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 | 0.849208 | [
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] | 0 | pick pot lid and place on pot | [
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] | 21 | 210 | 94 | 35,500 | 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 | 0.868354 | [
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] | 0 | pick pot lid and place on pot | [
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0
] | 21.1 | 211 | 94 | 35,501 | 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 | 0.889504 | [
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] | 0 | pick pot lid and place on pot | [
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] | 21.200001 | 212 | 94 | 35,502 | 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 | 0.91066 | [
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] | 0 | pick pot lid and place on pot | [
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] | 21.299999 | 213 | 94 | 35,503 | 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 | 0.930954 | [
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] | [
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] | 0 | pick pot lid and place on pot | [
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] | 21.4 | 214 | 94 | 35,504 | 1 | |
[
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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 | 0.958014 | [
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] | 0 | pick pot lid and place on pot | [
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0
] | 21.5 | 215 | 94 | 35,505 | 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 | 0.968908 | [
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] | 0 | pick pot lid and place on pot | [
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0,
0
] | 21.6 | 216 | 94 | 35,506 | 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 | 0.971101 | [
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] | 0 | pick pot lid and place on pot | [
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] | 21.700001 | 217 | 94 | 35,507 | 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 | 0.971101 | [
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] | 0 | pick pot lid and place on pot | [
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] | 21.799999 | 218 | 94 | 35,508 | 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 | 0.971101 | [
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.9 | 219 | 94 | 35,509 | 1 | |
[
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] | [
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] | [
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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 | [
0,
0,
0
] | 22 | 220 | 94 | 35,510 | 1 | ||
[
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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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] | 22.1 | 221 | 94 | 35,511 | 1 | ||
[
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] | push lid +2cm on pot | move_linear | 0.017644 | [
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] | 22.200001 | 222 | 94 | 35,512 | 1 | ||
[
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0.07987675815820694,
3.076385736465454,
0.7262605428695679,
3.038989305496216
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 27.799999 | 278 | 94 | 35,568 | 1 | ||
[
-4.49521017074585,
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42.45454406738281,
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] | [
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3.076385736465454,
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] | 1 | [
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0.581378698348999,
0.5077476501464844,
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] | [
0.004601939115673304,
-0.24697090685367584,
0.581378698348999,
0.5077476501464844,
-0.02454369328916073,
0.36481913924217224
] | release lid on pot | gripper_open | 0.489756 | [
