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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] | Lift the box lid | Is the box lid lifted? | move | 0.29599 | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.333995 | [
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[
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[
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[
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[
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0.30559927225112915,
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[
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30.10373878479004,
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] | 0 | pick box lid and place on target marker | box lid | [
0.30559927225112915,
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] | Lift the box lid | Is the box lid lifted? | move | 0.679838 | [
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] | 0 | pick box lid and place on target marker | box lid | [
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] | 13.7 | 137 | 16 | 5,413 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.722574 | [
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] | 0 | pick box lid and place on target marker | box lid | [
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] | 13.8 | 138 | 16 | 5,414 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.763266 | [
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] | 0 | pick box lid and place on target marker | box lid | [
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] | 13.9 | 139 | 16 | 5,415 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.796908 | [
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] | [
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] | 0 | pick box lid and place on target marker | box lid | [
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] | 14 | 140 | 16 | 5,416 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.818763 | [
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] | [
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] | 0 | pick box lid and place on target marker | box lid | [
0.30559927225112915,
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] | 14.1 | 141 | 16 | 5,417 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.836757 | [
17.947031021118164,
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30.10373878479004,
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] | [
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] | 0 | pick box lid and place on target marker | box lid | [
0.30559927225112915,
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] | 14.2 | 142 | 16 | 5,418 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.856889 | [
17.947031021118164,
-27.45635986328125,
30.10373878479004,
31.609750747680664,
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] | [
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] | 0 | pick box lid and place on target marker | box lid | [
0.30559927225112915,
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] | 14.3 | 143 | 16 | 5,419 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.87641 | [
17.947031021118164,
-27.45635986328125,
30.10373878479004,
31.609750747680664,
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] | [
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] | 0 | pick box lid and place on target marker | box lid | [
0.30559927225112915,
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] | 14.4 | 144 | 16 | 5,420 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.897253 | [
17.947031021118164,
-27.45635986328125,
30.10373878479004,
31.609750747680664,
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] | [
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] | 0 | pick box lid and place on target marker | box lid | [
0.30559927225112915,
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] | 14.5 | 145 | 16 | 5,421 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.915404 | [
17.947031021118164,
-27.45635986328125,
30.10373878479004,
31.609750747680664,
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] | [
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] | 0 | pick box lid and place on target marker | box lid | [
0.30559927225112915,
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] | 14.6 | 146 | 16 | 5,422 | 0 |
[
17.655445098876953,
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.932676 | [
17.947031021118164,
-27.45635986328125,
30.10373878479004,
31.609750747680664,
0.3016439974308014,
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] | [
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3.0180482864379883,
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] | 0 | pick box lid and place on target marker | box lid | [
0.30559927225112915,
-0.09119150042533875,
0.20000000298023224
] | 14.7 | 147 | 16 | 5,423 | 0 |
[
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] | [
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0.33127090334892273,
0.478664755821228,
0.008707121945917606,
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] | Lift the box lid | Is the box lid lifted? | move | 0.944292 | [
17.947031021118164,
-27.45635986328125,
30.10373878479004,
31.609750747680664,
0.3016439974308014,
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] | [
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0.19998787343502045,
3.0180482864379883,
1.2569489479064941,
2.682673692703247
] | 0 | pick box lid and place on target marker | box lid | [
0.30559927225112915,
-0.09119150042533875,
0.20000000298023224
] | 14.8 | 148 | 16 | 5,424 | 0 |
[
17.84365463256836,
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0
] | [
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30.440460205078125,
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0.5108639597892761,
0.008429006673395634,
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] | Lift the box lid | Is the box lid lifted? | move | 0.946048 | [
17.947031021118164,
-27.45635986328125,
30.10373878479004,
31.609750747680664,
0.3016439974308014,
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] | [
0.30557119846343994,
-0.09118137508630753,
0.19998787343502045,
3.0180482864379883,
1.2569489479064941,
2.682673692703247
] | 0 | pick box lid and place on target marker | box lid | [
0.30559927225112915,
-0.09119150042533875,
0.20000000298023224
] | 14.9 | 149 | 16 | 5,425 | 0 |
[
17.86548614501953,
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30.8284912109375,
33.82987976074219,
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] | [
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] | [
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3.039669990539551,
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0.5093162655830383,
0.008429006673395634,
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.034765 | [
-22.63831901550293,
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18.166980743408203,
13.234968185424805,
0.29278916120529175,
0
] | [
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0.10597850382328033,
0.20004792511463165,
2.909942865371704,
1.3971352577209473,
-3.0551645755767822
] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
0.10603521764278412,
0.20000000298023224
] | 15 | 150 | 16 | 5,426 | 0 |
[
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[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.090788 | [
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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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[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.142165 | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 15.8 | 158 | 16 | 5,434 | 0 |
