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 | 0.594089 | [
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] | 0 | pick pot lid and place on pot | [
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] | 20.5 | 205 | 18 | 6,900 | 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 | 0.649692 | [
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1.808506965637207,
15.634236335754395,
41.67351531982422,
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] | 0 | pick pot lid and place on pot | [
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0,
0
] | 20.6 | 206 | 18 | 6,901 | 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 | 0.688341 | [
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] | 0 | pick pot lid and place on pot | [
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0
] | 20.700001 | 207 | 18 | 6,902 | 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 | 0.731038 | [
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] | [
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] | 0 | pick pot lid and place on pot | [
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] | 20.799999 | 208 | 18 | 6,903 | 0 | |
[
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] | [
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0.6492392420768738,
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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 | 0.76426 | [
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1.808506965637207,
15.634236335754395,
41.67351531982422,
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] | [
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0.10049239546060562,
3.0859313011169434,
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] | 0 | pick pot lid and place on pot | [
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0
] | 20.9 | 209 | 18 | 6,904 | 0 | |
[
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] | [
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0
] | [
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] | 0 | [
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] | [
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0.15540555119514465,
0.6624922156333923,
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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 | 0.782827 | [
-4.514508247375488,
1.808506965637207,
15.634236335754395,
41.67351531982422,
-0.5616605877876282,
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] | [
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] | 0 | pick pot lid and place on pot | [
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0,
0
] | 21 | 210 | 18 | 6,905 | 0 | |
[
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] | [
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] | [
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] | [
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0.6760870814323425,
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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 | 0.802201 | [
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1.808506965637207,
15.634236335754395,
41.67351531982422,
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] | [
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3.0859313011169434,
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] | 0 | pick pot lid and place on pot | [
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0,
0
] | 21.1 | 211 | 18 | 6,906 | 0 | |
[
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36.91157150268555,
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] | [
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] | [
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] | [
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0.14170387387275696,
0.6900752782821655,
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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 | 0.824996 | [
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1.808506965637207,
15.634236335754395,
41.67351531982422,
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] | [
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] | 0 | pick pot lid and place on pot | [
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] | 21.200001 | 212 | 18 | 6,907 | 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 | 0.848743 | [
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1.808506965637207,
15.634236335754395,
41.67351531982422,
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] | [
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] | 0 | pick pot lid and place on pot | [
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] | 21.299999 | 213 | 18 | 6,908 | 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 | 0.87346 | [
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1.808506965637207,
15.634236335754395,
41.67351531982422,
