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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] | release lid on pot | gripper_open | 0 | [
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34.09090805053711,
37.08755111694336,
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30
] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 27.9 | 279 | 97 | 36,755 | 1 | ||
[
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34.09090805053711,
37.08755111694336,
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30
] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28 | 280 | 97 | 36,756 | 1 | ||
[
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0.44025248289108276,
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] | release lid on pot | gripper_open | 0.032322 | [
-4.274134159088135,
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34.09090805053711,
37.08755111694336,
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30
] | [
0.29029807448387146,
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.1 | 281 | 97 | 36,757 | 1 | ||
[
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0.44025248289108276,
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] | release lid on pot | gripper_open | 0.096598 | [
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34.09090805053711,
37.08755111694336,
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30
] | [
0.29029807448387146,
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.200001 | 282 | 97 | 36,758 | 1 | ||
[
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] | 1 | [
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0.44025248289108276,
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] | release lid on pot | gripper_open | 0.153574 | [
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34.09090805053711,
37.08755111694336,
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30
] | [
0.29029807448387146,
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.299999 | 283 | 97 | 36,759 | 1 | ||
[
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] | 1 | [
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0.44025248289108276,
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] | release lid on pot | gripper_open | 0.210908 | [
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34.09090805053711,
37.08755111694336,
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30
] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.4 | 284 | 97 | 36,760 | 1 | ||
[
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] | 1 | [
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0.44025248289108276,
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] | release lid on pot | gripper_open | 0.268903 | [
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34.09090805053711,
37.08755111694336,
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30
] | [
0.29029807448387146,
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.5 | 285 | 97 | 36,761 | 1 | ||
[
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] | [
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] | 1 | [
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] | release lid on pot | gripper_open | 0.325917 | [
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34.09090805053711,
37.08755111694336,
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30
] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.6 | 286 | 97 | 36,762 | 1 | ||
[
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] | [
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] | [
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] | 1 | [
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] | release lid on pot | gripper_open | 0.38289 | [
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34.09090805053711,
37.08755111694336,
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30
] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.700001 | 287 | 97 | 36,763 | 1 | ||
[
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] | [
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] | [
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] | 1 | [
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] | [