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
30
] | [
0.290026992559433,
-0.0010213073110207915,
0.07987675815820694,
3.076385736465454,
0.7262605428695679,
3.038989305496216
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 27.9 | 279 | 94 | 35,569 | 1 | ||
[
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
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18.023544311523438
] | [
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42.45454406738281,
27.848657608032227,
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] | [
0.290026992559433,
-0.0010213073110207915,
0.07987675815820694,
3.076385736465454,
0.7262605428695679,
3.038989305496216
] | 1 | [
0.004601939115673304,
-0.24697090685367584,
0.581378698348999,
0.5077476501464844,
-0.02454369328916073,
0.39950165152549744
] | [
0.004601939115673304,
-0.24697090685367584,
0.581378698348999,
0.5077476501464844,
-0.02454369328916073,
0.39950165152549744
] | release lid on pot | gripper_open | 0.546593 | [
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
30
] | [
0.290026992559433,
-0.0010213073110207915,
0.07987675815820694,
3.076385736465454,
0.7262605428695679,
3.038989305496216
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28 | 280 | 94 | 35,570 | 1 | ||
[
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
19.52564811706543
] | [
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
19.52564811706543
] | [
0.290026992559433,
-0.0010213073110207915,
0.07987675815820694,
3.076385736465454,
0.7262605428695679,
3.038989305496216
] | 1 | [
0.004601939115673304,
-0.24697090685367584,
0.581378698348999,
0.5077476501464844,
-0.02454369328916073,
0.4342028796672821
] | [
0.004601939115673304,
-0.24697090685367584,
0.581378698348999,
0.5077476501464844,
-0.02454369328916073,
0.4342028796672821
] | release lid on pot | gripper_open | 0.60346 | [
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
30
] | [
0.290026992559433,
-0.0010213073110207915,
0.07987675815820694,
3.076385736465454,
0.7262605428695679,
3.038989305496216
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.1 | 281 | 94 | 35,571 | 1 | ||
[
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
21.027076721191406
] | [
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
21.027076721191406
] | [
0.290026992559433,
-0.0010213073110207915,
0.07987675815820694,
3.076385736465454,
0.7262605428695679,
3.038989305496216
] | 1 | [
0.004601939115673304,
-0.24697090685367584,
0.581378698348999,
0.5077476501464844,
-0.02454369328916073,
0.4688884913921356
] | [
0.004601939115673304,
-0.24697090685367584,
0.581378698348999,
0.5077476501464844,
-0.02454369328916073,
0.4688884913921356
] | release lid on pot | gripper_open | 0.660301 | [
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
30
] | [
0.290026992559433,
-0.0010213073110207915,
0.07987675815820694,
3.076385736465454,
0.7262605428695679,
3.038989305496216
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.200001 | 282 | 94 | 35,572 | 1 | ||
[
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
22.529312133789062
] | [
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
22.529312133789062
] | [
0.290026992559433,
-0.0010213073110207915,
0.07987675815820694,
3.076385736465454,
0.7262605428695679,
3.038989305496216
] | 1 | [
0.004601939115673304,
-0.24697090685367584,
0.581378698348999,
0.5077476501464844,
-0.02454369328916073,
0.5035927891731262
] | [
0.004601939115673304,
-0.24697090685367584,
0.581378698348999,
0.5077476501464844,
-0.02454369328916073,
0.5035927891731262
] | release lid on pot | gripper_open | 0.717173 | [
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
30
] | [
0.290026992559433,
-0.0010213073110207915,
0.07987675815820694,
3.076385736465454,
0.7262605428695679,
3.038989305496216
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.299999 | 283 | 94 | 35,573 | 1 | ||
[
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
24.030235290527344
] | [
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
24.030235290527344
] | [
