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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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.544646 | [
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] | 0 | pick pot lid and place on pot | [
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0
] | 20.200001 | 202 | 37 | 14,200 | 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 | 0.593343 | [
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0.3322274088859558,
16.28215217590332,
41.08661651611328,
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] | 0 | pick pot lid and place on pot | [
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0
] | 20.299999 | 203 | 37 | 14,201 | 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 | 0.637079 | [
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16.28215217590332,
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] | 0 | pick pot lid and place on pot | [
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0
] | 20.4 | 204 | 37 | 14,202 | 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 | 0.68402 | [
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] | 0 | pick pot lid and place on pot | [
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0
] | 20.5 | 205 | 37 | 14,203 | 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 | 0.726726 | [
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0.3322274088859558,
16.28215217590332,
41.08661651611328,
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] | [
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] | 0 | pick pot lid and place on pot | [
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0
] | 20.6 | 206 | 37 | 14,204 | 0 | |
[
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0
] | [
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] | [
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] | 0 | [
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] | [
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0.17215800285339355,
0.6386858224868774,
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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 | 0.757976 | [
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0.3322274088859558,
16.28215217590332,
41.08661651611328,
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] | [
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3.081583261489868,
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] | 0 | pick pot lid and place on pot | [
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0,
0
] | 20.700001 | 207 | 37 | 14,205 | 0 | |
[
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] | [
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0.6516578793525696,
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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 | 0.774901 | [
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0.3322274088859558,
16.28215217590332,
41.08661651611328,
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] | [
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3.081583261489868,
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3.031944751739502
] | 0 | pick pot lid and place on pot | [
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0,
0
] | 20.799999 | 208 | 37 | 14,206 | 0 | |
[
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] | [
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] | [
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] | 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 | 0.798725 | [
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0.3322274088859558,
16.28215217590332,
41.08661651611328,
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] | [
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3.081583261489868,
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] | 0 | pick pot lid and place on pot | [
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0
] | 20.9 | 209 | 37 | 14,207 | 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 | 0.820036 | [
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0.3322274088859558,
16.28215217590332,
41.08661651611328,
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] | [
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3.081583261489868,
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] | 0 | pick pot lid and place on pot | [
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0,
0
] | 21 | 210 | 37 | 14,208 | 0 | |
[
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37.08755111694336,
