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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15.636363983154297,
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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 | 0.736079 | [
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5.302309513092041,
4.786868572235107,
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] | 0 | pick pot lid and place on pot | [
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0,
0
] | 20.200001 | 202 | 34 | 13,100 | 0 | |
[
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] | [
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] | [
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0.020328601822257042,
0.8253852725028992,
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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 | 0.772206 | [
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5.302309513092041,
4.786868572235107,
53.90473937988281,
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] | [
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3.095773220062256,
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] | 0 | pick pot lid and place on pot | [
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0,
0
] | 20.299999 | 203 | 34 | 13,101 | 0 | |
[
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] | [
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] | [
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0.00587305286899209,
0.8431394100189209,
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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 | 0.796437 | [
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4.786868572235107,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.4 | 204 | 34 | 13,102 | 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 | 0.818325 | [
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] | [
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] | 0 | pick pot lid and place on pot | [
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0
] | 20.5 | 205 | 34 | 13,103 | 0 | |
[
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] | [
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] | 0 | [
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] | [
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0.8800196647644043,
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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 | 0.840509 | [
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5.302309513092041,
4.786868572235107,
53.90473937988281,
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] | [
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3.095773220062256,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.6 | 206 | 34 | 13,104 | 0 | |
[
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11,
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] | [
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0
] | [
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3.0897932052612305,
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] | 0 | [
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] | [
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0.8993080258369446,
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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 | 0.86372 | [
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5.302309513092041,
4.786868572235107,
53.90473937988281,
-0.5616605877876282,
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] | [
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0.10692104697227478,
3.095773220062256,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.700001 | 207 | 34 | 13,105 | 0 | |
[
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0
] | [
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0
] | [
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] | [
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0.9194436073303223,
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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 | 0.889435 | [
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5.302309513092041,
4.786868572235107,
53.90473937988281,
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] | [
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] | 0 | pick pot lid and place on pot | [
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0,
0
] | 20.799999 | 208 | 34 | 13,106 | 0 | |
[
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3.847780227661133,
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0
] | [
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] | [
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] | [
0.014822042547166348,
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0.9403043985366821,
