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 | 0.728656 | [
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39.964603424072266,
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] | 0 | pick pot lid and place on pot | [
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0,
0
] | 20.700001 | 207 | 99 | 37,500 | 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 | 0.760415 | [
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39.964603424072266,
38.632686614990234,
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] | [
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3.076645612716675,
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3.0233397483825684
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.799999 | 208 | 99 | 37,501 | 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 | 0.778132 | [
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39.964603424072266,
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3.076645612716675,
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] | 0 | pick pot lid and place on pot | [
0,
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0
] | 20.9 | 209 | 99 | 37,502 | 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 | 0.790398 | [
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39.964603424072266,
38.632686614990234,
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] | [
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] | 0 | pick pot lid and place on pot | [
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0,
0
] | 21 | 210 | 99 | 37,503 | 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 | 0.80912 | [
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39.964603424072266,
38.632686614990234,
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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
] | 21.1 | 211 | 99 | 37,504 | 1 | |
[
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0
] | [
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] | [
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] | 0 | [
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] | [
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.825788 | [
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39.964603424072266,
38.632686614990234,
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] | [
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3.076645612716675,
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3.0233397483825684
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.200001 | 212 | 99 | 37,505 | 1 | |
[
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] | [
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] | [
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] | [
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0.5314249992370605,
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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 | 0.843567 | [
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39.964603424072266,
38.632686614990234,
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] | [
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3.076645612716675,
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3.0233397483825684
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.299999 | 213 | 99 | 37,506 | 1 | |
[
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] | [
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] | [
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3.0778422355651855,
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] | 0 | [
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] | [
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.870376 | [
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39.964603424072266,
38.632686614990234,
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] | [
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3.076645612716675,
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3.0233397483825684
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.4 | 214 | 99 | 37,507 | 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 | [
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0,
0
] | 21.5 | 215 | 99 | 37,508 | 1 | ||
[
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] | [
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] | [
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] | [
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] | push lid +2cm on pot | move_linear | 0 | [
