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 | 0.825067 | [
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] | 0 | pick pot lid and place on pot | [
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] | 20.9 | 209 | 4 | 1,700 | 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 | 0.856813 | [
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21.06247329711914,
36.424285888671875,
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] | 0 | pick pot lid and place on pot | [
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0
] | 21 | 210 | 4 | 1,701 | 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 | 0.877317 | [
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21.06247329711914,
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] | 0 | pick pot lid and place on pot | [
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] | 21.1 | 211 | 4 | 1,702 | 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 | 0.896222 | [
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] | 0 | pick pot lid and place on pot | [
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] | 21.200001 | 212 | 4 | 1,703 | 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 | 0.921443 | [
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21.06247329711914,
36.424285888671875,
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] | [
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3.0812699794769287,
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] | 0 | pick pot lid and place on pot | [
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0
] | 21.299999 | 213 | 4 | 1,704 | 0 | |
[
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0
] | [
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0
] | [
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] | 0 | [
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] | [
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0.20500972867012024,
0.6572524905204773,
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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 | 0.943721 | [
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21.06247329711914,
36.424285888671875,
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] | [
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3.0812699794769287,
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] | 0 | pick pot lid and place on pot | [
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0,
0
] | 21.4 | 214 | 4 | 1,705 | 0 | |
[
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] | [
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] | [
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0.6572524905204773,
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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 | 0.948633 | [
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21.06247329711914,
36.424285888671875,
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] | [
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3.0812699794769287,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.5 | 215 | 4 | 1,706 | 0 | |
[
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] | [
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] | 0 | [
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] | push lid +2cm on pot | move_linear | 0 | [
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] | [
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] | 0 | pick pot lid and place on pot | [
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] | 21.6 | 216 | 4 | 1,707 | 0 | ||
[
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] | push lid +2cm on pot | move_linear | 0 | [
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] | 0 | pick pot lid and place on pot | [
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] | 21.700001 | 217 | 4 | 1,708 | 0 | ||
[
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] | push lid +2cm on pot | move_linear | 0.008766 | [
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] | 0 | pick pot lid and place on pot | [
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] | 21.799999 | 218 | 4 | 1,709 | 0 | ||
[
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] | [
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] | push lid +2cm on pot | move_linear | 0.040617 | [
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] | [
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3.0857179164886475,
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] | 0 | pick pot lid and place on pot | [
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] | 21.9 | 219 | 4 | 1,710 | 0 | ||
[
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] | [
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] | [
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] | push lid +2cm on pot | move_linear | 0.07162 | [
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] | 0 | pick pot lid and place on pot | [
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] | 22 | 220 | 4 | 1,711 | 0 | ||
[
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] | push lid +2cm on pot | move_linear | 0.09593 | [
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] | 22.1 | 221 | 4 | 1,712 | 0 | ||