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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 | 0.916937 | [
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] | [
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] | 0 | pick pot lid and place on pot | [
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] | 20.9 | 209 | 34 | 13,107 | 0 | |
[
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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 | 0.937026 | [
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53.90473937988281,
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] | [
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] | 0 | pick pot lid and place on pot | [
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] | 21 | 210 | 34 | 13,108 | 0 | |
[
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] | [
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] | [
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] | [
0.014980345033109188,
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0.9620013236999512,
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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 | 0.964813 | [
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4.786868572235107,
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] | [
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3.095773220062256,
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] | 0 | pick pot lid and place on pot | [
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0,
0
] | 21.1 | 211 | 34 | 13,109 | 0 | |
[
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5.623678684234619,
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53.54157638549805,
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0
] | [
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0
] | [
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] | 0 | [
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] | [
0.014980345033109188,
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0.9620013236999512,
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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 | 0.972737 | [
-3.9966347217559814,
5.302309513092041,
4.786868572235107,
53.90473937988281,
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0
] | [
0.3159022629261017,
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0.10692104697227478,
3.095773220062256,
0.5982840657234192,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.200001 | 212 | 34 | 13,110 | 0 | |
[
-4.34782600402832,
5.623678684234619,
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53.717552185058594,
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0
] | [
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0
] | [
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] | 0 | [
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] | [
0.014980345033109188,
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0.9620013236999512,
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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 | 0.97316 | [
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5.302309513092041,
4.786868572235107,
53.90473937988281,
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] | [
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3.095773220062256,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.299999 | 213 | 34 | 13,111 | 0 | |
[
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] | [
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] | [
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] | [
0.015018222853541374,
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0.8673397302627563,
-0.019941750913858414,
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] | push lid +2cm on pot | move_linear | 0 | [
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] | [
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3.0977461338043213,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.4 | 214 | 34 | 13,112 | 0 | ||
[
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5.623678684234619,
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53.717552185058594,
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] | [
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0
] | [
0.3127760589122772,
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] | 0 | [
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[
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] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 25.700001 | 257 | 34 | 13,155 | 0 | ||
[
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] | 20 | pick pot lid and place on pot | [
0,
0,
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] | 25.799999 | 258 | 34 | 13,156 | 0 | ||
[
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] | [