[
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] | 0 | pick box lid and place on target marker | target marker | [
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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 | 0.248441 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
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] | 16.1 | 161 | 16 | 5,437 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.289591 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 16.200001 | 162 | 16 | 5,438 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.332987 | [
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] | 16.299999 | 163 | 16 | 5,439 | 0 |
[
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[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.470258 | [
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[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.516627 | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 16.700001 | 167 | 16 | 5,443 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.563182 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 16.799999 | 168 | 16 | 5,444 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.60876 | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
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] | 16.9 | 169 | 16 | 5,445 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.653318 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 17 | 170 | 16 | 5,446 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.69564 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
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] | 17.1 | 171 | 16 | 5,447 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.728037 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 17.200001 | 172 | 16 | 5,448 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.756691 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
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] | 17.299999 | 173 | 16 | 5,449 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.782179 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
0.10603521764278412,
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] | 17.4 | 174 | 16 | 5,450 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.806038 | [
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18.166980743408203,
13.234968185424805,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
0.10603521764278412,
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] | 17.5 | 175 | 16 | 5,451 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.828988 | [
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18.166980743408203,
13.234968185424805,
0.29278916120529175,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
0.10603521764278412,
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] | 17.6 | 176 | 16 | 5,452 | 0 |
[
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] | [
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.851373 | [
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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 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 | 0.14538 | [
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30.686237335205078,
1.962774395942688,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 19 | 190 | 16 | 5,466 | 0 |
[
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[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.21212 | [
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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 | 0.250244 | [
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] | [
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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 | 0.290786 | [
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] | [
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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 | 0.333497 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 19.5 | 195 | 16 | 5,471 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.377997 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
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] | 19.6 | 196 | 16 | 5,472 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.424617 | [
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30.686237335205078,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
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] | 19.700001 | 197 | 16 | 5,473 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.469397 | [
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30.686237335205078,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 19.799999 | 198 | 16 | 5,474 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.518279 | [
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30.686237335205078,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 19.9 | 199 | 16 | 5,475 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.564489 | [
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] | [
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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 | 0.610604 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
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] | 20.1 | 201 | 16 | 5,477 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.656662 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 20.200001 | 202 | 16 | 5,478 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.699096 | [
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30.686237335205078,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
0.10603521764278412,
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] | 20.299999 | 203 | 16 | 5,479 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.735979 | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 20.4 | 204 | 16 | 5,480 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.766208 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
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] | 20.5 | 205 | 16 | 5,481 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.792596 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
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] | 20.6 | 206 | 16 | 5,482 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.816853 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
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] | 20.700001 | 207 | 16 | 5,483 | 0 |
[
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] | [
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.839976 | [
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30.686237335205078,
1.962774395942688,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
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] | 20.799999 | 208 | 16 | 5,484 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.862516 | [
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30.686237335205078,
1.962774395942688,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
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] | 20.9 | 209 | 16 | 5,485 | 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 | 0.884738 | [
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30.686237335205078,
1.962774395942688,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
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] | 21 | 210 | 16 | 5,486 | 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 | 0.906569 | [
-22.73584747314453,
30.686237335205078,
1.962774395942688,
31.69437026977539,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
0.10603521764278412,