[
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[
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[
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[
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] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 26.4 | 264 | 4 | 1,755 | 0 | ||
[
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36.64760208129883,
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0.6611456871032715,
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0.029365085065364838
] | release lid on pot | gripper_open | 0 | [
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13,
36.471622467041016,
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20
] | [
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3.0901365280151367,
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] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 26.5 | 265 | 4 | 1,756 | 0 | ||
[
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3.0904619693756104,
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0.007669905666261911,
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0.6611456871032715,
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0.052485428750514984
] | release lid on pot | gripper_open | 0 | [
-4.34782600402832,
11.374207496643066,
13,
36.471622467041016,
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20
] | [
0.3314327597618103,
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3.0901365280151367,
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] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 26.6 | 266 | 4 | 1,757 | 0 | ||
[
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36.64760208129883,
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0.6611456871032715,
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] | release lid on pot | gripper_open | 0.025338 | [
-4.34782600402832,
11.374207496643066,
13,
36.471622467041016,
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20
] | [
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3.0901365280151367,
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] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 26.700001 | 267 | 4 | 1,758 | 0 | ||
[
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0.6611456871032715,
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] | release lid on pot | gripper_open | 0.086299 | [
-4.34782600402832,
11.374207496643066,
13,
36.471622467041016,
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20
] | [
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3.0901365280151367,
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] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 26.799999 | 268 | 4 | 1,759 | 0 | ||
[
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11.458773612976074,
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36.64760208129883,
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0.07315000146627426,
3.0904619693756104,
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] | 1 | [
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0.6611456871032715,
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0.12183842062950134
] | release lid on pot | gripper_open | 0.147255 | [
-4.34782600402832,
11.374207496643066,
13,
36.471622467041016,
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20
] | [
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3.0901365280151367,
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] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 26.9 | 269 | 4 | 1,760 | 0 | ||
[
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11.458773612976074,
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36.64760208129883,
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] | [
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] | 1 | [
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0.6611456871032715,
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] | release lid on pot | gripper_open | 0.208214 | [
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11.374207496643066,
13,
36.471622467041016,
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20
] | [
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3.0901365280151367,
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] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27 | 270 | 4 | 1,761 | 0 | ||
[
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] | [
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] | [
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0.07315000146627426,
3.0904619693756104,
0.6502346396446228,
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] | 1 | [
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] | [
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0.6611456871032715,
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] | release lid on pot | gripper_open | 0.269169 | [
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11.374207496643066,
13,
36.471622467041016,
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20
] | [
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3.0901365280151367,