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] | 20 | pick pot lid and place on pot | [
0,
0,
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] | 25.9 | 259 | 34 | 13,157 | 0 | ||
[
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] | [
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] | 20 | pick pot lid and place on pot | [
0,
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] | 26 | 260 | 34 | 13,158 | 0 | ||
[
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] | [
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] | 20 | pick pot lid and place on pot | [
0,
0,
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] | 26.1 | 261 | 34 | 13,159 | 0 | ||
[
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] | release lid on pot | gripper_open | 0.269382 | [
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] | [
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] | 20 | pick pot lid and place on pot | [
0,
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] | 26.200001 | 262 | 34 | 13,160 | 0 | ||
[
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] | [
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] | 20 | pick pot lid and place on pot | [
0,
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] | 26.299999 | 263 | 34 | 13,161 | 0 | ||
[
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] | release lid on pot | gripper_open | 0.391286 | [
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20
] | [
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] | 20 | pick pot lid and place on pot | [
0,
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0
] | 26.4 | 264 | 34 | 13,162 | 0 | ||
[
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] | release lid on pot | gripper_open | 0.45224 | [
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] | [
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] | 20 | pick pot lid and place on pot | [
0,
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] | 26.5 | 265 | 34 | 13,163 | 0 | ||
[
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] | release lid on pot | gripper_open | 0.513191 | [
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20
] | [
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] | 20 | pick pot lid and place on pot | [
0,
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] | 26.6 | 266 | 34 | 13,164 | 0 | ||
[
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] | release lid on pot | gripper_open | 0.574169 | [
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17.20930290222168,
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20
] | [
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] | 20 | pick pot lid and place on pot | [
0,
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] | 26.700001 | 267 | 34 | 13,165 | 0 | ||
[
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] | release lid on pot | gripper_open | 0.635142 | [
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20
] | [
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] | 20 | pick pot lid and place on pot | [
0,
0,
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] | 26.799999 | 268 | 34 | 13,166 | 0 | ||
[
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] | 1 | [
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] | release lid on pot | gripper_open | 0.696134 | [
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17.20930290222168,
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20
] | [
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] | 20 | pick pot lid and place on pot | [
0,
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] | 26.9 | 269 | 34 | 13,167 | 0 | ||
[
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] | release lid on pot | gripper_open | 0.757083 | [
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17.20930290222168,
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20
] | [
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] | 20 | pick pot lid and place on pot | [
0,
0,
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] | 27 | 270 | 34 | 13,168 | 0 | ||
[
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17.378435134887695,
-3.909090995788574,
51.78178787231445,
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17.01943588256836
] | [
-4.421517848968506,
17.378435134887695,
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51.78178787231445,
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17.01943588256836
] | [
0.33462128043174744,
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0.084271140396595,
3.0962584018707275,
0.5628878474235535,
3.0506651401519775
] | 1 | [
0.006135927513241768,
0.2822524607181549,
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0.9249904155731201,
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] | [
0.006135927513241768,
0.2822524607181549,