0.290026992559433,
-0.0010213073110207915,
0.07987675815820694,
3.076385736465454,
0.7262605428695679,
3.038989305496216
] | 1 | [
0.004601939115673304,
-0.24697090685367584,
0.581378698348999,
0.5077476501464844,
-0.02454369328916073,
0.5382667183876038
] | [
0.004601939115673304,
-0.24697090685367584,
0.581378698348999,
0.5077476501464844,
-0.02454369328916073,
0.5382667183876038
] | release lid on pot | gripper_open | 0.773995 | [
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
30
] | [
0.290026992559433,
-0.0010213073110207915,
0.07987675815820694,
3.076385736465454,
0.7262605428695679,
3.038989305496216
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.4 | 284 | 94 | 35,574 | 1 | ||
[
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
25.53129005432129
] | [
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
25.53129005432129
] | [
0.290026992559433,
-0.0010213073110207915,
0.07987675815820694,
3.076385736465454,
0.7262605428695679,
3.038989305496216
] | 1 | [
0.004601939115673304,
-0.24697090685367584,
0.581378698348999,
0.5077476501464844,
-0.02454369328916073,
0.5729436874389648
] | [
0.004601939115673304,
-0.24697090685367584,
0.581378698348999,
0.5077476501464844,
-0.02454369328916073,
0.5729436874389648
] | release lid on pot | gripper_open | 0.830823 | [
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
30
] | [
0.290026992559433,
-0.0010213073110207915,
0.07987675815820694,
3.076385736465454,
0.7262605428695679,
3.038989305496216
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.5 | 285 | 94 | 35,575 | 1 | ||
[
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
27.032489776611328
] | [
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
27.032489776611328
] | [
0.290026992559433,
-0.0010213073110207915,
0.07987675815820694,
3.076385736465454,
0.7262605428695679,
3.038989305496216
] | 1 | [
0.004601939115673304,
-0.24697090685367584,
0.581378698348999,
0.5077476501464844,
-0.02454369328916073,
0.6076240539550781
] | [
0.004601939115673304,
-0.24697090685367584,
0.581378698348999,
0.5077476501464844,
-0.02454369328916073,
0.6076240539550781
] | release lid on pot | gripper_open | 0.887655 | [
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
30
] | [
0.290026992559433,
-0.0010213073110207915,
0.07987675815820694,
3.076385736465454,
0.7262605428695679,
3.038989305496216
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.6 | 286 | 94 | 35,576 | 1 | ||
[
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
28.53375816345215
] | [
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
28.53375816345215
] | [
0.290026992559433,
-0.0010213073110207915,
0.07987675815820694,
3.076385736465454,
0.7262605428695679,
3.038989305496216
] | 1 | [
0.004601939115673304,
-0.24697090685367584,
0.581378698348999,
0.5077476501464844,
-0.02454369328916073,
0.6423059701919556
] | [
0.004601939115673304,
-0.24697090685367584,
0.581378698348999,
0.5077476501464844,
-0.02454369328916073,
0.6423059701919556
] | release lid on pot | gripper_open | 0.944491 | [
-4.49521017074585,
-11.797039985656738,
42.45454406738281,
27.848657608032227,
-0.7570207715034485,
30
] | [
0.290026992559433,
-0.0010213073110207915,
0.07987675815820694,
3.076385736465454,
0.7262605428695679,
3.038989305496216
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.700001 | 287 | 94 | 35,577 | 1 | ||
[
-4.642593860626221,
-11.035941123962402,
42.54545593261719,
27.848657608032227,
-0.7570207715034485,
30
] | [
-4.642593860626221,
-11.242303848266602,
42.327144622802734,
27.848663330078125,
-0.7570207715034485,
30
] | [
0.28926172852516174,
-0.00024947753991000354,
0.07649628818035126,
3.07836651802063,
0.7109933495521545,
3.0433614253997803
] | 0 | [
0.0015339828096330166,
-0.23316508531570435,
0.5829127430915833,
0.5077476501464844,
-0.02454369328916073,
0.6761787533760071
] | [
0.0015339828096330166,
-0.23690836131572723,
0.5792289972305298,
0.5077477097511292,
-0.02454369328916073,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.799999 | 288 | 94 | 35,578 | 1 | |
[
-4.642593860626221,
