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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19.636363983154297,
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0
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0.6967729330062866,
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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 | 0.449891 | [
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10.686363220214844,
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58.78350830078125,
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3.100581645965576,
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] | 0 | pick pot lid and place on pot | [
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0,
0
] | 19.700001 | 197 | 14 | 5,400 | 0 | |
[
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] | [
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] | [
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0.03840810805559158,
0.7357617616653442,
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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 | 0.501192 | [
-4.516853332519531,
10.686363220214844,
-3.0418481826782227,
58.78350830078125,
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] | [
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3.100581645965576,
0.5478276014328003,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 19.799999 | 198 | 14 | 5,401 | 0 | |
[
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] | [
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] | [
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.552618 | [
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10.686363220214844,
-3.0418481826782227,
58.78350830078125,
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] | [
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3.100581645965576,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 19.9 | 199 | 14 | 5,402 | 0 | |
[
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] | [
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] | [
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] | [
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.602612 | [
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10.686363220214844,
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58.78350830078125,
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] | [
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3.100581645965576,
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] | 0 | pick pot lid and place on pot | [
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0,
0
] | 20 | 200 | 14 | 5,403 | 0 | |
[
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0
] | [
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] | [
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] | 0 | [
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] | [
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0.8467633724212646,
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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 | 0.653654 | [
-4.516853332519531,
10.686363220214844,
-3.0418481826782227,
58.78350830078125,
-0.5616605877876282,
0
] | [
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3.100581645965576,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.1 | 201 | 14 | 5,404 | 0 | |
[
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0
] | [
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0
] | [
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3.0791056156158447,
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] | 0 | [
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0.027611659839749336,
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] | [
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0.8787096738815308,
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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 | 0.701069 | [
-4.516853332519531,
10.686363220214844,
-3.0418481826782227,
58.78350830078125,
-0.5616605877876282,
0
] | [
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3.100581645965576,
0.5478276014328003,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.200001 | 202 | 14 | 5,405 | 0 | |
[
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0
] | [
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0
] | [
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] | 0 | [
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] | [
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0.03445819392800331,
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0.8955378532409668,
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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 | 0.749607 | [
-4.516853332519531,
10.686363220214844,
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58.78350830078125,
-0.5616605877876282,
0
] | [
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0.10389808565378189,
3.100581645965576,
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3.058835983276367
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.299999 | 203 | 14 | 5,406 | 0 | |
[
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0
] | [
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0
] | [
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0.11327318102121353,
3.085541248321533,
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3.054900646209717
] | 0 | [