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0.9249904155731201,
-0.023009711876511574,
0.3763049840927124
] | release lid on pot | gripper_open | 0.817967 | [
-4.421517848968506,
17.20930290222168,
-3.8181817531585693,
51.69379806518555,
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20
] | [
0.33471083641052246,
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0.0848785787820816,
3.0959506034851074,
0.5659447312355042,
3.0505003929138184
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.1 | 271 | 34 | 13,169 | 0 | ||
[
-4.421517848968506,
17.378435134887695,
-3.909090995788574,
51.78178787231445,
-0.7081807255744934,
18.02105712890625
] | [
-4.421517848968506,
17.378435134887695,
-3.909090995788574,
51.78178787231445,
-0.7081807255744934,
18.02105712890625
] | [
0.33462128043174744,
-0.001690464443527162,
0.084271140396595,
3.0962584018707275,
0.5628878474235535,
3.0506651401519775
] | 1 | [
0.006135927513241768,
0.2822524607181549,
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0.9249904155731201,
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0.39944419264793396
] | [
0.006135927513241768,
0.2822524607181549,
-0.200951486825943,
0.9249904155731201,
-0.023009711876511574,
0.39944419264793396
] | release lid on pot | gripper_open | 0.878757 | [
-4.421517848968506,
17.20930290222168,
-3.8181817531585693,
51.69379806518555,
-0.7081807255744934,
20
] | [
0.33471083641052246,
-0.0016910149715840816,
0.0848785787820816,
3.0959506034851074,
0.5659447312355042,
3.0505003929138184
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.200001 | 272 | 34 | 13,170 | 0 | ||
[
-4.421517848968506,
17.378435134887695,
-3.909090995788574,
51.78178787231445,
-0.7081807255744934,
19.021869659423828
] | [
-4.421517848968506,
17.378435134887695,
-3.909090995788574,
51.78178787231445,
-0.7081807255744934,
19.021869659423828
] | [
0.33462128043174744,
-0.001690464443527162,
0.084271140396595,
3.0962584018707275,
0.5628878474235535,
3.0506651401519775
] | 1 | [
0.006135927513241768,
0.2822524607181549,
-0.200951486825943,
0.9249904155731201,
-0.023009711876511574,
0.42256471514701843
] | [
0.006135927513241768,
0.2822524607181549,
-0.200951486825943,
0.9249904155731201,
-0.023009711876511574,
0.42256471514701843
] | release lid on pot | gripper_open | 0.939038 | [
-4.421517848968506,
17.20930290222168,
-3.8181817531585693,
51.69379806518555,
-0.7081807255744934,
20
] | [
0.33471083641052246,
-0.0016910149715840816,
0.0848785787820816,
3.0959506034851074,
0.5659447312355042,
3.0505003929138184
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.299999 | 273 | 34 | 13,171 | 0 | ||
[
-4.274134159088135,
18.393234252929688,
-4.181818008422852,
52.045753479003906,
-0.7570207715034485,
20
] | [
-4.274133682250977,
18.433208465576172,
-6.39782190322876,
52.0457649230957,
-0.7570207715034485,
20
] | [
0.3340117633342743,
-0.0025818946305662394,
0.08001205325126648,
3.0971529483795166,
0.5444780588150024,
3.0467638969421387
] | 0 | [
0.009203883819282055,
0.30066022276878357,
-0.20555342733860016,
0.9295923113822937,
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0.44516122341156006
] | [
0.009203894063830376,
0.3013853430747986,
-0.2429458051919937,
0.9295925498008728,
-0.02454369328916073,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 27.4 | 274 | 34 | 13,172 | 0 | |
[
-4.274134159088135,
18.562368392944336,
-4.181818008422852,
52.045753479003906,
-0.7570207715034485,
20
] | [
-4.272927284240723,
18.319265365600586,
-6.413755416870117,
52.08830642700195,
-0.7570207715034485,
20
] | [
0.33389827609062195,
-0.002580848755314946,
0.07919985800981522,
3.097459077835083,
0.5414212942123413,
3.046922206878662
] | 0 | [
0.009203883819282055,
0.3037281930446625,
-0.20555342733860016,
0.9295923113822937,
-0.02454369328916073,
0.44516122341156006
] | [
0.009229006245732307,
0.29931849241256714,
-0.2432146668434143,
0.930334210395813,
-0.02454369328916073,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 27.5 | 275 | 34 | 13,173 | 0 | |
[
-4.274134159088135,
18.646934509277344,
-4.545454502105713,
52.045753479003906,
-0.7570207715034485,
20
] | [
-4.269704818725586,
18.01496696472168,
-6.456307411193848,
52.20192337036133,
-0.7570207715034485,
20
] | [
0.3346758484840393,
-0.0025880029425024986,
0.08004868775606155,
3.096999406814575,
0.546006441116333,
3.046684503555298
] | 0 | [
0.009203883819282055,
0.30526217818260193,
-0.21168935298919678,
0.9295923113822937,
-0.02454369328916073,
0.44516122341156006
] | [
0.009296085685491562,
0.2937987148761749,
-0.24393267929553986,
0.932314932346344,
-0.02454369328916073,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 27.6 | 276 | 34 | 13,174 | 0 | |
[
-4.274134159088135,
18.646934509277344,
-4.545454502105713,
52.045753479003906,
-0.7570207715034485,
20
] | [
-4.264530181884766,
17.426197052001953,
-6.524631023406982,
52.38435363769531,
-0.7570207715034485,