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] | [
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] | [
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] | [
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0.1458715945482254,
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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 | 0.833673 | [
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0.3322274088859558,
16.28215217590332,
41.08661651611328,
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] | [
0.3197571337223053,
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0.10566701740026474,
3.081583261489868,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.1 | 211 | 37 | 14,209 | 0 | |
[
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21.909090042114258,
37.967445373535156,
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0
] | [
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0
] | [
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3.0830531120300293,
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] | 0 | [
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0.2346990406513214,
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] | [
0.018192341551184654,
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0.13871215283870697,
0.7074392437934875,
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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 | 0.847162 | [
-3.8261899948120117,
0.3322274088859558,
16.28215217590332,
41.08661651611328,
-0.6105006337165833,
0
] | [
0.3197571337223053,
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0.10566701740026474,
3.081583261489868,
0.717413604259491,
3.031944751739502
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.200001 | 212 | 37 | 14,210 | 0 | |
[
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21.090909957885742,
38.84733963012695,
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0
] | [
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0
] | [
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3.084843873977661,
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] | 0 | [
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] | [
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0.13128447532653809,
0.7227081060409546,
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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 | 0.876047 | [
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0.3322274088859558,
16.28215217590332,
41.08661651611328,
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0
] | [
0.3197571337223053,
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0.10566701740026474,
3.081583261489868,
0.717413604259491,
3.031944751739502
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.299999 | 213 | 37 | 14,211 | 0 | |
[
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20,
39.639244079589844,
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0
] | [
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0.07783274352550507,
15.324124336242676,
41.08661651611328,
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] | [
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3.08537220954895,
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] | 0 | [
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0.018528342247009277,
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0.12358572334051132,
0.738534152507782,
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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 | 0.907387 | [
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0.3322274088859558,
16.28215217590332,
41.08661651611328,
-0.6105006337165833,
0
] | [
0.3197571337223053,
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0.10566701740026474,
3.081583261489868,
0.717413604259491,
3.031944751739502
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.4 | 214 | 37 | 14,212 | 0 | |
[
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40.959083557128906,
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3.5856573581695557
] | [
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2.8269362449645996,
20.757078170776367,
35.811859130859375,
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0
] | [
0.31271177530288696,
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0.09191859513521194,
3.0884621143341064,
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] | 25.700001 | 257 | 37 | 14,255 | 0 | ||