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0.44025248289108276,
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0.3352564573287964
] | release lid on pot | gripper_open | 0.439902 | [
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34.09090805053711,
37.08755111694336,
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30
] | [
0.29029807448387146,
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3.0853590965270996,
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.799999 | 288 | 97 | 36,764 | 1 | ||
[
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] | [
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] | [
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] | 1 | [
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] | [
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0.44025248289108276,
0.6688156723976135,
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0.3699358403682709
] | release lid on pot | gripper_open | 0.496877 | [
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34.09090805053711,
37.08755111694336,
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30
] | [
0.29029807448387146,
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3.0853590965270996,
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.9 | 289 | 97 | 36,765 | 1 | ||
[
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34.09090805053711,
37.08755111694336,
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] | [
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37.08755111694336,
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] | [
0.29029807448387146,
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] | 1 | [
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] | [
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0.44025248289108276,
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0.40461891889572144
] | release lid on pot | gripper_open | 0.553857 | [
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34.09090805053711,
37.08755111694336,
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30
] | [
0.29029807448387146,
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3.0853590965270996,
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 29 | 290 | 97 | 36,766 | 1 | ||
[
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34.09090805053711,
37.08755111694336,
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19.74800682067871
] | [
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37.08755111694336,
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19.74800682067871
] | [
0.29029807448387146,
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3.0853590965270996,
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] | 1 | [
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] | [
0.009203883819282055,
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0.44025248289108276,
0.6688156723976135,
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0.4393397271633148
] | release lid on pot | gripper_open | 0.6109 | [
-4.274134159088135,
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34.09090805053711,
37.08755111694336,
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30
] | [
0.29029807448387146,
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0.08265763521194458,
3.0853590965270996,
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 29.1 | 291 | 97 | 36,767 | 1 | ||
[
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37.08755111694336,
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21.249176025390625
] | [
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37.08755111694336,
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21.249176025390625
] | [
0.29029807448387146,
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3.0853590965270996,
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] | 1 | [
0.009203883819282055,
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] | [
0.009203883819282055,
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0.44025248289108276,
0.6688156723976135,
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0.4740193784236908
] | release lid on pot | gripper_open | 0.667874 | [
-4.274134159088135,