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0.8835729360580444,
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] | [
0.0029210576321929693,
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0.9127940535545349,
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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 | 0.784255 | [
-4.516853332519531,
10.686363220214844,
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58.78350830078125,
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] | [
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3.100581645965576,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.4 | 204 | 14 | 5,407 | 0 | |
[
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0
] | [
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0
] | [
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] | [
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0.9304926991462708,
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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 | 0.807483 | [
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10.686363220214844,
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58.78350830078125,
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0
] | [
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3.100581645965576,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.5 | 205 | 14 | 5,408 | 0 | |
[
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0
] | [
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0
] | [
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] | 0 | [
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] | [
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0.9486477971076965,
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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 | 0.83264 | [
-4.516853332519531,
10.686363220214844,
-3.0418481826782227,
58.78350830078125,
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0
] | [
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3.100581645965576,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.6 | 206 | 14 | 5,409 | 0 | |
[
-4.8636698722839355,
6.723044395446777,
3.8181817531585693,
52.573692321777344,
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0
] | [
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0
] | [
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3.092256784439087,
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] | 0 | [
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0.9387962818145752,
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] | [
0.0034206481650471687,
0.09205741435289383,
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0.9673116207122803,
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-0.016873788088560104
] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.85193 | [
-4.516853332519531,
10.686363220214844,
-3.0418481826782227,
58.78350830078125,
-0.5616605877876282,
0
] | [
0.3199431598186493,
-0.0010740567231550813,
0.10389808565378189,
3.100581645965576,
0.5478276014328003,
3.058835983276367
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.700001 | 207 | 14 | 5,410 | 0 | |
[
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53.62956619262695,
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0
] | [
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0
] | [
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] | 0 | [
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] | [
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0.9866209626197815,
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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 | 0.880054 | [
-4.516853332519531,
10.686363220214844,
-3.0418481826782227,
58.78350830078125,
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0
] | [
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0.10389808565378189,
3.100581645965576,
0.5478276014328003,
3.058835983276367
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.799999 | 208 | 14 | 5,411 | 0 | |
[
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1.3636363744735718,
54.6854362487793,
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0
] | [
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0
] | [
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3.0949366092681885,
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] | 0 | [
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] | [
0.0037808986380696297,
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1.0066237449645996,
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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 | 0.90536 | [
-4.516853332519531,
10.686363220214844,
-3.0418481826782227,
58.78350830078125,
-0.5616605877876282,
0
] | [
0.3199431598186493,
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0.10389808565378189,
3.100581645965576,
0.5478276014328003,
3.058835983276367
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 20.9 | 209 | 14 | 5,412 | 0 | |
[
-4.78997802734375,
9.260042190551758,
0.1818181872367859,
55.82929992675781,
-0.6593406796455383,
0
] | [
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9.625321388244629,
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57.65956115722656,
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0
] | [
0.32028478384017944,
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3.0964698791503906,
0.5706000328063965,