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] | 25.799999 | 258 | 37 | 14,256 | 0 | ||
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] | 25.9 | 259 | 37 | 14,257 | 0 | ||
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] | 26 | 260 | 37 | 14,258 | 0 | ||
[
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] | 26.1 | 261 | 37 | 14,259 | 0 | ||
[
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] | 26.200001 | 262 | 37 | 14,260 | 0 | ||
[
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] | 26.299999 | 263 | 37 | 14,261 | 0 | ||
[
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] | 26.4 | 264 | 37 | 14,262 | 0 | ||
[
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] | 26.5 | 265 | 37 | 14,263 | 0 | ||
[
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] | 26.6 | 266 | 37 | 14,264 | 0 | ||
[
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] | 26.700001 | 267 | 37 | 14,265 | 0 | ||
[
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] | 26.799999 | 268 | 37 | 14,266 | 0 | ||
[
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] | [
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] | 20 | pick pot lid and place on pot | [
0,
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] | 26.9 | 269 | 37 | 14,267 | 0 | ||
[
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] | [
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] | 20 | pick pot lid and place on pot | [
0,
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] | 27 | 270 | 37 | 14,268 | 0 | ||
[
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] | [
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12.727272987365723,
8.363636016845703,
38.319400787353516,
-0.7570207715034485,
12.030067443847656
] | [
0.33795833587646484,
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0.08122649788856506,
3.082916259765625,
0.6743445992469788,
3.038597583770752
] | 1 | [
0.009203883819282055,
0.19788353145122528,
0.006135917268693447,
0.6902913451194763,
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0.2610418200492859
] | [
0.009203883819282055,
0.19788353145122528,
0.006135917268693447,
0.6902913451194763,
-0.02454369328916073,
0.2610418200492859
] | release lid on pot | gripper_open | 0.514422 | [
-4.274134159088135,
12.727272987365723,
8.454545021057129,
38.319400787353516,
-0.7570207715034485,
20
] | [
0.33774295449256897,
-0.002616215730085969,
0.08089049160480499,
3.0831000804901123,
0.6728173494338989,
3.0387120246887207
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.1 | 271 | 37 | 14,269 | 0 | ||
[
-4.274134159088135,
12.727272987365723,
8.363636016845703,
38.319400787353516,
-0.7570207715034485,
13.030753135681152
] | [
-4.274134159088135,
12.727272987365723,
8.363636016845703,
38.319400787353516,
-0.7570207715034485,
13.030753135681152
] | [
0.33795833587646484,
-0.0026181975845247507,
0.08122649788856506,
3.082916259765625,
0.6743445992469788,
3.038597583770752
] | 1 | [
0.009203883819282055,
0.19788353145122528,
0.006135917268693447,
0.6902913451194763,
-0.02454369328916073,
0.28415942192077637
] | [
0.009203883819282055,
0.19788353145122528,
0.006135917268693447,
0.6902913451194763,
-0.02454369328916073,
0.28415942192077637
] | release lid on pot | gripper_open | 0.575381 | [
-4.274134159088135,
12.727272987365723,
8.454545021057129,
38.319400787353516,
-0.7570207715034485,
20
] | [
0.33774295449256897,
-0.002616215730085969,
0.08089049160480499,
3.0831000804901123,
0.6728173494338989,
3.0387120246887207
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.200001 | 272 | 37 | 14,270 | 0 | ||
[
-4.274134159088135,
12.727272987365723,
8.363636016845703,
38.319400787353516,
-0.7570207715034485,
14.031257629394531
] | [
-4.274134159088135,
12.727272987365723,
8.363636016845703,
38.319400787353516,
-0.7570207715034485,
14.031257629394531
] | [
0.33795833587646484,
-0.0026181975845247507,
0.08122649788856506,
3.082916259765625,
0.6743445992469788,
3.038597583770752
] | 1 | [
0.009203883819282055,
0.19788353145122528,
0.006135917268693447,
0.6902913451194763,
-0.02454369328916073,
0.3072728216648102
] | [
0.009203883819282055,
0.19788353145122528,
0.006135917268693447,
0.6902913451194763,
-0.02454369328916073,
0.3072728216648102
] | release lid on pot | gripper_open | 0.636328 | [
-4.274134159088135,
12.727272987365723,
8.454545021057129,
38.319400787353516,
-0.7570207715034485,
20
] | [
0.33774295449256897,
-0.002616215730085969,
0.08089049160480499,
3.0831000804901123,
0.6728173494338989,
3.0387120246887207
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.299999 | 273 | 37 | 14,271 | 0 | ||