-10.951374053955078,
42.54545593261719,
27.848657608032227,
-0.7570207715034485,
30
] | [
-4.64162540435791,
-11.377276420593262,
42.32132339477539,
27.87486457824707,
-0.7570207715034485,
30
] | [
0.28919994831085205,
-0.0002493822539690882,
0.07615881413221359,
3.078561782836914,
0.7094665169715881,
3.0434887409210205
] | 0 | [
0.0015339828096330166,
-0.2316311001777649,
0.5829127430915833,
0.5077476501464844,
-0.02454369328916073,
0.6761787533760071
] | [
0.001554142334498465,
-0.23935668170452118,
0.5791307687759399,
0.5082045197486877,
-0.02454369328916073,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.9 | 289 | 94 | 35,579 | 1 | |
[
-4.642593860626221,
-10.951374053955078,
42.54545593261719,
27.848657608032227,
-0.7570207715034485,
30
] | [
-4.639041423797607,
-11.73753833770752,
42.305789947509766,
27.94479751586914,
-0.7570207715034485,
30
] | [
0.28919994831085205,
-0.0002493822539690882,
0.07615881413221359,
3.078561782836914,
0.7094665169715881,
3.0434887409210205
] | 0 | [
0.0015339828096330166,
-0.2316311001777649,
0.5829127430915833,
0.5077476501464844,
-0.02454369328916073,
0.6761787533760071
] | [
0.0016079307533800602,
-0.24589158594608307,
0.5788686275482178,
0.5094237327575684,
-0.02454369328916073,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29 | 290 | 94 | 35,580 | 1 | |
[
-4.642593860626221,
-10.951374053955078,
42.54545593261719,
27.848657608032227,
-0.7570207715034485,
30
] | [
-4.634893417358398,
-12.412986755371094,
42.28084945678711,
28.057069778442383,
-0.7570207715034485,
30
] | [
0.28919994831085205,
-0.0002493822539690882,
0.07615881413221359,
3.078561782836914,
0.7094665169715881,
3.0434887409210205
] | 0 | [
0.0015339828096330166,
-0.2316311001777649,
0.5829127430915833,
0.5077476501464844,
-0.02454369328916073,
0.6761787533760071
] | [
0.0016942761139944196,
-0.25814375281333923,
0.5784478187561035,
0.5113810300827026,
-0.02454369328916073,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.1 | 291 | 94 | 35,581 | 1 | |
[
-4.642593860626221,
-10.951374053955078,
42.54545593261719,
27.848657608032227,
-0.7570207715034485,
30
] | [
-4.629213333129883,
-13.204879760742188,
42.2467041015625,
28.21078872680664,
-0.7570207715034485,
30
] | [
0.28919994831085205,
-0.0002493822539690882,
0.07615881413221359,
3.078561782836914,
0.7094665169715881,
3.0434887409210205
] | 0 | [
0.0015339828096330166,
-0.2316311001777649,
0.5829127430915833,
0.5077476501464844,
-0.02454369328916073,
0.6761787533760071
] | [
0.0018125134520232677,
-0.2725081741809845,
0.5778716206550598,
0.514060914516449,
-0.02454369328916073,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.200001 | 292 | 94 | 35,582 | 1 | |
[
-4.642593860626221,
-10.951374053955078,
42.54545593261719,
27.848657608032227,
-0.7570207715034485,
30
] | [
-4.6222639083862305,
-14.173805236816406,
42.20492172241211,
28.398876190185547,
-0.7570207715034485,
30
] | [
0.28919994831085205,
-0.0002493822539690882,
0.07615881413221359,
3.078561782836914,
0.7094665169715881,
3.0434887409210205
] | 0 | [
0.0015339828096330166,
-0.2316311001777649,
0.5829127430915833,
0.5077476501464844,
-0.02454369328916073,
0.6761787533760071
] | [
0.0019571734592318535,
-0.2900838255882263,
0.5771666169166565,
0.5173399448394775,
-0.02454369328916073,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.299999 | 293 | 94 | 35,583 | 1 | |
[
-4.642593860626221,
-11.289640426635742,
42.54545593261719,
27.848657608032227,
-0.7570207715034485,
29.991098403930664
] | [
-4.61406946182251,
-15.316279411315918,
42.15565872192383,
28.620651245117188,
-0.7570207715034485,
29.991098403930664
] | [
0.2894439399242401,
-0.0002497585956007242,
0.07750925421714783,
3.077777862548828,
0.7155736684799194,
3.042976140975952
] | 0 | [
0.0015339828096330166,
-0.2377670258283615,
0.5829127430915833,
0.5077476501464844,
-0.02454369328916073,
0.675973117351532
] | [
0.002127750078216195,
-0.3108075261116028,
0.5763353705406189,
0.5212063193321228,
-0.02454369328916073,
0.675973117351532