3.059741258621216
] | 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 | 0.932255 | [
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10.686363220214844,
-3.0418481826782227,
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3.100581645965576,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21 | 210 | 14 | 5,413 | 0 | |
[
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] | [
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] | [
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] | 0 | [
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] | [
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1.0470563173294067,
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-0.016873788088560104
] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.954069 | [
-4.516853332519531,
10.686363220214844,
-3.0418481826782227,
58.78350830078125,
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] | [
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3.100581645965576,
0.5478276014328003,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.1 | 211 | 14 | 5,414 | 0 | |
[
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11.035941123962402,
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58.02903747558594,
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0
] | [
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0
] | [
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0.5308517217636108,
3.0617573261260986
] | 0 | [
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] | [
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1.0470563173294067,
-0.01840776950120926,
-0.016873788088560104
] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.975618 | [
-4.516853332519531,
10.686363220214844,
-3.0418481826782227,
58.78350830078125,
-0.5616605877876282,
0
] | [
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3.100581645965576,
0.5478276014328003,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.200001 | 212 | 14 | 5,415 | 0 | |
[
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11.289640426635742,
-2,
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0
] | [
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0
] | [
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0.0005423172260634601,
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3.101040840148926,
0.5232071280479431,
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] | 0 | [
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1.0431069135665894,
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] | [
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1.0470563173294067,
-0.01840776950120926,
-0.016873788088560104
] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.981494 | [
-4.516853332519531,
10.686363220214844,
-3.0418481826782227,
58.78350830078125,
-0.5616605877876282,
0
] | [
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3.100581645965576,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.299999 | 213 | 14 | 5,416 | 0 | |
[
-4.78997802734375,
11.289640426635742,
-2,
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0
] | [
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0
] | [
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3.1013269424438477,
0.5201492309570312,
3.0622618198394775
] | 0 | [
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1.0461748838424683,
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] | [
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-0.23248450458049774,
1.0470563173294067,
-0.01840776950120926,
-0.016873788088560104
] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.981781 | [
-4.516853332519531,
10.686363220214844,
-3.0418481826782227,
58.78350830078125,
-0.5616605877876282,
0
] | [
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-0.0010740567231550813,
0.10389808565378189,
3.100581645965576,
0.5478276014328003,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.4 | 214 | 14 | 5,417 | 0 | |
[
-4.78997802734375,
11.289640426635742,
-2,
58.73295211791992,
-0.6593406796455383,
0
] | [
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0
] | [
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0.0005417045904323459,
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3.1013269424438477,
0.5201492309570312,
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] | 0 | [
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1.0461748838424683,
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] | [
0.0041514127515256405,
0.15776054561138153,
-0.23248450458049774,
1.0470563173294067,
-0.01840776950120926,
-0.016873788088560104
] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.981781 | [
-4.516853332519531,
10.686363220214844,
-3.0418481826782227,
58.78350830078125,
-0.5616605877876282,
0
] | [
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-0.0010740567231550813,
0.10389808565378189,
3.100581645965576,
0.5478276014328003,
3.058835983276367
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.5 | 215 | 14 | 5,418 | 0 | |
[
-4.78997802734375,
11.289640426635742,
-2,
58.73295211791992,
-0.6593406796455383,
0
] | [
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10.515338897705078,
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0
] | [
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0.0005417045904323459,
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3.1013269424438477,
0.5201492309570312,
3.0622618198394775
] | 0 | [