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34.09090805053711,
37.08755111694336,
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30
] | [
0.29029807448387146,
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0.08265763521194458,
3.0853590965270996,
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 29.200001 | 292 | 97 | 36,768 | 1 | ||
[
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34.09090805053711,
37.08755111694336,
-0.8058608174324036,
22.750368118286133
] | [
-4.274134159088135,
-8.32981014251709,
34.09090805053711,
37.08755111694336,
-0.8058608174324036,
22.750368118286133
] | [
0.29029807448387146,
-0.00216937018558383,
0.08265763521194458,
3.0853590965270996,
0.6437113285064697,
3.0388827323913574
] | 1 | [
0.009203883819282055,
-0.1840776950120926,
0.44025248289108276,
0.6688156723976135,
-0.026077672839164734,
0.5086995363235474
] | [
0.009203883819282055,
-0.1840776950120926,
0.44025248289108276,
0.6688156723976135,
-0.026077672839164734,
0.5086995363235474
] | release lid on pot | gripper_open | 0.72485 | [
-4.274134159088135,
-8.32981014251709,
34.09090805053711,
37.08755111694336,
-0.8058608174324036,
30
] | [
0.29029807448387146,
-0.00216937018558383,
0.08265763521194458,
3.0853590965270996,
0.6437113285064697,
3.0388827323913574
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 29.299999 | 293 | 97 | 36,769 | 1 | ||
[
-4.274134159088135,
-8.32981014251709,
34.09090805053711,
37.08755111694336,
-0.8058608174324036,
24.251493453979492
] | [
-4.274134159088135,
-8.32981014251709,
34.09090805053711,
37.08755111694336,
-0.8058608174324036,
24.251493453979492
] | [
0.29029807448387146,
-0.00216937018558383,
0.08265763521194458,
3.0853590965270996,
0.6437113285064697,
3.0388827323913574
] | 1 | [
0.009203883819282055,
-0.1840776950120926,
0.44025248289108276,
0.6688156723976135,
-0.026077672839164734,
0.5433781743049622
] | [
0.009203883819282055,
-0.1840776950120926,
0.44025248289108276,
0.6688156723976135,
-0.026077672839164734,
0.5433781743049622
] | release lid on pot | gripper_open | 0.781823 | [
-4.274134159088135,
-8.32981014251709,
34.09090805053711,
37.08755111694336,
-0.8058608174324036,
30
] | [
0.29029807448387146,
-0.00216937018558383,
0.08265763521194458,
3.0853590965270996,
0.6437113285064697,
3.0388827323913574
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 29.4 | 294 | 97 | 36,770 | 1 | ||
[
-4.274134159088135,
-8.32981014251709,
34.09090805053711,
37.08755111694336,
-0.8058608174324036,
25.753494262695312
] | [
-4.274134159088135,
-8.32981014251709,
34.09090805053711,
37.08755111694336,
-0.8058608174324036,
25.753494262695312
] | [
0.29029807448387146,
-0.00216937018558383,
0.08265763521194458,
3.0853590965270996,
0.6437113285064697,
3.0388827323913574
] | 1 | [
0.009203883819282055,
-0.1840776950120926,
0.44025248289108276,
0.6688156723976135,
-0.026077672839164734,
0.5780770182609558
] | [
0.009203883819282055,
-0.1840776950120926,
0.44025248289108276,
0.6688156723976135,
-0.026077672839164734,
0.5780770182609558
] | release lid on pot | gripper_open | 0.83883 | [
-4.274134159088135,
-8.32981014251709,
34.09090805053711,
37.08755111694336,
-0.8058608174324036,
30
] | [
0.29029807448387146,
-0.00216937018558383,
0.08265763521194458,
3.0853590965270996,
0.6437113285064697,
3.0388827323913574
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 29.5 | 295 | 97 | 36,771 | 1 | ||
[
-4.274134159088135,
-8.32981014251709,
34.09090805053711,
37.08755111694336,
-0.8058608174324036,
27.254634857177734
] | [
-4.274134159088135,
-8.32981014251709,
34.09090805053711,
37.08755111694336,
-0.8058608174324036,
27.254634857177734
] | [
0.29029807448387146,
-0.00216937018558383,
0.08265763521194458,
3.0853590965270996,
0.6437113285064697,
3.0388827323913574
] | 1 | [
0.009203883819282055,
-0.1840776950120926,
0.44025248289108276,
0.6688156723976135,
-0.026077672839164734,
0.6127560138702393
] | [
0.009203883819282055,
-0.1840776950120926,
0.44025248289108276,
0.6688156723976135,
-0.026077672839164734,
0.6127560138702393
] | release lid on pot | gripper_open | 0.895803 | [
-4.274134159088135,
-8.32981014251709,
34.09090805053711,
37.08755111694336,
-0.8058608174324036,
30
] | [
0.29029807448387146,
-0.00216937018558383,
0.08265763521194458,