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.4 | 294 | 94 | 35,584 | 1 | |
[
-4.642593860626221,
-12.473572731018066,
42.54545593261719,
28.02463722229004,
-0.7570207715034485,
28.740110397338867
] | [
-4.604767322540283,
-16.61324691772461,
42.099735260009766,
28.87241554260254,
-0.7570207715034485,
28.740110397338867
] | [
0.2898874282836914,
-0.00025044791982509196,
0.08196153491735458,
3.0753750801086426,
0.7338933348655701,
3.0413830280303955
] | 0 | [
0.0015339828096330166,
-0.2592427432537079,
0.5829127430915833,
0.5108156204223633,
-0.02454369328916073,
0.6470730900764465
] | [
0.0023213846143335104,
-0.3343336284160614,
0.5753917098045349,
0.525595486164093,
-0.02454369328916073,
0.6470730900764465
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.016023 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.5 | 295 | 94 | 35,585 | 1 | |
[
-4.642593860626221,
-13.572938919067383,
42.54545593261719,
28.37659454345703,
-0.7570207715034485,
27.48919677734375
] | [
-4.594539165496826,
-18.039249420166016,
42.038246154785156,
29.149227142333984,
-0.7570207715034485,
27.48919677734375
] | [
0.2898527681827545,
-0.0002504051080904901,
0.08578675240278244,
3.0735201835632324,
0.7476311326026917,
3.0401313304901123
] | 0 | [
0.0015339828096330166,
-0.2791845202445984,
0.5829127430915833,
0.5169515013694763,
-0.02454369328916073,
0.6181747913360596
] | [
0.002534294966608286,
-0.36020034551620483,
0.5743541717529297,
0.5304213762283325,
-0.02454369328916073,
0.6181747913360596
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.050728 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.6 | 296 | 94 | 35,586 | 1 | |
[
-4.642593860626221,
-14.841437339782715,
42.54545593261719,
28.64056396484375,
-0.7570207715034485,
26.23824119567871
] | [
-4.583410263061523,
-19.59087371826172,
41.971336364746094,
29.45042610168457,
-0.7570207715034485,
26.23824119567871
] | [
0.28999996185302734,
-0.000250642275204882,
0.09042567759752274,
3.070972204208374,
0.7659454345703125,
3.038381814956665
] | 0 | [
0.0015339828096330166,
-0.302194207906723,
0.5829127430915833,
0.5215534567832947,
-0.02454369328916073,
0.5892755389213562
] | [
0.002765955636277795,
-0.38834577798843384,
0.5732251405715942,
0.5356723666191101,
-0.02454369328916073,
0.5892755389213562
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.087874 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.700001 | 297 | 94 | 35,587 | 1 | |
[
-4.642593860626221,
-16.363636016845703,
42.54545593261719,
28.992521286010742,
-0.7570207715034485,
24.987319946289062
] | [
-4.5715718269348145,
-21.22109603881836,
41.900169372558594,
29.770822525024414,
-0.7570207715034485,
24.987319946289062
] | [
0.2899806797504425,
-0.00025062740314751863,
0.09592228382825851,
3.0678837299346924,
0.7873079180717468,
3.036216974258423
] | 0 | [
0.0015339828096330166,
-0.329805850982666,
0.5829127430915833,
0.5276893973350525,
-0.02454369328916073,
0.5603770613670349
] | [
0.003012385917827487,
-0.4179168939590454,
0.5720242857933044,
0.5412580370903015,
-0.02454369328916073,
0.5603770613670349
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.129426 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.799999 | 298 | 94 | 35,588 | 1 | |
[
-4.642593860626221,
-18.054967880249023,
42.54545593261719,
29.344478607177734,
-0.7570207715034485,
23.7363338470459
] | [
-4.559147357940674,
-22.920610427856445,
41.825469970703125,
30.107088088989258,
-0.7570207715034485,
23.7363338470459
] | [
0.28986844420433044,
-0.0002504723088350147,
0.1020791083574295,
3.0641872882843018,
0.8117160201072693,
3.0335662364959717
] | 0 | [
0.0015339828096330166,
-0.3604854643344879,
0.5829127430915833,
0.5338253378868103,
-0.02454369328916073,
0.5314770936965942
] | [
0.00327101512812078,
-0.4487449526786804,
0.5707638263702393,
0.5471203923225403,
-0.02454369328916073,
0.5314770936965942
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.173743 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.9 | 299 | 94 | 35,589 | 1 | |
[
-4.642593860626221,
-19.661733627319336,
42.6363639831543,