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34.79724884033203,
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] | [
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3.078036069869995,
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3.025745391845703
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.6 | 216 | 99 | 37,509 | 1 | ||
[
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43.45454406738281,
37.791465759277344,
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] | [
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] | [
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] | 0 | [
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] | [
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0.5895435214042664,
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] | push lid +2cm on pot | move_linear | 0 | [
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34.79724884033203,
32.3955192565918,
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] | [
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3.078036069869995,
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3.025745391845703
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.700001 | 217 | 99 | 37,510 | 1 | ||
[
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] | [
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] | [
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] | 0 | [
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] | [
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] | push lid +2cm on pot | move_linear | 0.028103 | [
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34.79724884033203,
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] | [
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3.078036069869995,
0.7032873630523682,
3.025745391845703
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.799999 | 218 | 99 | 37,511 | 1 | ||
[
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43.3636360168457,
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] | [
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] | [
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3.0820670127868652,
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] | 0 | [
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] | [
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0.6206361651420593,
0.589192271232605,
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] | push lid +2cm on pot | move_linear | 0.07108 | [
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34.79724884033203,
32.3955192565918,
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0
] | [
0.2978239357471466,
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0.0848371759057045,
3.078036069869995,
0.7032873630523682,
3.025745391845703
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.9 | 219 | 99 | 37,512 | 1 | ||
[
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44,
35.943687438964844,
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] | [
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] | [
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] | 0 | [
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] | 26.1 | 261 | 99 | 37,554 | 1 | ||
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] | 26.200001 | 262 | 99 | 37,555 | 1 | ||
[
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] | 26.299999 | 263 | 99 | 37,556 | 1 | ||
[
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] | 26.4 | 264 | 99 | 37,557 | 1 | ||
[
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] | 26.5 | 265 | 99 | 37,558 | 1 | ||
[
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] | 26.6 | 266 | 99 | 37,559 | 1 | ||
[
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] | [
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] | 26.700001 | 267 | 99 | 37,560 | 1 | ||
[
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37.181819915771484,
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] | [
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] | 30 | pick pot lid and place on pot | [
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] | 26.799999 | 268 | 99 | 37,561 | 1 | ||
[
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] | 26.9 | 269 | 99 | 37,562 | 1 | ||
[
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] | 27 | 270 | 99 | 37,563 | 1 | ||
[
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] | 27.1 | 271 | 99 | 37,564 | 1 | ||