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] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.1 | 271 | 4 | 1,762 | 0 | ||
[
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11.458773612976074,
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36.64760208129883,
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] | [
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9.006631851196289
] | [
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0.07315000146627426,
3.0904619693756104,
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] | 1 | [
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] | [
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0.6611456871032715,
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] | release lid on pot | gripper_open | 0.33013 | [
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11.374207496643066,
13,
36.471622467041016,
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20
] | [
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] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.200001 | 272 | 4 | 1,763 | 0 | ||
[
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36.64760208129883,
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] | [
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] | [
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3.0904619693756104,
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] | 1 | [
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] | [
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0.6611456871032715,
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] | release lid on pot | gripper_open | 0.391089 | [
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13,
36.471622467041016,
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20
] | [
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3.0901365280151367,
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] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.299999 | 273 | 4 | 1,764 | 0 | ||
[
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11.458773612976074,
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36.64760208129883,
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11.008238792419434
] | [
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3.0904619693756104,
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] | 1 | [
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] | [
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0.6611456871032715,
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] | release lid on pot | gripper_open | 0.452044 | [
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13,
36.471622467041016,
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20
] | [
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3.0901365280151367,
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] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.4 | 274 | 4 | 1,765 | 0 | ||
[
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11.458773612976074,
12.909090995788574,
36.64760208129883,
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11.458773612976074,
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12.008957862854004
] | [
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0.07315000146627426,
3.0904619693756104,
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] | 1 | [
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] | [
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0.6611456871032715,
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] | release lid on pot | gripper_open | 0.51299 | [
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11.374207496643066,
13,
36.471622467041016,
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20
] | [
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3.0901365280151367,
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] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.5 | 275 | 4 | 1,766 | 0 | ||
[
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11.458773612976074,
12.909090995788574,
36.64760208129883,
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] | [
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11.458773612976074,
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36.64760208129883,
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13.009772300720215
] | [
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0.07315000146627426,
3.0904619693756104,
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] | 1 | [
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0.6611456871032715,
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] | release lid on pot | gripper_open | 0.573937 | [
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11.374207496643066,
13,
36.471622467041016,
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20
] | [
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3.0901365280151367,
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] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.6 | 276 | 4 | 1,767 | 0 | ||
[
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11.458773612976074,
12.909090995788574,
36.64760208129883,
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] | [
