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,0.0,41.9538706057191,0,1,,080_pillbottle,0,0,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
61,1,next,0.0,41.79479952436351,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
62,2,continue,0.0,41.791431779947885,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
63,2,continue,0.0,41.7977681385803,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
64,2,continue,0.0,41.79771369441459,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
65,2,continue,0.0,41.806026845941965,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
66,2,continue,0.0,41.802434799863704,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
67,2,continue,0.0,41.80725202909014,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
68,2,continue,0.0,41.794537123555635,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
69,2,continue,0.0,41.7990029065873,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
70,2,continue,0.0,41.8077329946253,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
71,2,continue,0.0,41.805294963241636,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
72,2,continue,0.0,41.79324041017582,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
73,2,continue,0.0,41.66240968451992,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
74,2,continue,0.0,41.789358921404,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
75,2,continue,0.0,41.80972376574388,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
76,2,continue,0.0,41.79013459493883,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
77,2,continue,0.0,41.79883257041318,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
78,2,continue,0.0,41.79329576276437,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
79,2,continue,0.0,41.79908922922267,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
80,2,continue,0.0,41.79238889006314,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
81,2,continue,0.0,41.80269226687193,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
82,2,continue,0.0,41.798867970009155,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
83,2,continue,0.0,41.79182566623784,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
84,2,continue,0.0,41.80669600188236,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
85,2,continue,0.0,41.79120477054421,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
86,2,continue,0.0,41.787970287389626,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
87,2,continue,0.0,41.99938824289759,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
88,2,continue,0.0,41.97904107693803,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
89,2,continue,0.0,41.96194315779865,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
90,2,continue,0.0,41.96283506325464,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
91,2,continue,0.0,41.978023686587086,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
92,2,continue,0.0,41.954513422263084,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
93,2,continue,0.0,41.952800367779474,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
94,2,continue,0.0,41.96856392556553,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
95,2,continue,0.0,41.949853560562474,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
96,2,continue,0.0,41.93264122376444,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
97,2,continue,0.0,41.93074855203585,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
98,2,continue,0.0,41.925397275419435,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
99,2,continue,0.0,41.927895906152784,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
100,2,continue,0.0,41.93309610021096,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
101,2,continue,0.0,41.93819126331543,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
102,2,continue,0.0,41.938319334823774,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
103,2,continue,0.0,41.93779947707462,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
104,2,continue,0.0,41.93026271223244,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
105,2,continue,0.0,41.943787544461124,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
106,2,continue,0.0,41.95535457333213,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
107,2,continue,0.0,41.950599549546716,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
108,2,continue,0.0,41.97582458325978,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
109,2,continue,0.0,41.942479562782324,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
110,2,continue,0.0,41.976066612965575,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
111,2,continue,0.0,41.970182021606306,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
112,2,continue,0.0,41.954973961037126,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
113,2,continue,0.0,41.944476464876075,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
114,2,continue,0.0,41.94229744679045,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
115,2,continue,0.0,41.96857186361286,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
116,2,continue,0.0,41.97546741908624,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
117,2,continue,0.0,41.93972998507338,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
118,2,next,0.0,41.958622455768854,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
119,3,continue,0.0,41.99105366166186,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
120,3,continue,0.0,41.945004208923166,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
121,3,continue,0.0,42.927608318369614,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
122,3,continue,0.0,41.884932939837235,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
123,3,continue,0.0,41.043413646056194,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
124,3,continue,0.0,41.33882867600329,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
125,3,continue,0.0,41.62706008279748,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
126,3,continue,0.0,41.12498657009641,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
127,3,continue,0.0,41.175282119649694,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
128,3,continue,0.0,41.50410917132839,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
129,3,continue,0.0,41.67129831752873,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
130,3,continue,0.0,41.729891852018234,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact
131,3,continue,0.0,41.4460901680308,0,1,,080_pillbottle,0,1,0,0,0,1,0,1,0,0,0.004000000189989805,2.0,robotwin_gripper_contact