3.0853590965270996,
0.6437113285064697,
3.0388827323913574
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 29.6 | 296 | 97 | 36,772 | 1 | ||
[
-4.274134159088135,
-8.32981014251709,
34.09090805053711,
37.08755111694336,
-0.8058608174324036,
28.756820678710938
] | [
-4.274134159088135,
-8.32981014251709,
34.09090805053711,
37.08755111694336,
-0.8058608174324036,
28.756820678710938
] | [
0.29029807448387146,
-0.00216937018558383,
0.08265763521194458,
3.0853590965270996,
0.6437113285064697,
3.0388827323913574
] | 1 | [
0.009203883819282055,
-0.1840776950120926,
0.44025248289108276,
0.6688156723976135,
-0.026077672839164734,
0.647459089756012
] | [
0.009203883819282055,
-0.1840776950120926,
0.44025248289108276,
0.6688156723976135,
-0.026077672839164734,
0.647459089756012
] | release lid on pot | gripper_open | 0.952817 | [
-4.274134159088135,
-8.32981014251709,
34.09090805053711,
37.08755111694336,
-0.8058608174324036,
30
] | [
0.29029807448387146,
-0.00216937018558383,
0.08265763521194458,
3.0853590965270996,
0.6437113285064697,
3.0388827323913574
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 29.700001 | 297 | 97 | 36,773 | 1 | ||
[
-4.34782600402832,
-7.7378435134887695,
34.45454406738281,
37.35151672363281,
-0.8058608174324036,
30
] | [
-4.347825527191162,
-7.95830774307251,
34.19370651245117,
37.351524353027344,
-0.8058608174324036,
30
] | [
0.2884250581264496,
-0.0017692410619929433,
0.07861639559268951,
3.08782696723938,
0.622327983379364,
3.041876792907715
] | 0 | [
0.007669905666261911,
-0.1733398288488388,
0.4463883936405182,
0.6734175682067871,
-0.026077672839164734,
0.6761787533760071
] | [
0.007669915445148945,
-0.17733889818191528,
0.4419870674610138,
0.6734176874160767,
-0.026077672839164734,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.799999 | 298 | 97 | 36,774 | 1 | |
[
-4.34782600402832,
-7.6532769203186035,
34.45454406738281,
37.43950653076172,
-0.8058608174324036,
30
] | [
-4.346340656280518,
-8.07968807220459,
34.17566680908203,
37.38156509399414,
-0.8058608174324036,
30
] | [
0.28817862272262573,
-0.0017673511756584048,
0.07815832644701004,
3.0881731510162354,
0.6192730069160461,
3.0420782566070557
] | 0 | [
0.007669905666261911,
-0.17180584371089935,
0.4463883936405182,
0.6749515533447266,
-0.026077672839164734,
0.6761787533760071
] | [
0.007700824644416571,
-0.17954066395759583,
0.4416826665401459,
0.6739413738250732,
-0.026077672839164734,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.9 | 299 | 97 | 36,775 | 1 | |
[
-4.34782600402832,
-7.6532769203186035,
34.45454406738281,
37.43950653076172,
-0.8058608174324036,
30
] | [
-4.342374801635742,
-8.403816223144531,
34.127498626708984,
37.46178436279297,
-0.8058608174324036,
30
] | [
0.28817862272262573,
-0.0017673511756584048,
0.07815832644701004,
3.0881731510162354,
0.6192730069160461,
3.0420782566070557
] | 0 | [
0.007669905666261911,
-0.17180584371089935,
0.4463883936405182,
0.6749515533447266,
-0.026077672839164734,
0.6761787533760071
] | [
0.007783378474414349,
-0.18542012572288513,
0.44086989760398865,
0.675339937210083,
-0.026077672839164734,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30 | 300 | 97 | 36,776 | 1 | |
[
-4.34782600402832,
-7.6532769203186035,
34.45454406738281,
37.43950653076172,
-0.8058608174324036,
30
] | [
-4.336003303527832,
-9.021649360656738,
34.050106048583984,
37.590667724609375,
-0.8058608174324036,
30
] | [
0.28817862272262573,
-0.0017673511756584048,
0.07815832644701004,
3.0881731510162354,
0.6192730069160461,
3.0420782566070557
] | 0 | [
0.007669905666261911,
-0.17180584371089935,
0.4463883936405182,
0.6749515533447266,
-0.026077672839164734,
0.6761787533760071
] | [
0.007916008122265339,
-0.1966271996498108,
0.4395639896392822,
0.6775868535041809,
-0.026077672839164734,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.1 | 301 | 97 | 36,777 | 1 | |
[
-4.34782600402832,
-7.6532769203186035,
34.45454406738281,
37.43950653076172,
-0.8058608174324036,
30
] | [
-4.327276229858398,
-9.734923362731934,
33.9441032409668,
37.7672004699707,
-0.8058608174324036,
30
] | [
0.28817862272262573,
-0.0017673511756584048,
0.07815832644701004,
3.0881731510162354,
0.6192730069160461,
3.0420782566070557
] | 0 | [
0.007669905666261911,