29.696435928344727,
-0.7570207715034485,
22.484359741210938
] | [
-4.546187877655029,
-24.693265914916992,
41.747562408447266,
30.45782470703125,
-0.7570207715034485,
22.484359741210938
] | [
0.28938010334968567,
-0.00024974066764116287,
0.10751230269670486,
3.06079363822937,
0.8330672979354858,
3.0310792922973633
] | 0 | [
0.0015339828096330166,
-0.38963112235069275,
0.5844466686248779,
0.5399612188339233,
-0.02454369328916073,
0.5025542974472046
] | [
0.0035407813265919685,
-0.48089972138404846,
0.569449245929718,
0.5532350540161133,
-0.02454369328916073,
0.5025542974472046
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.216598 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30 | 300 | 94 | 35,590 | 1 | |
[
-4.642593860626221,
-21.437631607055664,
42.6363639831543,
30.04839324951172,
-0.7570207715034485,
21.233352661132812
] | [
-4.53289794921875,
-26.511165618896484,
41.66766357421875,
30.81751251220703,
-0.7570207715034485,
21.233352661132812
] | [
0.28894633054733276,
-0.0002490951446816325,
0.1139533743262291,
3.0564517974853516,
0.8589856624603271,
3.0278284549713135
] | 0 | [
0.0015339828096330166,
-0.4218447208404541,
0.5844466686248779,
0.5460971593856812,
-0.02454369328916073,
0.4736538231372833
] | [
0.0038174260407686234,
-0.5138751864433289,
0.5681010484695435,
0.5595057606697083,
-0.02454369328916073,
0.4736538231372833
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.262283 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.1 | 301 | 94 | 35,591 | 1 | |
[
-4.642593860626221,
-23.213531494140625,
42.6363639831543,
30.400352478027344,
-0.7570207715034485,
19.98216438293457
] | [
-4.51936149597168,
-28.362749099731445,
41.58628463745117,
31.183866500854492,
-0.7570207715034485,
19.98216438293457
] | [
0.2883226275444031,
-0.00024815931101329625,
0.12036139518022537,
3.0518407821655273,
0.8848941326141357,
3.0242979526519775
] | 0 | [
0.0015339828096330166,
-0.45405831933021545,
0.5844466686248779,
0.552233099937439,
-0.02454369328916073,
0.4447491765022278
] | [
0.0040992023423314095,
-0.5474616289138794,
0.566727876663208,
0.5658926367759705,
-0.02454369328916073,
0.4447491765022278
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.307958 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.200001 | 302 | 94 | 35,592 | 1 | |
[
-4.642593860626221,
-25.07399559020996,
42.6363639831543,
30.752309799194336,
-0.7570207715034485,
18.73026466369629
] | [
-4.505694389343262,
-30.23222541809082,
41.50411605834961,
31.553760528564453,
-0.7570207715034485,
18.73026466369629
] | [
0.2874947190284729,
-0.00024691232829354703,
0.1270655244588852,
3.0466294288635254,
0.9123144745826721,
3.0202198028564453
] | 0 | [
0.0015339828096330166,
-0.48780587315559387,
0.5844466686248779,
0.558368980884552,
-0.02454369328916073,
0.4158281087875366
] | [
0.00438369857147336,
-0.5813726782798767,
0.5653413534164429,
0.57234126329422,
-0.02454369328916073,
0.4158281087875366
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.355004 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.299999 | 303 | 94 | 35,593 | 1 | |
[
-4.642593860626221,
-27.103593826293945,
42.6363639831543,
31.192256927490234,
-0.7570207715034485,
17.478668212890625
] | [
-4.4920334815979,
-32.10085678100586,
41.42198944091797,
31.92348861694336,
-0.7570207715034485,
17.478668212890625
] | [
0.2862672507762909,
-0.0002450562024023384,
0.13421331346035004,
3.0407118797302246,
0.9412428140640259,
3.0154869556427
] | 0 | [
0.0015339828096330166,
-0.5246214270591736,
0.5844466686248779,
0.5660389065742493,
-0.02454369328916073,
0.38691404461860657
] | [
0.004668065812438726,
-0.6152684092521667,
0.5639556050300598,
0.5787869691848755,
-0.02454369328916073,
0.38691404461860657
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.405017 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.4 | 304 | 94 | 35,594 | 1 | |
[
-4.642593860626221,
-28.964059829711914,
42.6363639831543,
31.632204055786133,
-0.7570207715034485,
16.226825714111328
] | [
-4.478493690490723,
-33.97751998901367,