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11.458773612976074,
12.909090995788574,
36.64760208129883,
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14.010558128356934
] | [
0.3312273919582367,
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0.07315000146627426,
3.0904619693756104,
0.6502346396446228,
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] | 1 | [
0.007669905666261911,
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] | [
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0.6611456871032715,
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0.3067946434020996
] | release lid on pot | gripper_open | 0.634873 | [
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11.374207496643066,
13,
36.471622467041016,
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20
] | [
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3.0901365280151367,
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] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.700001 | 277 | 4 | 1,768 | 0 | ||
[
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11.458773612976074,
12.909090995788574,
36.64760208129883,
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15.011289596557617
] | [
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11.458773612976074,
12.909090995788574,
36.64760208129883,
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15.011289596557617
] | [
0.3312273919582367,
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0.07315000146627426,
3.0904619693756104,
0.6502346396446228,
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] | 1 | [
0.007669905666261911,
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] | [
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0.17487381398677826,
0.08283496648073196,
0.6611456871032715,
-0.01840776950120926,
0.32991328835487366
] | release lid on pot | gripper_open | 0.695793 | [
-4.34782600402832,
11.374207496643066,
13,
36.471622467041016,
-0.5616605877876282,
20
] | [
0.3314327597618103,
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3.0901365280151367,
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3.0494062900543213
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.799999 | 278 | 4 | 1,769 | 0 | ||
[
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11.458773612976074,
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36.64760208129883,
-0.5616605877876282,
16.01201057434082
] | [
-4.34782600402832,
11.458773612976074,
12.909090995788574,
36.64760208129883,
-0.5616605877876282,
16.01201057434082
] | [
0.3312273919582367,
-0.002149563981220126,
0.07315000146627426,
3.0904619693756104,
0.6502346396446228,
3.0496037006378174
] | 1 | [
0.007669905666261911,
0.17487381398677826,
0.08283496648073196,
0.6611456871032715,
-0.01840776950120926,
0.3530316948890686
] | [
0.007669905666261911,
0.17487381398677826,
0.08283496648073196,
0.6611456871032715,
-0.01840776950120926,
0.3530316948890686
] | release lid on pot | gripper_open | 0.756688 | [
-4.34782600402832,
11.374207496643066,
13,
36.471622467041016,
-0.5616605877876282,
20
] | [
0.3314327597618103,
-0.0021511386148631573,
0.07347764819860458,
3.0901365280151367,
0.653291642665863,
3.0494062900543213
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.9 | 279 | 4 | 1,770 | 0 | ||
[
-4.34782600402832,
11.458773612976074,
12.909090995788574,
36.64760208129883,
-0.5616605877876282,
17.01329803466797
] | [
-4.34782600402832,
11.458773612976074,
12.909090995788574,
36.64760208129883,
-0.5616605877876282,
17.01329803466797
] | [
0.3312273919582367,
-0.002149563981220126,
0.07315000146627426,
3.0904619693756104,
0.6502346396446228,
3.0496037006378174
] | 1 | [
0.007669905666261911,
0.17487381398677826,
0.08283496648073196,
0.6611456871032715,
-0.01840776950120926,
0.37616318464279175
] | [
0.007669905666261911,
0.17487381398677826,
0.08283496648073196,
0.6611456871032715,
-0.01840776950120926,
0.37616318464279175
] | release lid on pot | gripper_open | 0.817571 | [
-4.34782600402832,
11.374207496643066,
13,
36.471622467041016,
-0.5616605877876282,
20
] | [
0.3314327597618103,
-0.0021511386148631573,
0.07347764819860458,
3.0901365280151367,
0.653291642665863,
3.0494062900543213
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 28 | 280 | 4 | 1,771 | 0 | ||
[
-4.34782600402832,
11.458773612976074,
12.909090995788574,
36.64760208129883,
-0.5616605877876282,
18.014280319213867
] | [
-4.34782600402832,
11.458773612976074,
12.909090995788574,
36.64760208129883,
-0.5616605877876282,
18.014280319213867
] | [
0.3312273919582367,
-0.002149563981220126,
0.07315000146627426,
3.0904619693756104,
0.6502346396446228,
3.0496037006378174
] | 1 | [
0.007669905666261911,
0.17487381398677826,
0.08283496648073196,
0.6611456871032715,
-0.01840776950120926,
0.399287611246109
] | [
0.007669905666261911,
0.17487381398677826,
0.08283496648073196,
0.6611456871032715,
-0.01840776950120926,
0.399287611246109
] | release lid on pot | gripper_open | 0.878316 | [
-4.34782600402832,
11.374207496643066,
13,
36.471622467041016,
-0.5616605877876282,
20
] | [
0.3314327597618103,
-0.0021511386148631573,
0.07347764819860458,
3.0901365280151367,
0.653291642665863,
3.0494062900543213
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 28.1 | 281 | 4 | 1,772 | 0 | ||