[
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] | 27.200001 | 272 | 99 | 37,565 | 1 | ||
[
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] | [
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] | 30 | pick pot lid and place on pot | [
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] | 27.299999 | 273 | 99 | 37,566 | 1 | ||
[
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] | release lid on pot | gripper_open | 0.48947 | [
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37.181819915771484,
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30
] | [
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] | 30 | pick pot lid and place on pot | [
0,
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] | 27.4 | 274 | 99 | 37,567 | 1 | ||
[
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] | release lid on pot | gripper_open | 0.546323 | [
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37.181819915771484,
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30
] | [
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] | 30 | pick pot lid and place on pot | [
0,
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] | 27.5 | 275 | 99 | 37,568 | 1 | ||
[
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37,
33.30400466918945,
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19.521259307861328
] | [
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37,
33.30400466918945,
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] | [
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0.08137431740760803,
3.0813159942626953,
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] | 1 | [
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0.4893398582935333,
0.6028544902801514,
-0.026077672839164734,
0.4341014623641968
] | release lid on pot | gripper_open | 0.60318 | [
-4.1267499923706055,
-9.42917537689209,
37.181819915771484,
33.21601486206055,
-0.8058608174324036,
30
] | [
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0.08152161538600922,
3.081127166748047,
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3.033215284347534
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 27.6 | 276 | 99 | 37,569 | 1 | ||
[
-4.1267499923706055,
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37,
33.30400466918945,
-0.8058608174324036,
21.022424697875977
] | [
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37,
33.30400466918945,
-0.8058608174324036,
21.022424697875977
] | [
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0.08137431740760803,
3.0813159942626953,
0.6773075461387634,
3.0333337783813477
] | 1 | [
0.012271850369870663,
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0.4893398582935333,
0.6028544902801514,
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] | [
0.012271850369870663,
-0.200951486825943,
0.4893398582935333,
0.6028544902801514,
-0.026077672839164734,
0.4687810242176056
] | release lid on pot | gripper_open | 0.659989 | [
-4.1267499923706055,
-9.42917537689209,
37.181819915771484,
33.21601486206055,
-0.8058608174324036,
30
] | [
0.29117485880851746,
-0.0029516855720430613,
0.08152161538600922,
3.081127166748047,
0.6788344383239746,
3.033215284347534
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 27.700001 | 277 | 99 | 37,570 | 1 | ||
[
-4.1267499923706055,
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37,
33.30400466918945,
-0.8058608174324036,
22.523603439331055
] | [
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37,
33.30400466918945,
-0.8058608174324036,
22.523603439331055
] | [
0.2913499176502228,
-0.0029538327362388372,
0.08137431740760803,
3.0813159942626953,
0.6773075461387634,
3.0333337783813477
] | 1 | [
0.012271850369870663,
-0.200951486825943,
0.4893398582935333,
0.6028544902801514,
-0.026077672839164734,
0.5034608840942383
] | [
0.012271850369870663,
-0.200951486825943,
0.4893398582935333,
0.6028544902801514,
-0.026077672839164734,
0.5034608840942383
] | release lid on pot | gripper_open | 0.71679 | [
-4.1267499923706055,
-9.42917537689209,
37.181819915771484,
33.21601486206055,
-0.8058608174324036,
30
] | [
0.29117485880851746,
-0.0029516855720430613,
0.08152161538600922,
3.081127166748047,
0.6788344383239746,
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 27.799999 | 278 | 99 | 37,571 | 1 | ||
[
-4.1267499923706055,
-9.260042190551758,
37,
33.30400466918945,
-0.8058608174324036,
24.026123046875
] | [
-4.1267499923706055,
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37,
