observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language string | skill.verification_question string | skill.type string | skill.progress float32 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 | subtask.natural_language string | subtask.object_name string | subtask.target_position list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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31.090909957885742,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.006249 | [
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21.996129989624023,
35.136104583740234,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 18.5 | 185 | 32 | 12,300 | 0 | |
[
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0.38414135575294495,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.006249 | [
-3.994971990585327,
-3.238485097885132,
21.996129989624023,
35.136104583740234,
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] | [
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3.0722780227661133,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 18.6 | 186 | 32 | 12,301 | 0 | |
[
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31.090909957885742,
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] | [
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] | [
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.013493 | [
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21.996129989624023,
35.136104583740234,
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3.0722780227661133,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 18.700001 | 187 | 32 | 12,302 | 0 | |
[
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] | [
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.013493 | [
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21.996129989624023,
35.136104583740234,
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] | [
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3.0722780227661133,
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] | 0 | pick pot lid and place on pot | [
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0,
0
] | 18.799999 | 188 | 32 | 12,303 | 0 | |
[
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] | [
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] | 0 | [
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] | [
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.031821 | [
-3.994971990585327,
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21.996129989624023,
35.136104583740234,
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] | [
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3.0722780227661133,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 18.9 | 189 | 32 | 12,304 | 0 | |
[
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0
] | [
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0
] | [
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] | 0 | [
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] | [
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0.37308311462402344,
0.2277759462594986,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.050138 | [
-3.994971990585327,
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21.996129989624023,
35.136104583740234,
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] | [
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0.10964039713144302,
3.0722780227661133,
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3.0290884971618652
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 19 | 190 | 32 | 12,305 | 0 | |
[
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31.090909957885742,
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] | [
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] | [
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] | 0 | [
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] | [
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0.36843234300613403,
0.24098390340805054,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.073375 | [
-3.994971990585327,
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21.996129989624023,
35.136104583740234,
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] | [
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3.0722780227661133,
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3.0290884971618652
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 19.1 | 191 | 32 | 12,306 | 0 | |
[
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] | [
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0
] | [
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] | 0 | [
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] | [
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0.3542889356613159,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.093041 | [
-3.994971990585327,
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21.996129989624023,
35.136104583740234,
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] | [
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0.10964039713144302,
3.0722780227661133,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 19.200001 | 192 | 32 | 12,307 | 0 | |
[
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0
] | [
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] | [
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] | 0 | [
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] | [
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0.34847697615623474,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.128739 | [
-3.994971990585327,
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21.996129989624023,
35.136104583740234,
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] | [
0.31999388337135315,
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0.10964039713144302,
3.0722780227661133,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 19.299999 | 193 | 32 | 12,308 | 0 | |
[
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0
] | [
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] | [
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] | 0 | [
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] | [
0.01046682521700859,
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0.342160701751709,
0.2904377281665802,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.154547 | [
-3.994971990585327,
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21.996129989624023,
35.136104583740234,
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] | [
0.31999388337135315,
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0.10964039713144302,
3.0722780227661133,
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3.0290884971618652
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 19.4 | 194 | 32 | 12,309 | 0 | |
[
-4.34782600402832,
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31.090909957885742,
14.914210319519043,
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0
] | [
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27.87950325012207,
16.478099822998047,
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0
] | [
0.3283407688140869,