-0.17180584371089935,
0.4463883936405182,
0.6749515533447266,
-0.026077672839164734,
0.6761787533760071
] | [
0.008097671903669834,
-0.20956550538539886,
0.43777531385421753,
0.6806644201278687,
-0.026077672839164734,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.200001 | 302 | 97 | 36,778 | 1 | |
[
-4.34782600402832,
-7.6532769203186035,
34.45454406738281,
37.43950653076172,
-0.8058608174324036,
30
] | [
-4.316596508026123,
-10.607767105102539,
33.81438446044922,
37.98322677612305,
-0.8058608174324036,
30
] | [
0.28817862272262573,
-0.0017673511756584048,
0.07815832644701004,
3.0881731510162354,
0.6192730069160461,
3.0420782566070557
] | 0 | [
0.007669905666261911,
-0.17180584371089935,
0.4463883936405182,
0.6749515533447266,
-0.026077672839164734,
0.6761787533760071
] | [
0.008319982327520847,
-0.22539830207824707,
0.43558648228645325,
0.6844305992126465,
-0.026077672839164734,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.299999 | 303 | 97 | 36,779 | 1 | |
[
-4.34782600402832,
-7.8224101066589355,
34.45454406738281,
37.43950653076172,
-0.8058608174324036,
29.989051818847656
] | [
-4.3040056228637695,
-11.636857032775879,
33.66144943237305,
38.23792266845703,
-0.8058608174324036,
29.989051818847656
] | [
0.28829553723335266,
-0.0017682488542050123,
0.07883023470640182,
3.08782696723938,
0.622327983379364,
3.041876792907715
] | 0 | [
0.007669905666261911,
-0.17487381398677826,
0.4463883936405182,
0.6749515533447266,
-0.026077672839164734,
0.6759257912635803
] | [
0.00858207605779171,
-0.2440652996301651,
0.4330058693885803,
0.6888708472251892,
-0.026077672839164734,
0.6759257912635803
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.4 | 304 | 97 | 36,780 | 1 | |
[
-4.34782600402832,
-8.58350944519043,
34.45454406738281,
37.791465759277344,
-0.8058608174324036,
28.737253189086914
] | [
-4.289708614349365,
-12.805355072021484,
33.48779296875,
38.527122497558594,
-0.8058608174324036,
28.737253189086914
] | [
0.2880508005619049,
-0.0017663800390437245,
0.08136090636253357,
3.086954355239868,
0.6299651861190796,
3.041365385055542
] | 0 | [
0.007669905666261911,
-0.18867963552474976,
0.4463883936405182,
0.6810874938964844,
-0.026077672839164734,
0.6470070481300354
] | [
0.008879683911800385,
-0.26526105403900146,
0.43007564544677734,
0.69391268491745,
-0.026077672839164734,
0.6470070481300354
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.006755 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.5 | 305 | 97 | 36,781 | 1 | |
[
-4.34782600402832,
-9.767441749572754,
34.45454406738281,
37.967445373535156,
-0.8058608174324036,
27.485483169555664
] | [
-4.273988246917725,
-14.090189933776855,
33.29684829711914,
38.84511184692383,
-0.8058608174324036,
27.485483169555664
] | [
0.2883886694908142,
-0.0017689812229946256,
0.08581317961215973,
3.084820032119751,
0.6482930779457092,
3.0400922298431396
] | 0 | [
0.007669905666261911,
-0.21015536785125732,
0.4463883936405182,
0.6841554641723633,
-0.026077672839164734,
0.618088960647583
] | [
0.009206920862197876,
-0.28856709599494934,
0.4268536865711212,
0.6994564533233643,
-0.026077672839164734,
0.618088960647583
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.044203 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.6 | 306 | 97 | 36,782 | 1 | |
[
-4.34782600402832,
-10.86680793762207,
34.54545593261719,
38.40739059448242,
-0.8058608174324036,
26.234647750854492
] | [
-4.256899356842041,
-15.486892700195312,
32.69556427001953,
39.190792083740234,
-0.8058608174324036,
26.234647750854492
] | [
0.287827730178833,
-0.0017646912019699812,
0.08920586854219437,
3.083547353744507,
0.6589832901954651,
3.039318323135376
] | 0 | [
0.007669905666261911,
-0.23009712994098663,
0.44792240858078003,
0.6918253302574158,
-0.026077672839164734,
0.5891925096511841
] | [
0.00956264603883028,
-0.3139023184776306,
0.41670772433280945,
0.7054829001426697,
-0.026077672839164734,
0.5891925096511841
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.081006 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.700001 | 307 | 97 | 36,783 | 1 | |
[
-4.34782600402832,
-12.304439544677734,
34.54545593261719,
38.75934982299805,
-0.8058608174324036,
24.982877731323242
] | [
-4.238705158233643,
-16.973905563354492,
32.474571228027344,