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] | [
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] | 0 | pick pot lid and place on pot | [
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0
] | 21.4 | 214 | 18 | 6,909 | 0 | |
[
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0.8879492878913879,
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39.375274658203125,
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0
] | [
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0
] | [
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] | 0 | [
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] | [
0.004385971464216709,
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0.11928509920835495,
0.7352067828178406,
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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 | 0.896716 | [
-4.514508247375488,
1.808506965637207,
15.634236335754395,
41.67351531982422,
-0.5616605877876282,
0
] | [
0.31964102387428284,
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0.10049239546060562,
3.0859313011169434,
0.6915280222892761,
3.0502560138702393
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.5 | 215 | 18 | 6,910 | 0 | |
[
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1.4799153804779053,
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40.25516891479492,
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0
] | [
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] | [
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] | 0 | [
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] | [
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0.11254967004060745,
0.7487659454345703,
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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 | 0.919845 | [
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1.808506965637207,
15.634236335754395,
41.67351531982422,
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] | [
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0.10049239546060562,
3.0859313011169434,
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.6 | 216 | 18 | 6,911 | 0 | |
[
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1.987315058708191,
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41.04707336425781,
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0
] | [
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] | [
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0.004200228024274111,
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0.11254967004060745,
0.7487659454345703,
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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 | 0.935059 | [
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1.808506965637207,
15.634236335754395,
41.67351531982422,
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] | [
0.31964102387428284,
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0.10049239546060562,
3.0859313011169434,
0.6915280222892761,
3.0502560138702393
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 21.700001 | 217 | 18 | 6,912 | 0 | |
[
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41.39903259277344,
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0
] | [
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1.547914981842041,
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41.67351531982422,
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0
] | [
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] | 0 | [
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] | Place lid on pot and seat it with a drag motion | Is the lid centered and seated on the pot? | move | 0.940097 | [
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] | 22 | 220 | 18 | 6,915 | 0 | ||
[
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] | 22.1 | 221 | 18 | 6,916 | 0 | ||
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] | 22.200001 | 222 | 18 | 6,917 | 0 | ||
[
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] | 22.299999 | 223 | 18 | 6,918 | 0 | ||
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] | 22.4 | 224 | 18 | 6,919 | 0 | ||
[
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] | 22.5 | 225 | 18 | 6,920 | 0 | ||
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] | 22.6 | 226 | 18 | 6,921 | 0 | ||
[
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[
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] | 22.799999 | 228 | 18 | 6,923 | 0 | ||
[
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] | 22.9 | 229 | 18 | 6,924 | 0 | ||
[
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] | 23 | 230 | 18 | 6,925 | 0 | ||
[
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] | push lid +2cm on pot | move_linear | 0.132175 | [
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] | 23.1 | 231 | 18 | 6,926 | 0 | ||
[
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0,
