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 | 0.204244 | [
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38.70654296875,
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] | 0 | pick pot lid and place on pot | [
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0,
0
] | 19.4 | 194 | 93 | 35,100 | 1 | |
[
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0.5762659311294556,
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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 | 0.240218 | [
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38.70654296875,
39.994224548339844,
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3.076645612716675,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 19.5 | 195 | 93 | 35,101 | 1 | |
[
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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 | 0.283477 | [
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38.70654296875,
39.994224548339844,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 19.6 | 196 | 93 | 35,102 | 1 | |
[
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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 | 0.328424 | [
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38.70654296875,
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3.076645612716675,
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] | 0 | pick pot lid and place on pot | [
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0
] | 19.700001 | 197 | 93 | 35,103 | 1 | |
[
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] | [
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] | [
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.369377 | [
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38.70654296875,
39.994224548339844,
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] | [
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0.10400380194187164,
3.076645612716675,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 19.799999 | 198 | 93 | 35,104 | 1 | |
[
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0
] | [
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] | [
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] | 0 | [
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] | [
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0.5564796328544617,
0.544122576713562,
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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 | 0.416491 | [
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38.70654296875,
39.994224548339844,
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] | [
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3.076645612716675,
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3.019144058227539
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 19.9 | 199 | 93 | 35,105 | 1 | |
[
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] | [
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] | [
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.461554 | [
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38.70654296875,
39.994224548339844,
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] | [
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0.10400380194187164,
3.076645612716675,
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3.019144058227539
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20 | 200 | 93 | 35,106 | 1 | |
[
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] | [
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0
] | [
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0.1377900093793869,
3.0320792198181152,
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] | 0 | [
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] | [
0.021445773541927338,
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0.5464097261428833,
0.5790886282920837,
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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 | 0.506129 | [
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38.70654296875,
39.994224548339844,
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] | [
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0.10400380194187164,
3.076645612716675,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.1 | 201 | 93 | 35,107 | 1 | |
[
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] | [
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] | [
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] | 0 | [
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0.5414920449256897,
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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 | 0.547849 | [
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38.70654296875,
39.994224548339844,
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] | [
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0.10400380194187164,
3.076645612716675,
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] | 0 | pick pot lid and place on pot | [
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0,
0
] | 20.200001 | 202 | 93 | 35,108 | 1 | |
[
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] | [
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] | [
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] | [
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0.5367011427879333,
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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 | 0.592834 | [
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38.70654296875,
39.994224548339844,
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] | [
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3.076645612716675,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.299999 | 203 | 93 | 35,109 | 1 | |
[
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44.09090805053711,
33.21601486206055,
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0
] | [
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39.53080749511719,
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0
] | [
0.2805735468864441,
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3.05332612991333,
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] | 0 | [
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] | [
0.022161247208714485,
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0.5320441722869873,