39.55882263183594,
-0.8058608174324036,
24.982877731323242
] | [
0.28774771094322205,
-0.0017640917794778943,
0.0943818911910057,
3.081127166748047,
0.6788344383239746,
3.0378172397613525
] | 0 | [
0.007669905666261911,
-0.25617480278015137,
0.44792240858078003,
0.6979612708091736,
-0.026077672839164734,
0.5602744221687317
] | [
0.009941378608345985,
-0.3408757448196411,
0.41297873854637146,
0.7118990421295166,
-0.026077672839164734,
0.5602744221687317
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.123224 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.799999 | 308 | 97 | 36,784 | 1 | |
[
-4.34782600402832,
-13.572938919067383,
34.54545593261719,
39.0233154296875,
-0.8058608174324036,
23.731956481933594
] | [
-4.219626426696777,
-18.533245086669922,
32.24283218383789,
39.94475173950195,
-0.8058608174324036,
23.731956481933594
] | [
0.2876681983470917,
-0.0017634948017075658,
0.0990060418844223,
3.0788230895996094,
0.6971560120582581,
3.0363540649414062
] | 0 | [
0.007669905666261911,
-0.2791845202445984,
0.44792240858078003,
0.7025631666183472,
-0.026077672839164734,
0.5313759446144104
] | [
0.010338523425161839,
-0.36916109919548035,
0.40906843543052673,
0.7186272144317627,
-0.026077672839164734,
0.5313759446144104
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.162269 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.9 | 309 | 97 | 36,785 | 1 | |
[
-4.34782600402832,
-15.095137596130371,
34.54545593261719,
39.55125427246094,
-0.8058608174324036,
22.480154037475586
] | [
-4.1997270584106445,
-20.159631729125977,
32.001129150390625,
40.34727478027344,
-0.8058608174324036,
22.480154037475586
] | [
0.2870221734046936,
-0.0017585575114935637,
0.10420284420251846,
3.0764472484588623,
0.7154748439788818,
3.0348119735717773
] | 0 | [
0.007669905666261911,
-0.3067961633205414,
0.44792240858078003,
0.7117670774459839,
-0.026077672839164734,
0.5024571418762207
] | [
0.010752750560641289,
-0.39866265654563904,
0.40498998761177063,
0.7256446480751038,
-0.026077672839164734,
0.5024571418762207
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.206486 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 31 | 310 | 97 | 36,786 | 1 | |
[
-4.34782600402832,
-16.786468505859375,
34.54545593261719,
39.90321350097656,
-0.8058608174324036,
21.22810173034668
] | [
-4.179300785064697,
-21.797670364379883,
31.753023147583008,
40.760459899902344,
-0.8058608174324036,
21.22810173034668
] | [
0.2866140305995941,
-0.0017554459627717733,
0.11031311005353928,
3.0731592178344727,
0.7398953437805176,
3.0326247215270996
] | 0 | [
0.007669905666261911,
-0.3374757468700409,
0.44792240858078003,
0.7179030179977417,
-0.026077672839164734,
0.4735325276851654
] | [
0.01117794681340456,
-0.42837557196617126,
0.40080350637435913,
0.7328479886054993,
-0.026077672839164734,
0.4735325276851654
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.252751 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 31.1 | 311 | 97 | 36,787 | 1 | |
[
-4.34782600402832,
-18.477800369262695,
34.54545593261719,
40.34315872192383,
-0.8058608174324036,
19.977035522460938
] | [
-4.158516883850098,
-23.4642276763916,
31.500574111938477,
41.180877685546875,
-0.8058608174324036,
19.977035522460938
] | [
0.28586456179618835,
-0.0017497179796919227,
0.11624372005462646,
3.0699405670166016,
0.7627846002578735,
3.0304274559020996
] | 0 | [
0.007669905666261911,
-0.3681553602218628,
0.44792240858078003,
0.7255728840827942,
-0.026077672839164734,
0.4446307122707367
] | [
0.011610587127506733,
-0.4586057960987091,
0.3965437114238739,
0.7401774525642395,
-0.026077672839164734,
0.4446307122707367
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.299261 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 31.200001 | 312 | 97 | 36,788 | 1 | |
[
-4.34782600402832,
-20.253700256347656,
34.54545593261719,
40.78310775756836,
-0.8058608174324036,
18.72487449645996
] | [
-4.137526035308838,
-25.14739418029785,
31.2456111907959,
41.60548400878906,
-0.8058608174324036,
18.72487449645996
] | [
0.28494206070899963,
-0.0017426646081730723,
0.12246032804250717,
3.0663483142852783,
0.787193775177002,
3.0279135704040527
] | 0 | [
0.007669905666261911,
-0.40036898851394653,
0.44792240858078003,
0.7332428693771362,
-0.026077672839164734,