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0.17832598090171814,
2.9409525394439697,
1.2386912107467651,
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] | 0 | [
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0.38963112235069275,
0.2822524607181549,
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] | [
0.010718814097344875,
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0.33544254302978516,
0.3095168471336365,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.197532 | [
-3.994971990585327,
-3.238485097885132,
21.996129989624023,
35.136104583740234,
-0.6105006337165833,
0
] | [
0.31999388337135315,
-0.004118497017771006,
0.10964039713144302,
3.0722780227661133,
0.7891871333122253,
3.0290884971618652
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 19.5 | 195 | 32 | 12,310 | 0 | |
[
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31.090909957885742,
15.970083236694336,
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0
] | [
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17.62598419189453,
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0
] | [
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] | 0 | [
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] | [
0.010983121581375599,
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0.3283959627151489,
0.32952868938446045,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.233342 | [
-3.994971990585327,
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21.996129989624023,
35.136104583740234,
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] | [
0.31999388337135315,
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0.10964039713144302,
3.0722780227661133,
0.7891871333122253,
3.0290884971618652
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 19.6 | 196 | 32 | 12,311 | 0 | |
[
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31.090909957885742,
17.025957107543945,
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0
] | [
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27.026769638061523,
18.822036743164062,
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0
] | [
0.3277644217014313,
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0.16623622179031372,
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1.1754813194274902,
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] | 0 | [
0.007669905666261911,
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0.38963112235069275,
0.3190680146217346,
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] | [
0.011258524842560291,
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0.321053683757782,
0.3503803014755249,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.271629 | [
-3.994971990585327,
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21.996129989624023,
35.136104583740234,
-0.6105006337165833,
0
] | [
0.31999388337135315,
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0.10964039713144302,
3.0722780227661133,
0.7891871333122253,
3.0290884971618652
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 19.700001 | 197 | 32 | 12,312 | 0 | |
[
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31,
18.169818878173828,
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0
] | [
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26.579927444458008,
20.0502872467041,
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0
] | [
0.32730966806411743,
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0.1600642055273056,
2.9905788898468018,
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] | 0 | [
0.007669905666261911,
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0.3880971372127533,
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] | [
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0.31351375579833984,
0.3717932403087616,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.312708 | [
-3.994971990585327,
-3.238485097885132,
21.996129989624023,
35.136104583740234,
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] | [
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3.0722780227661133,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 19.799999 | 198 | 32 | 12,313 | 0 | |
[
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] | [
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] | [
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] | [
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0.3058391511440277,
0.39358949661254883,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.354782 | [
-3.994971990585327,
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21.996129989624023,
35.136104583740234,
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] | [
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3.0722780227661133,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 19.9 | 199 | 32 | 12,314 | 0 | |
[
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20.545534133911133,
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] | [
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] | [
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3.0153825283050537,
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] | 0 | [
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] | [
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0.2980988919734955,
0.4155731499195099,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.398407 | [
-3.994971990585327,
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21.996129989624023,
35.136104583740234,
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] | [
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20 | 200 | 32 | 12,315 | 0 | |
[
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30.545454025268555,
21.865375518798828,
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] | [
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] | [
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3.0248799324035645,
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] | 0 | [
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] | [
0.012409760616719723,
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0.29036274552345276,
0.43754521012306213,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.444774 | [
-3.994971990585327,
-3.238485097885132,
21.996129989624023,
35.136104583740234,
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] | [
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0.10964039713144302,
3.0722780227661133,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.1 | 201 | 32 | 12,316 | 0 | |
[
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30.363636016845703,
23.09722900390625,
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] | [
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0
] | [
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0.13635525107383728,
3.0326249599456787,
1.0071582794189453,
3.005230188369751
] | 0 | [
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0.424912691116333,
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] | [
0.012697343714535236,
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0.282696396112442,
0.4593188762664795,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.484877 | [