[
-4.274134159088135,
12.727272987365723,
8.363636016845703,
38.319400787353516,
-0.7570207715034485,
15.034463882446289
] | [
-4.274134159088135,
12.727272987365723,
8.363636016845703,
38.319400787353516,
-0.7570207715034485,
15.034463882446289
] | [
0.33795833587646484,
-0.0026181975845247507,
0.08122649788856506,
3.082916259765625,
0.6743445992469788,
3.038597583770752
] | 1 | [
0.009203883819282055,
0.19788353145122528,
0.006135917268693447,
0.6902913451194763,
-0.02454369328916073,
0.3304486572742462
] | [
0.009203883819282055,
0.19788353145122528,
0.006135917268693447,
0.6902913451194763,
-0.02454369328916073,
0.3304486572742462
] | release lid on pot | gripper_open | 0.697437 | [
-4.274134159088135,
12.727272987365723,
8.454545021057129,
38.319400787353516,
-0.7570207715034485,
20
] | [
0.33774295449256897,
-0.002616215730085969,
0.08089049160480499,
3.0831000804901123,
0.6728173494338989,
3.0387120246887207
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.4 | 274 | 37 | 14,272 | 0 | ||
[
-4.274134159088135,
12.727272987365723,
8.363636016845703,
38.319400787353516,
-0.7570207715034485,
16.036605834960938
] | [
-4.274134159088135,
12.727272987365723,
8.363636016845703,
38.319400787353516,
-0.7570207715034485,
16.036605834960938
] | [
0.33795833587646484,
-0.0026181975845247507,
0.08122649788856506,
3.082916259765625,
0.6743445992469788,
3.038597583770752
] | 1 | [
0.009203883819282055,
0.19788353145122528,
0.006135917268693447,
0.6902913451194763,
-0.02454369328916073,
0.35359987616539
] | [
0.009203883819282055,
0.19788353145122528,
0.006135917268693447,
0.6902913451194763,
-0.02454369328916073,
0.35359987616539
] | release lid on pot | gripper_open | 0.758477 | [
-4.274134159088135,
12.727272987365723,
8.454545021057129,
38.319400787353516,
-0.7570207715034485,
20
] | [
0.33774295449256897,
-0.002616215730085969,
0.08089049160480499,
3.0831000804901123,
0.6728173494338989,
3.0387120246887207
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.5 | 275 | 37 | 14,273 | 0 | ||
[
-4.274134159088135,
12.727272987365723,
8.363636016845703,
38.319400787353516,
-0.7570207715034485,
17.038387298583984
] | [
-4.274134159088135,
12.727272987365723,
8.363636016845703,
38.319400787353516,
-0.7570207715034485,
17.038387298583984
] | [
0.33795833587646484,
-0.0026181975845247507,
0.08122649788856506,
3.082916259765625,
0.6743445992469788,
3.038597583770752
] | 1 | [
0.009203883819282055,
0.19788353145122528,
0.006135917268693447,
0.6902913451194763,
-0.02454369328916073,
0.37674278020858765
] | [
0.009203883819282055,
0.19788353145122528,
0.006135917268693447,
0.6902913451194763,
-0.02454369328916073,
0.37674278020858765
] | release lid on pot | gripper_open | 0.819487 | [
-4.274134159088135,
12.727272987365723,
8.454545021057129,
38.319400787353516,
-0.7570207715034485,
20
] | [
0.33774295449256897,
-0.002616215730085969,
0.08089049160480499,
3.0831000804901123,
0.6728173494338989,
3.0387120246887207
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.6 | 276 | 37 | 14,274 | 0 | ||
[
-4.274134159088135,
12.727272987365723,
8.363636016845703,
38.319400787353516,
-0.7570207715034485,
18.039216995239258
] | [
-4.274134159088135,
12.727272987365723,
8.363636016845703,
38.319400787353516,
-0.7570207715034485,
18.039216995239258
] | [
0.33795833587646484,
-0.0026181975845247507,
0.08122649788856506,
3.082916259765625,
0.6743445992469788,
3.038597583770752
] | 1 | [
0.009203883819282055,
0.19788353145122528,
0.006135917268693447,
0.6902913451194763,
-0.02454369328916073,
0.39986369013786316
] | [
0.009203883819282055,
0.19788353145122528,
0.006135917268693447,
0.6902913451194763,
-0.02454369328916073,
0.39986369013786316
] | release lid on pot | gripper_open | 0.880416 | [
-4.274134159088135,
12.727272987365723,
8.454545021057129,
38.319400787353516,
-0.7570207715034485,
20
] | [
0.33774295449256897,
-0.002616215730085969,
0.08089049160480499,
3.0831000804901123,
0.6728173494338989,
3.0387120246887207
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.700001 | 277 | 37 | 14,275 | 0 | ||
[
-4.274134159088135,
12.727272987365723,
8.363636016845703,
38.319400787353516,
-0.7570207715034485,
19.040939331054688
] | [
-4.274134159088135,
12.727272987365723,
8.363636016845703,
38.319400787353516,
-0.7570207715034485,
19.040939331054688
] | [
0.33795833587646484,
-0.0026181975845247507,
0.08122649788856506,
3.082916259765625,
0.6743445992469788,
3.038597583770752
] | 1 | [
0.009203883819282055,
0.19788353145122528,
0.006135917268693447,
0.6902913451194763,