0.41570359468460083
] | [
0.012047534808516502,
-0.48913729190826416,
0.39224153757095337,
0.7475798726081848,
-0.026077672839164734,
0.41570359468460083
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.347059 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 31.299999 | 313 | 97 | 36,789 | 1 | |
[
-4.34782600402832,
-21.775897979736328,
34.3636360168457,
41.223052978515625,
-0.8058608174324036,
17.473892211914062
] | [
-4.116560459136963,
-26.82853126525879,
30.99095344543457,
42.029579162597656,
-0.8058608174324036,
17.473892211914062
] | [
0.28420668840408325,
-0.0017370445420965552,
0.1283605545759201,
3.062816858291626,
0.8100712299346924,
3.025383472442627
] | 0 | [
0.007669905666261911,
-0.4279806315898895,
0.44485440850257874,
0.7409127354621887,
-0.026077672839164734,
0.3868037164211273
] | [
0.012483957223594189,
-0.5196319818496704,
0.3879444897174835,
0.7549734711647034,
-0.026077672839164734,
0.3868037164211273
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.39134 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 31.4 | 314 | 97 | 36,790 | 1 | |
[
-4.34782600402832,
-23.636363983154297,
34.3636360168457,
41.663002014160156,
-0.8058608174324036,
16.22292137145996
] | [
-4.095785140991211,
-28.49441146850586,
30.738609313964844,
42.449825286865234,
-0.8058608174324036,
16.22292137145996
] | [
0.2829042077064514,
-0.001727079856209457,
0.13480708003044128,
3.0586037635803223,
0.8359910845756531,
3.022294044494629
] | 0 | [
0.007669905666261911,
-0.46172821521759033,
0.44485440850257874,
0.748582661151886,
-0.026077672839164734,
0.3579041063785553
] | [
0.012916418723762035,
-0.5498499274253845,
0.38368648290634155,
0.7622998952865601,
-0.026077672839164734,
0.3579041063785553
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.440258 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 31.5 | 315 | 97 | 36,791 | 1 | |
[
-4.34782600402832,
-25.327695846557617,
34.3636360168457,
42.10294723510742,
-0.8058608174324036,
14.971965789794922
] | [
-4.0753984451293945,
-30.129119873046875,
30.490985870361328,
42.862205505371094,
-0.8058608174324036,
14.971965789794922
] | [
0.2814805507659912,
-0.0017161844298243523,
0.14053475856781006,
3.054680347442627,
0.8588538765907288,
3.019352912902832
] | 0 | [
0.007669905666261911,
-0.49240782856941223,
0.44485440850257874,
0.7562525272369385,
-0.026077672839164734,
0.32900482416152954
] | [
0.013340789824724197,
-0.5795024037361145,
0.3795081377029419,
0.7694891691207886,
-0.026077672839164734,
0.32900482416152954
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.486263 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 31.6 | 316 | 97 | 36,792 | 1 | |
[
-4.34782600402832,
-27.188159942626953,
34.3636360168457,
42.45490646362305,
-0.8058608174324036,
13.720223426818848
] | [
-4.055532455444336,
-31.72209930419922,
30.249683380126953,
43.264060974121094,
-0.8058608174324036,
13.720223426818848
] | [
0.27995821833610535,
-0.001704534748569131,
0.14701201021671295,
3.0496885776519775,
0.8862783908843994,
3.015528917312622
] | 0 | [
0.007669905666261911,
-0.526155412197113,
0.44485440850257874,
0.7623884677886963,
-0.026077672839164734,
0.3000873923301697
] | [
0.013754323124885559,
-0.6083979606628418,
0.3754364550113678,
0.7764950394630432,
-0.026077672839164734,
0.3000873923301697
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.534374 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 31.700001 | 317 | 97 | 36,793 | 1 | |
[
-4.34782600402832,
-28.710359573364258,
34.181819915771484,
42.89485168457031,
-0.8058608174324036,
12.46958065032959
] | [
-4.036477565765381,
-33.2519416809082,
30.01823616027832,
43.64950180053711,
-0.8058608174324036,
12.46958065032959
] | [
0.2785426676273346,
-0.0016937017207965255,
0.15271501243114471,
3.0452654361724854,
0.9091223478317261,
3.0120701789855957
] | 0 | [
0.007669905666261911,
-0.5537670850753784,
0.4417864978313446,
0.7700583338737488,
-0.026077672839164734,
0.27119535207748413
] | [
0.014150971546769142,
-0.6361482739448547,
0.37153106927871704,
0.7832146883010864,
-0.026077672839164734,
0.27119535207748413
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.578211 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 31.799999 | 318 | 97 | 36,794 | 1 | |