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1.0461748838424683,
-0.02147573232650757,
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] | [
0.0041514127515256405,
0.15776054561138153,
-0.23248450458049774,
1.0470563173294067,
-0.01840776950120926,
-0.016873788088560104
] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.981781 | [
-4.516853332519531,
10.686363220214844,
-3.0418481826782227,
58.78350830078125,
-0.5616605877876282,
0
] | [
0.3199431598186493,
-0.0010740567231550813,
0.10389808565378189,
3.100581645965576,
0.5478276014328003,
3.058835983276367
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.6 | 216 | 14 | 5,419 | 0 | |
[
-4.78997802734375,
11.289640426635742,
-2,
58.73295211791992,
-0.6593406796455383,
0
] | [
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10.515338897705078,
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58.78350830078125,
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0
] | [
0.317737340927124,
0.0005417045904323459,
0.09765210002660751,
3.1013269424438477,
0.5201492309570312,
3.0622618198394775
] | 0 | [
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1.0461748838424683,
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] | [
0.0041514127515256405,
0.15776054561138153,
-0.23248450458049774,
1.0470563173294067,
-0.01840776950120926,
-0.016873788088560104
] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.981781 | [
-4.516853332519531,
10.686363220214844,
-3.0418481826782227,
58.78350830078125,
-0.5616605877876282,
0
] | [
0.3199431598186493,
-0.0010740567231550813,
0.10389808565378189,
3.100581645965576,
0.5478276014328003,
3.058835983276367
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.700001 | 217 | 14 | 5,420 | 0 | |
[
-4.78997802734375,
11.289640426635742,
-2,
58.73295211791992,
-0.6593406796455383,
0
] | [
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10.515338897705078,
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58.78350830078125,
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0
] | [
0.317737340927124,
0.0005417045904323459,
0.09765210002660751,
3.1013269424438477,
0.5201492309570312,
3.0622618198394775
] | 0 | [
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-0.16873788833618164,
1.0461748838424683,
-0.02147573232650757,
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] | [
0.0041514127515256405,
0.15776054561138153,
-0.23248450458049774,
1.0470563173294067,
-0.01840776950120926,
-0.016873788088560104
] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.981781 | [
-4.516853332519531,
10.686363220214844,
-3.0418481826782227,
58.78350830078125,
-0.5616605877876282,
0
] | [
0.3199431598186493,
-0.0010740567231550813,
0.10389808565378189,
3.100581645965576,
0.5478276014328003,
3.058835983276367
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.799999 | 218 | 14 | 5,421 | 0 | |
[
-4.78997802734375,
11.289640426635742,
-2,
58.73295211791992,
-0.6593406796455383,
0
] | [
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10.515338897705078,
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58.78350830078125,
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0
] | [
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0.0005417045904323459,
0.09765210002660751,
3.1013269424438477,
0.5201492309570312,
3.0622618198394775
] | 0 | [
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1.0461748838424683,
-0.02147573232650757,
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] | [
0.0041514127515256405,
0.15776054561138153,
-0.23248450458049774,
1.0470563173294067,
-0.01840776950120926,
-0.016873788088560104
] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.981781 | [
-4.516853332519531,
10.686363220214844,
-3.0418481826782227,
58.78350830078125,
-0.5616605877876282,
0
] | [
0.3199431598186493,
-0.0010740567231550813,
0.10389808565378189,
3.100581645965576,
0.5478276014328003,
3.058835983276367
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.9 | 219 | 14 | 5,422 | 0 | |
[
-4.78997802734375,
11.289640426635742,
-2,
58.73295211791992,
-0.6593406796455383,
0
] | [
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10.515338897705078,
-5.777848243713379,
58.78350830078125,
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0
] | [
0.317737340927124,
0.0005417045904323459,
0.09765210002660751,
3.1013269424438477,
0.5201492309570312,
3.0622618198394775
] | 0 | [
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1.0461748838424683,
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] | [
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-0.23248450458049774,
1.0470563173294067,
-0.01840776950120926,
-0.016873788088560104
] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.981781 | [
-4.516853332519531,
10.686363220214844,
-3.0418481826782227,
58.78350830078125,
-0.5616605877876282,
0
] | [
0.3199431598186493,
-0.0010740567231550813,
0.10389808565378189,
3.100581645965576,
0.5478276014328003,
3.058835983276367
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 22 | 220 | 14 | 5,423 | 0 | |
[
-4.78997802734375,
11.289640426635742,
-2,
58.73295211791992,
-0.6593406796455383,
0
] | [
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10.515338897705078,
-5.777848243713379,
58.78350830078125,
-0.5616605877876282,
0
] | [
0.317737340927124,
0.0005417045904323459,
0.09765210002660751,
3.1013269424438477,
0.5201492309570312,
3.0622618198394775
] | 0 | [
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0.17180584371089935,