-0.02454369328916073,
0.42300525307655334
] | [
0.009203883819282055,
0.19788353145122528,
0.006135917268693447,
0.6902913451194763,
-0.02454369328916073,
0.42300525307655334
] | release lid on pot | gripper_open | 0.94131 | [
-4.274134159088135,
12.727272987365723,
8.454545021057129,
38.319400787353516,
-0.7570207715034485,
20
] | [
0.33774295449256897,
-0.002616215730085969,
0.08089049160480499,
3.0831000804901123,
0.6728173494338989,
3.0387120246887207
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.799999 | 278 | 37 | 14,276 | 0 | ||
[
-4.34782600402832,
13.40380573272705,
8.272727012634277,
38.67136001586914,
-0.7081807255744934,
20
] | [
-4.347825527191162,
13.30716609954834,
7.145895481109619,
38.67136764526367,
-0.7081807255744934,
20
] | [
0.3369949758052826,
-0.002162387827411294,
0.07774713635444641,
3.0860955715179443,
0.6576299667358398,
3.043300151824951
] | 0 | [
0.007669905666261911,
0.21015536785125732,
0.004601938184350729,
0.6964272856712341,
-0.023009711876511574,
0.44516122341156006
] | [
0.007669915445148945,
0.20840239524841309,
-0.014411979354918003,
0.6964274048805237,
-0.023009711876511574,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 27.9 | 279 | 37 | 14,277 | 0 | |
[
-4.34782600402832,
13.572938919067383,
8.272727012634277,
38.75934982299805,
-0.7081807255744934,
20
] | [
-4.345690727233887,
13.183835983276367,
7.137283802032471,
38.7099609375,
-0.7081807255744934,
20
] | [
0.3366908133029938,
-0.002160054398700595,
0.07679767906665802,
3.0866200923919678,
0.6530468463897705,
3.0436198711395264
] | 0 | [
0.007669905666261911,
0.21322333812713623,
0.004601938184350729,
0.6979612708091736,
-0.023009711876511574,
0.44516122341156006
] | [
0.00771435396745801,
0.20616526901721954,
-0.014557290822267532,
0.6971002221107483,
-0.023009711876511574,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28 | 280 | 37 | 14,278 | 0 | |
[
-4.34782600402832,
13.572938919067383,
8.272727012634277,
38.75934982299805,
-0.7081807255744934,
20
] | [
-4.340041637420654,
12.857518196105957,
7.114498615264893,
38.81208038330078,
-0.7081807255744934,
20
] | [
0.3366908133029938,
-0.002160054398700595,
0.07679767906665802,
3.0866200923919678,
0.6530468463897705,
3.0436198711395264
] | 0 | [
0.007669905666261911,
0.21322333812713623,
0.004601938184350729,
0.6979612708091736,
-0.023009711876511574,
0.44516122341156006
] | [
0.007831946015357971,
0.20024608075618744,
-0.014941763132810593,
0.6988805532455444,
-0.023009711876511574,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.1 | 281 | 37 | 14,279 | 0 | |
[
-4.34782600402832,
13.572938919067383,
8.272727012634277,
38.75934982299805,
-0.7081807255744934,
20
] | [
-4.330885410308838,
12.228425025939941,
7.077566623687744,
38.977603912353516,
-0.7081807255744934,
20
] | [
0.3366908133029938,
-0.002160054398700595,
0.07679767906665802,
3.0866200923919678,
0.6530468463897705,
3.0436198711395264
] | 0 | [
0.007669905666261911,
0.21322333812713623,
0.004601938184350729,
0.6979612708091736,
-0.023009711876511574,
0.44516122341156006
] | [
0.008022543042898178,
0.1888347566127777,
-0.01556494552642107,
0.7017662525177002,
-0.023009711876511574,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.200001 | 282 | 37 | 14,280 | 0 | |
[
-4.34782600402832,
13.572938919067383,
8.272727012634277,
38.75934982299805,
-0.7081807255744934,
20
] | [
-4.31826639175415,
11.499492645263672,
7.026669025421143,
39.205718994140625,
-0.7081807255744934,
20
] | [
0.3366908133029938,
-0.002160054398700595,
0.07679767906665802,
3.0866200923919678,
0.6530468463897705,
3.0436198711395264
] | 0 | [
0.007669905666261911,
0.21322333812713623,
0.004601938184350729,
0.6979612708091736,
-0.023009711876511574,
0.44516122341156006
] | [
0.0082852216437459,
0.1756124198436737,
-0.016423780471086502,
0.705743134021759,
-0.023009711876511574,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.299999 | 283 | 37 | 14,281 | 0 | |
[
-4.34782600402832,
13.572938919067383,
8.272727012634277,
38.75934982299805,
-0.7081807255744934,
20
] | [
-4.30305290222168,
10.620682716369629,
6.965305805206299,
39.480735778808594,
-0.7081807255744934,
20
] | [
0.3366908133029938,
-0.002160054398700595,
0.07679767906665802,
3.0866200923919678,
0.6530468463897705,
3.0436198711395264
] | 0 | [
0.007669905666261911,
0.21322333812713623,
0.004601938184350729,
0.6979612708091736,
-0.023009711876511574,
0.44516122341156006
] | [
0.008601907640695572,
0.15967141091823578,
-0.017459211871027946,
0.7105376720428467,
-0.023009711876511574,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.4 | 284 | 37 | 14,282 | 0 | |