33.30400466918945,
-0.8058608174324036,
24.026123046875
] | [
0.2913499176502228,
-0.0029538327362388372,
0.08137431740760803,
3.0813159942626953,
0.6773075461387634,
3.0333337783813477
] | 1 | [
0.012271850369870663,
-0.200951486825943,
0.4893398582935333,
0.6028544902801514,
-0.026077672839164734,
0.5381717085838318
] | [
0.012271850369870663,
-0.200951486825943,
0.4893398582935333,
0.6028544902801514,
-0.026077672839164734,
0.5381717085838318
] | release lid on pot | gripper_open | 0.773626 | [
-4.1267499923706055,
-9.42917537689209,
37.181819915771484,
33.21601486206055,
-0.8058608174324036,
30
] | [
0.29117485880851746,
-0.0029516855720430613,
0.08152161538600922,
3.081127166748047,
0.6788344383239746,
3.033215284347534
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 27.9 | 279 | 99 | 37,572 | 1 | ||
[
-4.1267499923706055,
-9.260042190551758,
37,
33.30400466918945,
-0.8058608174324036,
25.528236389160156
] | [
-4.1267499923706055,
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37,
33.30400466918945,
-0.8058608174324036,
25.528236389160156
] | [
0.2913499176502228,
-0.0029538327362388372,
0.08137431740760803,
3.0813159942626953,
0.6773075461387634,
3.0333337783813477
] | 1 | [
0.012271850369870663,
-0.200951486825943,
0.4893398582935333,
0.6028544902801514,
-0.026077672839164734,
0.5728731751441956
] | [
0.012271850369870663,
-0.200951486825943,
0.4893398582935333,
0.6028544902801514,
-0.026077672839164734,
0.5728731751441956
] | release lid on pot | gripper_open | 0.830418 | [
-4.1267499923706055,
-9.42917537689209,
37.181819915771484,
33.21601486206055,
-0.8058608174324036,
30
] | [
0.29117485880851746,
-0.0029516855720430613,
0.08152161538600922,
3.081127166748047,
0.6788344383239746,
3.033215284347534
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28 | 280 | 99 | 37,573 | 1 | ||
[
-4.1267499923706055,
-9.260042190551758,
37,
33.30400466918945,
-0.8058608174324036,
27.030303955078125
] | [
-4.1267499923706055,
-9.260042190551758,
37,
33.30400466918945,
-0.8058608174324036,
27.030303955078125
] | [
0.2913499176502228,
-0.0029538327362388372,
0.08137431740760803,
3.0813159942626953,
0.6773075461387634,
3.0333337783813477
] | 1 | [
0.012271850369870663,
-0.200951486825943,
0.4893398582935333,
0.6028544902801514,
-0.026077672839164734,
0.6075735688209534
] | [
0.012271850369870663,
-0.200951486825943,
0.4893398582935333,
0.6028544902801514,
-0.026077672839164734,
0.6075735688209534
] | release lid on pot | gripper_open | 0.887134 | [
-4.1267499923706055,
-9.42917537689209,
37.181819915771484,
33.21601486206055,
-0.8058608174324036,
30
] | [
0.29117485880851746,
-0.0029516855720430613,
0.08152161538600922,
3.081127166748047,
0.6788344383239746,
3.033215284347534
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.1 | 281 | 99 | 37,574 | 1 | ||
[
-4.1267499923706055,
-9.260042190551758,
37,
33.30400466918945,
-0.8058608174324036,
28.531763076782227
] | [
-4.1267499923706055,
-9.260042190551758,
37,
33.30400466918945,
-0.8058608174324036,
28.531763076782227
] | [
0.2913499176502228,
-0.0029538327362388372,
0.08137431740760803,
3.0813159942626953,
0.6773075461387634,
3.0333337783813477
] | 1 | [
0.012271850369870663,
-0.200951486825943,
0.4893398582935333,
0.6028544902801514,
-0.026077672839164734,
0.6422598958015442
] | [
0.012271850369870663,
-0.200951486825943,
0.4893398582935333,
0.6028544902801514,
-0.026077672839164734,
0.6422598958015442
] | release lid on pot | gripper_open | 0.943529 | [
-4.1267499923706055,
-9.42917537689209,
37.181819915771484,
33.21601486206055,
-0.8058608174324036,
30
] | [
0.29117485880851746,
-0.0029516855720430613,
0.08152161538600922,
3.081127166748047,
0.6788344383239746,
3.033215284347534
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 28.200001 | 282 | 99 | 37,575 | 1 | ||
[
-4.05305814743042,
-8.498943328857422,
37.09090805053711,
33.91992950439453,
-0.8058608174324036,
30
] | [
-4.053057670593262,
-8.716153144836426,
36.85519027709961,
33.91993713378906,
-0.8058608174324036,
30
] | [
0.2893179953098297,
-0.003313194727525115,
0.07708042860031128,
3.084458589553833,
0.6513475179672241,
3.0337374210357666
] | 0 | [
0.013805828988552094,
-0.1871456652879715,
0.4908738434314728,
0.6135923266410828,
-0.026077672839164734,
0.6761787533760071
] | [
0.01380583830177784,
-0.19108569622039795,
0.4868963956832886,
0.6135924458503723,
-0.026077672839164734,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.299999 | 283 | 99 | 37,576 | 1 | |