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] | 26 | 260 | 18 | 6,955 | 0 | ||
[
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] | [
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0,
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] | 26.1 | 261 | 18 | 6,956 | 0 | ||
[
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] | [
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0,
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] | 26.200001 | 262 | 18 | 6,957 | 0 | ||
[
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] | [
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0,
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] | 26.299999 | 263 | 18 | 6,958 | 0 | ||
[
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] | release lid on pot | gripper_open | 0.025225 | [
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] | [
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] | 20 | pick pot lid and place on pot | [
0,
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] | 26.4 | 264 | 18 | 6,959 | 0 | ||
[
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] | release lid on pot | gripper_open | 0.086233 | [
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] | [
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] | 20 | pick pot lid and place on pot | [
0,
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] | 26.5 | 265 | 18 | 6,960 | 0 | ||
[
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] | release lid on pot | gripper_open | 0.147182 | [
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] | [
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] | 20 | pick pot lid and place on pot | [
0,
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] | 26.6 | 266 | 18 | 6,961 | 0 | ||
[
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] | release lid on pot | gripper_open | 0.208128 | [
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] | [
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] | 20 | pick pot lid and place on pot | [
0,
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] | 26.700001 | 267 | 18 | 6,962 | 0 | ||
[
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] | release lid on pot | gripper_open | 0.269081 | [
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] | [
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] | 20 | pick pot lid and place on pot | [
0,
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] | 26.799999 | 268 | 18 | 6,963 | 0 | ||
[
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] | release lid on pot | gripper_open | 0.330023 | [
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] | [
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] | 20 | pick pot lid and place on pot | [
0,
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] | 26.9 | 269 | 18 | 6,964 | 0 | ||
[
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] | release lid on pot | gripper_open | 0.39097 | [
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] | [
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] | 20 | pick pot lid and place on pot | [
0,
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] | 27 | 270 | 18 | 6,965 | 0 | ||
[
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] | release lid on pot | gripper_open | 0.451903 | [
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] | [
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] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.1 | 271 | 18 | 6,966 | 0 | ||
[
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] | [
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] | release lid on pot | gripper_open | 0.512834 | [
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] | [
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] | 20 | pick pot lid and place on pot | [
0,
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] | 27.200001 | 272 | 18 | 6,967 | 0 | ||
[
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] | release lid on pot | gripper_open | 0.573746 | [
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40.60712814331055,
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20
] | [
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] | 20 | pick pot lid and place on pot | [
0,
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0
] | 27.299999 | 273 | 18 | 6,968 | 0 | ||
[
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0.7301748991012573,
-0.023009711876511574,
0.30682218074798584
] | [
0.006135927513241768,
0.22856314480304718,
-0.04295146092772484,
0.7301748991012573,
-0.023009711876511574,
0.30682218074798584
] | release lid on pot | gripper_open | 0.634658 | [
-4.421517848968506,
14.249471664428711,
5.7272725105285645,
40.60712814331055,
-0.7081807255744934,
20
] | [
0.33845940232276917,
-0.0017139797564595938,
0.08011989295482635,
3.086794137954712,
0.6515191197395325,
