385,
2.5850117206573486
] | 0 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 11 | 110 | 1 | 450 | 0 |
[
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
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] | [
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
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] | [
0.1911778301000595,
-0.08404295891523361,
0.015276296995580196,
3.140601396560669,
0.018805161118507385,
2.5850117206573486
] | 0 | [
0.5042352676391602,
-0.02405312843620777,
0.48370712995529175,
1.0923190116882324,
-0.003663226030766964,
0.23454564809799194
] | [
0.5042352676391602,
-0.02405312843620777,
0.48370712995529175,
1.0923190116882324,
-0.003663226030766964,
0.20831459760665894
] | grasp box lid | Is the object grasped? | gripper_close | 0.638041 | [
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
0
] | [
0.1911778301000595,
-0.08404295891523361,
0.015276296995580196,
3.140601396560669,
0.018805161118507385,
2.5850117206573486
] | 0 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 11.1 | 111 | 1 | 451 | 0 |
[
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
8.80000114440918
] | [
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
7.599997520446777
] | [
0.1911778301000595,
-0.08404295891523361,
0.015276296995580196,
3.140601396560669,
0.018805161118507385,
2.5850117206573486
] | 0 | [
0.5042352676391602,
-0.02405312843620777,
0.48370712995529175,
1.0923190116882324,
-0.003663226030766964,
0.19082723557949066
] | [
0.5042352676391602,
-0.02405312843620777,
0.48370712995529175,
1.0923190116882324,
-0.003663226030766964,
0.1645960807800293
] | grasp box lid | Is the object grasped? | gripper_close | 0.70507 | [
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
0
] | [
0.1911778301000595,
-0.08404295891523361,
0.015276296995580196,
3.140601396560669,
0.018805161118507385,
2.5850117206573486
] | 0 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.022000033408403397
] | 11.2 | 112 | 1 | 452 | 0 |
[
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
6.7999982833862305
] | [
28.871797561645508,
-0.9478763937950134,
38.79041290283203,
66.15554809570312,
-0.09221255779266357,
5.59999942779541
] | [
0.1911778301000595,
-0.08404295891523361,
0.015276296995580196,
3.140601396560669,
0.018805161118507385,
2.5850117206573486
] | 0 | [
0.5042352676391602,
-0.02405312843620777,
0.48370712995529175,
1.0923190116882324,
-0.003663226030766964,
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[
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] | 11.4 | 114 | 1 | 454 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.906159 | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.5 | 115 | 1 | 455 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.973188 | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.029363 | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 11.7 | 117 | 1 | 457 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.03103 | [
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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 | 1 | 458 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.035489 | [
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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 | 1 | 459 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.045607 | [
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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 | 1 | 460 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.065146 | [
36.05305862426758,
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16.907114028930664,
89.27442169189453,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.1 | 121 | 1 | 461 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.086701 | [
36.05305862426758,
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16.907114028930664,
89.27442169189453,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 12.2 | 122 | 1 | 462 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.113146 | [
36.05305862426758,
-50.451629638671875,
16.907114028930664,
89.27442169189453,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
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] | 12.3 | 123 | 1 | 463 | 0 |
[
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.141721 | [
36.05305862426758,
-50.451629638671875,
16.907114028930664,
89.27442169189453,
0.23434261977672577,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
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] | 12.4 | 124 | 1 | 464 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.174238 | [
36.05305862426758,
-50.451629638671875,
16.907114028930664,
89.27442169189453,
0.23434261977672577,
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] | [
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0.19999168813228607,
3.0912537574768066,
0.8738858699798584,
2.4566471576690674
] | 0 | pick box lid and place on box body | box lid | [
0.17280630767345428,
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] | 12.5 | 125 | 1 | 465 | 0 |
[
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1.2110313177108765,
0.006593302823603153,
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] | Lift the box lid | Is the box lid lifted? | move | 0.209514 | [
36.05305862426758,
-50.451629638671875,
16.907114028930664,
89.27442169189453,
0.23434261977672577,
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] | [
0.17274759709835052,
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0.19999168813228607,
3.0912537574768066,
0.8738858699798584,
2.4566471576690674
] | 0 | pick box lid and place on box body | box lid | [
0.17280630767345428,
-0.09557423740625381,
0.20000000298023224
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[
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[
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36.05305862426758,
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[
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36.05305862426758,
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.883436 | [
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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 | 0.907774 | [
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] | 14.4 | 144 | 1 | 484 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.932043 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 14.5 | 145 | 1 | 485 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.956538 | [
36.05305862426758,
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] | [
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] | 14.6 | 146 | 1 | 486 | 0 |
[
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36.05305862426758,
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16.907114028930664,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 14.7 | 147 | 1 | 487 | 0 |
[
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[
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13.125627517700195,
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[
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13.125627517700195,
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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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13.125627517700195,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
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[
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52.034549713134766,
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13.125627517700195,
51.696746826171875,
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] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.077761 | [
52.034549713134766,
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13.125627517700195,
51.696746826171875,
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] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.094761 | [
52.034549713134766,
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] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
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] | 15.4 | 154 | 1 | 494 | 0 |
[
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.118 | [
52.034549713134766,
-21.39072608947754,
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] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
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] | 15.5 | 155 | 1 | 495 | 0 |
[
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3.0778045654296875,
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] | 0 | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.146461 | [
52.034549713134766,
-21.39072608947754,
13.125627517700195,
51.696746826171875,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
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] | 15.6 | 156 | 1 | 496 | 0 |
[
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.179277 | [
52.034549713134766,
-21.39072608947754,
13.125627517700195,
51.696746826171875,
0.0636676549911499,
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] | [
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3.052902936935425,
1.0786696672439575,
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] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 15.7 | 157 | 1 | 497 | 0 |
[
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0
] | [
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] | [
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3.075087308883667,
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] | 0 | [
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] | [
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1.2866497039794922,
0.0012326996074989438,
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.215686 | [
52.034549713134766,
-21.39072608947754,
13.125627517700195,
51.696746826171875,
0.0636676549911499,
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] | [
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0.19995594024658203,
3.052902936935425,
1.0786696672439575,
2.1655113697052
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 15.8 | 158 | 1 | 498 | 0 |
[
39.923091888427734,
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16.62841033935547,
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0
] | [
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15.482028007507324,
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0.0636676549911499,
0
] | [
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3.0737087726593018,
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] | 0 | [
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] | [
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0.08843985199928284,
1.2547607421875,
0.0012326996074989438,
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.255073 | [
52.034549713134766,
-21.39072608947754,
13.125627517700195,
51.696746826171875,
0.0636676549911499,
0
] | [
0.21497388184070587,
-0.21117229759693146,
0.19995594024658203,
3.052902936935425,
1.0786696672439575,
2.1655113697052
] | 0 | pick box lid and place on box body | box body | [
0.2150394767522812,
-0.21119257807731628,
0.20000000298023224
] | 15.9 | 159 | 1 | 499 | 0 |
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