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1.0461748838424683,
-0.02147573232650757,
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] | [
0.0041514127515256405,
0.15776054561138153,
-0.23248450458049774,
1.0470563173294067,
-0.01840776950120926,
-0.016873788088560104
] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.981781 | [
-4.516853332519531,
10.686363220214844,
-3.0418481826782227,
58.78350830078125,
-0.5616605877876282,
0
] | [
0.3199431598186493,
-0.0010740567231550813,
0.10389808565378189,
3.100581645965576,
0.5478276014328003,
3.058835983276367
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 22.1 | 221 | 14 | 5,424 | 0 | |
[
-4.78997802734375,
11.289640426635742,
-2,
58.73295211791992,
-0.6593406796455383,
3.5856573581695557
] | [
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12.453339576721191,
1.2177778482437134,
52.893028259277344,
-0.6593406796455383,
0
] | [
0.317737340927124,
0.0005417045904323459,
0.09765210002660751,
3.1013269424438477,
0.5201492309570312,
3.0622618198394775
] | 0 | [
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0.17180584371089935,
-0.16873788833618164,
1.0461748838424683,
-0.02147573232650757,
0.06596117466688156
] | [
0.0042253704741597176,
0.19291456043720245,
-0.11444178223609924,
0.9443634748458862,
-0.02147573232650757,
-0.016873788088560104
] | push lid +2cm on pot | move_linear | 0 | [
-4.526360511779785,
23.131872177124023,
-13.566192626953125,
57.604225158691406,
-0.6593406796455383,
0
] | [
0.33935388922691345,
-0.0010740578873082995,
0.08258118480443954,
3.1013240814208984,
0.5201823711395264,
3.0567729473114014
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 22.200001 | 222 | 14 | 5,425 | 0 | ||
[
-4.78997802734375,
11.289640426635742,
-2,
58.73295211791992,
-0.6593406796455383,
3.5856573581695557
] | [
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12.453339576721191,
1.2177778482437134,
52.893028259277344,
-0.6593406796455383,
0
] | [
0.317737340927124,
0.0005417045904323459,
0.09765210002660751,
3.1013269424438477,
0.5201492309570312,
3.0622618198394775
] | 0 | [
-0.0015339836245402694,
0.17180584371089935,
-0.16873788833618164,
1.0461748838424683,
-0.02147573232650757,
0.06596117466688156
] | [
0.0042253704741597176,
0.19291456043720245,
-0.11444178223609924,
0.9443634748458862,
-0.02147573232650757,
-0.016873788088560104
] | push lid +2cm on pot | move_linear | 0 | [
-4.526360511779785,
23.131872177124023,
-13.566192626953125,
57.604225158691406,
-0.6593406796455383,
0
] | [
0.33935388922691345,
-0.0010740578873082995,
0.08258118480443954,
3.1013240814208984,
0.5201823711395264,
3.0567729473114014
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 22.299999 | 223 | 14 | 5,426 | 0 | ||
[
-4.78997802734375,
11.374207496643066,
-2,
58.73295211791992,
-0.6593406796455383,
3.5856573581695557
] | [
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12.453339576721191,
1.2177778482437134,
52.893028259277344,
-0.6593406796455383,
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0,
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0
] | 26.5 | 265 | 14 | 5,468 | 0 | ||
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] | 26.6 | 266 | 14 | 5,469 | 0 | ||
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] | 26.700001 | 267 | 14 | 5,470 | 0 | ||
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] | 26.799999 | 268 | 14 | 5,471 | 0 | ||
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] | 26.9 | 269 | 14 | 5,472 | 0 | ||
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] | 27 | 270 | 14 | 5,473 | 0 | ||
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] | 27.1 | 271 | 14 | 5,474 | 0 | ||
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] | 27.200001 | 272 | 14 | 5,475 | 0 | ||
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] | 27.4 | 274 | 14 | 5,477 | 0 | ||
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] | 27.5 | 275 | 14 | 5,478 | 0 | ||
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] | 27.6 | 276 | 14 | 5,479 | 0 | ||
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] | 27.700001 | 277 | 14 | 5,480 | 0 | ||
[
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] | 20 | pick pot lid and place on pot | [
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] | 27.799999 | 278 | 14 | 5,481 | 0 | ||
[
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20
] | [
0.3347415030002594,
-0.0003503480111248791,
0.07899255305528641,
3.1046812534332275,
0.49268361926078796,
3.062161684036255
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.9 | 279 | 14 | 5,482 | 0 | ||
[
-4.642593860626221,
22.536998748779297,
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58.117027282714844,
-0.6105006337165833,
13.012054443359375
] | [
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22.536998748779297,
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58.117027282714844,
-0.6105006337165833,
13.012054443359375
] | [
0.3347415030002594,
-0.0003503480111248791,
0.07899255305528641,
3.1046812534332275,
0.49268361926078796,
3.062161684036255
] | 1 | [
0.0015339828096330166,
0.37582531571388245,
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1.0354371070861816,
-0.019941750913858414,
0.2837274372577667
] | [
0.0015339828096330166,
0.37582531571388245,
-0.3344078063964844,
1.0354371070861816,
-0.019941750913858414,
0.2837274372577667
] | release lid on pot | gripper_open | 0.574278 | [