[
-4.05305814743042,
-8.498943328857422,
37.09090805053711,
33.91992950439453,
-0.8058608174324036,
30
] | [
-4.051836967468262,
-8.845372200012207,
36.84257507324219,
33.9511604309082,
-0.8058608174324036,
30
] | [
0.2893179953098297,
-0.003313194727525115,
0.07708042860031128,
3.084458589553833,
0.6513475179672241,
3.0337374210357666
] | 0 | [
0.013805828988552094,
-0.1871456652879715,
0.4908738434314728,
0.6135923266410828,
-0.026077672839164734,
0.6761787533760071
] | [
0.013831248506903648,
-0.19342964887619019,
0.48668351769447327,
0.6141367554664612,
-0.026077672839164734,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.4 | 284 | 99 | 37,577 | 1 | |
[
-4.05305814743042,
-8.498943328857422,
37.09090805053711,
33.91992950439453,
-0.8058608174324036,
30
] | [
-4.048579692840576,
-9.190196990966797,
36.80891036987305,
34.034481048583984,
-0.8058608174324036,
30
] | [
0.2893179953098297,
-0.003313194727525115,
0.07708042860031128,
3.084458589553833,
0.6513475179672241,
3.0337374210357666
] | 0 | [
0.013805828988552094,
-0.1871456652879715,
0.4908738434314728,
0.6135923266410828,
-0.026077672839164734,
0.6761787533760071
] | [
0.013899052515625954,
-0.1996845304965973,
0.4861154556274414,
0.6155893802642822,
-0.026077672839164734,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.5 | 285 | 99 | 37,578 | 1 | |
[
-4.05305814743042,
-8.498943328857422,
37.09090805053711,
33.91992950439453,
-0.8058608174324036,
30
] | [
-4.043344020843506,
-9.841547012329102,
36.75480270385742,
34.16840744018555,
-0.8058608174324036,
30
] | [
0.2893179953098297,
-0.003313194727525115,
0.07708042860031128,
3.084458589553833,
0.6513475179672241,
3.0337374210357666
] | 0 | [
0.013805828988552094,
-0.1871456652879715,
0.4908738434314728,
0.6135923266410828,
-0.026077672839164734,
0.6761787533760071
] | [
0.01400803867727518,
-0.21149958670139313,
0.48520246148109436,
0.6179242134094238,
-0.026077672839164734,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.6 | 286 | 99 | 37,579 | 1 | |
[
-4.05305814743042,
-8.498943328857422,
37.09090805053711,
33.91992950439453,
-0.8058608174324036,
30
] | [
-4.036177158355713,
-10.60019302368164,
36.68074035644531,
34.351715087890625,
-0.8058608174324036,
30
] | [
0.2893179953098297,
-0.003313194727525115,
0.07708042860031128,
3.084458589553833,
0.6513475179672241,
3.0337374210357666
] | 0 | [
0.013805828988552094,
-0.1871456652879715,
0.4908738434314728,
0.6135923266410828,
-0.026077672839164734,
0.6761787533760071
] | [
0.014157225377857685,
-0.2252609133720398,
0.48395276069641113,
0.6211199164390564,
-0.026077672839164734,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.700001 | 287 | 99 | 37,580 | 1 | |
[
-4.05305814743042,
-8.498943328857422,
37.09090805053711,
33.91992950439453,
-0.8058608174324036,
30
] | [
-4.02740478515625,
-11.528823852539062,
36.590084075927734,
34.57609939575195,
-0.8058608174324036,
30
] | [
0.2893179953098297,
-0.003313194727525115,
0.07708042860031128,
3.084458589553833,
0.6513475179672241,
3.0337374210357666
] | 0 | [
0.013805828988552094,
-0.1871456652879715,
0.4908738434314728,
0.6135923266410828,
-0.026077672839164734,
0.6761787533760071
] | [
0.014339831657707691,
-0.2421056479215622,
0.4824230372905731,
0.6250317692756653,
-0.026077672839164734,
0.6761787533760071
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.799999 | 288 | 99 | 37,581 | 1 | |
[
-4.05305814743042,
-8.58350944519043,
37.09090805053711,
33.91992950439453,
-0.8058608174324036,
29.991546630859375
] | [
-4.017055988311768,
-12.624333381652832,
36.48313522338867,
34.84080505371094,
-0.8058608174324036,
29.991546630859375
] | [
0.2893783450126648,
-0.003314028726890683,
0.07741811126470566,
3.0842771530151367,
0.6528747081756592,
3.033627510070801
] | 0 | [
0.013805828988552094,
-0.18867963552474976,
0.4908738434314728,
0.6135923266410828,
-0.026077672839164734,
0.6759834289550781
] | [
0.014555254019796848,
-0.2619774341583252,
0.480618417263031,
0.6296465992927551,
-0.026077672839164734,
0.6759834289550781
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.9 | 289 | 99 | 37,582 | 1 | |
[
-4.05305814743042,
-9.513742446899414,
37.09090805053711,
34.18389892578125,
-0.8058608174324036,
28.74042320251465
] | [
-4.005312919616699,
-13.867444038391113,
36.361778259277344,
35.141178131103516,
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28.74042320251465
] | [
0.2894623577594757,
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0.08074654638767242,
3.082810640335083,