20
] | [
0.3346758484840393,
-0.0025880029425024986,
0.08004868775606155,
3.096999406814575,
0.546006441116333,
3.046684503555298
] | 0 | [
0.009203883819282055,
0.30526217818260193,
-0.21168935298919678,
0.9295923113822937,
-0.02454369328916073,
0.44516122341156006
] | [
0.009403801523149014,
0.2831188142299652,
-0.24508555233478546,
0.9354953765869141,
-0.02454369328916073,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 27.700001 | 277 | 34 | 13,175 | 0 | |
[
-4.274134159088135,
18.646934509277344,
-4.545454502105713,
52.045753479003906,
-0.7570207715034485,
20
] | [
-4.257441520690918,
16.75681495666504,
-6.618234634399414,
52.634281158447266,
-0.7570207715034485,
20
] | [
0.3346758484840393,
-0.0025880029425024986,
0.08004868775606155,
3.096999406814575,
0.546006441116333,
3.046684503555298
] | 0 | [
0.009203883819282055,
0.30526217818260193,
-0.21168935298919678,
0.9295923113822937,
-0.02454369328916073,
0.44516122341156006
] | [
0.00955136027187109,
0.2709766924381256,
-0.24666500091552734,
0.9398525357246399,
-0.02454369328916073,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 27.799999 | 278 | 34 | 13,176 | 0 | |
[
-4.274134159088135,
18.646934509277344,
-4.545454502105713,
52.13374328613281,
-0.7570207715034485,
20
] | [
-4.248771667480469,
15.938124656677246,
-6.732717037200928,
52.93996047973633,
-0.7570207715034485,
20
] | [
0.33447930216789246,
-0.0025861947797238827,
0.0799412727355957,
3.0971529483795166,
0.5444780588150024,
3.0467638969421387
] | 0 | [
0.009203883819282055,
0.30526217818260193,
-0.21168935298919678,
0.9311263561248779,
-0.02454369328916073,
0.44516122341156006
] | [
0.009731832891702652,
0.25612619519233704,
-0.24859675765037537,
0.945181667804718,
-0.02454369328916073,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 27.9 | 279 | 34 | 13,177 | 0 | |
[
-4.274134159088135,
18.646934509277344,
-4.545454502105713,
52.13374328613281,
-0.7570207715034485,
19.99358558654785
] | [
-4.238539695739746,
14.971970558166504,
-6.867819786071777,
53.30069351196289,
-0.7570207715034485,
19.99358558654785
] | [
0.33447930216789246,
-0.0025861947797238827,
0.0799412727355957,
3.0971529483795166,
0.5444780588150024,
3.0467638969421387
] | 0 | [
0.009203883819282055,
0.30526217818260193,
-0.21168935298919678,
0.9311263561248779,
-0.02454369328916073,
0.44501304626464844
] | [
0.009944822639226913,
0.23860082030296326,
-0.25087645649909973,
0.9514705538749695,
-0.02454369328916073,
0.44501304626464844
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28 | 280 | 34 | 13,178 | 0 | |
[
-4.274134159088135,
18.224102020263672,
-4.545454502105713,
52.8376579284668,
-0.7570207715034485,
19.158676147460938
] | [
-4.226919174194336,
13.874667167663574,
-7.021262168884277,
53.71039581298828,
-0.7570207715034485,
19.158676147460938
] | [
0.3331810235977173,
-0.002574256621301174,
0.08111632615327835,
3.097611904144287,
0.5398929119110107,
3.0470008850097656
] | 0 | [
0.009203883819282055,
0.29759228229522705,
-0.21168935298919678,
0.9433981776237488,
-0.02454369328916073,
0.42572516202926636
] | [
0.010186716914176941,
0.2186964750289917,
-0.25346559286117554,
0.9586132168769836,
-0.02454369328916073,
0.42572516202926636
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.002784 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.1 | 281 | 34 | 13,179 | 0 | |
[
-4.34782600402832,
17.885835647583008,
-4.454545497894287,
53.18961715698242,
-0.7570207715034485,
18.32382583618164
] | [
-4.214141368865967,
12.668075561523438,
-7.189986705780029,
54.16090393066406,
-0.7570207715034485,
18.32382583618164
] | [
0.33240434527397156,
-0.002116756048053503,
0.08199566602706909,
3.097764253616333,
0.5383645296096802,
3.0486130714416504
] | 0 | [
0.007669905666261911,
0.2914563715457916,
-0.21015536785125732,
0.9495341181755066,
-0.02454369328916073,
0.4064386785030365
] | [
0.010452700778841972,
0.19680972397327423,
-0.25631263852119446,
0.9664672017097473,
-0.02454369328916073,
0.4064386785030365
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.022909 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.200001 | 282 | 34 | 13,180 | 0 | |
[
-4.34782600402832,
17.378435134887695,
-4.454545497894287,
53.62956619262695,
-0.7081807255744934,
17.489301681518555
] | [
-4.200245380401611,
11.355897903442383,
-7.373476028442383,
54.65083694458008,
-0.7570207715034485,
17.489301681518555
] | [
0.33172765374183655,
-0.00212203711271286,
0.08388356864452362,
3.0985302925109863,
0.5399596095085144,
3.050321578979492
] | 0 | [
0.007669905666261911,
0.2822524607181549,
-0.21015536785125732,
0.9572040438652039,
-0.023009711876511574,
0.38715970516204834
] | [
0.010741961188614368,
0.17300771176815033,
-0.25940877199172974,
0.9750085473060608,
-0.02454369328916073,
0.38715970516204834
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.047346 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.299999 | 283 | 34 | 13,181 | 0 | |