40.95216751098633,
32.28993606567383,
-0.7570207715034485,
16.226825714111328
] | [
0.2848781943321228,
-0.00024295119510497898,
0.14062975347042084,
3.0350043773651123,
0.9671108722686768,
3.0108304023742676
] | 0 | [
0.0015339828096330166,
-0.5583690404891968,
0.5844466686248779,
0.5737088322639465,
-0.02454369328916073,
0.35799428820610046
] | [
0.004949911497533321,
-0.6493098139762878,
0.556027889251709,
0.5851755142211914,
-0.02454369328916073,
0.35799428820610046
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.452242 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.5 | 305 | 94 | 35,595 | 1 | |
[
-4.642593860626221,
-30.9936580657959,
42.6363639831543,
31.89617156982422,
-0.7570207715034485,
14.975682258605957
] | [
-4.465213775634766,
-35.852603912353516,
40.87232971191406,
32.649349212646484,
-0.7570207715034485,
14.975682258605957
] | [
0.2834615707397461,
-0.0002408066502539441,
0.14800073206424713,
3.0273334980010986,
0.9990426301956177,
3.0044455528259277
] | 0 | [
0.0015339828096330166,
-0.5951845645904541,
0.5844466686248779,
0.5783107280731201,
-0.02454369328916073,
0.3290906846523285
] | [
0.005226347595453262,
-0.683322548866272,
0.5546807646751404,
0.5914413928985596,
-0.02454369328916073,
0.3290906846523285
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.501598 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.6 | 306 | 94 | 35,596 | 1 | |
[
-4.642593860626221,
-32.854122161865234,
42.6363639831543,
32.248130798339844,
-0.7570207715034485,
13.723614692687988
] | [
-4.452270984649658,
-37.680084228515625,
40.79452133178711,
32.999637603759766,
-0.7570207715034485,
13.723614692687988
] | [
0.28178641200065613,
-0.00023826472170185298,
0.1544634997844696,
3.0201261043548584,
1.0263893604278564,
2.998331069946289
] | 0 | [
0.0015339828096330166,
-0.6289321184158325,
0.5844466686248779,
0.5844466686248779,
-0.02454369328916073,
0.30016574263572693
] | [
0.005495766643434763,
-0.716471791267395,
0.5533677935600281,
0.597548246383667,
-0.02454369328916073,
0.30016574263572693
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.548446 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.700001 | 307 | 94 | 35,597 | 1 | |
[
-4.642593860626221,
-34.88372039794922,
42.6363639831543,
32.68807601928711,
-0.7570207715034485,
12.471702575683594
] | [
-4.439847946166992,
-39.43413543701172,
40.7198371887207,
33.335853576660156,
-0.7570207715034485,
12.471702575683594
] | [
0.27965983748435974,
-0.000235034225624986,
0.16130872070789337,
3.0117764472961426,
1.0552279949188232,
2.99112606048584
] | 0 | [
0.0015339828096330166,
-0.6657476425170898,
0.5844466686248779,
0.5921165347099304,
-0.02454369328916073,
0.2712443768978119
] | [
0.005754366051405668,
-0.7482891082763672,
0.5521076321601868,
0.6034097075462341,
-0.02454369328916073,
0.2712443768978119
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.598084 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.799999 | 308 | 94 | 35,598 | 1 | |
[
-4.642593860626221,
-36.82875442504883,
42.6363639831543,
33.040035247802734,
-0.7570207715034485,
11.21961784362793
] | [
-4.428164482116699,
-41.083831787109375,
40.649593353271484,
33.65206527709961,
-0.7570207715034485,
11.21961784362793
] | [
0.27750253677368164,
-0.00023175614478532225,
0.16792836785316467,
3.0025317668914795,
1.084033489227295,
2.9830174446105957
] | 0 | [
0.0015339828096330166,
-0.7010292410850525,
0.5844466686248779,
0.598252534866333,
-0.02454369328916073,
0.2423190325498581
] | [
0.005997570231556892,
-0.7782135009765625,
0.5509223341941833,
0.6089224219322205,
-0.02454369328916073,
0.2423190325498581
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.645977 | [
-4.369226455688477,
-49.313167572021484,
40.89531326293945,
35.24718475341797,
-0.7570207715034485,
0
] | [
0.2587239742279053,
-0.0014544851146638393,
0.2157716155052185,
2.8775699138641357,
1.2967660427093506,
2.8606181144714355
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.9 | 309 | 94 | 35,599 | 1 |
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