0.6650916934013367,
3.032729387283325
] | 0 | [
0.013805828988552094,
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0.4908738434314728,
0.6181942820549011,
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] | [
0.014799699187278748,
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0.4785706400871277,
0.6348831653594971,
-0.026077672839164734,
0.6470803022384644
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.005084 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29 | 290 | 99 | 37,583 | 1 | |
[
-4.05305814743042,
-10.613107681274414,
37.09090805053711,
34.53585433959961,
-0.8058608174324036,
27.488677978515625
] | [
-3.9923934936523438,
-15.235075950622559,
36.22826385498047,
35.47163391113281,
-0.8058608174324036,
27.488677978515625
] | [
0.2894135117530823,
-0.0033145330380648375,
0.08461235463619232,
3.081127166748047,
0.6788344979286194,
3.0316812992095947
] | 0 | [
0.013805828988552094,
-0.22549517452716827,
0.4908738434314728,
0.6243301630020142,
-0.026077672839164734,
0.6181628108024597
] | [
0.015068631619215012,
-0.30933454632759094,
0.47631776332855225,
0.6406442523002625,
-0.026077672839164734,
0.6181628108024597
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.040681 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.1 | 291 | 99 | 37,584 | 1 | |
[
-4.05305814743042,
-11.96617317199707,
37.09090805053711,
34.887813568115234,
-0.8058608174324036,
26.237682342529297
] | [
-3.9783449172973633,
-16.72224998474121,
36.08308029174805,
35.83097839355469,
-0.8058608174324036,
26.237682342529297
] | [
0.2894221544265747,
-0.003314665285870433,
0.08947962522506714,
3.0788230895996094,
0.6971560120582581,
3.0302181243896484
] | 0 | [
0.013805828988552094,
-0.25003886222839355,
0.4908738434314728,
0.630466103553772,
-0.026077672839164734,
0.5892626047134399
] | [
0.015361067838966846,
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0.4738679528236389,
0.6469089388847351,
-0.026077672839164734,
0.5892626047134399
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.080377 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.200001 | 292 | 99 | 37,585 | 1 | |
[
-4.05305814743042,
-13.319238662719727,
37.09090805053711,
35.23977279663086,
-0.8058608174324036,
24.98668098449707
] | [
-3.96340012550354,
-18.30428123474121,
35.92863464355469,
36.21324157714844,
-0.8058608174324036,
24.98668098449707
] | [
0.28932154178619385,
-0.003313289722427726,
0.09433265775442123,
3.0764472484588623,
0.7154747843742371,
3.0286760330200195
] | 0 | [
0.013805828988552094,
-0.27458256483078003,
0.4908738434314728,
0.6366020441055298,
-0.026077672839164734,
0.5603622794151306
] | [
0.01567216031253338,
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0.4712618887424469,
0.653573215007782,
-0.026077672839164734,
0.5603622794151306
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.120052 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.299999 | 293 | 99 | 37,586 | 1 | |
[
-4.05305814743042,
-14.841437339782715,
37.09090805053711,
35.76770782470703,
-0.8058608174324036,
23.734882354736328
] | [
-3.9477062225341797,
-19.965627670288086,
35.37273406982422,
36.61466979980469,
-0.8058608174324036,
23.734882354736328
] | [
0.2888195812702179,
-0.0033063762821257114,
0.09955817461013794,
3.0739946365356445,
0.7337908148765564,
3.027050256729126
] | 0 | [
0.013805828988552094,
-0.302194207906723,
0.4908738434314728,
0.6458058953285217,
-0.026077672839164734,
0.5314435362815857
] | [
0.015998845919966698,
-0.3951435387134552,
0.46188172698020935,
0.6605715751647949,
-0.026077672839164734,
0.5314435362815857
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.163165 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.4 | 294 | 99 | 37,587 | 1 | |
[
-4.05305814743042,
-16.44820213317871,
37.09090805053711,
36.119667053222656,
-0.8058608174324036,
22.48383140563965
] | [
-3.931359052658081,
-21.667205810546875,
35.20379638671875,
37.03280258178711,
-0.8058608174324036,
22.48383140563965
] | [
0.2885468602180481,
-0.003302627941593528,
0.10537724196910858,
3.070812225341797,
0.7566813230514526,
3.0248918533325195
] | 0 | [
0.013805828988552094,
-0.33133983612060547,
0.4908738434314728,
0.6519418358802795,
-0.026077672839164734,
0.5025420784950256
] | [
0.016339130699634552,
-0.42600902915000916,
0.4590311050415039,
0.6678611636161804,
-0.026077672839164734,
0.5025420784950256
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.206966 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.5 | 295 | 99 | 37,588 | 1 | |