-4.642593860626221,
22.536998748779297,
-11.818181991577148,
58.117027282714844,
-0.6105006337165833,
20
] | [
0.3347415030002594,
-0.0003503480111248791,
0.07899255305528641,
3.1046812534332275,
0.49268361926078796,
3.062161684036255
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 28 | 280 | 14 | 5,483 | 0 | ||
[
-4.642593860626221,
22.536998748779297,
-11.818181991577148,
58.117027282714844,
-0.6105006337165833,
14.012720108032227
] | [
-4.642593860626221,
22.536998748779297,
-11.818181991577148,
58.117027282714844,
-0.6105006337165833,
14.012720108032227
] | [
0.3347415030002594,
-0.0003503480111248791,
0.07899255305528641,
3.1046812534332275,
0.49268361926078796,
3.062161684036255
] | 1 | [
0.0015339828096330166,
0.37582531571388245,
-0.3344078063964844,
1.0354371070861816,
-0.019941750913858414,
0.3068445920944214
] | [
0.0015339828096330166,
0.37582531571388245,
-0.3344078063964844,
1.0354371070861816,
-0.019941750913858414,
0.3068445920944214
] | release lid on pot | gripper_open | 0.635241 | [
-4.642593860626221,
22.536998748779297,
-11.818181991577148,
58.117027282714844,
-0.6105006337165833,
20
] | [
0.3347415030002594,
-0.0003503480111248791,
0.07899255305528641,
3.1046812534332275,
0.49268361926078796,
3.062161684036255
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 28.1 | 281 | 14 | 5,484 | 0 | ||
[
-4.642593860626221,
22.536998748779297,
-11.818181991577148,
58.117027282714844,
-0.6105006337165833,
15.013448715209961
] | [
-4.642593860626221,
22.536998748779297,
-11.818181991577148,
58.117027282714844,
-0.6105006337165833,
15.013448715209961
] | [
0.3347415030002594,
-0.0003503480111248791,
0.07899255305528641,
3.1046812534332275,
0.49268361926078796,
3.062161684036255
] | 1 | [
0.0015339828096330166,
0.37582531571388245,
-0.3344078063964844,
1.0354371070861816,
-0.019941750913858414,
0.32996314764022827
] | [
0.0015339828096330166,
0.37582531571388245,
-0.3344078063964844,
1.0354371070861816,
-0.019941750913858414,
0.32996314764022827
] | release lid on pot | gripper_open | 0.696208 | [
-4.642593860626221,
22.536998748779297,
-11.818181991577148,
58.117027282714844,
-0.6105006337165833,
20
] | [
0.3347415030002594,
-0.0003503480111248791,
0.07899255305528641,
3.1046812534332275,
0.49268361926078796,
3.062161684036255
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 28.200001 | 282 | 14 | 5,485 | 0 | ||
[
-4.642593860626221,
22.536998748779297,
-11.818181991577148,
58.117027282714844,
-0.6105006337165833,
16.01494789123535
] | [
-4.642593860626221,
22.536998748779297,
-11.818181991577148,
58.117027282714844,
-0.6105006337165833,
16.01494789123535
] | [
0.3347415030002594,
-0.0003503480111248791,
0.07899255305528641,
3.1046812534332275,
0.49268361926078796,
3.062161684036255
] | 1 | [
0.0015339828096330166,
0.37582531571388245,
-0.3344078063964844,
1.0354371070861816,
-0.019941750913858414,
0.3530995547771454
] | [
0.0015339828096330166,
0.37582531571388245,
-0.3344078063964844,
1.0354371070861816,
-0.019941750913858414,
0.3530995547771454
] | release lid on pot | gripper_open | 0.757221 | [
-4.642593860626221,
22.536998748779297,
-11.818181991577148,
58.117027282714844,
-0.6105006337165833,
20
] | [
0.3347415030002594,
-0.0003503480111248791,
0.07899255305528641,
3.1046812534332275,
0.49268361926078796,
3.062161684036255
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 28.299999 | 283 | 14 | 5,486 | 0 | ||
[
-4.642593860626221,
22.536998748779297,
-11.818181991577148,
58.117027282714844,
-0.6105006337165833,
17.01573371887207
] | [
-4.642593860626221,
22.536998748779297,
-11.818181991577148,
58.117027282714844,
-0.6105006337165833,
17.01573371887207
] | [
0.3347415030002594,
-0.0003503480111248791,
0.07899255305528641,
3.1046812534332275,
0.49268361926078796,
3.062161684036255
] | 1 | [
0.0015339828096330166,
0.37582531571388245,
-0.3344078063964844,
1.0354371070861816,
-0.019941750913858414,
0.3762194514274597
] | [
0.0015339828096330166,
0.37582531571388245,
-0.3344078063964844,
1.0354371070861816,
-0.019941750913858414,
0.3762194514274597
] | release lid on pot | gripper_open | 0.818192 | [
-4.642593860626221,
22.536998748779297,
-11.818181991577148,
58.117027282714844,
-0.6105006337165833,
20
] | [
0.3347415030002594,
-0.0003503480111248791,
0.07899255305528641,
3.1046812534332275,
0.49268361926078796,
3.062161684036255
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 28.4 | 284 | 14 | 5,487 | 0 | ||
[
-4.642593860626221,
22.536998748779297,
-11.818181991577148,
58.117027282714844,
-0.6105006337165833,
18.01734161376953
] | [
-4.642593860626221,
22.536998748779297,
-11.818181991577148,
58.117027282714844,
-0.6105006337165833,
18.01734161376953
] | [
0.3347415030002594,
-0.0003503480111248791,
0.07899255305528641,
3.1046812534332275,
0.49268361926078796,
3.062161684036255
] | 1 | [
0.0015339828096330166,
0.37582531571388245,
-0.3344078063964844,
1.0354371070861816,
-0.019941750913858414,
0.399358332157135
] | [
0.0015339828096330166,
0.37582531571388245,
-0.3344078063964844,
1.0354371070861816,
-0.019941750913858414,
0.399358332157135
] | release lid on pot | gripper_open | 0.879212 | [
-4.642593860626221,
22.536998748779297,
-11.818181991577148,
58.117027282714844,
-0.6105006337165833,
20
] | [
0.3347415030002594,
-0.0003503480111248791,
0.07899255305528641,
3.1046812534332275,
0.49268361926078796,
3.062161684036255
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 28.5 | 285 | 14 | 5,488 | 0 | ||
[
