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 34 | frame_index int64 0 340 | episode_index int64 0 99 | index int64 0 32.7k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
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3.244816303253174,
11.809574127197266,
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] | 0 | pick box lid and place on target marker | box lid | [
0.3952578902244568,
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] | 15.3 | 153 | 88 | 28,909 | 0 |
[
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3.244816303253174,
11.809574127197266,
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0.8886929154396057,
3.244816303253174,
11.809574127197266,
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] | 0 | pick box lid and place on target marker | box lid | [
0.3952578902244568,
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0.8886929154396057,
3.244816303253174,
11.809574127197266,
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.904107 | [
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] | 0 | pick box lid and place on target marker | box lid | [
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] | 15.7 | 157 | 88 | 28,913 | 0 |
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] | Lift the box lid | Is the box lid lifted? | move | 0.912409 | [
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] | 15.8 | 158 | 88 | 28,914 | 0 |
[
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.915039 | [
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] | 15.9 | 159 | 88 | 28,915 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.009656 | [
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[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.015888 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 16.1 | 161 | 88 | 28,917 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.022877 | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 16.200001 | 162 | 88 | 28,918 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.034007 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 16.299999 | 163 | 88 | 28,919 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.048913 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 16.4 | 164 | 88 | 28,920 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.066991 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 16.5 | 165 | 88 | 28,921 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.089035 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 16.6 | 166 | 88 | 28,922 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.115035 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 16.700001 | 167 | 88 | 28,923 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.144841 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 16.799999 | 168 | 88 | 28,924 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.17821 | [
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31.299394607543945,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 16.9 | 169 | 88 | 28,925 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.214799 | [
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.25426 | [
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.296452 | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 17.200001 | 172 | 88 | 28,928 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.340403 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 17.299999 | 173 | 88 | 28,929 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.386097 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 17.4 | 174 | 88 | 28,930 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.432883 | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 17.5 | 175 | 88 | 28,931 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.480359 | [
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31.299394607543945,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 17.6 | 176 | 88 | 28,932 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.52824 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 17.700001 | 177 | 88 | 28,933 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.576185 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 17.799999 | 178 | 88 | 28,934 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.623635 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 17.9 | 179 | 88 | 28,935 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.670107 | [
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31.299394607543945,
72.93690490722656,
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] | [
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0.13911277055740356,
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 18 | 180 | 88 | 28,936 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.715604 | [
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31.299394607543945,
72.93690490722656,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 18.1 | 181 | 88 | 28,937 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.754267 | [
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31.299394607543945,
72.93690490722656,
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] | [
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0.13911277055740356,
0.2000941038131714,
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 18.200001 | 182 | 88 | 28,938 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.785882 | [
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31.299394607543945,
72.93690490722656,
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] | [
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0.13911277055740356,
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 18.299999 | 183 | 88 | 28,939 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.813449 | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 18.4 | 184 | 88 | 28,940 | 0 |
[
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] | [
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.838809 | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 18.5 | 185 | 88 | 28,941 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.86309 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 18.6 | 186 | 88 | 28,942 | 0 |
[
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] | [
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] | [
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.886991 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 18.700001 | 187 | 88 | 28,943 | 0 |
[
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] | [
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.910983 | [
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31.299394607543945,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 18.799999 | 188 | 88 | 28,944 | 0 |
[
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] | [
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] | [
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] | [
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.935363 | [
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31.299394607543945,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 18.9 | 189 | 88 | 28,945 | 0 |
[
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] | [
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] | [
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] | [
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.960415 | [
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31.299394607543945,
72.93690490722656,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 19 | 190 | 88 | 28,946 | 0 |
[
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] | [
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] | [
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] | [
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.979348 | [
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31.299394607543945,
72.93690490722656,
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] | [
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0.13911277055740356,
0.2000941038131714,
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 19.1 | 191 | 88 | 28,947 | 0 |
[
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] | [
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] | [
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] | [
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.010473 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 19.200001 | 192 | 88 | 28,948 | 0 |
[
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] | [
