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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[
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[
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[
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[
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54.49238204956055,
28.44704818725586,
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] | [
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0.08723576366901398,
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] | 0 | pick box lid and place on box body | box lid | [
0.25976046919822693,
0.0872407853603363,
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[
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54.49238204956055,
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[
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54.49238204956055,
28.44704818725586,
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.85626 | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.878954 | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 14.8 | 148 | 2 | 815 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.900893 | [
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 14.9 | 149 | 2 | 816 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.922196 | [
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] | [
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] | 15 | 150 | 2 | 817 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.94233 | [
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54.49238204956055,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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] | 15.1 | 151 | 2 | 818 | 0 |
[
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.958843 | [
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54.49238204956055,
28.44704818725586,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
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0.0872407853603363,
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] | 15.2 | 152 | 2 | 819 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.964818 | [
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54.49238204956055,
28.44704818725586,
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] | [
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] | 0 | pick box lid and place on box body | box lid | [
0.25976046919822693,
0.0872407853603363,
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] | 15.3 | 153 | 2 | 820 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.019065 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 15.4 | 154 | 2 | 821 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.022122 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 15.5 | 155 | 2 | 822 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.026705 | [
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54.30181121826172,
54.00957107543945,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 15.6 | 156 | 2 | 823 | 0 |
[
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.034457 | [
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-74.65716552734375,
54.30181121826172,
54.00957107543945,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 15.7 | 157 | 2 | 824 | 0 |
[
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.046798 | [
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-74.65716552734375,
54.30181121826172,
54.00957107543945,
-0.21096161007881165,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 15.8 | 158 | 2 | 825 | 0 |
[
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.064116 | [
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-74.65716552734375,
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[
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[
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[
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[
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.5 | 165 | 2 | 832 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.700001 | 167 | 2 | 834 | 0 |
[
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
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] | 16.799999 | 168 | 2 | 835 | 0 |
[
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.476227 | [
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54.30181121826172,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
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] | 17 | 170 | 2 | 837 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.524229 | [
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54.30181121826172,
54.00957107543945,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 17.1 | 171 | 2 | 838 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.572178 | [
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54.30181121826172,
54.00957107543945,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 17.200001 | 172 | 2 | 839 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
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] | 17.299999 | 173 | 2 | 840 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.666173 | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
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] | 17.4 | 174 | 2 | 841 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.711345 | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
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] | 17.5 | 175 | 2 | 842 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.749499 | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
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] | 17.6 | 176 | 2 | 843 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.780473 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
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] | 17.700001 | 177 | 2 | 844 | 0 |
[
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.807763 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
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] | 17.799999 | 178 | 2 | 845 | 0 |
[
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.832568 | [
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54.30181121826172,
54.00957107543945,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
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] | 17.9 | 179 | 2 | 846 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.856834 | [
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54.30181121826172,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
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] | 18 | 180 | 2 | 847 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.8807 | [
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54.30181121826172,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
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] | 18.1 | 181 | 2 | 848 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.905028 | [
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54.30181121826172,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
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] | 18.200001 | 182 | 2 | 849 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.929016 | [
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54.30181121826172,
54.00957107543945,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 18.299999 | 183 | 2 | 850 | 0 |
[
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] | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.953215 | [
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54.30181121826172,
54.00957107543945,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 18.4 | 184 | 2 | 851 | 0 |
[
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] | [
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0.8899242281913757,
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.969 | [
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54.30181121826172,
54.00957107543945,
-0.21096161007881165,
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] | [
0.06382934749126434,
0.18368826806545258,
0.19999778270721436,
2.938415288925171,
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 18.5 | 185 | 2 | 852 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.025359 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 18.6 | 186 | 2 | 853 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.026246 | [
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85.81986236572266,
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
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] | 18.700001 | 187 | 2 | 854 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.030472 | [
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85.81986236572266,
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] | 0 | pick box lid and place on box body | box body | [
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] | 18.799999 | 188 | 2 | 855 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.038943 | [
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85.81986236572266,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
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] | 18.9 | 189 | 2 | 856 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.05201 | [
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85.81986236572266,
20.46001434326172,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 19 | 190 | 2 | 857 | 0 |
[
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] | [
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] | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.068523 | [
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85.81986236572266,
20.46001434326172,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 19.1 | 191 | 2 | 858 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.085448 | [
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85.81986236572266,
20.46001434326172,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 19.200001 | 192 | 2 | 859 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.110139 | [
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-32.50421142578125,
85.81986236572266,