0.6287648677825928,
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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 | 0.644153 | [
-3.5888938903808594,
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38.70654296875,
39.994224548339844,
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] | [
0.2780584990978241,
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0.10400380194187164,
3.076645612716675,
0.7139676809310913,
3.019144058227539
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.4 | 204 | 93 | 35,110 | 1 | |
[
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43.6363639831543,
34.18389892578125,
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] | [
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0
] | [
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3.0580921173095703,
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] | 0 | [
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] | [
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0.5276673436164856,
0.6437584161758423,
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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 | 0.690269 | [
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38.70654296875,
39.994224548339844,
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] | [
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0.10400380194187164,
3.076645612716675,
0.7139676809310913,
3.019144058227539
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.5 | 205 | 93 | 35,111 | 1 | |
[
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43.45454406738281,
34.97580337524414,
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0
] | [
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39.141815185546875,
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] | [
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3.062333345413208,
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] | 0 | [
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] | [
0.02248508855700493,
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0.5254803895950317,
0.651249885559082,
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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 | 0.724771 | [
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-19.308164596557617,
38.70654296875,
39.994224548339844,
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0
] | [
0.2780584990978241,
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0.10400380194187164,
3.076645612716675,
0.7139676809310913,
3.019144058227539
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.6 | 206 | 93 | 35,112 | 1 | |
[
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43.272727966308594,
35.679718017578125,
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0
] | [
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39.008949279785156,
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] | [
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] | 0 | [
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0.523238480091095,
0.6589300036430359,
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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 | 0.752127 | [
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38.70654296875,
39.994224548339844,
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] | [
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3.076645612716675,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.700001 | 207 | 93 | 35,113 | 1 | |
[
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] | [
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] | [
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] | 0 | [
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0.5209405422210693,
0.6668018102645874,
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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 | 0.771182 | [
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38.70654296875,
39.994224548339844,
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] | [
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3.076645612716675,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.799999 | 208 | 93 | 35,114 | 1 | |
[
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] | [
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] | [
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] | 0 | [
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] | [
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0.5185844898223877,
0.674872875213623,
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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 | 0.786234 | [
-3.5888938903808594,
-19.308164596557617,
38.70654296875,
39.994224548339844,
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] | [
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3.076645612716675,
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3.019144058227539
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.9 | 209 | 93 | 35,115 | 1 | |
[
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36.99956130981445,
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] | [
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] | [
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] | 0 | [
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] | [
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0.5161647200584412,
0.6831620931625366,
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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 | 0.815321 | [
-3.5888938903808594,
-19.308164596557617,
38.70654296875,
39.994224548339844,
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] | [
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3.076645612716675,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21 | 210 | 93 | 35,116 | 1 | |
[
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42.272727966308594,
37.35151672363281,
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] | [
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38.40164566040039,
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] | [
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3.072101354598999,
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] | 0 | [
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] | [
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0.5136650204658508,