-4.642593860626221,
22.536998748779297,
-11.818181991577148,
58.117027282714844,
-0.6105006337165833,
19.018152236938477
] | [
-4.642593860626221,
22.536998748779297,
-11.818181991577148,
58.117027282714844,
-0.6105006337165833,
19.018152236938477
] | [
0.3347415030002594,
-0.0003503480111248791,
0.07899255305528641,
3.1046812534332275,
0.49268361926078796,
3.062161684036255
] | 1 | [
0.0015339828096330166,
0.37582531571388245,
-0.3344078063964844,
1.0354371070861816,
-0.019941750913858414,
0.4224788248538971
] | [
0.0015339828096330166,
0.37582531571388245,
-0.3344078063964844,
1.0354371070861816,
-0.019941750913858414,
0.4224788248538971
] | release lid on pot | gripper_open | 0.940184 | [
-4.642593860626221,
22.536998748779297,
-11.818181991577148,
58.117027282714844,
-0.6105006337165833,
20
] | [
0.3347415030002594,
-0.0003503480111248791,
0.07899255305528641,
3.1046812534332275,
0.49268361926078796,
3.062161684036255
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 28.6 | 286 | 14 | 5,489 | 0 | ||
[
-4.78997802734375,
23.213531494140625,
-12.090909004211426,
58.29300308227539,
-0.5616605877876282,
20
] | [
-4.789977550506592,
23.29749870300293,
-14.306915283203125,
58.29301452636719,
-0.5616605877876282,
20
] | [
0.33447039127349854,
0.0005466086440719664,
0.07645275443792343,
3.106426239013672,
0.4820327162742615,
3.06740140914917
] | 0 | [
-0.0015339836245402694,
0.3880971670150757,
-0.33900976181030273,
1.038504958152771,
-0.01840776950120926,
0.44516122341156006
] | [
-0.0015339736128225923,
0.38962027430534363,
-0.3764021694660187,
1.03850519657135,
-0.01840776950120926,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.501760482788086,
-7.157096862792969,
-18.131532669067383,
69.69694519042969,
-0.5616605877876282,
0
] | [
0.30022329092025757,
-0.0010747503256425261,
0.22124050557613373,
3.050579071044922,
0.934174656867981,
3.0241241455078125
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.700001 | 287 | 14 | 5,490 | 0 | |
[
-4.78997802734375,
23.46722984313965,
-12.181818008422852,
58.29300308227539,
-0.5616605877876282,
20
] | [
-4.788957118988037,
23.189943313598633,
-14.32830810546875,
58.33340072631836,
-0.5616605877876282,
20
] | [
0.3344891369342804,
0.0005466399597935379,
0.07553356140851974,
3.1066877841949463,
0.4789735674858093,
3.0675222873687744
] | 0 | [
-0.0015339836245402694,
0.39269906282424927,
-0.3405437171459198,
1.038504958152771,
-0.01840776950120926,
0.44516122341156006
] | [
-0.001512732240371406,
0.38766929507255554,
-0.37676316499710083,
1.039209246635437,
-0.01840776950120926,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.501760482788086,
-7.157096862792969,
-18.131532669067383,
69.69694519042969,
-0.5616605877876282,
0
] | [
0.30022329092025757,
-0.0010747503256425261,
0.22124050557613373,
3.050579071044922,
0.934174656867981,
3.0241241455078125
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.799999 | 288 | 14 | 5,491 | 0 | |
[
-4.78997802734375,
23.55179786682129,
-12.363636016845703,
58.29300308227539,
-0.5616605877876282,
20
] | [
-4.7862324714660645,
22.902860641479492,
-14.385407447814941,
58.441200256347656,
-0.5616605877876282,
20
] | [
0.33483803272247314,
0.0005471768672578037,
0.07572896778583527,
3.1065571308135986,
0.4805031418800354,
3.0674619674682617
] | 0 | [
-0.0015339836245402694,
0.3942330777645111,
-0.3436116874217987,
1.038504958152771,
-0.01840776950120926,
0.44516122341156006
] | [
-0.001456015626899898,
0.3824617862701416,
-0.37772664427757263,
1.041088581085205,
-0.01840776950120926,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.501760482788086,
-7.157096862792969,
-18.131532669067383,
69.69694519042969,
-0.5616605877876282,
0
] | [
0.30022329092025757,
-0.0010747503256425261,
0.22124050557613373,
3.050579071044922,
0.934174656867981,
3.0241241455078125
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.9 | 289 | 14 | 5,492 | 0 | |
[
-4.78997802734375,
23.55179786682129,
-12.363636016845703,
58.29300308227539,
-0.5616605877876282,
20
] | [
-4.781862258911133,
22.344818115234375,
-14.477007865905762,
58.61412811279297,
-0.5616605877876282,
20
] | [
0.33483803272247314,
0.0005471768672578037,
0.07572896778583527,
3.1065571308135986,
0.4805031418800354,
3.0674619674682617
] | 0 | [
-0.0015339836245402694,
0.3942330777645111,
-0.3436116874217987,
1.038504958152771,
-0.01840776950120926,
0.44516122341156006
] | [
-0.001365044736303389,
0.37233927845954895,
-0.3792722821235657,
1.0441033840179443,
-0.01840776950120926,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.501760482788086,
-7.157096862792969,
-18.131532669067383,
69.69694519042969,
-0.5616605877876282,
0
] | [
0.30022329092025757,
-0.0010747503256425261,
0.22124050557613373,
3.050579071044922,
0.934174656867981,
3.0241241455078125
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29 | 290 | 14 | 5,493 | 0 | |
[
-4.78997802734375,
23.55179786682129,
-12.363636016845703,
58.29300308227539,
-0.5616605877876282,
20
] | [
-4.775874614715576,
21.713899612426758,
-14.602496147155762,
58.85103225708008,
-0.5616605877876282,
20
] | [
0.33483803272247314,
0.0005471768672578037,
0.07572896778583527,
3.1065571308135986,
0.4805031418800354,
3.0674619674682617
] | 0 | [
-0.0015339836245402694,
0.3942330777645111,
-0.3436116874217987,
1.038504958152771,
-0.01840776950120926,
0.44516122341156006
] | [
-0.0012404052540659904,
0.3608948588371277,
-0.3813897371292114,
1.0482335090637207,