[
-4.34782600402832,
11.458773612976074,
12.909090995788574,
36.64760208129883,
-0.5616605877876282,
19.014986038208008
] | [
-4.34782600402832,
11.458773612976074,
12.909090995788574,
36.64760208129883,
-0.5616605877876282,
19.014986038208008
] | [
0.3312273919582367,
-0.002149563981220126,
0.07315000146627426,
3.0904619693756104,
0.6502346396446228,
3.0496037006378174
] | 1 | [
0.007669905666261911,
0.17487381398677826,
0.08283496648073196,
0.6611456871032715,
-0.01840776950120926,
0.4224056899547577
] | [
0.007669905666261911,
0.17487381398677826,
0.08283496648073196,
0.6611456871032715,
-0.01840776950120926,
0.4224056899547577
] | release lid on pot | gripper_open | 0.938573 | [
-4.34782600402832,
11.374207496643066,
13,
36.471622467041016,
-0.5616605877876282,
20
] | [
0.3314327597618103,
-0.0021511386148631573,
0.07347764819860458,
3.0901365280151367,
0.653291642665863,
3.0494062900543213
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 28.200001 | 282 | 4 | 1,773 | 0 | ||
[
-4.34782600402832,
12.135306358337402,
12.636363983154297,
36.91157150268555,
-0.5616605877876282,
20
] | [
-4.3478264808654785,
12.003888130187988,
12.08403491973877,
36.911590576171875,
-0.5616605877876282,
20
] | [
0.3308156132698059,
-0.002146401209756732,
0.07054314017295837,
3.0917487144470215,
0.6380059719085693,
3.0503764152526855
] | 0 | [
0.007669905666261911,
0.1871456503868103,
0.0782330259680748,
0.6657477021217346,
-0.01840776950120926,
0.44516122341156006
] | [
0.007669895887374878,
0.18476182222366333,
0.06891313940286636,
0.6657480001449585,
-0.01840776950120926,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.299999 | 283 | 4 | 1,774 | 0 | |
[
-4.34782600402832,
12.219873428344727,
12.636363983154297,
36.91157150268555,
-0.5616605877876282,
20
] | [
-4.3483781814575195,
11.87932014465332,
12.073262214660645,
36.9450798034668,
-0.5616605877876282,
20
] | [
0.3307446539402008,
-0.0021458561532199383,
0.07014191895723343,
3.0919077396392822,
0.6364772915840149,
3.050471067428589
] | 0 | [
0.007669905666261911,
0.18867963552474976,
0.0782330259680748,
0.6657477021217346,
-0.01840776950120926,
0.44516122341156006
] | [
0.007658411283046007,
0.18250223994255066,
0.06873136758804321,
0.6663318276405334,
-0.01840776950120926,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.4 | 284 | 4 | 1,775 | 0 | |
[
-4.34782600402832,
12.219873428344727,
12.636363983154297,
36.91157150268555,
-0.5616605877876282,
20
] | [
-4.349850654602051,
11.546957015991211,
12.044516563415527,
37.034427642822266,
-0.5616605877876282,
20
] | [
0.3307446539402008,
-0.0021458561532199383,
0.07014191895723343,
3.0919077396392822,
0.6364772915840149,
3.050471067428589
] | 0 | [
0.007669905666261911,
0.18867963552474976,
0.0782330259680748,
0.6657477021217346,
-0.01840776950120926,
0.44516122341156006
] | [
0.007627760525792837,
0.17647339403629303,
0.06824631989002228,
0.6678895354270935,
-0.01840776950120926,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.5 | 285 | 4 | 1,776 | 0 | |
[
-4.34782600402832,
12.219873428344727,
12.636363983154297,
36.91157150268555,
-0.5616605877876282,
20
] | [
-4.352214813232422,
10.91308307647705,
11.998356819152832,
37.17790603637695,
-0.5616605877876282,
20
] | [
0.3307446539402008,
-0.0021458561532199383,
0.07014191895723343,
3.0919077396392822,
0.6364772915840149,
3.050471067428589
] | 0 | [
0.007669905666261911,
0.18867963552474976,
0.0782330259680748,
0.6657477021217346,
-0.01840776950120926,
0.44516122341156006
] | [
0.007578547578305006,
0.1649753451347351,
0.06746742874383926,
0.6703908443450928,
-0.01840776950120926,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.6 | 286 | 4 | 1,777 | 0 | |
[
-4.34782600402832,
12.219873428344727,
12.636363983154297,
36.91157150268555,
-0.5616605877876282,
20
] | [
-4.355453968048096,
10.18202018737793,
11.935128211975098,
37.37444305419922,
-0.5616605877876282,
20
] | [
0.3307446539402008,
-0.0021458561532199383,
0.07014191895723343,
3.0919077396392822,
0.6364772915840149,
3.050471067428589
] | 0 | [
0.007669905666261911,
0.18867963552474976,
0.0782330259680748,
0.6657477021217346,
-0.01840776950120926,
0.44516122341156006
] | [
0.007511121220886707,
0.15171436965465546,
0.06640052050352097,
0.6738172173500061,
-0.01840776950120926,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.700001 | 287 | 4 | 1,778 | 0 | |
[
-4.421517848968506,
12.050740242004395,
12.636363983154297,
36.91157150268555,
-0.5616605877876282,
20
] | [
-4.35941743850708,
9.287373542785645,
11.857751846313477,
37.61495590209961,
-0.5616605877876282,
20
] | [
0.33088889718055725,
-0.0016989395953714848,
0.07094446569681168,
3.0915892124176025,
0.639534592628479,
3.0518152713775635
] | 0 | [
0.006135927513241768,
0.18561168015003204,
0.0782330259680748,
0.6657477021217346,
-0.01840776950120926,
0.44516122341156006
] | [
0.007428616750985384,
0.13548608124256134,
0.06509488821029663,
0.6780102849006653,
-0.01840776950120926,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.799999 | 288 | 4 | 1,779 | 0 | |
[
-4.421517848968506,
11.797039985656738,
12.818181991577148,
36.99956130981445,
-0.5616605877876282,
19.994930267333984
] | [
-4.364091396331787,
8.23229694366455,
11.766500473022461,
37.898597717285156,