[
-4.34782600402832,
15.940803527832031,
-4.363636493682861,
54.157501220703125,
-0.6593406796455383,
16.65467643737793
] | [
-4.185459136962891,
9.959700584411621,
-7.568714618682861,
55.17213821411133,
-0.7570207715034485,
16.65467643737793
] | [
0.3311251997947693,
-0.0021278979256749153,
0.08975911885499954,
3.097973585128784,
0.555312991142273,
3.051340103149414
] | 0 | [
0.007669905666261911,
0.25617480278015137,
-0.20862138271331787,
0.9664078950881958,
-0.02147573232650757,
0.36787840723991394
] | [
0.011049753986299038,
0.14768163859844208,
-0.26270321011543274,
0.9840967655181885,
-0.02454369328916073,
0.36787840723991394
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.091902 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.4 | 284 | 34 | 13,182 | 0 | |
[
-4.34782600402832,
14.418604850769043,
-4.363636493682861,
54.6854362487793,
-0.6593406796455383,
15.820024490356445
] | [
-4.169943809509277,
8.49457836151123,
-8.163591384887695,
55.719173431396484,
-0.7570207715034485,
15.820024490356445
] | [
0.3306090235710144,
-0.00212395959533751,
0.09631688892841339,
3.096165657043457,
0.5736573338508606,
3.050372838973999
] | 0 | [
0.007669905666261911,
0.22856314480304718,
-0.20862138271331787,
0.9756117463111877,
-0.02147573232650757,
0.3485964834690094
] | [
0.011372722685337067,
0.12110531330108643,
-0.27274101972579956,
0.9936336278915405,
-0.02454369328916073,
0.3485964834690094
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.138503 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.5 | 285 | 34 | 13,183 | 0 | |
[
-4.34782600402832,
12.896406173706055,
-4.363636493682861,
55.213375091552734,
-0.6593406796455383,
14.986139297485352
] | [
-4.153786659240723,
6.968896865844727,
-8.376935958862305,
56.288818359375,
-0.7570207715034485,
14.986139297485352
] | [
0.3299247622489929,
-0.0021187327802181244,
0.1028367131948471,
3.0943145751953125,
0.5920000672340393,
3.049353837966919
] | 0 | [
0.007669905666261911,
0.200951486825943,
-0.20862138271331787,
0.9848156571388245,
-0.02147573232650757,
0.32933226227760315
] | [
0.011709052138030529,
0.09343048185110092,
-0.27634096145629883,
1.0035645961761475,
-0.02454369328916073,
0.32933226227760315
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.185049 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.6 | 286 | 34 | 13,184 | 0 | |
[
-4.34782600402832,
11.458773612976074,
-4.545454502105713,
55.82929992675781,
-0.6593406796455383,
14.152202606201172
] | [
-4.137204647064209,
5.433411598205566,
-8.5958890914917,
56.873443603515625,
-0.7570207715034485,
14.152202606201172
] | [
0.32922112941741943,
-0.002113357884809375,
0.10944851487874985,
3.092417001724243,
0.6103412508964539,
3.0482804775238037
] | 0 | [
0.007669905666261911,
0.17487381398677826,
-0.21168935298919678,
0.9955534934997559,
-0.02147573232650757,
0.3100668787956238
] | [
0.012054224498569965,
0.06557781994342804,
-0.28003552556037903,
1.0137567520141602,
-0.02454369328916073,
0.3100668787956238
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.231052 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.700001 | 287 | 34 | 13,185 | 0 | |
[
-4.34782600402832,
10.02114200592041,
-4.818181991577148,
56.44522476196289,
-0.6593406796455383,
13.318246841430664
] | [
-4.12031888961792,
3.887939453125,
-8.818855285644531,
57.46877670288086,
-0.7570207715034485,
13.318246841430664
] | [
0.3285096287727356,
-0.00210792338475585,
0.1163509264588356,
3.0903055667877197,
0.6302088499069214,
3.047053098678589
] | 0 | [
0.007669905666261911,
0.14879614114761353,
-0.21629129350185394,
1.006291389465332,
-0.02147573232650757,
0.2908010184764862
] | [
0.01240572053939104,
0.03754400089383125,
-0.2837978005409241,
1.024135708808899,
-0.02454369328916073,
0.2908010184764862
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.277366 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.799999 | 288 | 34 | 13,186 | 0 | |
[
-4.34782600402832,
8.32981014251709,
-4.909090995788574,
57.061153411865234,
-0.6593406796455383,
12.482795715332031
] | [
-4.1032490730285645,
2.325636386871338,
-9.044249534606934,
58.07059860229492,
-0.7570207715034485,
12.482795715332031
] | [
0.3272664248943329,
-0.0020984155125916004,
0.12373825907707214,
3.0879621505737305,
0.6516022682189941,
3.04565167427063
] | 0 | [
0.007669905666261911,
0.11811652779579163,
-0.2178252786397934,
1.0170292854309082,
-0.02147573232650757,
0.2715006470680237
] | [
0.012761048041284084,
0.009204882197082043,
-0.2876010537147522,
1.0346276760101318,
-0.02454369328916073,
0.2715006470680237
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.328421 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.9 | 289 | 34 | 13,187 | 0 | |
[
-4.34782600402832,
6.638477802276611,
-4.909090995788574,
57.67707824707031,
-0.6593406796455383,
11.646408081054688
] | [