[
-4.34782600402832,
13.572938919067383,
8.272727012634277,
38.75934982299805,
-0.7081807255744934,
19.962072372436523
] | [
-4.285196781158447,
9.589195251464844,
6.893282413482666,
39.803531646728516,
-0.7081807255744934,
19.962072372436523
] | [
0.3366908133029938,
-0.002160054398700595,
0.07679767906665802,
3.0866200923919678,
0.6530468463897705,
3.0436198711395264
] | 0 | [
0.007669905666261911,
0.21322333812713623,
0.004601938184350729,
0.6979612708091736,
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0.4442850351333618
] | [
0.008973603136837482,
0.1409609168767929,
-0.018674518913030624,
0.7161652445793152,
-0.023009711876511574,
0.4442850351333618
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.5 | 285 | 37 | 14,283 | 0 | |
[
-4.34782600402832,
13.234672546386719,
8.272727012634277,
39.111305236816406,
-0.7081807255744934,
19.128055572509766
] | [
-4.264896869659424,
8.416576385498047,
6.811404228210449,
40.17049026489258,
-0.7081807255744934,
19.128055572509766
] | [
0.3361963629722595,
-0.0021562681067734957,
0.07792531698942184,
3.0866200923919678,
0.6530469059944153,
3.0436198711395264
] | 0 | [
0.007669905666261911,
0.2070874124765396,
0.004601938184350729,
0.7040971517562866,
-0.023009711876511574,
0.425017774105072
] | [
0.009396168403327465,
0.1196904107928276,
-0.020056113600730896,
0.7225626707077026,
-0.023009711876511574,
0.425017774105072
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.6 | 286 | 37 | 14,284 | 0 | |
[
-4.34782600402832,
12.642705917358398,
8.363636016845703,
39.72723388671875,
-0.7081807255744934,
18.294082641601562
] | [
-4.242603302001953,
7.128765106201172,
6.721482753753662,
40.57350158691406,
-0.7081807255744934,
18.294082641601562
] | [
0.33509692549705505,
-0.002147846622392535,
0.07955911010503769,
3.086794137954712,
0.6515191197395325,
3.0437254905700684
] | 0 | [
0.007669905666261911,
0.19634953141212463,
0.006135917268693447,
0.7148350477218628,
-0.023009711876511574,
0.4057515561580658
] | [
0.009860234335064888,
0.09633038192987442,
-0.02157342992722988,
0.7295886278152466,
-0.023009711876511574,
0.4057515561580658
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.02491 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.700001 | 287 | 37 | 14,285 | 0 | |
[
-4.34782600402832,
11.627906799316406,
8.363636016845703,
40.07918930053711,
-0.6593406796455383,
17.46012306213379
] | [
-4.2184062004089355,
5.7512311935424805,
6.623884201049805,
41.010921478271484,
-0.7081807255744934,
17.46012306213379
] | [
0.33500516414642334,
-0.0021576175931841135,
0.08393681794404984,
3.0865886211395264,
0.6638258695602417,
3.044811964035034
] | 0 | [
0.007669905666261911,
0.17794176936149597,
0.006135917268693447,
0.7209709286689758,
-0.02147573232650757,
0.38648560643196106
] | [
0.010363923385739326,
0.07134285569190979,
-0.023220287635922432,
0.7372145056724548,
-0.023009711876511574,
0.38648560643196106
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.058608 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.799999 | 288 | 37 | 14,286 | 0 | |
[
-4.34782600402832,
10.27484130859375,
8.454545021057129,
40.60712814331055,
-0.6593406796455383,
16.625621795654297
] | [
-4.192623138427734,
4.3076252937316895,
6.519887447357178,
41.477012634277344,
-0.7081807255744934,
16.625621795654297
] | [
0.3344423174858093,
-0.002153318375349045,
0.08932957798242569,
3.0850117206573486,
0.6775763034820557,
3.0438318252563477
] | 0 | [
0.007669905666261911,
0.1533980816602707,
0.0076698968186974525,
0.7301748991012573,
-0.02147573232650757,
0.3672071695327759
] | [
0.010900626890361309,
0.0451568178832531,
-0.024975106120109558,
0.7453401684761047,
-0.023009711876511574,
0.3672071695327759
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.100457 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.9 | 289 | 37 | 14,287 | 0 | |
[
-4.34782600402832,
8.837209701538086,
8.454545021057129,
40.959083557128906,
-0.6593406796455383,
15.791529655456543
] | [
-4.1656012535095215,
2.794692277908325,
6.4108967781066895,
41.96548843383789,
-0.7081807255744934,
15.791529655456543
] | [
0.33435317873954773,
-0.0021526520140469074,
0.09570791572332382,
3.0826709270477295,
0.6974358558654785,
3.042346239089966
] | 0 | [
0.007669905666261911,
0.12732040882110596,
0.0076698968186974525,
0.7363107800483704,
-0.02147573232650757,
0.3479381799697876
] | [
0.01146311778575182,
0.017713237553834915,
-0.026814192533493042,
0.7538561224937439,
-0.023009711876511574,
0.3479381799697876