-0.5616605877876282,
19.994930267333984
] | [
0.3304491341114044,
-0.0016962451627478004,
0.07136748731136322,
3.0915892124176025,
0.639534592628479,
3.0518152713775635
] | 0 | [
0.006135927513241768,
0.18100972473621368,
0.08130098134279251,
0.6672816872596741,
-0.01840776950120926,
0.4450441002845764
] | [
0.007331323344260454,
0.11634770780801773,
0.06355513632297516,
0.6829552054405212,
-0.01840776950120926,
0.4450441002845764
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.9 | 289 | 4 | 1,780 | 0 | |
[
-4.421517848968506,
11.374207496643066,
12.818181991577148,
37.43950653076172,
-0.5616605877876282,
19.160402297973633
] | [
-4.369400501251221,
7.033924102783203,
11.66285514831543,
38.220760345458984,
-0.5616605877876282,
19.160402297973633
] | [
0.329863041639328,
-0.0016926561947911978,
0.0727415382862091,
3.0915892124176025,
0.639534592628479,
3.0518152713775635
] | 0 | [
0.006135927513241768,
0.1733398288488388,
0.08130098134279251,
0.6749515533447266,
-0.01840776950120926,
0.4257650375366211
] | [
0.007220808416604996,
0.09461003541946411,
0.061806242913007736,
0.6885716915130615,
-0.01840776950120926,
0.4257650375366211
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.011335 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29 | 290 | 4 | 1,781 | 0 | |
[
-4.421517848968506,
10.782240867614746,
12.909090995788574,
37.70347595214844,
-0.5616605877876282,
18.32643699645996
] | [
-4.375234603881836,
5.737705230712891,
11.54896068572998,
38.57478332519531,
-0.5616605877876282,
18.32643699645996
] | [
0.3295381963253021,
-0.0016906706150621176,
0.0748324990272522,
3.0911083221435547,
0.6441203951835632,
3.051527500152588
] | 0 | [
0.006135927513241768,
0.16260196268558502,
0.08283496648073196,
0.6795535087585449,
-0.01840776950120926,
0.4064989984035492
] | [
0.007099364884197712,
0.07109750062227249,
0.059884414076805115,
0.6947435736656189,
-0.01840776950120926,
0.4064989984035492
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.035027 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.1 | 291 | 4 | 1,782 | 0 | |
[
-4.421517848968506,
9.852008819580078,
13,
38.23141098022461,
-0.5616605877876282,
17.492109298706055
] | [
-4.381585121154785,
4.348259449005127,
11.424979209899902,
38.96015930175781,
-0.5616605877876282,
17.492109298706055
] | [
0.3288820683956146,
-0.0016866574296727777,
0.0781283751130104,
3.0904619693756104,
0.6502346396446228,
3.051137685775757
] | 0 | [
0.006135927513241768,
0.1457281857728958,
0.08436894416809082,
0.6887573599815369,
-0.01840776950120926,
0.38722455501556396
] | [
0.006967172026634216,
0.045893896371126175,
0.05779237672686577,
0.7014621496200562,
-0.01840776950120926,
0.38722455501556396
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.067213 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.200001 | 292 | 4 | 1,783 | 0 | |
[
-4.421517848968506,
8.498943328857422,
13,
38.67136001586914,
-0.5616605877876282,
16.657739639282227
] | [
-4.388341426849365,
2.8701040744781494,
10.85173511505127,
39.370140075683594,
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16.657739639282227
] | [
0.3288404047489166,
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0.08385606110095978,
3.088653087615967,
0.6670476198196411,
3.050030469894409
] | 0 | [
0.006135927513241768,
0.12118449062108994,
0.08436894416809082,
0.6964272856712341,
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0.006826531607657671,
0.019081156700849533,
0.048119574785232544,
0.7086095809936523,
-0.01840776950120926,
0.36794915795326233
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.108022 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.299999 | 293 | 4 | 1,784 | 0 | |
[
-4.421517848968506,
6.807610988616943,
13,
39.0233154296875,
-0.5616605877876282,
15.823884963989258
] | [
-4.395427227020264,
1.3197788000106812,
10.713397979736328,
39.800140380859375,
-0.5616605877876282,
15.823884963989258
] | [
0.3290092349052429,
-0.0016874719876796007,
0.09129299968481064,
3.085934638977051,
0.6915000677108765,
3.0483224391937256
] | 0 | [
0.006135927513241768,
0.09050486981868744,
0.08436894416809082,
0.7025631666183472,
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0.3486856520175934
] | [
0.006679032929241657,
-0.009040692821145058,
0.04578530415892601,
0.716106116771698,
-0.01840776950120926,
0.3486856520175934
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.155525 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.4 | 294 | 4 | 1,785 | 0 | |
[
-4.421517848968506,
5.369978904724121,
13,
39.55125427246094,
-0.5616605877876282,
14.990059852600098
] | [
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10.569228172302246,
40.24827194213867,
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14.990059852600098
] | [
0.3285258412361145,
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0.09724274277687073,
3.084001064300537,
0.7083089351654053,
3.047076940536499
] | 0 | [
0.006135927513241768,
0.0644271969795227,
0.08436894416809082,
0.7117670774459839,
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0.32942283153533936
] | [
0.006525300443172455,
-0.03834833949804306,
0.04335261136293411,
0.7239186763763428,
-0.01840776950120926,
0.32942283153533936