3.045259475708008
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.4 | 274 | 18 | 6,969 | 0 | ||
[
-4.421517848968506,
14.418604850769043,
5.454545497894287,
40.60712814331055,
-0.7081807255744934,
15.012510299682617
] | [
-4.421517848968506,
14.418604850769043,
5.454545497894287,
40.60712814331055,
-0.7081807255744934,
15.012510299682617
] | [
0.3389909565448761,
-0.0017172385705634952,
0.08029114454984665,
3.0866200923919678,
0.6530468463897705,
3.045153856277466
] | 1 | [
0.006135927513241768,
0.22856314480304718,
-0.04295146092772484,
0.7301748991012573,
-0.023009711876511574,
0.3299414813518524
] | [
0.006135927513241768,
0.22856314480304718,
-0.04295146092772484,
0.7301748991012573,
-0.023009711876511574,
0.3299414813518524
] | release lid on pot | gripper_open | 0.695522 | [
-4.421517848968506,
14.249471664428711,
5.7272725105285645,
40.60712814331055,
-0.7081807255744934,
20
] | [
0.33845940232276917,
-0.0017139797564595938,
0.08011989295482635,
3.086794137954712,
0.6515191197395325,
3.045259475708008
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.5 | 275 | 18 | 6,970 | 0 | ||
[
-4.421517848968506,
14.418604850769043,
5.454545497894287,
40.60712814331055,
-0.7081807255744934,
16.013219833374023
] | [
-4.421517848968506,
14.418604850769043,
5.454545497894287,
40.60712814331055,
-0.7081807255744934,
16.013219833374023
] | [
0.3389909565448761,
-0.0017172385705634952,
0.08029114454984665,
3.0866200923919678,
0.6530468463897705,
3.045153856277466
] | 1 | [
0.006135927513241768,
0.22856314480304718,
-0.04295146092772484,
0.7301748991012573,
-0.023009711876511574,
0.3530596196651459
] | [
0.006135927513241768,
0.22856314480304718,
-0.04295146092772484,
0.7301748991012573,
-0.023009711876511574,
0.3530596196651459
] | release lid on pot | gripper_open | 0.75633 | [
-4.421517848968506,
14.249471664428711,
5.7272725105285645,
40.60712814331055,
-0.7081807255744934,
20
] | [
0.33845940232276917,
-0.0017139797564595938,
0.08011989295482635,
3.086794137954712,
0.6515191197395325,
3.045259475708008
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.6 | 276 | 18 | 6,971 | 0 | ||
[
-4.421517848968506,
14.418604850769043,
5.454545497894287,
40.60712814331055,
-0.7081807255744934,
17.013996124267578
] | [
-4.421517848968506,
14.418604850769043,
5.454545497894287,
40.60712814331055,
-0.7081807255744934,
17.013996124267578
] | [
0.3389909565448761,
-0.0017172385705634952,
0.08029114454984665,
3.0866200923919678,
0.6530468463897705,
3.045153856277466
] | 1 | [
0.006135927513241768,
0.22856314480304718,
-0.04295146092772484,
0.7301748991012573,
-0.023009711876511574,
0.3761793076992035
] | [
0.006135927513241768,
0.22856314480304718,
-0.04295146092772484,
0.7301748991012573,
-0.023009711876511574,
0.3761793076992035
] | release lid on pot | gripper_open | 0.817038 | [
-4.421517848968506,
14.249471664428711,
5.7272725105285645,
40.60712814331055,
-0.7081807255744934,
20
] | [
0.33845940232276917,
-0.0017139797564595938,
0.08011989295482635,
3.086794137954712,
0.6515191197395325,
3.045259475708008
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.700001 | 277 | 18 | 6,972 | 0 | ||
[
-4.421517848968506,
14.418604850769043,
5.454545497894287,
40.60712814331055,
-0.7081807255744934,
18.014320373535156
] | [
-4.421517848968506,
14.418604850769043,
5.454545497894287,
40.60712814331055,
-0.7081807255744934,
18.014320373535156
] | [
0.3389909565448761,
-0.0017172385705634952,
0.08029114454984665,
3.0866200923919678,
0.6530468463897705,
3.045153856277466
] | 1 | [
0.006135927513241768,
0.22856314480304718,
-0.04295146092772484,
0.7301748991012573,
-0.023009711876511574,
0.399288535118103
] | [
0.006135927513241768,
0.22856314480304718,
-0.04295146092772484,
0.7301748991012573,
-0.023009711876511574,
0.399288535118103
] | release lid on pot | gripper_open | 0.877458 | [
-4.421517848968506,
14.249471664428711,
5.7272725105285645,
40.60712814331055,
-0.7081807255744934,
20
] | [
0.33845940232276917,
-0.0017139797564595938,
0.08011989295482635,
3.086794137954712,
0.6515191197395325,
3.045259475708008
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.799999 | 278 | 18 | 6,973 | 0 | ||
[
-4.421517848968506,
14.418604850769043,
5.454545497894287,
40.60712814331055,
-0.7081807255744934,
19.014986038208008
] | [
-4.421517848968506,
14.418604850769043,
5.454545497894287,
40.60712814331055,
-0.7081807255744934,
19.014986038208008
] | [
0.3389909565448761,
-0.0017172385705634952,
0.08029114454984665,
3.0866200923919678,
0.6530468463897705,
3.045153856277466
] | 1 | [
0.006135927513241768,
0.22856314480304718,
-0.04295146092772484,
0.7301748991012573,
-0.023009711876511574,
0.4224056899547577
] | [
0.006135927513241768,
0.22856314480304718,
-0.04295146092772484,
0.7301748991012573,
-0.023009711876511574,
0.4224056899547577
] | release lid on pot | gripper_open | 0.936886 | [
-4.421517848968506,
14.249471664428711,
5.7272725105285645,