[
-4.05305814743042,
-18.393234252929688,
37.09090805053711,
36.471622467041016,
-0.8058608174324036,
21.232805252075195
] | [
-3.9145827293395996,
-23.40955352783203,
35.03042221069336,
37.461917877197266,
-0.8058608174324036,
21.232805252075195
] | [
0.28814756870269775,
-0.003297136863693595,
0.11251378804445267,
3.066577911376953,
0.7856684327125549,
3.021940231323242
] | 0 | [
0.013805828988552094,
-0.3666214048862457,
0.4908738434314728,
0.6580777168273926,
-0.026077672839164734,
0.47364118695259094
] | [
0.016688348725438118,
-0.4576140344142914,
0.45610561966896057,
0.6753422617912292,
-0.026077672839164734,
0.47364118695259094
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.256281 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.6 | 296 | 99 | 37,589 | 1 | |
[
-4.05305814743042,
-20.084566116333008,
37.181819915771484,
36.99956130981445,
-0.8058608174324036,
19.980897903442383
] | [
-3.8974859714508057,
-25.185165405273438,
34.85374069213867,
37.899227142333984,
-0.8058608174324036,
19.980897903442383
] | [
0.2870296537876129,
-0.0032817234750837088,
0.11793658137321472,
3.0635366439819336,
0.8054962158203125,
3.0197677612304688
] | 0 | [
0.013805828988552094,
-0.3973010182380676,
0.4924078583717346,
0.6672816872596741,
-0.026077672839164734,
0.44471994042396545
] | [
0.01704423688352108,
-0.4898224472999573,
0.45312434434890747,
0.6829661726951599,
-0.026077672839164734,
0.44471994042396545
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.301871 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.700001 | 297 | 99 | 37,590 | 1 | |
[
-4.05305814743042,
-21.945032119750977,
37.181819915771484,
37.43950653076172,
-0.8058608174324036,
18.729904174804688
] | [
-3.88024640083313,
-26.975608825683594,
34.67557907104492,
38.340187072753906,
-0.8058608174324036,
18.729904174804688
] | [
0.2860736548900604,
-0.00326854782178998,
0.12448842823505402,
3.0593645572662354,
0.8314176201820374,
3.016721487045288
] | 0 | [
0.013805828988552094,
-0.43104860186576843,
0.4924078583717346,
0.6749515533447266,
-0.026077672839164734,
0.41581979393959045
] | [
0.017403097823262215,
-0.5222998857498169,
0.4501180946826935,
0.6906537413597107,
-0.026077672839164734,
0.41581979393959045
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.350016 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.799999 | 298 | 99 | 37,591 | 1 | |
[
-4.05305814743042,
-23.636363983154297,
37.181819915771484,
37.967445373535156,
-0.8058608174324036,
17.478958129882812
] | [
-3.863011121749878,
-28.765600204467773,
34.497467041015625,
38.781036376953125,
-0.8058608174324036,
17.478958129882812
] | [
0.28480690717697144,
-0.0032510810997337103,
0.13015995919704437,
3.055746555328369,
0.8527578115463257,
3.0140221118927
] | 0 | [
0.013805828988552094,
-0.46172821521759033,
0.4924078583717346,
0.6841554641723633,
-0.026077672839164734,
0.3869207501411438
] | [
0.017761869356036186,
-0.5547690987586975,
0.44711264967918396,
0.6983393430709839,
-0.026077672839164734,
0.3869207501411438
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.395671 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.9 | 299 | 99 | 37,592 | 1 | |
[
-4.05305814743042,
-25.581396102905273,
37.181819915771484,
38.40739059448242,
-0.8058608174324036,
16.227903366088867
] | [
-3.845930576324463,
-30.539527893066406,
34.32094955444336,
39.21792984008789,
-0.8058608174324036,
16.227903366088867
] | [
0.28344762325286865,
-0.0032323405612260103,
0.1369219869375229,
3.05082631111145,
0.8801851272583008,
3.010272264480591
] | 0 | [
0.013805828988552094,
-0.4970097839832306,
0.4924078583717346,
0.6918253302574158,
-0.026077672839164734,
0.3580192029476166
] | [
0.018117420375347137,
-0.586946964263916,
0.4441341459751129,
0.7059560418128967,
-0.026077672839164734,
0.3580192029476166
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.44501 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30 | 300 | 99 | 37,593 | 1 | |
[
-4.05305814743042,
-27.3572940826416,
37.181819915771484,
38.84733963012695,
-0.8058608174324036,
14.97684097290039
] | [
-3.8291683197021484,
-32.280426025390625,
34.14772033691406,
39.64668655395508,
-0.8058608174324036,
14.97684097290039
] | [
0.28195586800575256,
-0.0032117697410285473,
0.14295898377895355,
3.046170473098755,
0.9045543074607849,
3.0066471099853516
] | 0 | [
0.013805828988552094,
-0.5292233824729919,
0.4924078583717346,
0.699495255947113,
-0.026077672839164734,
0.32911744713783264
] | [