-3.994971990585327,
-3.238485097885132,
21.996129989624023,
35.136104583740234,
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] | [
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0.10964039713144302,
3.0722780227661133,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.200001 | 202 | 32 | 12,317 | 0 | |
[
-4.34782600402832,
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29.545454025268555,
24.32908058166504,
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] | [
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24.30786895751953,
26.296022415161133,
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0
] | [
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3.0389840602874756,
0.9797654747962952,
3.01055908203125
] | 0 | [
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0.4463884234428406,
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] | [
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0.275175541639328,
0.4806794822216034,
-0.019941750913858414,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.54069 | [
-3.994971990585327,
-3.238485097885132,
21.996129989624023,
35.136104583740234,
-0.6105006337165833,
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] | [
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0.10964039713144302,
3.0722780227661133,
0.7891871333122253,
3.0290884971618652
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.299999 | 203 | 32 | 12,318 | 0 | |
[
-4.34782600402832,
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28.81818199157715,
25.560932159423828,
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0
] | [
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23.873899459838867,
27.488985061645508,
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0
] | [
0.32318806648254395,
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0.12890051305294037,
3.044215440750122,
0.9554018378257751,
3.0148677825927734
] | 0 | [
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0.35128161311149597,
0.46786412596702576,
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] | [
0.013254157267510891,
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0.2678528130054474,
0.5014771819114685,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.591307 | [
-3.994971990585327,
-3.238485097885132,
21.996129989624023,
35.136104583740234,
-0.6105006337165833,
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] | [
0.31999388337135315,
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0.10964039713144302,
3.0722780227661133,
0.7891871333122253,
3.0290884971618652
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.4 | 204 | 32 | 12,319 | 0 | |
[
-4.34782600402832,
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28.363636016845703,
26.704795837402344,
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0
] | [
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23.457225799560547,
28.634403228759766,
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0
] | [
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0.12425057590007782,
3.049978017807007,
0.9264544248580933,
3.0195250511169434
] | 0 | [
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0.3436116874217987,
0.48780590295791626,
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] | [
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0.26082196831703186,
0.5214460492134094,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.636761 | [
-3.994971990585327,
-3.238485097885132,
21.996129989624023,
35.136104583740234,
-0.6105006337165833,
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] | [
0.31999388337135315,
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0.10964039713144302,
3.0722780227661133,
0.7891871333122253,
3.0290884971618652
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.5 | 205 | 32 | 12,320 | 0 | |
[
-4.34782600402832,
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28.363636016845703,
27.936647415161133,
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0
] | [
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23.06852912902832,
29.702909469604492,
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0
] | [
0.3203846514225006,
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0.11838241666555405,
3.056386709213257,
0.8913933038711548,
3.0245814323425293
] | 0 | [
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0.3436116874217987,
0.5092816352844238,
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] | [
0.013763921335339546,
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0.25426316261291504,
0.5400741100311279,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.673236 | [
-3.994971990585327,
-3.238485097885132,
21.996129989624023,
35.136104583740234,
-0.6105006337165833,
0
] | [
0.31999388337135315,
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0.10964039713144302,
3.0722780227661133,
0.7891871333122253,
3.0290884971618652
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.6 | 206 | 32 | 12,321 | 0 | |
[
-4.34782600402832,
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27.727272033691406,
28.992521286010742,
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0
] | [
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22.872772216796875,
30.24104118347168,
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0
] | [
0.3198276162147522,
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0.11552455276250839,
3.060021162033081,
0.8700425028800964,
3.0273845195770264
] | 0 | [
0.007669905666261911,
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0.3328738212585449,
0.5276893973350525,
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] | [
0.01388783659785986,
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0.25096002221107483,
0.5494557023048401,
-0.019941750913858414,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.716586 | [
-3.994971990585327,
-3.238485097885132,
21.996129989624023,
35.136104583740234,
-0.6105006337165833,
0
] | [
0.31999388337135315,
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0.10964039713144302,
3.0722780227661133,
0.7891871333122253,
3.0290884971618652
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.700001 | 207 | 32 | 12,322 | 0 | |
[
-4.34782600402832,
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27.090909957885742,
29.960405349731445,
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0
] | [
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22.671432495117188,
30.794511795043945,
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0
] | [
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0.11361941695213318,
3.0627501010894775,
0.8532625436782837,
3.0294556617736816
] | 0 | [
0.007669905666261911,
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0.3221359848976135,
0.5445631742477417,
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] | [
0.014015275053679943,
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0.24756264686584473,
0.5591047406196594,
-0.019941750913858414,
-0.016873788088560104
] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.755749 | [
-3.994971990585327,
-3.238485097885132,
21.996129989624023,
35.136104583740234,
-0.6105006337165833,