40.60712814331055,
-0.7081807255744934,
20
] | [
0.33845940232276917,
-0.0017139797564595938,
0.08011989295482635,
3.086794137954712,
0.6515191197395325,
3.045259475708008
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 27.9 | 279 | 18 | 6,974 | 0 | ||
[
-4.274134159088135,
14.926004409790039,
5.2727274894714355,
40.431148529052734,
-0.7081807255744934,
20
] | [
-4.274134635925293,
14.871016502380371,
3.750920295715332,
40.43116760253906,
-0.7081807255744934,
20
] | [
0.33944085240364075,
-0.0026422888040542603,
0.07872655987739563,
3.086967706680298,
0.6499913930892944,
3.0422966480255127
] | 0 | [
0.009203883819282055,
0.2377670258283615,
-0.04601942002773285,
0.7271068692207336,
-0.023009711876511574,
0.44516122341156006
] | [
0.009203873574733734,
0.23676958680152893,
-0.07169806957244873,
0.7271072268486023,
-0.023009711876511574,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28 | 280 | 18 | 6,975 | 0 | |
[
-4.274134159088135,
15.010570526123047,
5.2727274894714355,
40.51913833618164,
-0.7081807255744934,
20
] | [
-4.274909973144531,
14.74948787689209,
3.7430107593536377,
40.472198486328125,
-0.7081807255744934,
20
] | [
0.33919796347618103,
-0.002640053164213896,
0.07818508893251419,
3.087313652038574,
0.6469358205795288,
3.0425055027008057
] | 0 | [
0.009203883819282055,
0.23930099606513977,
-0.04601942002773285,
0.7286409139633179,
-0.023009711876511574,
0.44516122341156006
] | [
0.009187734685838223,
0.2345651388168335,
-0.07183153927326202,
0.7278225421905518,
-0.023009711876511574,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.1 | 281 | 18 | 6,976 | 0 | |
[
-4.274134159088135,
15.010570526123047,
5.2727274894714355,
40.51913833618164,
-0.7081807255744934,
20
] | [
-4.276978969573975,
14.425273895263672,
3.7219090461730957,
40.581661224365234,
-0.7081807255744934,
20
] | [
0.33919796347618103,
-0.002640053164213896,
0.07818508893251419,
3.087313652038574,
0.6469358205795288,
3.0425055027008057
] | 0 | [
0.009203883819282055,
0.23930099606513977,
-0.04601942002773285,
0.7286409139633179,
-0.023009711876511574,
0.44516122341156006
] | [
0.00914466567337513,
0.22868411242961884,
-0.07218760251998901,
0.7297309041023254,
-0.023009711876511574,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.200001 | 282 | 18 | 6,977 | 0 | |
[
-4.274134159088135,
15.010570526123047,
5.181818008422852,
40.51913833618164,
-0.7081807255744934,
20
] | [
-4.280304431915283,
13.804069519042969,
3.6879971027374268,
40.75757598876953,
-0.7081807255744934,
20
] | [
0.33941420912742615,
-0.0026420431677252054,
0.07851673662662506,
3.0871407985687256,
0.6484636068344116,
3.0424013137817383
] | 0 | [
0.009203883819282055,
0.23930099606513977,
-0.0475534088909626,
0.7286409139633179,
-0.023009711876511574,
0.44516122341156006
] | [
0.00907544232904911,
0.21741588413715363,
-0.07275982201099396,
0.7327977418899536,
-0.023009711876511574,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.299999 | 283 | 18 | 6,978 | 0 | |
[
-4.274134159088135,
15.010570526123047,
5.181818008422852,
40.51913833618164,
-0.7081807255744934,
20
] | [
-4.284857749938965,
13.090632438659668,
3.6415629386901855,
40.998451232910156,
-0.7081807255744934,
20
] | [
0.33941420912742615,
-0.0026420431677252054,
0.07851673662662506,
3.0871407985687256,
0.6484636068344116,
3.0424013137817383
] | 0 | [
0.009203883819282055,
0.23930099606513977,
-0.0475534088909626,
0.7286409139633179,
-0.023009711876511574,
0.44516122341156006
] | [
0.008980660699307919,
0.20447462797164917,
-0.07354334741830826,
0.7369970679283142,
-0.023009711876511574,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.4 | 284 | 18 | 6,979 | 0 | |
[
-4.274134159088135,
15.010570526123047,
5.181818008422852,
40.51913833618164,
-0.7081807255744934,
20
] | [
-4.290428161621094,
12.217730522155762,
3.584749698638916,
41.29316711425781,
-0.7081807255744934,
20
] | [
0.33941420912742615,
-0.0026420431677252054,
0.07851673662662506,
3.0871407985687256,
0.6484636068344116,
3.0424013137817383
] | 0 | [
0.009203883819282055,
0.23930099606513977,
-0.0475534088909626,
0.7286409139633179,
-0.023009711876511574,
0.44516122341156006
] | [
0.008864706382155418,
0.1886407732963562,
-0.07450199872255325,
0.7421350479125977,
-0.023009711876511574,
0.44516122341156006
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.5 | 285 | 18 | 6,980 | 0 | |
[
-4.274134159088135,
14.926004409790039,
5.181818008422852,
40.69511795043945,
-0.7081807255744934,
19.994691848754883
] | [
-4.296999454498291,
11.188087463378906,
3.5177347660064697,
41.640804290771484,
-0.7081807255744934,
19.994691848754883
] | [
0.3391035199165344,
-0.002639185870066285,
0.07867694646120071,
3.087313652038574,
0.6469358205795288,
3.0425055027008057
] | 0 | [
0.009203883819282055,
0.2377670258283615,
-0.0475534088909626,
0.7317088842391968,
-0.023009711876511574,
0.4450385868549347
] | [
0.008727917447686195,
0.1699637472629547,
-0.07563279569149017,