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] | 21.1 | 211 | 16 | 5,487 | 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 | 0.927489 | [
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30.686237335205078,
1.962774395942688,
31.69437026977539,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
0.10603521764278412,
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] | 21.200001 | 212 | 16 | 5,488 | 0 |
[
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] | [
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] | [
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0.4801678955554962,
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.941551 | [
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30.686237335205078,
1.962774395942688,
31.69437026977539,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
0.10603521764278412,
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] | 21.299999 | 213 | 16 | 5,489 | 0 |
[
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] | [
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] | [
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0.4801678955554962,
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.948413 | [
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30.686237335205078,
1.962774395942688,
31.69437026977539,
0.2547812759876251,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.357750803232193,
0.10603521764278412,
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] | 21.4 | 214 | 16 | 5,490 | 0 |
[
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] | [
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28.836978912353516,
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] | 1 | [
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] | [
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0.5022317171096802,
0.009480790235102177,
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] | release object on target marker | Is the object released? | gripper_open | 0 | [
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28.836978912353516,
1.395146131515503,
32.936458587646484,
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30
] | [
0.3567136228084564,
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] | 30 | pick box lid and place on target marker | target marker | [
0.357750803232193,
0.10603521764278412,
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] | 21.5 | 215 | 16 | 5,491 | 0 |
[
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28.836978912353516,
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32.936458587646484,
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] | [
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28.836978912353516,
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0.3567136228084564,
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] | 1 | [
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] | [
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0.514853298664093,
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0.5022317171096802,
0.009480790235102177,
0.057485874742269516
] | release object on target marker | Is the object released? | gripper_open | 0 | [
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28.836978912353516,
1.395146131515503,
32.936458587646484,
0.32627665996551514,
30
] | [
0.3567136228084564,
0.10621782392263412,
0.031099505722522736,
3.108309745788574,
0.70351642370224,
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] | 30 | pick box lid and place on target marker | target marker | [
0.357750803232193,
0.10603521764278412,
0.0045000226236879826
] | 21.6 | 216 | 16 | 5,492 | 0 |
[
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28.836978912353516,
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32.936458587646484,
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] | [
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28.836978912353516,
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] | [
0.3567136228084564,
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] | 1 | [
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] | [
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0.514853298664093,
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0.5022317171096802,
0.009480790235102177,
0.09027476608753204
] | release object on target marker | Is the object released? | gripper_open | 0 | [
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28.836978912353516,
1.395146131515503,
32.936458587646484,
0.32627665996551514,
30
] | [
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0.357750803232193,
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] | 21.700001 | 217 | 16 | 5,493 | 0 |
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] | release object on target marker | Is the object released? | gripper_open | 0 | [
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] | [
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0.357750803232193,
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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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28.836978912353516,
1.395146131515503,
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] | [
0.3567136228084564,
0.10621782392263412,
0.031099505722522736,
3.108309745788574,
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] | 30 | pick box lid and place on target marker | target marker | [
0.357750803232193,
0.10603521764278412,
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] | 22.1 | 221 | 16 | 5,497 | 0 |
[
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0.10621782392263412,
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0.514853298664093,
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0.5022317171096802,
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] | release object on target marker | Is the object released? | gripper_open | 0 | [
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28.836978912353516,
1.395146131515503,
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30
] | [
0.3567136228084564,
0.10621782392263412,
0.031099505722522736,
3.108309745788574,
0.70351642370224,
-2.870269536972046
] | 30 | pick box lid and place on target marker | target marker | [
0.357750803232193,
0.10603521764278412,
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] | 22.200001 | 222 | 16 | 5,498 | 0 |
[
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32.936458587646484,
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] | [
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28.836978912353516,
1.395146131515503,
32.936458587646484,
0.32627665996551514,
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0.3567136228084564,
0.10621782392263412,
0.031099505722522736,
3.108309745788574,
0.70351642370224,
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] | 1 | [
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0.5022317171096802,
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] | [
-0.32273173332214355,
0.514853298664093,
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0.5022317171096802,
0.009480790235102177,
0.28700774908065796
] | release object on target marker | Is the object released? | gripper_open | 0 | [
-22.716590881347656,
28.836978912353516,
1.395146131515503,
32.936458587646484,
0.32627665996551514,
30
] | [
0.3567136228084564,
0.10621782392263412,
0.031099505722522736,
3.108309745788574,
0.70351642370224,
-2.870269536972046
] | 30 | pick box lid and place on target marker | target marker | [
0.357750803232193,
0.10603521764278412,
0.0045000226236879826
] | 22.299999 | 223 | 16 | 5,499 | 0 |
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