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.143134 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29 | 290 | 37 | 14,288 | 0 | |
[
-4.34782600402832,
7.145877361297607,
8.454545021057129,
41.487022399902344,
-0.6593406796455383,
14.957499504089355
] | [
-4.13746452331543,
1.219299554824829,
6.2974066734313965,
42.47412872314453,
-0.7081807255744934,
14.957499504089355
] | [
0.3338233232498169,
-0.002148610772565007,
0.10300662368535995,
3.080061435699463,
0.7188199162483215,
3.0406486988067627
] | 0 | [
0.007669905666261911,
0.09664078801870346,
0.0076698968186974525,
0.7455146908760071,
-0.02147573232650757,
0.3286706209182739
] | [
0.012048815377056599,
-0.010863319039344788,
-0.02872920036315918,
0.7627235651016235,
-0.023009711876511574,
0.3286706209182739
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.192311 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.1 | 291 | 37 | 14,289 | 0 | |
[
-4.34782600402832,
5.539112091064453,
8.454545021057129,
42.014957427978516,
-0.6593406796455383,
14.122907638549805
] | [
-4.108564853668213,
-0.3988005518913269,
5.739492893218994,
42.996559143066406,
-0.7081807255744934,
14.122907638549805
] | [
0.33307820558547974,
-0.0021429185289889574,
0.10985863953828812,
3.0775492191314697,
0.7386734485626221,
3.038975715637207
] | 0 | [
0.007669905666261911,
0.06749515235424042,
0.0076698968186974525,
0.754718542098999,
-0.02147573232650757,
0.3093900978565216
] | [
0.01265039388090372,
-0.04021455720067024,
-0.03814331814646721,
0.7718314528465271,
-0.023009711876511574,
0.3093900978565216
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.239669 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.200001 | 292 | 37 | 14,290 | 0 | |
[
-4.34782600402832,
3.932346820831299,
8.454545021057129,
42.63088607788086,
-0.6593406796455383,
13.288912773132324
] | [
-4.079176425933838,
-2.044253349304199,
5.620955467224121,
43.5278205871582,
-0.7081807255744934,
13.288912773132324
] | [
0.3319818079471588,
-0.0021345335990190506,
0.11651910096406937,
3.075148344039917,
0.7569968104362488,
3.0373430252075195
] | 0 | [
0.007669905666261911,
0.03834952041506767,
0.0076698968186974525,
0.7654564380645752,
-0.02147573232650757,
0.2901233732700348
] | [
0.013262147083878517,
-0.07006195932626724,
-0.04014349356293678,
0.7810932993888855,
-0.023009711876511574,
0.2901233732700348
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.287531 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.299999 | 293 | 37 | 14,291 | 0 | |
[
-4.34782600402832,
2.3255813121795654,
8.454545021057129,
43.15882110595703,
-0.6593406796455383,
12.454896926879883
] | [
-4.049522399902344,
-3.7045891284942627,
5.501346111297607,
44.06388473510742,
-0.7081807255744934,
12.454896926879883
] | [
0.3308776021003723,
-0.002126089297235012,
0.12327289581298828,
3.0724518299102783,
0.7768438458442688,
3.0354716777801514
] | 0 | [
0.007669905666261911,
0.00920388288795948,
0.0076698968186974525,
0.7746602892875671,
-0.02147573232650757,
0.2708561420440674
] | [
0.013879428617656231,
-0.10017932206392288,
-0.04216175898909569,
0.7904388904571533,
-0.023009711876511574,
0.2708561420440674
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.334822 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.4 | 294 | 37 | 14,292 | 0 | |
[
-4.34782600402832,
0.7188160419464111,
8.363636016845703,
43.6867561340332,
-0.6593406796455383,
11.620396614074707
] | [
-4.019872188568115,
-5.364686489105225,
5.381753444671631,
44.599876403808594,
-0.7081807255744934,
11.620396614074707
] | [
0.3297479748725891,
-0.002117450814694166,
0.13033199310302734,
3.069427728652954,
0.7982133626937866,
3.0333285331726074
] | 0 | [
0.007669905666261911,
-0.019941750913858414,
0.006135917268693447,
0.7838641405105591,
-0.02147573232650757,
0.2515777051448822
] | [
0.014496630989015102,
-0.1302923709154129,
-0.04417973756790161,
0.7997832298278809,
-0.023009711876511574,
0.2515777051448822
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.382293 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.5 | 295 | 37 | 14,293 | 0 | |
[
-4.34782600402832,
-1.1416490077972412,
8.363636016845703,
44.126705169677734,
-0.6593406796455383,
10.785836219787598
] | [
-3.9904911518096924,
-7.009736061096191,
5.26324462890625,
45.131011962890625,
-0.7081807255744934,
10.785836219787598
] | [
0.3283432722091675,
-0.0021067068446427584,
0.13832373917102814,
3.0655720233917236,
0.8241555094718933,
3.0305323600769043
] | 0 | [
0.007669905666261911,
-0.05368932709097862,
0.006135917268693447,
0.7915340662002563,