-4.086165428161621,
0.7620184421539307,
-9.2698335647583,
58.67292404174805,
-0.7570207715034485,
11.646408081054688
] | [
0.3256611227989197,
-0.0020861313678324223,
0.13072390854358673,
3.085716724395752,
0.6714651584625244,
3.0442721843719482
] | 0 | [
0.007669905666261911,
0.08743690699338913,
-0.2178252786397934,
1.0277670621871948,
-0.02147573232650757,
0.2521786391735077
] | [
0.013116663321852684,
-0.01915808767080307,
-0.2914075255393982,
1.045128345489502,
-0.02454369328916073,
0.2521786391735077
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.379056 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29 | 290 | 34 | 13,188 | 0 | |
[
-4.34782600402832,
4.947145938873291,
-4.909090995788574,
58.20501708984375,
-0.6593406796455383,
10.811724662780762
] | [
-4.069271087646484,
-0.7842434048652649,
-9.492913246154785,
59.26856231689453,
-0.7570207715034485,
10.811724662780762
] | [
0.32403966784477234,
-0.002073723590001464,
0.13776706159114838,
3.0832178592681885,
0.6928530931472778,
3.042696475982666
] | 0 | [
0.007669905666261911,
0.05675728991627693,
-0.2178252786397934,
1.036971092224121,
-0.02147573232650757,
0.23289598524570465
] | [
0.013468338176608086,
-0.04720623046159744,
-0.29517170786857605,
1.055512547492981,
-0.02454369328916073,
0.23289598524570465
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.428929 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.1 | 291 | 34 | 13,189 | 0 | |
[
-4.34782600402832,
3.4249472618103027,
-4.909090995788574,
58.82094192504883,
-0.6593406796455383,
9.977265357971191
] | [
-4.052698612213135,
-2.3010406494140625,
-9.71174144744873,
59.85285186767578,
-0.7570207715034485,
9.977265357971191
] | [
0.32212966680526733,
-0.0020591020584106445,
0.14381977915763855,
3.0811915397644043,
0.7096557021141052,
3.041388988494873
] | 0 | [
0.007669905666261911,
0.029145637527108192,
-0.2178252786397934,
1.0477088689804077,
-0.02147573232650757,
0.21361850202083588
] | [
0.013813313096761703,
-0.07471990585327148,
-0.2988641858100891,
1.0656988620758057,
-0.02454369328916073,
0.21361850202083588
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.475698 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.200001 | 292 | 34 | 13,190 | 0 | |
[
-4.34782600402832,
1.987315058708191,
-5.545454502105713,
59.436866760253906,
-0.6593406796455383,
9.142772674560547
] | [
-4.036559581756592,
-3.7781310081481934,
-9.92484188079834,
60.42184829711914,
-0.7570207715034485,
9.142772674560547
] | [
0.32096320390701294,
-0.0020501837134361267,
0.1518062800168991,
3.077941656112671,
0.7356192469596863,
3.0392394065856934
] | 0 | [
0.007669905666261911,
0.003067962359637022,
-0.228563129901886,
1.0584467649459839,
-0.02147573232650757,
0.19434025883674622
] | [
0.014149264432489872,
-0.1015133261680603,
-0.3024599850177765,
1.0756186246871948,
-0.02454369328916073,
0.19434025883674622
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.523604 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.299999 | 293 | 34 | 13,191 | 0 | |
[
-4.34782600402832,
0.29598307609558105,
-6.454545497894287,
60.05279541015625,
-0.6593406796455383,
8.308867454528809
] | [
-4.021076679229736,
-5.195226669311523,
-10.129286766052246,
60.96773147583008,
-0.7570207715034485,
8.308867454528809
] | [
0.3196514844894409,
-0.002040158025920391,
0.16193370521068573,
3.0732927322387695,
0.7707374691963196,
3.0360591411590576
] | 0 | [
0.007669905666261911,
-0.02761165425181389,
-0.24390295147895813,
1.06918466091156,
-0.02147573232650757,
0.17507559061050415
] | [
0.014471558853983879,
-0.12721848487854004,
-0.30590975284576416,
1.0851353406906128,
-0.02454369328916073,
0.17507559061050415
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.577673 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.4 | 294 | 34 | 13,192 | 0 | |
[
-4.34782600402832,
-1.4799153804779053,
-6.545454502105713,
60.66872024536133,
-0.6593406796455383,
7.4748735427856445
] | [
-4.006560325622559,
-6.5238356590271,
-10.320965766906738,
61.479530334472656,
-0.7570207715034485,
7.4748735427856445
] | [
0.3170122802257538,
-0.0020199513528496027,
0.16925090551376343,
3.070086717605591,
0.7936345338821411,
3.033799409866333
] | 0 | [
0.007669905666261911,
-0.05982524901628494,
-0.2454369217157364,
1.0799224376678467,
-0.02147573232650757,
0.15580888092517853
] | [
0.014773732982575893,
-0.15131855010986328,
-0.30914410948753357,
1.0940579175949097,
-0.02454369328916073,
0.15580888092517853
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.630207 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.5 | 295 | 34 | 13,193 | 0 | |
[
-4.34782600402832,
-2.8329808712005615,
-6.545454502105713,
61.108665466308594,
-0.6593406796455383,
6.640378475189209
] | [
-3.999284267425537,
-7.189774513244629,
-10.417044639587402,
61.73606491088867,
-0.7570207715034485,
6.640378475189209
] | [
0.31484168767929077,