0.6917251944541931,
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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 | 0.8341 | [
-3.5888938903808594,
-19.308164596557617,
38.70654296875,
39.994224548339844,
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0
] | [
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3.076645612716675,
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3.019144058227539
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.1 | 211 | 93 | 35,117 | 1 | |
[
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37.791465759277344,
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] | [
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] | [
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3.075434923171997,
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] | 0 | [
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] | [
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0.5110583901405334,
0.7006545066833496,
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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 | 0.851126 | [
-3.5888938903808594,
-19.308164596557617,
38.70654296875,
39.994224548339844,
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] | [
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3.076645612716675,
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3.019144058227539
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.200001 | 212 | 93 | 35,118 | 1 | |
[
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42.272727966308594,
38.319400787353516,
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0
] | [
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] | [
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3.0772476196289062,
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] | 0 | [
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] | [
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0.5083540081977844,
0.7099185585975647,
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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 | 0.864867 | [
-3.5888938903808594,
-19.308164596557617,
38.70654296875,
39.994224548339844,
-0.8058608174324036,
0
] | [
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0.10400380194187164,
3.076645612716675,
0.7139676809310913,
3.019144058227539
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.299999 | 213 | 93 | 35,119 | 1 | |
[
-3.9793663024902344,
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41.90909194946289,
38.93532943725586,
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] | [
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39.994224548339844,
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] | [
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3.079211950302124,
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] | 0 | [
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] | [
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0.505560040473938,
0.7194896936416626,
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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 | 0.887755 | [
-3.5888938903808594,
-19.308164596557617,
38.70654296875,
39.994224548339844,
-0.8058608174324036,
0
] | [
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0.10400380194187164,
3.076645612716675,
0.7139676809310913,
3.019144058227539
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.4 | 214 | 93 | 35,120 | 1 | |
[
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41.45454406738281,
39.639244079589844,
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] | [
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43.186126708984375,
34.9209098815918,
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0
] | [
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3.0820670127868652,
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] | 0 | [
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] | [
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0.5937232375144958,
0.6310430765151978,
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] | push lid +2cm on pot | move_linear | 0 | [
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32.78890609741211,
34.779022216796875,
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] | [
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0.08791434019804001,
3.079402446746826,
0.6926008462905884,
3.022753953933716
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.5 | 215 | 93 | 35,121 | 1 | ||
[
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41.45454406738281,
39.639244079589844,
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] | [
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43.186126708984375,
34.9209098815918,
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] | [
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0.09367316216230392,
3.0820670127868652,
0.6711997389793396,
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] | 0 | [
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] | [
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0.5937232375144958,
0.6310430765151978,
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] | push lid +2cm on pot | move_linear | 0 | [
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-7.607436180114746,
32.78890609741211,
34.779022216796875,
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0
] | [
0.2978403568267822,
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0.08791434019804001,
3.079402446746826,
0.6926008462905884,
3.022753953933716
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.6 | 216 | 93 | 35,122 | 1 | ||
[
-3.9793663024902344,
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41.45454406738281,
39.639244079589844,
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] | [
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43.186126708984375,
34.9209098815918,
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0
] | [
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0.09336117655038834,
3.0822536945343018,
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3.030850648880005
] | 0 | [
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0.5645049214363098,
0.7133010625839233,
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] | [
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0.5937232375144958,
0.6310430765151978,
-0.026077672839164734,
-0.016873788088560104