0.018466345965862274,
-0.6185256838798523,
0.44121110439300537,
0.7134308218955994,
-0.026077672839164734,
0.32911744713783264
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.491514 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.1 | 301 | 99 | 37,594 | 1 | |
[
-4.05305814743042,
-29.302326202392578,
37.181819915771484,
39.28728485107422,
-0.8058608174324036,
13.725793838500977
] | [
-3.812842845916748,
-34.001258850097656,
33.979007720947266,
40.06426239013672,
-0.8058608174324036,
13.725793838500977
] | [
0.28019145131111145,
-0.0031874377746134996,
0.1495746672153473,
3.040574789047241,
0.9319562315940857,
3.0022006034851074
] | 0 | [
0.013805828988552094,
-0.5645049214363098,
0.4924078583717346,
0.7071651220321655,
-0.026077672839164734,
0.30021607875823975
] | [
0.018806178122758865,
-0.6497403979301453,
0.43836429715156555,
0.7207106947898865,
-0.026077672839164734,
0.30021607875823975
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.540537 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.200001 | 302 | 99 | 37,595 | 1 | |
[
-4.05305814743042,
-30.9936580657959,
37.181819915771484,
39.639244079589844,
-0.8058608174324036,
12.474104881286621
] | [
-3.797163963317871,
-35.682151794433594,
33.81697463989258,
40.465309143066406,
-0.8058608174324036,
12.474104881286621
] | [
0.2785356640815735,
-0.003164602443575859,
0.15531988441944122,
3.035243034362793,
0.9562999606132507,
2.9978814125061035
] | 0 | [
0.013805828988552094,
-0.5951845645904541,
0.4924078583717346,
0.7133010625839233,
-0.026077672839164734,
0.2712998688220978
] | [
0.019132552668452263,
-0.6802306771278381,
0.4356301724910736,
0.7277024388313293,
-0.026077672839164734,
0.2712998688220978
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.585092 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.299999 | 303 | 99 | 37,596 | 1 | |
[
-4.05305814743042,
-32.769554138183594,
37.181819915771484,
40.167179107666016,
-0.8058608174324036,
11.222407341003418
] | [
-3.7824020385742188,
-37.26469421386719,
33.664424896240234,
40.842891693115234,
-0.8058608174324036,
11.222407341003418
] | [
0.27638885378837585,
-0.0031349905766546726,
0.16095544397830963,
3.0298991203308105,
0.9791092276573181,
2.9934799671173096
] | 0 | [
0.013805828988552094,
-0.6273981332778931,
0.4924078583717346,
0.7225049138069153,
-0.026077672839164734,
0.2423834651708603
] | [
0.01943983882665634,
-0.7089369297027588,
0.4330560863018036,
0.7342851161956787,
-0.026077672839164734,
0.2423834651708603
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.631306 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.4 | 304 | 99 | 37,597 | 1 | |
[
-4.05305814743042,
-34.54545593261719,
37.09090805053711,
40.431148529052734,
-0.8058608174324036,
9.971484184265137
] | [
-3.7750461101531982,
-38.05329132080078,
33.58840560913086,
41.031044006347656,
-0.8058608174324036,
9.971484184265137
] | [
0.2745562195777893,
-0.003109716810286045,
0.1674390286207199,
3.022585391998291,
1.007980465888977,
2.9873507022857666
] | 0 | [
0.013805828988552094,
-0.6596117615699768,
0.4908738434314728,
0.7271068692207336,
-0.026077672839164734,
0.2134849578142166
] | [
0.01959295943379402,
-0.7232415080070496,
0.4317733347415924,
0.737565279006958,
-0.026077672839164734,
0.2134849578142166
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.676754 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.5 | 305 | 99 | 37,598 | 1 | |
[
-4.05305814743042,
-36.06765365600586,
37.09090805053711,
40.60712814331055,
-0.8058608174324036,
8.72061538696289
] | [
-3.7675044536590576,
-38.86180114746094,
33.510467529296875,
41.22394943237305,
-0.8058608174324036,
8.72061538696289
] | [
0.27282944321632385,
-0.003085900330916047,
0.17271381616592407,
3.0158872604370117,
1.0322726964950562,
2.981642007827759
] | 0 | [
0.013805828988552094,
-0.6872233748435974,
0.4908738434314728,
0.7301748991012573,
-0.026077672839164734,
0.18458768725395203
] | [
0.019749948754906654,
-0.737907350063324,
0.4304582476615906,
0.7409283518791199,
-0.026077672839164734,
0.18458768725395203
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.717317 | [
-3.70798921585083,
-45.1843376159668,
33.558502197265625,
42.74625778198242,
-0.8058608174324036,
0
] | [
0.25871554017066956,
-0.004471102729439735,
0.21577540040016174,
2.9373786449432373,
1.2169989347457886,
2.903325319290161
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.6 | 306 | 99 | 37,599 | 1 |
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