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] | [
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] | [
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.01008 | [
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109.64350128173828,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 19.299999 | 193 | 88 | 28,949 | 0 |
[
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] | [
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] | [
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] | [
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.01315 | [
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109.64350128173828,
22.352134704589844,
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] | [
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3.067434310913086,
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 19.4 | 194 | 88 | 28,950 | 0 |
[
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] | [
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] | [
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] | [
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1.1635574102401733,
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.024818 | [
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109.64350128173828,
22.352134704589844,
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] | [
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0.12117277830839157,
0.021701712161302567,
3.067434310913086,
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 19.5 | 195 | 88 | 28,951 | 0 |
[
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] | [
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] | [
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] | [
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1.1409060955047607,
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.043809 | [
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109.64350128173828,
22.352134704589844,
-0.32402125000953674,
0
] | [
0.16615667939186096,
0.12117277830839157,
0.021701712161302567,
3.067434310913086,
0.8925520181655884,
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
0.0045000240206718445
] | 19.6 | 196 | 88 | 28,952 | 0 |
[
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] | [
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] | [
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.066755 | [
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] | 0 | pick box lid and place on target marker | target marker | [
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[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.092301 | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 19.799999 | 198 | 88 | 28,954 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.121107 | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 19.9 | 199 | 88 | 28,955 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.152352 | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 20 | 200 | 88 | 28,956 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.187111 | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 20.1 | 201 | 88 | 28,957 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.225143 | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 20.200001 | 202 | 88 | 28,958 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.265217 | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 20.299999 | 203 | 88 | 28,959 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.307783 | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 20.4 | 204 | 88 | 28,960 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.351812 | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 20.5 | 205 | 88 | 28,961 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.398194 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 20.6 | 206 | 88 | 28,962 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.446201 | [
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109.64350128173828,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 20.700001 | 207 | 88 | 28,963 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.49523 | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 20.799999 | 208 | 88 | 28,964 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.544616 | [
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109.64350128173828,
22.352134704589844,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 20.9 | 209 | 88 | 28,965 | 0 |
[
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 21.700001 | 217 | 88 | 28,973 | 0 |
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109.64350128173828,
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109.64350128173828,
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 22.299999 | 223 | 88 | 28,979 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.890179 | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 22.4 | 224 | 88 | 28,980 | 0 |
[
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] | [
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.8911 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 22.5 | 225 | 88 | 28,981 | 0 |
[
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] | [
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.891629 | [
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109.64350128173828,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 22.6 | 226 | 88 | 28,982 | 0 |
[
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] | [
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.891941 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 22.700001 | 227 | 88 | 28,983 | 0 |
[
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] | [
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] | [
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.892127 | [
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109.64350128173828,
22.352134704589844,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 22.799999 | 228 | 88 | 28,984 | 0 |
[
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] | [
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] | [
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1.5047507286071777,
0.31421712040901184,
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.892241 | [
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109.64350128173828,
22.352134704589844,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 22.9 | 229 | 88 | 28,985 | 0 |
[
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] | [
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] | [
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1.5047507286071777,
0.31421712040901184,
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.892309 | [
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109.64350128173828,
22.352134704589844,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 23 | 230 | 88 | 28,986 | 0 |
[
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] | [
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] | [
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0.31421712040901184,
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.892351 | [
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109.64350128173828,
22.352134704589844,
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] | [
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3.067434310913086,
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] | 0 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 23.1 | 231 | 88 | 28,987 | 0 |
[
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] | [
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] | [
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1.513877272605896,
0.345761775970459,
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] | release object on target marker | Is the object released? | gripper_open | 0 | [
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99.53817749023438,
24.127946853637695,
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30
] | [
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0.14846260845661163,
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] | 30 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 23.200001 | 232 | 88 | 28,988 | 0 |
[
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] | [
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] | 1 | [
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0.345761775970459,
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] | release object on target marker | Is the object released? | gripper_open | 0 | [