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.198557 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.5 | 295 | 4 | 1,786 | 0 | |
[
-4.421517848968506,
3.763213634490967,
13,
39.90321350097656,
-0.5616605877876282,
14.155701637268066
] | [
-4.410396099090576,
-1.9551684856414795,
10.421171188354492,
40.70848083496094,
-0.5616605877876282,
14.155701637268066
] | [
0.32828861474990845,
-0.0016830890672281384,
0.10423724353313446,
3.081272602081299,
0.7312269806861877,
3.0452780723571777
] | 0 | [
0.006135927513241768,
0.03528156131505966,
0.08436894416809082,
0.7179030179977417,
-0.01840776950120926,
0.3101477026939392
] | [
0.006367438938468695,
-0.06844601780176163,
0.040854331105947495,
0.731941819190979,
-0.01840776950120926,
0.3101477026939392
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.244229 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.6 | 296 | 4 | 1,787 | 0 | |
[
-4.421517848968506,
2.2410147190093994,
13,
40.51913833618164,
-0.5616605877876282,
13.321884155273438
] | [
-4.41811466217041,
-3.64383602142334,
10.270489692687988,
41.176849365234375,
-0.5616605877876282,
13.321884155273438
] | [
0.3273409307003021,
-0.0016772962408140302,
0.1103735938668251,
3.0791995525360107,
0.7480311393737793,
3.0438807010650635
] | 0 | [
0.006135927513241768,
0.0076699024066329,
0.08436894416809082,
0.7286409139633179,
-0.01840776950120926,
0.2908850610256195
] | [
0.006206768564879894,
-0.09907730668783188,
0.03831176459789276,
0.7401072382926941,
-0.01840776950120926,
0.2908850610256195
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.289448 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.700001 | 297 | 4 | 1,788 | 0 | |
[
-4.421517848968506,
0.4651162922382355,
13,
40.87109375,
-0.5616605877876282,
12.488011360168457
] | [
-4.425903797149658,
-5.347961902618408,
10.118428230285645,
41.64950942993164,
-0.5616605877876282,
12.488011360168457
] | [
0.32674145698547363,
-0.0016736423131078482,
0.1180909276008606,
3.075864791870117,
0.7739968299865723,
3.0415806770324707
] | 0 | [
0.006135927513241768,
-0.02454369328916073,
0.08436894416809082,
0.7347767949104309,
-0.01840776950120926,
0.27162113785743713
] | [
0.006044629029929638,
-0.12998899817466736,
0.03574591130018234,
0.7483474016189575,
-0.01840776950120926,
0.27162113785743713
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.33864 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.799999 | 298 | 4 | 1,789 | 0 | |
[
-4.421517848968506,
-1.4799153804779053,
13,
41.31104278564453,
-0.5616605877876282,
11.620382308959961
] | [
-4.434004783630371,
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9.960272789001465,
42.141109466552734,
-0.5616605877876282,
11.620382308959961
] | [
0.325717568397522,
-0.0016673882491886616,
0.12640126049518585,
3.0721445083618164,
0.8014834523200989,
3.0389435291290283
] | 0 | [
0.006135927513241768,
-0.05982524901628494,
0.08436894416809082,
0.7424467206001282,
-0.01840776950120926,
0.25157737731933594
] | [
0.005875997710973024,
-0.16213925182819366,
0.03307722881436348,
0.7569178342819214,
-0.01840776950120926,
0.25157737731933594
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.392181 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.9 | 299 | 4 | 1,790 | 0 | |
[
-4.421517848968506,
-3.1712472438812256,
13,
41.8389778137207,
-0.5616605877876282,
10.786499977111816
] | [
-4.4417195320129395,
-8.808052062988281,
9.809667587280273,
42.6092414855957,
-0.5616605877876282,
10.786499977111816
] | [
0.32434386014938354,
-0.0016589860897511244,
0.13331623375415802,
3.069101572036743,
0.8228569626808167,
3.0367348194122314
] | 0 | [
0.006135927513241768,
-0.09050486236810684,
0.08436894416809082,
0.7516505718231201,
-0.01840776950120926,
0.23231324553489685
] | [
0.0057154069654643536,
-0.1927526891231537,
0.030535947531461716,
0.7650790810585022,
-0.01840776950120926,
0.23231324553489685
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.440336 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30 | 300 | 4 | 1,791 | 0 | |
[
-4.421517848968506,
-5.031712532043457,
13,
42.36691665649414,
-0.5616605877876282,
9.952533721923828
] | [
-4.449285507202148,
-10.463251113891602,
9.66196060180664,
43.068363189697266,
-0.5616605877876282,
9.952533721923828
] | [
0.3227057456970215,
-0.0016489652916789055,
0.14094334840774536,
3.0654478073120117,
0.8472778797149658,
3.0340259075164795
] | 0 | [
0.006135927513241768,
-0.12425244599580765,
0.08436894416809082,
0.7608544826507568,
-0.01840776950120926,
0.21304716169834137
] | [
0.005557912401854992,
-0.2227768748998642,
0.02804357185959816,
0.7730832695960999,
-0.01840776950120926,
0.21304716169834137
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.491911 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.1 | 301 | 4 | 1,792 | 0 | |
[
-4.421517848968506,
-6.553911209106445,
13,
42.7188720703125,
-0.5616605877876282,
9.118505477905273
] | [
-4.456650257110596,
-12.074503898620605,
9.518176078796387,
43.515296936035156,
-0.5616605877876282,
9.118505477905273
] | [
0.3213309049606323,
-0.001640554633922875,
0.14727236330509186,
3.0620808601379395,
0.8686404824256897,
3.0314786434173584
] | 0 | [
0.006135927513241768,
-0.15186409652233124,
0.08436894416809082,
0.7669903635978699,
-0.01840776950120926,
0.19377964735031128