-0.02147573232650757,
0.23229791224002838
] | [
0.015108230523765087,
-0.16013245284557343,
-0.046179432421922684,
0.8090428709983826,
-0.023009711876511574,
0.23229791224002838
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.434387 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.6 | 296 | 37 | 14,294 | 0 | |
[
-4.34782600402832,
-2.9175474643707275,
8.363636016845703,
44.654640197753906,
-0.6593406796455383,
9.951798439025879
] | [
-3.9616968631744385,
-8.621801376342773,
5.147103309631348,
45.65153121948242,
-0.7081807255744934,
9.951798439025879
] | [
0.32658037543296814,
-0.002093216171488166,
0.14568686485290527,
3.061985969543457,
0.8470392227172852,
3.027872323989868
] | 0 | [
0.007669905666261911,
-0.08590292185544968,
0.006135917268693447,
0.8007379770278931,
-0.02147573232650757,
0.21303017437458038
] | [
0.01570761576294899,
-0.18937422335147858,
-0.04813917726278305,
0.8181174397468567,
-0.023009711876511574,
0.21303017437458038
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.485119 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.700001 | 297 | 37 | 14,295 | 0 | |
[
-4.34782600402832,
-4.608879566192627,
8.363636016845703,
45.182579040527344,
-0.6593406796455383,
9.117258071899414
] | [
-3.9336531162261963,
-10.19184684753418,
5.033989429473877,
46.15848922729492,
-0.7081807255744934,
9.117258071899414
] | [
0.3246593177318573,
-0.0020785119850188494,
0.1525764912366867,
3.058467388153076,
0.868391215801239,
3.0252108573913574
] | 0 | [
0.007669905666261911,
-0.11658254265785217,
0.006135917268693447,
0.8099418878555298,
-0.02147573232650757,
0.19375082850456238
] | [
0.016291378065943718,
-0.21785378456115723,
-0.05004783719778061,
0.8269556164741516,
-0.023009711876511574,
0.19375082850456238
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.533983 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.799999 | 298 | 37 | 14,296 | 0 | |
[
-4.34782600402832,
-6.131078243255615,
8.363636016845703,
45.79850387573242,
-0.6593406796455383,
8.281586647033691
] | [
-3.906681537628174,
-11.701859474182129,
4.925200462341309,
46.64605712890625,
-0.7081807255744934,
8.281586647033691
] | [
0.32253026962280273,
-0.0020622110459953547,
0.15844018757343292,
3.0555758476257324,
0.8851633667945862,
3.0229880809783936
] | 0 | [
0.007669905666261911,
-0.14419420063495636,
0.006135917268693447,
0.8206797242164612,
-0.02147573232650757,
0.17444536089897156
] | [
0.01685282215476036,
-0.24524439871311188,
-0.0518835186958313,
0.8354557156562805,
-0.023009711876511574,
0.17444536089897156
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.579701 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.9 | 299 | 37 | 14,297 | 0 | |
[
-4.34782600402832,
-7.7378435134887695,
8.363636016845703,
46.23845291137695,
-0.6593406796455383,
7.447659969329834
] | [
-3.8818886280059814,
-13.089911460876465,
4.825198173522949,
47.0942497253418,
-0.7081807255744934,
7.447659969329834
] | [
0.32047855854034424,
-0.0020465045236051083,
0.164950430393219,
3.0517194271087646,
0.9065034985542297,
3.01997709274292
] | 0 | [
0.007669905666261911,
-0.1733398288488388,
0.006135917268693447,
0.8283496499061584,
-0.02147573232650757,
0.1551802009344101
] | [
0.017368914559483528,
-0.27042272686958313,
-0.053570933640003204,
0.8432693481445312,
-0.023009711876511574,
0.1551802009344101
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.626062 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30 | 300 | 37 | 14,298 | 0 | |
[
-4.34782600402832,
-9.42917537689209,
8.363636016845703,
46.766387939453125,
-0.6593406796455383,
6.613667964935303
] | [
-3.869230031967163,
-13.79860782623291,
4.774139881134033,
47.323081970214844,
-0.7081807255744934,
6.613667964935303
] | [
0.31803035736083984,
-0.0020277597941458225,
0.17159131169319153,
3.047646999359131,
0.927836000919342,
3.0167436599731445
] | 0 | [
0.007669905666261911,
-0.2040194422006607,
0.006135917268693447,
0.8375535011291504,
-0.02147573232650757,
0.13591352105140686
] | [
0.017632417380809784,
-0.2832779884338379,
-0.05443248152732849,
0.8472587466239929,
-0.023009711876511574,
0.13591352105140686
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.674451 | [
-3.754429578781128,
-19.96053123474121,
6.157726764678955,
49.39836120605469,
-0.7081807255744934,
0
] | [
0.30024686455726624,
-0.005110790953040123,
0.22125491499900818,
2.997037410736084,
1.1083110570907593,
2.9603357315063477
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.1 | 301 | 37 | 14,299 | 0 |
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