20.46001434326172,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 19.299999 | 193 | 2 | 860 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.141338 | [
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85.81986236572266,
20.46001434326172,
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] | [
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0.007777404505759478,
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 19.4 | 194 | 2 | 861 | 0 |
[
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] | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.176202 | [
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85.81986236572266,
20.46001434326172,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 19.5 | 195 | 2 | 862 | 0 |
[
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] | [
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0.6986883282661438,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.213856 | [
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85.81986236572266,
20.46001434326172,
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] | [
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0.007777404505759478,
3.0963594913482666,
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 19.6 | 196 | 2 | 863 | 0 |
[
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] | [
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0.9864795207977295,
0.6697254776954651,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.253849 | [
-92.39358520507812,
-32.50421142578125,
85.81986236572266,
20.46001434326172,
-0.515673816204071,
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] | [
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0.007777404505759478,
3.0963594913482666,
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 19.700001 | 197 | 2 | 864 | 0 |
[
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] | [
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] | [
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] | [
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0.9612510800361633,
0.6399626135826111,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.298259 | [
-92.39358520507812,
-32.50421142578125,
85.81986236572266,
20.46001434326172,
-0.515673816204071,
0
] | [
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0.007777404505759478,
3.0963594913482666,
0.6024876832962036,
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
0.013000025413930416
] | 19.799999 | 198 | 2 | 865 | 0 |
[
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44.56230163574219,
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] | [
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] | [
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3.0230822563171387,
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] | [
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1.0408365726470947,
0.6097421050071716,
-0.016963405534625053,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.342227 | [
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[
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.481757 | [
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[
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.575399 | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.622225 | [
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85.81986236572266,
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
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] | 20.5 | 205 | 2 | 872 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.666087 | [
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85.81986236572266,
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] | 0 | pick box lid and place on box body | box body | [
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0.18370003998279572,
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] | 20.6 | 206 | 2 | 873 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.706544 | [
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85.81986236572266,
20.46001434326172,
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] | 0 | pick box lid and place on box body | box body | [
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] | 20.700001 | 207 | 2 | 874 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.739099 | [
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85.81986236572266,
20.46001434326172,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 20.799999 | 208 | 2 | 875 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.767179 | [
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85.81986236572266,
20.46001434326172,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 20.9 | 209 | 2 | 876 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.79328 | [
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85.81986236572266,
20.46001434326172,
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 21 | 210 | 2 | 877 | 0 |
[
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1.2800322771072388,
0.34118106961250305,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.822326 | [
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85.81986236572266,
20.46001434326172,
-0.515673816204071,
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] | [
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0.007777404505759478,
3.0963594913482666,
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 21.1 | 211 | 2 | 878 | 0 |
[
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1.293062448501587,
0.3261776268482208,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.846835 | [
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-32.50421142578125,
85.81986236572266,
20.46001434326172,
-0.515673816204071,
0
] | [
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0.007777404505759478,
3.0963594913482666,
0.6024876832962036,
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 21.200001 | 212 | 2 | 879 | 0 |
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] | 21.299999 | 213 | 2 | 880 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.869895 | [
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] | 21.4 | 214 | 2 | 881 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.879949 | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.886618 | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 21.6 | 216 | 2 | 883 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.884885 | [
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20.46001434326172,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
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] | 21.700001 | 217 | 2 | 884 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.880128 | [
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85.81986236572266,
20.46001434326172,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 21.799999 | 218 | 2 | 885 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.875983 | [
-92.39358520507812,
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85.81986236572266,
20.46001434326172,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 21.9 | 219 | 2 | 886 | 0 |
[
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1.3326400518417358,
0.2806064486503601,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.87461 | [
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85.81986236572266,
20.46001434326172,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 22 | 220 | 2 | 887 | 0 |
[
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1.3326400518417358,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.873677 | [
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85.81986236572266,
20.46001434326172,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 22.1 | 221 | 2 | 888 | 0 |
[
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1.3326400518417358,
0.2806064486503601,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.872251 | [
-92.39358520507812,
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85.81986236572266,
20.46001434326172,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 22.200001 | 222 | 2 | 889 | 0 |
[
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1.3326400518417358,
0.2806064486503601,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.871832 | [
-92.39358520507812,
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85.81986236572266,
20.46001434326172,
-0.515673816204071,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 22.299999 | 223 | 2 | 890 | 0 |
[
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] | [
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] | [
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1.3326400518417358,
0.2806064486503601,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.871472 | [
-92.39358520507812,
-32.50421142578125,
85.81986236572266,
20.46001434326172,
-0.515673816204071,
0
] | [
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0.007777404505759478,
3.0963594913482666,
0.6024876832962036,
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
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] | 22.4 | 224 | 2 | 891 | 0 |
[
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] | [
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1.3326400518417358,
0.2806064486503601,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.870939 | [
-92.39358520507812,
-32.50421142578125,
85.81986236572266,
20.46001434326172,
-0.515673816204071,
0
] | [
0.08216475695371628,
0.17684832215309143,
0.007777404505759478,
3.0963594913482666,
0.6024876832962036,
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] | 0 | pick box lid and place on box body | box body | [
0.06383060663938522,
0.18370003998279572,
0.013000025413930416
] | 22.5 | 225 | 2 | 892 | 0 |
[
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[
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] | [
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[
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] | [
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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84.83773040771484,
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] | [
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] | 23.200001 | 232 | 2 | 899 | 0 |
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