0.7481956481933594,
-0.023009711876511574,
0.4450385868549347
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.6 | 286 | 18 | 6,981 | 0 | |
[
-4.274134159088135,
14.50317096710205,
5.2727274894714355,
40.959083557128906,
-0.7081807255744934,
19.160757064819336
] | [
-4.30445671081543,
10.019591331481934,
3.4416825771331787,
42.03532028198242,
-0.7081807255744934,
19.160757064819336
] | [
0.3386206030845642,
-0.002634747652336955,
0.08003222197294235,
3.0871407985687256,
0.6484636664390564,
3.0424013137817383
] | 0 | [
0.009203883819282055,
0.23009711503982544,
-0.04601942002773285,
0.7363107800483704,
-0.023009711876511574,
0.4257732331752777
] | [
0.008572686463594437,
0.14876800775527954,
-0.07691608369350433,
0.7550735473632812,
-0.023009711876511574,
0.4257732331752777
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.005056 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.700001 | 287 | 18 | 6,982 | 0 | |
[
-4.274134159088135,
13.995771408081055,
5.363636493682861,
41.57501220703125,
-0.7081807255744934,
18.326791763305664
] | [
-4.312656879425049,
8.734689712524414,
3.3580541610717773,
42.469139099121094,
-0.7081807255744934,
18.326791763305664
] | [
0.337445467710495,
-0.0026239424478262663,
0.08128637075424194,
3.0874860286712646,
0.645408034324646,
3.042609453201294
] | 0 | [
0.009203883819282055,
0.2208932340145111,
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0.7470486760139465,
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0.4065071940422058
] | [
0.008401989936828613,
0.12546077370643616,
-0.07832721620798111,
0.7626366019248962,
-0.023009711876511574,
0.4065071940422058
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.029681 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.799999 | 288 | 18 | 6,983 | 0 | |
[
-4.274134159088135,
13.065539360046387,
5.363636493682861,
42.014957427978516,
-0.6593406796455383,
17.492881774902344
] | [
-4.3215789794921875,
7.336669921875,
3.2670633792877197,
42.94114685058594,
-0.7081807255744934,
17.492881774902344
] | [
0.33708712458610535,
-0.002631119452416897,
0.08517193049192429,
3.0876212120056152,
0.6546582579612732,
3.043910503387451
] | 0 | [
0.009203883819282055,
0.2040194422006607,
-0.04448544234037399,
0.754718542098999,
-0.02147573232650757,
0.3872424066066742
] | [
0.00821626652032137,
0.10010163486003876,
-0.0798625722527504,
0.7708654403686523,
-0.023009711876511574,
0.3872424066066742
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.061948 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 28.9 | 289 | 18 | 6,984 | 0 | |
[
-4.274134159088135,
11.627906799316406,
5.363636493682861,
42.54289627075195,
-0.6593406796455383,
16.658872604370117
] | [
-4.331070899963379,
5.8659443855285645,
3.1702609062194824,
43.44330596923828,
-0.7081807255744934,
16.658872604370117
] | [
0.3367306888103485,
-0.0026278572622686625,
0.09137395024299622,
3.085716724395752,
0.6714650988578796,
3.042738199234009
] | 0 | [
0.009203883819282055,
0.17794176936149597,
-0.04448544234037399,
0.7639224529266357,
-0.02147573232650757,
0.3679753243923187
] | [
0.008018681779503822,
0.07342366874217987,
-0.08149600028991699,
0.7796199321746826,
-0.023009711876511574,
0.3679753243923187
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.105447 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29 | 290 | 18 | 6,985 | 0 | |
[
-4.274134159088135,
10.359408378601074,
5.363636493682861,
43.15882110595703,
-0.6593406796455383,
15.824647903442383
] | [
-4.341035842895508,
4.352572441101074,
3.068638801574707,
43.970462799072266,
-0.7081807255744934,
15.824647903442383
] | [
0.33598679304122925,
-0.0026210288051515818,
0.09659359604120255,
3.0842995643615723,
0.6836872100830078,
3.0418496131896973
] | 0 | [
0.009203883819282055,
0.15493206679821014,
-0.04448544234037399,
0.7746602892875671,
-0.02147573232650757,
0.3487032949924469
] | [
0.007811250630766153,
0.045972131192684174,
-0.08321074396371841,
0.7888101935386658,
-0.023009711876511574,
0.3487032949924469
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.145943 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.1 | 291 | 18 | 6,986 | 0 | |
[
-4.274134159088135,
8.752642631530762,
5.363636493682861,
43.5987663269043,
-0.6593406796455383,
14.990747451782227
] | [
-4.35141658782959,
2.7759509086608887,
2.9627695083618164,
44.519657135009766,
-0.7081807255744934,
14.990747451782227
] | [
0.335574746131897,
-0.0026172578800469637,
0.10368558764457703,
3.08174991607666,
0.7050734162330627,
3.040217876434326
] | 0 | [
0.009203883819282055,
0.1257864236831665,
-0.04448544234037399,
0.7823301553726196,
-0.02147573232650757,
0.329438716173172
] | [
0.007595163770020008,
0.017373282462358475,
-0.08499716222286224,
0.7983847260475159,
-0.023009711876511574,
0.329438716173172
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.192411 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.200001 | 292 | 18 | 6,987 | 0 | |