[
-4.34782600402832,
-30.401691436767578,
33.54545593261719,
43.24681091308594,
-0.8058608174324036,
11.21870231628418
] | [
-4.0185627937316895,
-34.73477554321289,
29.800636291503906,
44.01188278198242,
-0.8058608174324036,
11.21870231628418
] | [
0.277485728263855,
-0.0016856237780302763,
0.16106906533241272,
3.0379538536071777,
0.9441297650337219,
3.006222724914551
] | 0 | [
0.007669905666261911,
-0.5844466686248779,
0.4310486316680908,
0.7761942744255066,
-0.026077672839164734,
0.24229787290096283
] | [
0.014523888006806374,
-0.6630458831787109,
0.3678593337535858,
0.7895323038101196,
-0.026077672839164734,
0.24229787290096283
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.626732 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 31.9 | 319 | 97 | 36,795 | 1 | |
[
-4.34782600402832,
-32.00845718383789,
33.272727966308594,
43.5987663269043,
-0.8058608174324036,
9.967788696289062
] | [
-4.00961446762085,
-35.475440979003906,
29.691946029663086,
44.192893981933594,
-0.8058608174324036,
9.967788696289062
] | [
0.27582985162734985,
-0.0016729506896808743,
0.16754543781280518,
3.031719923019409,
0.971507728099823,
3.0011234283447266
] | 0 | [
0.007669905666261911,
-0.6135923266410828,
0.42644667625427246,
0.7823301553726196,
-0.026077672839164734,
0.21339957416057587
] | [
0.014710157178342342,
-0.6764810681343079,
0.36602529883384705,
0.7926880121231079,
-0.026077672839164734,
0.21339957416057587
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.671901 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 32 | 320 | 97 | 36,796 | 1 | |
[
-4.34782600402832,
-33.36152267456055,
33.272727966308594,
43.6867561340332,
-0.8058608174324036,
8.716827392578125
] | [
-4.000439167022705,
-36.23487854003906,
29.58049964904785,
44.37849044799805,
-0.8058608174324036,
8.716827392578125
] | [
0.2743876278400421,
-0.0016619106754660606,
0.1724178045988083,
3.0261306762695312,
0.9943076968193054,
2.996472120285034
] | 0 | [
0.007669905666261911,
-0.6381360292434692,
0.42644667625427246,
0.7838641405105591,
-0.026077672839164734,
0.18450018763542175
] | [
0.01490115188062191,
-0.6902567744255066,
0.36414480209350586,
0.79592365026474,
-0.026077672839164734,
0.18450018763542175
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.710543 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 32.099998 | 321 | 97 | 36,797 | 1 | |
[
-4.34782600402832,
-34.20718765258789,
33.272727966308594,
43.862735748291016,
-0.8058608174324036,
7.465231418609619
] | [
-3.991029977798462,
-37.013694763183594,
29.466211318969727,
44.56882095336914,
-0.8058608174324036,
7.465231418609619
] | [
0.2732524871826172,
-0.0016532187582924962,
0.1751897782087326,
3.022986888885498,
1.0064616203308105,
2.993825912475586
] | 0 | [
0.007669905666261911,
-0.653475821018219,
0.42644667625427246,
0.786932110786438,
-0.026077672839164734,
0.1555861234664917
] | [
0.015097014605998993,
-0.7043839693069458,
0.3622163236141205,
0.7992417812347412,
-0.026077672839164734,
0.1555861234664917
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.741522 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 32.200001 | 322 | 97 | 36,798 | 1 | |
[
-4.34782600402832,
-35.052852630615234,
33.272727966308594,
44.30268478393555,
-0.8058608174324036,
6.2135725021362305
] | [
-3.9813828468322754,
-37.81219482421875,
29.349035263061523,
44.76396179199219,
-0.8058608174324036,
6.2135725021362305
] | [
0.27170199155807495,
-0.0016413420671597123,
0.17738506197929382,
3.0209600925445557,
1.0140553712844849,
2.9921092987060547
] | 0 | [
0.007669905666261911,
-0.6688156127929688,
0.42644667625427246,
0.79460209608078,
-0.026077672839164734,
0.12667061388492584
] | [
0.01529783010482788,
-0.7188681960105896,
0.3602391183376312,
0.8026438355445862,
-0.026077672839164734,
0.12667061388492584
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.772754 | [
-3.928069829940796,
-42.19224548339844,
29.40414047241211,
45.842384338378906,
-0.8058608174324036,
0
] | [
0.26079970598220825,
-0.003497627330943942,
0.2160366177558899,
2.9589486122131348,
1.179661512374878,
2.9280014038085938
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 32.299999 | 323 | 97 | 36,799 | 1 |
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