] | push lid +2cm on pot | move_linear | 0.003971 | [
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-7.607436180114746,
32.78890609741211,
34.779022216796875,
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0
] | [
0.2978403568267822,
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0.08791434019804001,
3.079402446746826,
0.6926008462905884,
3.022753953933716
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.700001 | 217 | 93 | 35,123 | 1 | ||
[
-3.9793663024902344,
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41.45454406738281,
39.375274658203125,
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3.6520583629608154
] | [
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43.06389236450195,
34.90544128417969,
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0
] | [
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0.0912550613284111,
3.0831799507141113,
0.6620375514030457,
3.0314228534698486
] | 0 | [
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0.5645049214363098,
0.708699107170105,
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] | [
0.02346540056169033,
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0.591660737991333,
0.6307734251022339,
-0.026077672839164734,
-0.016873788088560104
] | push lid +2cm on pot | move_linear | 0.040527 | [
-3.676652431488037,
-7.607436180114746,
32.78890609741211,
34.779022216796875,
-0.8058608174324036,
0
] | [
0.2978403568267822,
-0.00546084763482213,
0.08791434019804001,
3.079402446746826,
0.6926008462905884,
3.022753953933716
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.799999 | 218 | 93 | 35,124 | 1 | ||
[
-3.9793663024902344,
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41.727272033691406,
38.583370208740234,
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3.6520583629608154
] | [
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42.346641540527344,
34.880218505859375,
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0
] | [
0.2734946608543396,
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0.08891605585813522,
3.083547353744507,
0.6589832901954651,
3.0316483974456787
] | 0 | [
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0.5691068768501282,
0.6948933005332947,
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0.06749515235424042
] | [
0.023431876674294472,
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0.5795579552650452,
0.6303337216377258,
-0.026077672839164734,
-0.016873788088560104
] | push lid +2cm on pot | move_linear | 0.07509 | [
-3.676652431488037,
-7.607436180114746,
32.78890609741211,
34.779022216796875,
-0.8058608174324036,
0
] | [
0.2978403568267822,
-0.00546084763482213,
0.08791434019804001,
3.079402446746826,
0.6926008462905884,
3.022753953933716
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.9 | 219 | 93 | 35,125 | 1 | ||
[
-3.9793663024902344,
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42.54545593261719,
37.791465759277344,
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3.6520583629608154
] | [
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42.153995513916016,
34.853050231933594,
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0
] | [
0.27292293310165405,
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0.08552007377147675,
3.084458589553833,
0.6513474583625793,
3.032203435897827
] | 0 | [
0.01533980667591095,
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0.5829127430915833,
0.6810874938964844,
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0.06749515235424042
] | [
0.023396698758006096,
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0.5763072967529297,
0.6298600435256958,
-0.026077672839164734,
-0.016873788088560104
] | push lid +2cm on pot | move_linear | 0.071732 | [
-3.676652431488037,
-7.607436180114746,
32.78890609741211,
34.779022216796875,
-0.8058608174324036,
0
] | [
0.2978403568267822,
-0.00546084763482213,
0.08791434019804001,
3.079402446746826,
0.6926008462905884,
3.022753953933716
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 22 | 220 | 93 | 35,126 | 1 | ||
[
-3.9793663024902344,
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43.181819915771484,
37.08755111694336,
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] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 27.6 | 276 | 93 | 35,182 | 1 | ||
[
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] | release lid on pot | gripper_open | 0.146316 | [
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32.3636360168457,
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] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 27.700001 | 277 | 93 | 35,183 | 1 | ||
[
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] | release lid on pot | gripper_open | 0.203326 | [
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32.3636360168457,
39.19929504394531,
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] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 27.799999 | 278 | 93 | 35,184 | 1 | ||
[
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] | release lid on pot | gripper_open | 0.260297 | [
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32.3636360168457,
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] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 27.9 | 279 | 93 | 35,185 | 1 | ||
[
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] | release lid on pot | gripper_open | 0.317307 | [
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32.3636360168457,
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] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28 | 280 | 93 | 35,186 | 1 | ||
[
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] | release lid on pot | gripper_open | 0.374322 | [
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32.3636360168457,
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] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.1 | 281 | 93 | 35,187 | 1 | ||
[
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] | release lid on pot | gripper_open | 0.431336 | [
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32.3636360168457,
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] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.200001 | 282 | 93 | 35,188 | 1 | ||
[
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] | release lid on pot | gripper_open | 0.488345 | [
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32.3636360168457,