[
-4.274134159088135,
6.976744174957275,
5.363636493682861,
44.126705169677734,
-0.6593406796455383,
14.156875610351562
] | [
-4.362070560455322,
1.1579090356826782,
2.854118585586548,
45.083274841308594,
-0.7081807255744934,
14.156875610351562
] | [
0.3348143994808197,
-0.0026102850679308176,
0.11141753941774368,
3.0789129734039307,
0.7279834747314453,
3.0383546352386475
] | 0 | [
0.009203883819282055,
0.09357282519340515,
-0.04448544234037399,
0.7915340662002563,
-0.02147573232650757,
0.310174822807312
] | [
0.007373389322310686,
-0.011976901441812515,
-0.0868305191397667,
0.8082106113433838,
-0.023009711876511574,
0.310174822807312
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.243003 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.299999 | 293 | 18 | 6,988 | 0 | |
[
-4.274134159088135,
5.369978904724121,
5.363636493682861,
44.654640197753906,
-0.6593406796455383,
13.322957038879395
] | [
-4.372920989990234,
-0.49001240730285645,
2.7434616088867188,
45.65730285644531,
-0.7081807255744934,
13.322957038879395
] | [
0.333831787109375,
-0.0026012652087956667,
0.11828552931547165,
3.0763590335845947,
0.7478355169296265,
3.0366363525390625
] | 0 | [
0.009203883819282055,
0.0644271969795227,
-0.04448544234037399,
0.8007379770278931,
-0.02147573232650757,
0.29090985655784607
] | [
0.007147525437176228,
-0.04186908155679703,
-0.08869771659374237,
0.8182180523872375,
-0.023009711876511574,
0.29090985655784607
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.290012 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.4 | 294 | 18 | 6,989 | 0 | |
[
-4.274134159088135,
3.763213634490967,
5.363636493682861,
45.27056884765625,
-0.6593406796455383,
12.48904037475586
] | [
-4.3838701248168945,
-2.15290904045105,
2.1904523372650146,
46.236549377441406,
-0.7081807255744934,
12.48904037475586
] | [
0.33249905705451965,
-0.002589024603366852,
0.12495365738868713,
3.0739166736602783,
0.7661574482917786,
3.034958839416504
] | 0 | [
0.009203883819282055,
0.03528156131505966,
-0.04448544234037399,
0.8114758729934692,
-0.02147573232650757,
0.2716449201107025
] | [
0.006919607054442167,
-0.07203289866447449,
-0.09802907705307007,
0.8283164501190186,
-0.023009711876511574,
0.2716449201107025
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.337565 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.5 | 295 | 18 | 6,990 | 0 | |
[
-4.274134159088135,
2.0718815326690674,
5.363636493682861,
45.79850387573242,
-0.6593406796455383,
11.655173301696777
] | [
-4.3948163986206055,
-3.815415620803833,
2.0788156986236572,
46.81565475463867,
-0.7081807255744934,
11.655173301696777
] | [
0.33113372325897217,
-0.0025764855090528727,
0.13211171329021454,
3.070955991744995,
0.7875291705131531,
3.0328831672668457
] | 0 | [
0.009203883819282055,
0.004601940978318453,
-0.04448544234037399,
0.8206797242164612,
-0.02147573232650757,
0.2523811161518097
] | [
0.006691747810691595,
-0.10218964517116547,
-0.09991281479597092,
0.8384124040603638,
-0.023009711876511574,
0.2523811161518097
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.386297 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.6 | 296 | 18 | 6,991 | 0 | |
[
-4.274134159088135,
0.38054966926574707,
5.363636493682861,
46.4144287109375,
-0.6593406796455383,
10.821283340454102
] | [
-4.405664443969727,
-5.462918281555176,
1.9681867361068726,
47.3895378112793,
-0.7081807255744934,
10.821283340454102
] | [
0.32940760254859924,
-0.0025606274139136076,
0.13904862105846405,
3.0680906772613525,
0.8073702454566956,
3.0308327674865723
] | 0 | [
0.009203883819282055,
-0.026077672839164734,
-0.04448544234037399,
0.8314175605773926,
-0.02147573232650757,
0.23311680555343628
] | [
0.0064659337513148785,
-0.13207422196865082,
-0.10177954286336899,
0.8484172821044922,
-0.023009711876511574,
0.23311680555343628
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.435539 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.700001 | 297 | 18 | 6,992 | 0 | |
[
-4.274134159088135,
-1.4799153804779053,
5.363636493682861,
47.030357360839844,
-0.6593406796455383,
9.987278938293457
] | [
-4.416312217712402,
-7.080038070678711,
1.8595969676971436,
47.952842712402344,
-0.7081807255744934,
9.987278938293457
] | [
0.3274003267288208,
-0.0025421851314604282,
0.14669926464557648,
3.064633369445801,
0.8302584290504456,
3.0283074378967285
] | 0 | [
0.009203883819282055,
-0.05982524901628494,
-0.04448544234037399,
0.8421554565429688,
-0.02147573232650757,
0.21384984254837036
] | [
0.006244288291782141,
-0.1614076793193817,
-0.10361186414957047,
0.8582378029823303,
-0.023009711876511574,
0.21384984254837036
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.488236 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.799999 | 298 | 18 | 6,993 | 0 | |
[
-4.274134159088135,
-3.1712472438812256,
5.2727274894714355,
47.558292388916016,
-0.6593406796455383,
9.151544570922852
] | [
-4.426703929901123,
-8.658143997192383,