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99.53817749023438,
24.127946853637695,
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30
] | [
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0.14846260845661163,
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3.0369863510131836,
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] | 30 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 23.299999 | 233 | 88 | 28,989 | 0 |
[
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] | [
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] | 1 | [
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] | [
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1.513877272605896,
0.345761775970459,
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] | release object on target marker | Is the object released? | gripper_open | 0 | [
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99.53817749023438,
24.127946853637695,
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30
] | [
0.16291464865207672,
0.14846260845661163,
0.060030747205019,
3.0369863510131836,
1.014603853225708,
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] | 30 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
0.0045000240206718445
] | 23.4 | 234 | 88 | 28,990 | 0 |
[
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] | [
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] | 1 | [
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] | [
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1.513877272605896,
0.345761775970459,
-0.01613621413707733,
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] | release object on target marker | Is the object released? | gripper_open | 0 | [
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99.53817749023438,
24.127946853637695,
-0.4893370270729065,
30
] | [
0.16291464865207672,
0.14846260845661163,
0.060030747205019,
3.0369863510131836,
1.014603853225708,
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] | 30 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
0.0045000240206718445
] | 23.5 | 235 | 88 | 28,991 | 0 |
[
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99.53817749023438,
24.127946853637695,
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] | [
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99.53817749023438,
24.127946853637695,
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] | [
0.16291464865207672,
0.14846260845661163,
0.060030747205019,
3.0369863510131836,
1.014603853225708,
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] | 1 | [
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1.513877272605896,
0.345761775970459,
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] | [
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1.513877272605896,
0.345761775970459,
-0.01613621413707733,
0.1492946892976761
] | release object on target marker | Is the object released? | gripper_open | 0 | [
-57.1073112487793,
-71.84575653076172,
99.53817749023438,
24.127946853637695,
-0.4893370270729065,
30
] | [
0.16291464865207672,
0.14846260845661163,
0.060030747205019,
3.0369863510131836,
1.014603853225708,
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] | 30 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
0.0045000240206718445
] | 23.6 | 236 | 88 | 28,992 | 0 |
[
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99.53817749023438,
24.127946853637695,
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7.5
] | [
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99.53817749023438,
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] | release object on target marker | Is the object released? | gripper_open | 0 | [
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] | [
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0.15647761523723602,
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[
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] | release object on target marker | Is the object released? | gripper_open | 0 | [
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] | [
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[
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] | release object on target marker | Is the object released? | gripper_open | 0 | [
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] | [
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] | 30 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 23.9 | 239 | 88 | 28,995 | 0 |
[
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] | 1 | [
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] | [
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] | release object on target marker | Is the object released? | gripper_open | 0 | [
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-71.84575653076172,
99.53817749023438,
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] | [
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0.060030747205019,
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] | 30 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
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] | 24 | 240 | 88 | 28,996 | 0 |
[
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-0.4893370270729065,
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] | [
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] | [
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0.14846260845661163,
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] | 1 | [
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] | [
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0.345761775970459,
-0.01613621413707733,
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] | release object on target marker | Is the object released? | gripper_open | 0 | [
-57.1073112487793,
-71.84575653076172,
99.53817749023438,
24.127946853637695,
-0.4893370270729065,
30
] | [
0.16291464865207672,
0.14846260845661163,
0.060030747205019,
3.0369863510131836,
1.014603853225708,
-2.390561819076538
] | 30 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
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] | 24.1 | 241 | 88 | 28,997 | 0 |
[
-57.1073112487793,
-71.84575653076172,
99.53817749023438,
24.127946853637695,
-0.4893370270729065,
15
] | [
-57.1073112487793,
-71.84575653076172,
99.53817749023438,
24.127946853637695,
-0.4893370270729065,
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] | [
0.16291464865207672,
0.14846260845661163,
0.060030747205019,
3.0369863510131836,
1.014603853225708,
-2.390561819076538
] | 1 | [
-0.8740183711051941,
-1.3068299293518066,
1.513877272605896,
0.345761775970459,
-0.01613621413707733,
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] | [
-0.8740183711051941,
-1.3068299293518066,
1.513877272605896,
0.345761775970459,
-0.01613621413707733,
0.3460277020931244
] | release object on target marker | Is the object released? | gripper_open | 0.039845 | [
-57.1073112487793,
-71.84575653076172,
99.53817749023438,
24.127946853637695,
-0.4893370270729065,
30
] | [
0.16291464865207672,
0.14846260845661163,
0.060030747205019,
3.0369863510131836,
1.014603853225708,
-2.390561819076538
] | 30 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
0.0045000240206718445
] | 24.200001 | 242 | 88 | 28,998 | 0 |
[
-57.1073112487793,
-71.84575653076172,
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24.127946853637695,
-0.4893370270729065,
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] | [
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24.127946853637695,
-0.4893370270729065,
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] | [
0.16291464865207672,
0.14846260845661163,
0.060030747205019,
3.0369863510131836,
1.014603853225708,
-2.390561819076538
] | 1 | [
-0.8740183711051941,
-1.3068299293518066,
1.513877272605896,
0.345761775970459,
-0.01613621413707733,
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] | [
-0.8740183711051941,
-1.3068299293518066,
1.513877272605896,
0.345761775970459,
-0.01613621413707733,
0.37881651520729065
] | release object on target marker | Is the object released? | gripper_open | 0.13586 | [
-57.1073112487793,
-71.84575653076172,
99.53817749023438,
24.127946853637695,
-0.4893370270729065,
30
] | [
0.16291464865207672,
0.14846260845661163,
0.060030747205019,
3.0369863510131836,
1.014603853225708,
-2.390561819076538
] | 30 | pick box lid and place on target marker | target marker | [
0.15647761523723602,
0.1393483579158783,
0.0045000240206718445
] | 24.299999 | 243 | 88 | 28,999 | 0 |
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