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] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.299999 | 283 | 93 | 35,189 | 1 | ||
[
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] | release lid on pot | gripper_open | 0.545379 | [
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32.3636360168457,
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] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.4 | 284 | 93 | 35,190 | 1 | ||
[
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] | release lid on pot | gripper_open | 0.602362 | [
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32.3636360168457,
39.19929504394531,
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30
] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.5 | 285 | 93 | 35,191 | 1 | ||
[
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] | release lid on pot | gripper_open | 0.659388 | [
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32.3636360168457,
39.19929504394531,
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30
] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.6 | 286 | 93 | 35,192 | 1 | ||
[
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] | 1 | [
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] | release lid on pot | gripper_open | 0.716402 | [
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32.3636360168457,
39.19929504394531,
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30
] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.700001 | 287 | 93 | 35,193 | 1 | ||
[
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] | 1 | [
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] | release lid on pot | gripper_open | 0.773417 | [
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32.3636360168457,
39.19929504394531,
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30
] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.799999 | 288 | 93 | 35,194 | 1 | ||
[
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] | 1 | [
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] | release lid on pot | gripper_open | 0.830446 | [
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-0.8058608174324036,
30
] | [
0.2897527515888214,
-0.0037041916511952877,
0.08317440003156662,
3.087653160095215,
0.6238554120063782,
3.0341055393218994
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.9 | 289 | 93 | 35,195 | 1 | ||
[
-3.9793663024902344,
-7.6532769203186035,
32.3636360168457,
39.19929504394531,
-0.8058608174324036,
27.033756256103516
] | [
-3.9793663024902344,
-7.6532769203186035,
32.3636360168457,
39.19929504394531,
-0.8058608174324036,
27.033756256103516
] | [
0.2897527515888214,
-0.0037041916511952877,
0.08317440003156662,
3.087653160095215,
0.6238554120063782,
3.0341055393218994
] | 1 | [
0.01533980667591095,
-0.17180584371089935,
0.4111068546772003,
0.7056311368942261,
-0.026077672839164734,
0.6076533198356628
] | [
0.01533980667591095,
-0.17180584371089935,
0.4111068546772003,
0.7056311368942261,
-0.026077672839164734,
0.6076533198356628
] | release lid on pot | gripper_open | 0.88742 | [
-3.9793663024902344,
-7.6532769203186035,
32.3636360168457,
39.19929504394531,
-0.8058608174324036,
30
] | [
0.2897527515888214,
-0.0037041916511952877,
0.08317440003156662,
3.087653160095215,
0.6238554120063782,
3.0341055393218994
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 29 | 290 | 93 | 35,196 | 1 | ||
[
-3.9793663024902344,
-7.6532769203186035,
32.3636360168457,
39.19929504394531,
-0.8058608174324036,
28.534809112548828
] | [
-3.9793663024902344,
-7.6532769203186035,
32.3636360168457,
39.19929504394531,
-0.8058608174324036,
28.534809112548828
] | [
0.2897527515888214,
-0.0037041916511952877,
0.08317440003156662,
3.087653160095215,
0.6238554120063782,
3.0341055393218994
] | 1 | [
0.01533980667591095,
-0.17180584371089935,
0.4111068546772003,
0.7056311368942261,
-0.026077672839164734,
0.6423302292823792
] | [
0.01533980667591095,
-0.17180584371089935,
0.4111068546772003,
0.7056311368942261,
-0.026077672839164734,
0.6423302292823792
] | release lid on pot | gripper_open | 0.944391 | [
-3.9793663024902344,
-7.6532769203186035,
32.3636360168457,
39.19929504394531,
-0.8058608174324036,
30
] | [
0.2897527515888214,
-0.0037041916511952877,
0.08317440003156662,
3.087653160095215,
0.6238554120063782,
3.0341055393218994
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 29.1 | 291 | 93 | 35,197 | 1 | ||
[
-4.05305814743042,
-6.892177581787109,
32.727272033691406,
39.19929504394531,
-0.8058608174324036,
30
] | [
-4.0530571937561035,
-7.11627197265625,
32.449974060058594,
39.19930648803711,
-0.8058608174324036,
30
] | [
0.28833895921707153,
-0.0032996886875480413,
0.07884643226861954,
3.0898826122283936,
0.6039971113204956,
3.036923885345459
] | 0 | [
0.013805828988552094,
-0.15800002217292786,
0.41724276542663574,
0.7056311368942261,
-0.026077672839164734,
0.6761787533760071
] | [
0.01380584854632616,
-0.16206493973731995,
0.412563681602478,
0.7056313157081604,
-0.026077672839164734,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.488438844680786,
-41.666744232177734,
27.558204650878906,
48.56674575805664,
-0.8058608174324036,
0
] | [
0.2587146461009979,
-0.005476504098623991,
0.21578145027160645,
2.9714791774749756,
1.1542538404464722,
2.930373430252075
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.200001 | 292 | 93 | 35,198 | 1 | |
[
-4.05305814743042,
-6.807610988616943,
32.727272033691406,
39.19929504394531,
-0.8058608174324036,
30
] | [
-4.050879955291748,
-7.2498040199279785,
32.42985153198242,
39.23543167114258,
-0.8058608174324036,
30
] | [
0.28828078508377075,
-0.003298884956166148,
0.0785103440284729,
3.0900514125823975,
0.6024694442749023,
3.037019729614258
] | 0 | [
0.013805828988552094,
-0.1564660370349884,
0.41724276542663574,
0.7056311368942261,
-0.026077672839164734,
0.6761787533760071
] | [
0.013851170428097248,
-0.16448712348937988,
0.412224143743515,
0.706261157989502,
-0.026077672839164734,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.488438844680786,
-41.666744232177734,
27.558204650878906,
48.56674575805664,
-0.8058608174324036,
0
] | [
0.2587146461009979,
-0.005476504098623991,
0.21578145027160645,
2.9714791774749756,
1.1542538404464722,
2.930373430252075
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.299999 | 293 | 93 | 35,199 | 1 |
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