-0.01840776950120926,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.501760482788086,
-7.157096862792969,
-18.131532669067383,
69.69694519042969,
-0.5616605877876282,
0
] | [
0.30022329092025757,
-0.0010747503256425261,
0.22124050557613373,
3.050579071044922,
0.934174656867981,
3.0241241455078125
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.1 | 291 | 14 | 5,494 | 0 | |
[
-4.78997802734375,
23.55179786682129,
-12.363636016845703,
58.29300308227539,
-0.5616605877876282,
20
] | [
-4.768549919128418,
20.942079544067383,
-14.75600814819336,
59.140846252441406,
-0.5616605877876282,
20
] | [
0.33483803272247314,
0.0005471768672578037,
0.07572896778583527,
3.1065571308135986,
0.4805031418800354,
3.0674619674682617
] | 0 | [
-0.0015339836245402694,
0.3942330777645111,
-0.3436116874217987,
1.038504958152771,
-0.01840776950120926,
0.44516122341156006
] | [
-0.0010879335459321737,
0.3468945622444153,
-0.38398006558418274,
1.0532859563827515,
-0.01840776950120926,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.501760482788086,
-7.157096862792969,
-18.131532669067383,
69.69694519042969,
-0.5616605877876282,
0
] | [
0.30022329092025757,
-0.0010747503256425261,
0.22124050557613373,
3.050579071044922,
0.934174656867981,
3.0241241455078125
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.200001 | 292 | 14 | 5,495 | 0 | |
[
-4.78997802734375,
23.55179786682129,
-12.363636016845703,
58.4689826965332,
-0.5616605877876282,
19.994821548461914
] | [
-4.759912490844727,
20.030467987060547,
-14.937041282653809,
59.48261260986328,
-0.5616605877876282,
19.994821548461914
] | [
0.3344314694404602,
0.0005465511349029839,
0.07554084062576294,
3.106818199157715,
0.4774439334869385,
3.067582368850708
] | 0 | [
-0.0015339836245402694,
0.3942330777645111,
-0.3436116874217987,
1.04157292842865,
-0.01840776950120926,
0.44504159688949585
] | [
-0.0009081357857212424,
0.3303585350513458,
-0.3870347738265991,
1.0592442750930786,
-0.01840776950120926,
0.44504159688949585
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.501760482788086,
-7.157096862792969,
-18.131532669067383,
69.69694519042969,
-0.5616605877876282,
0
] | [
0.30022329092025757,
-0.0010747503256425261,
0.22124050557613373,
3.050579071044922,
0.934174656867981,
3.0241241455078125
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.299999 | 293 | 14 | 5,496 | 0 | |
[
-4.78997802734375,
23.128963470458984,
-12.454545021057129,
58.908931732177734,
-0.5616605877876282,
19.160045623779297
] | [
-4.750096321105957,
18.96776580810547,
-15.142776489257812,
59.87101745605469,
-0.5616605877876282,
19.160045623779297
] | [
0.3339274227619171,
0.0005457697552628815,
0.07740440964698792,
3.1066877841949463,
0.47897353768348694,
3.0675222873687744
] | 0 | [
-0.0015339836245402694,
0.38656315207481384,
-0.34514567255973816,
1.0492428541183472,
-0.01840776950120926,
0.4257568120956421
] | [
-0.000703801226336509,
0.31108182668685913,
-0.3905063271522522,
1.066015601158142,
-0.01840776950120926,
0.4257568120956421
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.001427 | [
-4.501760482788086,
-7.157096862792969,
-18.131532669067383,
69.69694519042969,
-0.5616605877876282,
0
] | [
0.30022329092025757,
-0.0010747503256425261,
0.22124050557613373,
3.050579071044922,
0.934174656867981,
3.0241241455078125
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.4 | 294 | 14 | 5,497 | 0 | |
[
-4.78997802734375,
22.706130981445312,
-12.363636016845703,
59.52485656738281,
-0.6105006337165833,
18.326107025146484
] | [
-4.739312648773193,
17.800350189208984,
-15.368782997131348,
60.29768753051758,
-0.5616605877876282,
18.326107025146484
] | [
0.33259645104408264,
0.0005541802966035903,
0.07847381383180618,
3.1062915325164795,
0.47433117032051086,
3.0659782886505127
] | 0 | [
-0.0015339836245402694,
0.37889325618743896,
-0.3436116874217987,
1.0599807500839233,
-0.019941750913858414,
0.40649136900901794
] | [
-0.000479327020002529,
0.28990569710731506,
-0.39431989192962646,
1.0734540224075317,
-0.01840776950120926,
0.40649136900901794
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.025607 | [
-4.501760482788086,
-7.157096862792969,
-18.131532669067383,
69.69694519042969,
-0.5616605877876282,
0
] | [
0.30022329092025757,
-0.0010747503256425261,
0.22124050557613373,
3.050579071044922,
0.934174656867981,
3.0241241455078125
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.5 | 295 | 14 | 5,498 | 0 | |
[
-4.78997802734375,
21.945032119750977,
-12.272727012634277,
59.964805603027344,
-0.6105006337165833,
17.491558074951172
] | [
-4.727570533752441,
16.52918243408203,
-16.00487518310547,
60.76228332519531,
-0.5616605877876282,
17.491558074951172
] | [
0.3318840265274048,
0.0005530753405764699,
0.08133620768785477,
3.105891704559326,
0.4789193570613861,
3.0657949447631836
] | 0 | [
-0.0015339836245402694,
0.36508744955062866,
-0.34207770228385925,
1.0676506757736206,
-0.019941750913858414,
0.3872118294239044
] | [
-0.00023490175954066217,
0.2668475806713104,
-0.40505319833755493,
1.08155357837677,
-0.01840776950120926,
0.3872118294239044
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.055512 | [
-4.501760482788086,
-7.157096862792969,
-18.131532669067383,
69.69694519042969,
-0.5616605877876282,
0
] | [
0.30022329092025757,
-0.0010747503256425261,
0.22124050557613373,
3.050579071044922,
0.934174656867981,
3.0241241455078125
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.6 | 296 | 14 | 5,499 | 0 |
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