] | [
0.005404606927186251,
-0.25200390815734863,
0.025617381557822227,
0.7808749675750732,
-0.01840776950120926,
0.19377964735031128
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.53544 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.200001 | 302 | 4 | 1,793 | 0 | |
[
-4.421517848968506,
-8.414376258850098,
13,
43.24681091308594,
-0.5616605877876282,
8.28453254699707
] | [
-4.463724136352539,
-13.62197494506836,
9.380082130432129,
43.94453811645508,
-0.5616605877876282,
8.28453254699707
] | [
0.3192692697048187,
-0.00162793742492795,
0.15474817156791687,
3.058018445968628,
0.893047571182251,
3.0283451080322266
] | 0 | [
0.006135927513241768,
-0.18561168015003204,
0.08436894416809082,
0.7761942744255066,
-0.01840776950120926,
0.17451341450214386
] | [
0.005257356446236372,
-0.28007400035858154,
0.02328721433877945,
0.7883582711219788,
-0.01840776950120926,
0.17451341450214386
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.586664 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.299999 | 303 | 4 | 1,794 | 0 | |
[
-4.421517848968506,
-10.190275192260742,
13,
43.6867561340332,
-0.5616605877876282,
7.450596332550049
] | [
-4.47025203704834,
-15.050130844116211,
9.252636909484863,
44.34068298339844,
-0.5616605877876282,
7.450596332550049
] | [
0.31719520688056946,
-0.0016152431489899755,
0.16192029416561127,
3.053701877593994,
0.9174461960792542,
3.024949312210083
] | 0 | [
0.006135927513241768,
-0.2178252786397934,
0.08436894416809082,
0.7838641405105591,
-0.01840776950120926,
0.1552480310201645
] | [
0.005121470894664526,
-0.30597975850105286,
0.021136730909347534,
0.7952645421028137,
-0.01840776950120926,
0.1552480310201645
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.635433 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.4 | 304 | 4 | 1,795 | 0 | |
[
-4.421517848968506,
-11.71247386932373,
12.909090995788574,
44.126705169677734,
-0.5616605877876282,
6.616707801818848
] | [
-4.473577976226807,
-15.777703285217285,
9.187708854675293,
44.54249954223633,
-0.5616605877876282,
6.616707801818848
] | [
0.31525012850761414,
-0.001603337237611413,
0.16825102269649506,
3.0496931076049805,
0.9387871026992798,
3.021739959716797
] | 0 | [
0.006135927513241768,
-0.24543693661689758,
0.08283496648073196,
0.7915340662002563,
-0.01840776950120926,
0.13598375022411346
] | [
0.005052237771451473,
-0.31917744874954224,
0.020041149109601974,
0.7987829446792603,
-0.01840776950120926,
0.13598375022411346
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.679255 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.5 | 305 | 4 | 1,796 | 0 | |
[
-4.421517848968506,
-12.980972290039062,
12.909090995788574,
44.126705169677734,
-0.5616605877876282,
5.78267765045166
] | [
-4.476988792419434,
-16.523847579956055,
9.121125221252441,
44.74946594238281,
-0.5616605877876282,
5.78267765045166
] | [
0.31399664282798767,
-0.001595668843947351,
0.17389771342277527,
3.0451300144195557,
0.9616433382034302,
3.0180275440216064
] | 0 | [
0.006135927513241768,
-0.2684466242790222,
0.08283496648073196,
0.7915340662002563,
-0.01840776950120926,
0.11671619117259979
] | [
0.004981237463653088,
-0.33271199464797974,
0.0189176294952631,
0.8023911118507385,
-0.01840776950120926,
0.11671619117259979
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.715224 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.6 | 306 | 4 | 1,797 | 0 | |
[
-4.421517848968506,
-13.65750503540039,
12.909090995788574,
44.47866439819336,
-0.5616605877876282,
4.948814868927002
] | [
-4.480484485626221,
-17.28858184814453,
9.052881240844727,
44.96158981323242,
-0.5616605877876282,
4.948814868927002
] | [
0.3127375841140747,
-0.0015879572601988912,
0.17618028819561005,
3.0438623428344727,
0.9677366018295288,
3.0169856548309326
] | 0 | [
0.006135927513241768,
-0.28071847558021545,
0.08283496648073196,
0.7976700663566589,
-0.01840776950120926,
0.09745249897241592
] | [
0.004908470902591944,
-0.346583753824234,
0.01776609569787979,
0.8060892224311829,
-0.01840776950120926,
0.09745249897241592
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.740643 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.700001 | 307 | 4 | 1,798 | 0 | |
[
-4.421517848968506,
-14.334037780761719,
12.909090995788574,
44.74263000488281,
-0.5616605877876282,
4.114097595214844
] | [
-4.484072208404541,
-18.07354164123535,
8.982832908630371,
45.179325103759766,
-0.5616605877876282,
4.114097595214844
] | [
0.31158873438835144,
-0.0015809215838089585,
0.17862367630004883,
3.042245864868164,
0.9753521680831909,
3.015650987625122
] | 0 | [
0.006135927513241768,
-0.2929903268814087,
0.08283496648073196,
0.8022719621658325,
-0.01840776950120926,
0.0781690701842308
] | [
0.004833788610994816,
-0.3608223795890808,
0.016584115102887154,
0.8098851442337036,
-0.01840776950120926,
0.0781690701842308
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.765083 | [
-4.503756999969482,
-22.1239070892334,
9.946369171142578,
46.37383270263672,
-0.5616605877876282,
0
] | [
0.29919207096099854,
-0.0010593303013592958,
0.22109481692314148,
2.9961564540863037,
1.1366571187973022,
2.977113723754883
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.799999 | 308 | 4 | 1,799 | 0 |
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