-0.0020033305045217276,
0.1745363026857376,
3.0676393508911133,
0.8104223608970642,
3.0320401191711426
] | 0 | [
0.007669905666261911,
-0.08436894416809082,
-0.2454369217157364,
1.087592363357544,
-0.02147573232650757,
0.1365305781364441
] | [
0.01492519211024046,
-0.16339822113513947,
-0.3107653260231018,
1.0985302925109863,
-0.02454369328916073,
0.1365305781364441
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.672329 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.6 | 296 | 34 | 13,194 | 0 | |
[
-4.34782600402832,
-4.016913414001465,
-6.545454502105713,
61.46062469482422,
-0.6593406796455383,
5.806418418884277
] | [
-3.991828441619873,
-7.872109413146973,
-10.515493392944336,
61.998931884765625,
-0.7570207715034485,
5.806418418884277
] | [
0.31290704011917114,
-0.001988515956327319,
0.17916421592235565,
3.065338373184204,
0.8256812691688538,
3.030360698699951
] | 0 | [
0.007669905666261911,
-0.10584467649459839,
-0.2454369217157364,
1.0937283039093018,
-0.02147573232650757,
0.11726464331150055
] | [
0.01508039329200983,
-0.17577531933784485,
-0.31242653727531433,
1.1031129360198975,
-0.02454369328916073,
0.11726464331150055
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.710249 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.700001 | 297 | 34 | 13,195 | 0 | |
[
-4.34782600402832,
-4.608879566192627,
-6.545454502105713,
61.812583923339844,
-0.6593406796455383,
4.97221565246582
] | [
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-8.571720123291016,
-10.616434097290039,
62.26845169067383,
-0.7570207715034485,
4.97221565246582
] | [
0.31159016489982605,
-0.001978429267182946,
0.1811411827802658,
3.064633369445801,
0.8302584290504456,
3.029841423034668
] | 0 | [
0.007669905666261911,
-0.11658254265785217,
-0.2454369217157364,
1.0998642444610596,
-0.02147573232650757,
0.09799309819936752
] | [
0.015239525586366653,
-0.18846578896045685,
-0.3141297698020935,
1.107811689376831,
-0.02454369328916073,
0.09799309819936752
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.73559 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
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-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.799999 | 298 | 34 | 13,196 | 0 | |
[
-4.34782600402832,
-5.116279125213623,
-6.545454502105713,
61.812583923339844,
-0.6593406796455383,
4.138354301452637
] | [
-3.9763495922088623,
-9.288705825805664,
-10.719882011413574,
62.5446662902832,
-0.7570207715034485,
4.138354301452637
] | [
0.3109859228134155,
-0.0019738043192774057,
0.18336908519268036,
3.063201427459717,
0.8394119739532471,
3.028780221939087
] | 0 | [
0.007669905666261911,
-0.1257864236831665,
-0.2454369217157364,
1.0998642444610596,
-0.02147573232650757,
0.07872944325208664
] | [
0.015402602963149548,
-0.20147141814231873,
-0.3158753216266632,
1.1126271486282349,
-0.02454369328916073,
0.07872944325208664
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.756465 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.9 | 299 | 34 | 13,197 | 0 | |
[
-4.34782600402832,
-5.961945056915283,
-6.909090995788574,
62.1645393371582,
-0.6593406796455383,
3.3043782711029053
] | [
-3.9683022499084473,
-10.025177955627441,
-10.826141357421875,
62.82838439941406,
-0.7570207715034485,
3.3043782711029053
] | [
0.3095893859863281,
-0.0019631136674433947,
0.18782320618629456,
3.060749053955078,
0.8546656370162964,
3.026942491531372
] | 0 | [
0.007669905666261911,
-0.14112623035907745,
-0.251572847366333,
1.1060001850128174,
-0.02147573232650757,
0.05946313589811325
] | [
0.01557011716067791,
-0.21483053267002106,
-0.3176683187484741,
1.1175733804702759,
-0.02454369328916073,
0.05946313589811325
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.788351 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30 | 300 | 34 | 13,198 | 0 | |
[
-4.34782600402832,
-6.638477802276611,
-7.454545497894287,
62.51649856567383,
-0.6593406796455383,
2.4698853492736816
] | [
-3.959982395172119,
-10.78659725189209,
-10.546000480651855,
63.1217155456543,
-0.7570207715034485,
2.4698853492736816
] | [
0.30846309661865234,
-0.0019544935785233974,
0.19221621751785278,
3.058209180831909,
0.8699161410331726,
3.0250136852264404
] | 0 | [
0.007669905666261911,
-0.1533980816602707,
-0.26077672839164734,
1.1121361255645752,
-0.02147573232650757,
0.04018488526344299
] | [
0.015743304044008255,
-0.22864215075969696,
-0.3129412829875946,
1.1226872205734253,
-0.02454369328916073,
0.04018488526344299
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.816677 | [
-3.93306827545166,
-12.954512596130371,
-8.685384750366211,
64.07061767578125,
-0.7570207715034485,
0
] | [
0.2961483895778656,
-0.004061137326061726,
0.22067458927631378,
3.0326850414276123,
0.977094292640686,
2.9941446781158447
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.1 | 301 | 34 | 13,199 | 0 |
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