0
] | [
0.31999388337135315,
-0.004118497017771006,
0.10964039713144302,
3.0722780227661133,
0.7891871333122253,
3.0290884971618652
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.799999 | 208 | 32 | 12,323 | 0 | |
[
-4.34782600402832,
-6.215644836425781,
27,
30.400352478027344,
-0.6105006337165833,
0
] | [
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22.46567153930664,
31.36014175415039,
-0.6105006337165833,
0
] | [
0.31876468658447266,
-0.002043691463768482,
0.11164697259664536,
3.064669609069824,
0.8410567045211792,
3.0308942794799805
] | 0 | [
0.007669905666261911,
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0.3206019699573517,
0.552233099937439,
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] | [
0.01414551306515932,
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0.24409069120883942,
0.5689657926559448,
-0.019941750913858414,
-0.016873788088560104
] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.770351 | [
-3.994971990585327,
-3.238485097885132,
21.996129989624023,
35.136104583740234,
-0.6105006337165833,
0
] | [
0.31999388337135315,
-0.004118497017771006,
0.10964039713144302,
3.0722780227661133,
0.7891871333122253,
3.0290884971618652
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.9 | 209 | 32 | 12,324 | 0 | |
[
-4.34782600402832,
-5.792811870574951,
26.727272033691406,
30.840299606323242,
-0.6105006337165833,
0
] | [
-4.030324935913086,
-5.794281959533691,
22.25471305847168,
31.94005584716797,
-0.6105006337165833,
0
] | [
0.3184911012649536,
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0.11003073304891586,
3.0663068294525146,
0.8303751349449158,
3.0321085453033447
] | 0 | [
0.007669905666261911,
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0.3160000443458557,
0.5599029660224915,
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] | [
0.014279046095907688,
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0.24053101241588593,
0.579075813293457,
-0.019941750913858414,
-0.016873788088560104
] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.789378 | [
-3.994971990585327,
-3.238485097885132,
21.996129989624023,
35.136104583740234,
-0.6105006337165833,
0
] | [
0.31999388337135315,
-0.004118497017771006,
0.10964039713144302,
3.0722780227661133,
0.7891871333122253,
3.0290884971618652
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21 | 210 | 32 | 12,325 | 0 | |
[
-4.34782600402832,
-5.454545497894287,
26.727272033691406,
31.544214248657227,
-0.6105006337165833,
0
] | [
-4.023735046386719,
-5.362500190734863,
22.037994384765625,
32.53580856323242,
-0.6105006337165833,
0
] | [
0.31716468930244446,
-0.002031418029218912,
0.10724896192550659,
3.069026231765747,
0.8120608329772949,
3.0340993404388428
] | 0 | [
0.007669905666261911,
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0.3160000443458557,
0.5721748471260071,
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] | [
0.014416221529245377,
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0.23687414824962616,
0.5894619822502136,
-0.019941750913858414,
-0.016873788088560104
] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.805919 | [
-3.994971990585327,
-3.238485097885132,
21.996129989624023,
35.136104583740234,
-0.6105006337165833,
0
] | [
0.31999388337135315,
-0.004118497017771006,
0.10964039713144302,
3.0722780227661133,
0.7891871333122253,
3.0290884971618652
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.1 | 211 | 32 | 12,326 | 0 | |
[
-4.34782600402832,
-4.947145938873291,
26.81818199157715,
32.16014099121094,
-0.6105006337165833,
0
] | [
-4.01692533493042,
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.818784 | [
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] | 21.200001 | 212 | 32 | 12,327 | 0 | |
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.836907 | [
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] | 21.299999 | 213 | 32 | 12,328 | 0 | |
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.858505 | [
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] | 21.4 | 214 | 32 | 12,329 | 0 | |
[
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.880625 | [
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] | 21.5 | 215 | 32 | 12,330 | 0 | |
[
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] | push lid +2cm on pot | move_linear | 0 | [
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] | 0 | pick pot lid and place on pot | [
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] | 21.6 | 216 | 32 | 12,331 | 0 | ||
[
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] | push lid +2cm on pot | move_linear | 0 | [
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] | 0 | pick pot lid and place on pot | [
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] | 21.700001 | 217 | 32 | 12,332 | 0 | ||
[
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] | push lid +2cm on pot | move_linear | 0.003122 | [
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] | 0 | pick pot lid and place on pot | [
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] | 21.799999 | 218 | 32 | 12,333 | 0 | ||
[
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] | push lid +2cm on pot | move_linear | 0.025586 | [
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] | 0 | pick pot lid and place on pot | [
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] | 21.9 | 219 | 32 | 12,334 | 0 | ||
[
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] | push lid +2cm on pot | move_linear | 0.060994 | [
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] | 0 | pick pot lid and place on pot | [
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] | 22 | 220 | 32 | 12,335 | 0 | ||
[
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] | push lid +2cm on pot | move_linear | 0.095987 | [
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] | 0 | pick pot lid and place on pot | [
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] | 22.1 | 221 | 32 | 12,336 | 0 | ||
[
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] | 22.200001 | 222 | 32 | 12,337 | 0 | ||
[
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] | push lid +2cm on pot | move_linear | 0.112924 | [
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] | 0 | pick pot lid and place on pot | [
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] | 22.299999 | 223 | 32 | 12,338 | 0 | ||
[
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] | push lid +2cm on pot | move_linear | 0.115527 | [
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] | 22.4 | 224 | 32 | 12,339 | 0 | ||
[
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] | 28.1 | 281 | 32 | 12,396 | 0 | ||
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] | 28.200001 | 282 | 32 | 12,397 | 0 | ||
[
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] | 0 | pick pot lid and place on pot | [
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] | 28.299999 | 283 | 32 | 12,398 | 0 | ||
[
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] | 0 | pick pot lid and place on pot | [
0,
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0
] | 28.4 | 284 | 32 | 12,399 | 0 |
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