1.7536195516586304,
48.502593994140625,
-0.7081807255744934,
9.151544570922852
] | [
0.32555004954338074,
-0.0025251859333366156,
0.153995081782341,
3.0609982013702393,
0.8531404137611389,
3.0255961418151855
] | 0 | [
0.009203883819282055,
-0.09050486236810684,
-0.04601942002773285,
0.8513593077659607,
-0.02147573232650757,
0.19454291462898254
] | [
0.006027973257005215,
-0.1900334507226944,
-0.10540010035037994,
0.867821991443634,
-0.023009711876511574,
0.19454291462898254
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.537047 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 29.9 | 299 | 18 | 6,994 | 0 | |
[
-4.274134159088135,
-4.778012752532959,
5.181818008422852,
48.08623123168945,
-0.6593406796455383,
8.317569732666016
] | [
-4.436657428741455,
-10.169761657714844,
1.6521072387695312,
49.02918243408203,
-0.7081807255744934,
8.317569732666016
] | [
0.3235573470592499,
-0.0025068754330277443,
0.1608218550682068,
3.057429313659668,
0.8744906187057495,
3.0228824615478516
] | 0 | [
0.009203883819282055,
-0.11965050548315048,
-0.0475534088909626,
0.8605632781982422,
-0.02147573232650757,
0.17527663707733154
] | [
0.00582078006118536,
-0.21745318174362183,
-0.10711300373077393,
0.8770023584365845,
-0.023009711876511574,
0.17527663707733154
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.584039 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30 | 300 | 18 | 6,995 | 0 | |
[
-4.274134159088135,
-6.300211429595947,
5.181818008422852,
48.70215606689453,
-0.6593406796455383,
7.483530044555664
] | [
-4.446041107177734,
-11.594776153564453,
1.5564106702804565,
49.525604248046875,
-0.7081807255744934,
7.483530044555664
] | [
0.32120832800865173,
-0.0024852852802723646,
0.16664572060108185,
3.054494857788086,
0.8912612795829773,
3.020615339279175
] | 0 | [
0.009203883819282055,
-0.14726215600967407,
-0.0475534088909626,
0.8713011145591736,
-0.02147573232650757,
0.15600885450839996
] | [
0.005625448189675808,
-0.24330197274684906,
-0.10872776806354523,
0.8856568336486816,
-0.023009711876511574,
0.15600885450839996
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.629456 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.1 | 301 | 18 | 6,996 | 0 | |
[
-4.274134159088135,
-7.906976699829102,
5.181818008422852,
49.054115295410156,
-0.6593406796455383,
6.649571418762207
] | [
-4.450713157653809,
-12.304322242736816,
1.5087612867355347,
49.77278137207031,
-0.7081807255744934,
6.649571418762207
] | [
0.3190677762031555,
-0.0024656145833432674,
0.17328079044818878,
3.050290822982788,
0.9141231179237366,
3.017314910888672
] | 0 | [
0.009203883819282055,
-0.17640778422355652,
-0.0475534088909626,
0.8774370551109314,
-0.02147573232650757,
0.1367429494857788
] | [
0.005528194364160299,
-0.25617265701293945,
-0.10953179001808167,
0.8899660706520081,
-0.023009711876511574,
0.1367429494857788
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.674979 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.200001 | 302 | 18 | 6,997 | 0 | |
[
-4.274134159088135,
-9.260042190551758,
5.181818008422852,
49.49406051635742,
-0.6593406796455383,
5.815378665924072
] | [
-4.45550537109375,
-13.03201675415039,
1.4598931074142456,
50.026283264160156,
-0.7081807255744934,
5.815378665924072
] | [
0.3168978691101074,
-0.0024456700775772333,
0.17852403223514557,
3.047046184539795,
0.9308828711509705,
3.014728307723999
] | 0 | [
0.009203883819282055,
-0.200951486825943,
-0.0475534088909626,
0.8851069211959839,
-0.02147573232650757,
0.11747164279222488
] | [
0.0054284390062093735,
-0.2693725526332855,
-0.11035638302564621,
0.8943855166435242,
-0.023009711876511574,
0.11747164279222488
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.715685 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.299999 | 303 | 18 | 6,998 | 0 | |
[
-4.274134159088135,
-10.105708122253418,
5.181818008422852,
49.670040130615234,
-0.6593406796455383,
4.980965614318848
] | [
-4.460418224334717,
-13.778094291687012,
1.4097903966903687,
50.286190032958984,
-0.7081807255744934,
4.980965614318848
] | [
0.3156408965587616,
-0.0024341177195310593,
0.18196462094783783,
3.044593334197998,
0.9430683851242065,
3.012751817703247
] | 0 | [
0.009203883819282055,
-0.21629129350185394,
-0.0475534088909626,
0.8881748914718628,
-0.02147573232650757,
0.09819523990154266
] | [
0.005326172802597284,
-0.2829058766365051,
-0.11120180040597916,
0.8989166617393494,
-0.023009711876511574,
0.09819523990154266
] | Retreat from pot and close gripper | Is the gripper clear of the pot and closed? | move_and_close | 0.744393 | [
-4.493317604064941,
-18.502883911132812,
3.2974746227264404,
52.02669906616211,
-0.7081807255744934,
0
] | [
0.30025458335876465,
-0.0010894442675635219,
0.22124822437763214,
3.005282402038574,
1.0846091508865356,
2.9830520153045654
] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 30.4 | 304 | 18 | 6,999 | 0 |
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