tick,step_idx,decision,left_contact_force,right_contact_force,left_contact_grasp,right_contact_grasp,left_contact_object,right_contact_object,left_holding,right_holding,left_empty_closed,right_empty_closed,left_commanded_closed,right_commanded_closed,left_holding_kin_raw,right_holding_kin_raw,left_empty_kin_raw,right_empty_kin_raw,contact_dt,contact_force_threshold,holding_source
0,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
1,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
2,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
3,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
4,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
5,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
6,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
7,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
8,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
9,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
10,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
11,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
12,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
13,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
14,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
15,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
16,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
17,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
18,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
19,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
20,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
21,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
22,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
23,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
24,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
25,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
26,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
27,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
28,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
29,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
30,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
31,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
32,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
33,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
34,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
35,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
36,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
37,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
38,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
39,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
40,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
41,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
42,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
43,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
44,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
45,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
46,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
47,0,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
48,0,next,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
49,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
50,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
51,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
52,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
53,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
54,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
55,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
56,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
57,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
58,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
59,1,continue,0.0,0.0,0,0,,,0,0,0,0,0,0,0,0,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
60,1,continue,0.0,41.64799810419342,0,1,,080_pillbottle,0,0,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
61,1,next,0.0,41.453531880741764,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
62,2,continue,0.0,41.446686156067216,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
63,2,continue,0.0,41.45266199063325,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
64,2,continue,0.0,41.46131191171701,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
65,2,continue,0.0,41.46338491549769,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
66,2,continue,0.0,41.45814120218557,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
67,2,continue,0.0,41.45545658417646,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
68,2,continue,0.0,41.46005703825344,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
69,2,continue,0.0,41.45469568178497,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
70,2,continue,0.0,41.459364595291404,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
71,2,continue,0.0,41.454656166487084,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
72,2,continue,0.0,41.46274364551001,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
73,2,continue,0.0,41.45242486602347,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
74,2,continue,0.0,41.45985242514985,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
75,2,continue,0.0,41.41421585723971,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
76,2,continue,0.0,41.4618360814929,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
77,2,continue,0.0,41.464871410086154,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
78,2,continue,0.0,41.465993856938674,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
79,2,continue,0.0,41.4677295259324,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
80,2,continue,0.0,41.461646210511105,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
81,2,continue,0.0,41.466244384023746,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
82,2,continue,0.0,41.46679300673784,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
83,2,continue,0.0,41.47549571047115,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
84,2,continue,0.0,41.472535599908895,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
85,2,continue,0.0,41.46146715363637,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
86,2,continue,0.0,41.4548560946584,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
87,2,continue,0.0,41.4570059119697,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
88,2,continue,0.0,41.463441568591136,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
89,2,continue,0.0,41.45212000163445,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
90,2,continue,0.0,41.442875515498955,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
91,2,continue,0.0,41.45291829203184,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
92,2,continue,0.0,41.43965049825565,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
93,2,continue,0.0,41.43453254180123,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
94,2,continue,0.0,41.437023703166446,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
95,2,continue,0.0,41.44950994108169,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
96,2,continue,0.0,41.429686230500444,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
97,2,continue,0.0,41.4327648547459,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
98,2,continue,0.0,41.72221765759579,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
99,2,continue,0.0,41.43099185494066,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
100,2,continue,0.0,41.43635596632198,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
101,2,continue,0.0,41.439122321408334,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
102,2,continue,0.0,41.446194795421874,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
103,2,continue,0.0,41.445812436274885,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
104,2,continue,0.0,41.442875967937056,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
105,2,continue,0.0,41.463969656493994,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
106,2,continue,0.0,41.45452934925353,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
107,2,continue,0.0,41.467465798082735,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
108,2,continue,0.0,41.455720148091814,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
109,2,continue,0.0,41.457713915083886,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
110,2,continue,0.0,41.457720282787896,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
111,2,continue,0.0,41.459623125494204,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
112,2,continue,0.0,41.47688668356809,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
113,2,continue,0.0,41.46910060372463,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
114,2,continue,0.0,41.458125558167026,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
115,2,continue,0.0,41.45877409393128,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
116,2,continue,0.0,41.46416649975256,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
117,2,next,0.0,41.45080929724668,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
118,3,continue,0.0,41.463980028408194,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
119,3,continue,0.0,41.46626104924931,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
120,3,continue,0.0,41.46310454610522,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
121,3,continue,0.0,40.865285557030006,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
122,3,continue,0.0,41.836723870484384,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
123,3,continue,0.0,41.631408805865874,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
124,3,continue,0.0,41.5984973367293,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
125,3,continue,0.0,41.39409648199395,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
126,3,continue,0.0,40.78385241078047,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
127,3,continue,0.0,41.10501040752067,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
128,3,continue,0.0,41.264520922514734,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
129,3,continue,0.0,41.28298070765461,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
130,3,continue,0.0,41.491807645279415,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact