observation.state listlengths 7 7 | action listlengths 7 7 | skill.type large_stringclasses 4
values | skill.progress float32 0 1 | skill.goal_position.joint listlengths 7 7 | skill.goal_position.world_xyzrpy listlengths 6 6 | skill.goal_position.robot_xyzrpy listlengths 6 6 | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 61
values | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | timestamp float32 0 46.1 | frame_index int64 0 461 | episode_index int64 0 24 | index int64 0 10.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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1
] | gripper_close | 0.011765 | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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] | 1 | 10 | 100 | 0 | 100 | 0 |
[
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1
] | gripper_close | 0.05098 | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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] | 1 | 10.1 | 101 | 0 | 101 | 0 |
[
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1
] | gripper_close | 0.180392 | [
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] | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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] | 1 | 10.2 | 102 | 0 | 102 | 0 |
[
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] | [
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1
] | gripper_close | 0.313725 | [
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] | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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] | 1 | 10.3 | 103 | 0 | 103 | 0 |
[
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] | [
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1
] | gripper_close | 0.55294 | [
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] | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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0.025218993425369263,
3.14109206199646,
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] | 0 | 10.4 | 104 | 0 | 104 | 0 |
[
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] | [
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1
] | gripper_close | 0.631372 | [
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1
] | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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3.141277313232422,
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] | 0 | 10.5 | 105 | 0 | 105 | 0 |
[
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] | [
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1
] | gripper_close | 0.729411 | [
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] | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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] | 0 | 10.6 | 106 | 0 | 106 | 0 |
[
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] | [
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1
] | gripper_close | 0.811764 | [
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] | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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] | 0 | 10.7 | 107 | 0 | 107 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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1
] | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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] | 0 | 10.8 | 108 | 0 | 108 | 0 |
[
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1
] | gripper_close | 0.85098 | [
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1
] | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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] | 0 | 10.9 | 109 | 0 | 109 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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] | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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] | 0 | 11 | 110 | 0 | 110 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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1
] | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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0.02493683248758316,
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] | 0 | 11.1 | 111 | 0 | 111 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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1
] | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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] | 0 | 11.2 | 112 | 0 | 112 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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1
] | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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] | 0 | 11.3 | 113 | 0 | 113 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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1
] | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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3.141582727432251,
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] | 0 | 11.4 | 114 | 0 | 114 | 0 |
[
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] | gripper_close | 0.85098 | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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[
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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[
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] | gripper_close | 0.85098 | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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[
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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[
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] | gripper_close | 0.85098 | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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[
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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[
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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[
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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] | 0 | 12.2 | 122 | 0 | 122 | 0 |
[
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1
] | gripper_close | 0.85098 | [
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] | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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] | 0 | 12.3 | 123 | 0 | 123 | 0 |
[
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1
] | gripper_close | 0.85098 | [
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] | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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] | 0 | 12.4 | 124 | 0 | 124 | 0 |
[
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1
] | gripper_close | 0.85098 | [
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] | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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] | 0 | 12.5 | 125 | 0 | 125 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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1
] | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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] | 0 | 12.6 | 126 | 0 | 126 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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1
] | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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] | 0 | 12.7 | 127 | 0 | 127 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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1
] | [
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] | [
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] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
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0.025017833337187767,
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] | 0 | 12.8 | 128 | 0 | 128 | 0 |
[
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1
] | [
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1
] | move_to_position | 0 | [
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1
] | [
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0,
0
] | [
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0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: retract with chocolate pie_1 | [
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3.1415841579437256,
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3.1414811611175537
] | 0 | 12.9 | 129 | 0 | 129 | 0 |
[
-1.5557879209518433,
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1.8187206983566284,
-2.2753803730010986,
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3.160722017288208,
1
] | [
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1.818746566772461,
-2.2748241424560547,
-1.5704766511917114,
3.1607935428619385,
1
] | move_to_position | 0.00004 | [
-1.5229991674423218,
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1.795919418334961,
-2.0925750732421875,
-1.5702319145202637,
3.1932790279388428,
1
] | [
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0,
0,
0
] | [
0.1611807942390442,
-0.557144284248352,
0.10862349718809128,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: retract with chocolate pie_1 | [
0.14322054386138916,
-0.5839860439300537,
0.02503090165555477,
-3.141533374786377,
-0.00009765868890099227,
3.1414430141448975
] | 0 | 13 | 130 | 0 | 130 | 0 |
[
-1.55559241771698,
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1.8187559843063354,
-2.273566961288452,
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3.1610143184661865,
1
] | [
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1.8187283277511597,
-2.27131986618042,
-1.5704689025878906,
3.1614325046539307,
1
] | move_to_position | 0.010194 | [
-1.5229991674423218,
-1.2732371091842651,
1.795919418334961,
-2.0925750732421875,
-1.5702319145202637,
3.1932790279388428,
1
] | [
-0.1611807942390442,
0.557144284248352,
0.10862349718809128,
0,
0,
0
] | [
0.1611807942390442,
-0.557144284248352,
0.10862349718809128,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: retract with chocolate pie_1 | [
0.1434459686279297,
-0.5836081504821777,
0.026227936148643494,
-3.1415162086486816,
-0.00011075272050220519,
3.1413633823394775
] | 0 | 13.1 | 131 | 0 | 131 | 0 |
[
-1.5543116331100464,
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1.8187764883041382,
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3.1620047092437744,
1
] | [
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1.8186684846878052,
-2.265063524246216,
-1.5704609155654907,
3.162583351135254,
1
] | move_to_position | 0.042844 | [
-1.5229991674423218,
-1.2732371091842651,
1.795919418334961,
-2.0925750732421875,
-1.5702319145202637,
3.1932790279388428,
1
] | [
-0.1611807942390442,
0.557144284248352,
0.10862349718809128,
0,
0,
0
] | [
0.1611807942390442,
-0.557144284248352,
0.10862349718809128,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: retract with chocolate pie_1 | [
0.1442895084619522,
-0.5825725197792053,
0.029316026717424393,
-3.1415135860443115,
-0.00031101718195714056,
-3.1415510177612305
] | 0 | 13.2 | 132 | 0 | 132 | 0 |
[
-1.5528863668441772,
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1.8187283277511597,
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-1.57042396068573,
3.1634910106658936,
1
] | [
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1.8185187578201294,
-2.254326105117798,
-1.5704469680786133,
3.1645357608795166,
1
] | move_to_position | 0.089212 | [
-1.5229991674423218,
-1.2732371091842651,
1.795919418334961,
-2.0925750732421875,
-1.5702319145202637,
3.1932790279388428,
1
] | [
-0.1611807942390442,
0.557144284248352,
0.10862349718809128,
0,
0,
0
] | [
0.1611807942390442,
-0.557144284248352,
0.10862349718809128,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: retract with chocolate pie_1 | [
0.1450653225183487,
-0.5812751054763794,
0.03359189257025719,
3.141486883163452,
-0.00013904615479987115,
3.1414928436279297
] | 0 | 13.3 | 133 | 0 | 133 | 0 |
[
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1.8183754682540894,
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3.165889024734497,
1
] | [
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1.8180274963378906,
-2.2396209239959717,
-1.5704251527786255,
3.1671764850616455,
1
] | move_to_position | 0.163633 | [
-1.5229991674423218,
-1.2732371091842651,
1.795919418334961,
-2.0925750732421875,
-1.5702319145202637,
3.1932790279388428,
1
] | [
-0.1611807942390442,
0.557144284248352,
0.10862349718809128,
0,
0,
0
] | [
0.1611807942390442,
-0.557144284248352,
0.10862349718809128,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: retract with chocolate pie_1 | [
0.14650216698646545,
-0.5790380239486694,
0.040163636207580566,
-3.1412625312805176,
-0.00004429237014846876,
3.141496419906616
] | 0 | 13.4 | 134 | 0 | 134 | 0 |
[
-1.5473560094833374,
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1.8171409368515015,
-2.228985548019409,
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3.169088363647461,
1
] | [
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1.8167411088943481,
-2.2212259769439697,
-1.570397973060608,
3.1704721450805664,
1
] | move_to_position | 0.262629 | [
-1.5229991674423218,
-1.2732371091842651,
1.795919418334961,
-2.0925750732421875,
-1.5702319145202637,
3.1932790279388428,
1
] | [
-0.1611807942390442,
0.557144284248352,
0.10862349718809128,
0,
0,
0
] | [
0.1611807942390442,
-0.557144284248352,
0.10862349718809128,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: retract with chocolate pie_1 | [
0.14838826656341553,
-0.5763437747955322,
0.04904976114630699,
-3.1414268016815186,
-0.00004504690150497481,
3.1414434909820557
] | 0 | 13.5 | 135 | 0 | 135 | 0 |
[
-1.543265700340271,
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1.8153599500656128,
-2.2062413692474365,
-1.5704010725021362,
3.1731560230255127,
1
] | [
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1.81466805934906,
-2.198881149291992,
-1.5703654289245605,
3.1744682788848877,
1
] | move_to_position | 0.388914 | [
-1.5229991674423218,
-1.2732371091842651,
1.795919418334961,
-2.0925750732421875,
-1.5702319145202637,
3.1932790279388428,
1
] | [
-0.1611807942390442,
0.557144284248352,
0.10862349718809128,
0,
0,
0
] | [
0.1611807942390442,
-0.557144284248352,
0.10862349718809128,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: retract with chocolate pie_1 | [
0.15054932236671448,
-0.5731070041656494,
0.05917268618941307,
-3.141533851623535,
-0.00003540162288118154,
3.1414401531219482
] | 0 | 13.6 | 136 | 0 | 136 | 0 |
[
-1.5393365621566772,
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1.8130525350570679,
-2.1845242977142334,
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3.177037239074707,
1
] | [
-1.5381598472595215,
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1.812243103981018,
-2.1777899265289307,
-1.5703357458114624,
3.1782288551330566,
1
] | move_to_position | 0.508777 | [
-1.5229991674423218,
-1.2732371091842651,
1.795919418334961,
-2.0925750732421875,
-1.5702319145202637,
3.1932790279388428,
1
] | [
-0.1611807942390442,
0.557144284248352,
0.10862349718809128,
0,
0,
0
] | [
0.1611807942390442,
-0.557144284248352,
0.10862349718809128,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: retract with chocolate pie_1 | [
0.15279537439346313,
-0.5696789622306824,
0.06967651098966599,
3.141589641571045,
-0.00008623043686384335,
3.141427516937256
] | 0 | 13.7 | 137 | 0 | 137 | 0 |
[
-1.535758376121521,
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1.8103002309799194,
-2.1644175052642822,
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3.1806068420410156,
1
] | [
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1.808584213256836,
-2.1542437076568604,
-1.5703052282333374,
3.1824028491973877,
1
] | move_to_position | 0.617933 | [
-1.5229991674423218,
-1.2732371091842651,
1.795919418334961,
-2.0925750732421875,
-1.5702319145202637,
3.1932790279388428,
1
] | [
-0.1611807942390442,
0.557144284248352,
0.10862349718809128,
0,
0,
0
] | [
0.1611807942390442,
-0.557144284248352,
0.10862349718809128,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: retract with chocolate pie_1 | [
0.15471746027469635,
-0.5668181777000427,
0.07854702323675156,
3.141589879989624,
-0.0001104213806684129,
3.1414287090301514
] | 0 | 13.8 | 138 | 0 | 138 | 0 |
[
-1.5318630933761597,
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1.8064087629318237,
-2.1425392627716064,
-1.5702780485153198,
3.184494733810425,
1
] | [
-1.5306121110916138,
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1.8050563335418701,
-2.1354432106018066,
-1.5702821016311646,
3.1857218742370605,
1
] | move_to_position | 0.735456 | [
-1.5229991674423218,
-1.2732371091842651,
1.795919418334961,
-2.0925750732421875,
-1.5702319145202637,
3.1932790279388428,
1
] | [
-0.1611807942390442,
0.557144284248352,
0.10862349718809128,
0,
0,
0
] | [
0.1611807942390442,
-0.557144284248352,
0.10862349718809128,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: retract with chocolate pie_1 | [
0.1568664163351059,
-0.5637072920799255,
0.08851975202560425,
3.141500473022461,
-0.00007364001066889614,
3.141467332839966
] | 0 | 13.9 | 139 | 0 | 139 | 0 |
[
-1.5284122228622437,
-1.2493820190429688,
1.8025554418563843,
-2.1230928897857666,
-1.5702890157699585,
3.187897205352783,
1
] | [
-1.5272859334945679,
-1.2544811964035034,
1.8013070821762085,
-2.116713285446167,
-1.5702595710754395,
3.189023494720459,
1
] | move_to_position | 0.838798 | [
-1.5229991674423218,
-1.2732371091842651,
1.795919418334961,
-2.0925750732421875,
-1.5702319145202637,
3.1932790279388428,
1
] | [
-0.1611807942390442,
0.557144284248352,
0.10862349718809128,
0,
0,
0
] | [
0.1611807942390442,
-0.557144284248352,
0.10862349718809128,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: retract with chocolate pie_1 | [
0.15858586132526398,
-0.5610413551330566,
0.09673410654067993,
-3.1415855884552,
-0.00005768535629613325,
3.1413655281066895
] | 0 | 14 | 140 | 0 | 140 | 0 |
[
-1.5258363485336304,
-1.2608975172042847,
1.7997263669967651,
-2.1087238788604736,
-1.5702613592147827,
3.190399646759033,
1
] | [
-1.525050163269043,
-1.264556884765625,
1.7988017797470093,
-2.104135036468506,
-1.570244550704956,
3.1912431716918945,
1
] | move_to_position | 0.915164 | [
-1.5229991674423218,
-1.2732371091842651,
1.795919418334961,
-2.0925750732421875,
-1.5702319145202637,
3.1932790279388428,
1
] | [
-0.1611807942390442,
0.557144284248352,
0.10862349718809128,
0,
0,
0
] | [
0.1611807942390442,
-0.557144284248352,
0.10862349718809128,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: retract with chocolate pie_1 | [
0.1598673313856125,
-0.559063196182251,
0.10255853831768036,
3.1415913105010986,
-0.00009250016591977328,
3.1414921283721924
] | 0 | 14.1 | 141 | 0 | 141 | 0 |
[
-1.524196982383728,
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1.7978028059005737,
-2.0993902683258057,
-1.5702413320541382,
3.192066192626953,
1
] | [
-1.5238627195358276,
-1.2697430849075317,
1.7973012924194336,
-2.097449779510498,
-1.5702368021011353,
3.1924219131469727,
1
] | move_to_position | 0.964559 | [
-1.5229991674423218,
-1.2732371091842651,
1.795919418334961,
-2.0925750732421875,
-1.5702319145202637,
3.1932790279388428,
1
] | [
-0.1611807942390442,
0.557144284248352,
0.10862349718809128,
0,
0,
0
] | [
0.1611807942390442,
-0.557144284248352,
0.10862349718809128,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: retract with chocolate pie_1 | [
0.16061896085739136,
-0.5578435063362122,
0.10623214393854141,
3.1415419578552246,
-0.00007028310938039795,
3.141425132751465
] | 0 | 14.2 | 142 | 0 | 142 | 0 |
[
-1.5234259366989136,
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1.7966021299362183,
-2.094625234603882,
-1.5702065229415894,
3.1928367614746094,
1
] | [
-1.52315354347229,
-1.2726610898971558,
1.7962177991867065,
-2.093449354171753,
-1.570232629776001,
3.1931257247924805,
1
] | move_to_position | 0.989346 | [
-1.5229991674423218,
-1.2732371091842651,
1.795919418334961,
-2.0925750732421875,
-1.5702319145202637,
3.1932790279388428,
1
] | [
-0.1611807942390442,
0.557144284248352,
0.10862349718809128,
0,
0,
0
] | [
0.1611807942390442,
-0.557144284248352,
0.10862349718809128,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: retract with chocolate pie_1 | [
0.16093607246875763,
-0.5572994351387024,
0.1079791709780693,
-3.141552686691284,
-0.00009217045590048656,
3.141364336013794
] | 0 | 14.3 | 143 | 0 | 143 | 0 |
[
-1.5232046842575073,
-1.2731038331985474,
1.7961734533309937,
-2.0927274227142334,
-1.5702561140060425,
3.1932291984558105,
1
] | [
-1.5229991674423218,
-1.2732371091842651,
1.795919418334961,
-2.0925750732421875,
-1.5702319145202637,
3.1932790279388428,
1
] | move_to_position | 0.998436 | [
-1.5229991674423218,
-1.2732371091842651,
1.795919418334961,
-2.0925750732421875,
-1.5702319145202637,
3.1932790279388428,
1
] | [
-0.1611807942390442,
0.557144284248352,
0.10862349718809128,
0,
0,
0
] | [
0.1611807942390442,
-0.557144284248352,
0.10862349718809128,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: retract with chocolate pie_1 | [
0.16105861961841583,
-0.5571178197860718,
0.1084710881114006,
-3.141418218612671,
-0.00005650809907820076,
3.14129638671875
] | 0 | 14.4 | 144 | 0 | 144 | 0 |
[
-1.5231174230575562,
-1.2730798721313477,
1.7961100339889526,
-2.0926520824432373,
-1.5702375173568726,
3.1932530403137207,
1
] | [
-1.5229991674423218,
-1.2732371091842651,
1.795919418334961,
-2.0925750732421875,
-1.5702319145202637,
3.1932790279388428,
1
] | move_to_position | 0.000026 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.1610976755619049,
-0.5570818185806274,
0.10844479501247406,
-3.14129900932312,
-0.00005829555448144674,
3.141348361968994
] | 0 | 14.5 | 145 | 0 | 145 | 0 |
[
-1.5230778455734253,
-1.2730401754379272,
1.7961176633834839,
-2.0925848484039307,
-1.5702098608016968,
3.193264961242676,
1
] | [
-1.5232537984848022,
-1.2729966640472412,
1.796026587486267,
-2.092691659927368,
-1.5702099800109863,
3.193120002746582,
1
] | move_to_position | 0.000012 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.16108138859272003,
-0.55707186460495,
0.10841833800077438,
-3.1412291526794434,
-0.000027695818062056787,
3.1413755416870117
] | 0 | 14.6 | 146 | 0 | 146 | 0 |
[
-1.523912787437439,
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3.1924262046813965,
1
] | [
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1
] | move_to_position | 0.002788 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
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] | [
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0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.16044798493385315,
-0.5576789975166321,
0.10835813730955124,
3.141575813293457,
-0.00011869178706547245,
3.141347885131836
] | 0 | 14.7 | 147 | 0 | 147 | 0 |
[
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-2.093552827835083,
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3.1898550987243652,
1
] | [
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-2.09394907951355,
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1
] | move_to_position | 0.011436 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
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1
] | [
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0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.1588197499513626,
-0.558939516544342,
0.10788842290639877,
3.1414473056793213,
-0.0001151037504314445,
3.141394853591919
] | 0 | 14.8 | 148 | 0 | 148 | 0 |
[
-1.5313862562179565,
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3.1850061416625977,
1
] | [
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-2.0950205326080322,
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3.18259859085083,
1
] | move_to_position | 0.028098 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
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1
] | [
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0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
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-0.5611612200737,
0.10684814304113388,
-3.141425371170044,
-0.0001080108413589187,
3.1414167881011963
] | 0 | 14.9 | 149 | 0 | 149 | 0 |
[
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3.178953170776367,
1
] | [
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-2.096303701400757,
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1
] | move_to_position | 0.049859 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
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0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.15245647728443146,
-0.5640955567359924,
0.10574235767126083,
-3.141357421875,
-0.00008684465137775987,
3.1413955688476562
] | 0 | 15 | 150 | 0 | 150 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.083727 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
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0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.1471601128578186,
-0.5687359571456909,
0.1041121855378151,
-3.1413605213165283,
-0.00010478093463461846,
3.1412575244903564
] | 0 | 15.1 | 151 | 0 | 151 | 0 |
[
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1
] | [
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-2.0998573303222656,
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1
] | move_to_position | 0.125347 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
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0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
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-0.5744373798370361,
0.10207376629114151,
-3.1414990425109863,
-0.00010988627036567777,
3.14135479927063
] | 0 | 15.2 | 152 | 0 | 152 | 0 |
[
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-2.1012423038482666,
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1
] | [
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1
] | move_to_position | 0.183274 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.13164038956165314,
-0.5820146799087524,
0.09918366372585297,
-3.141585111618042,
-0.00012372838682495058,
3.1413793563842773
] | 0 | 15.3 | 153 | 0 | 153 | 0 |
[
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1
] | [
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-2.1043732166290283,
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1
] | move_to_position | 0.24766 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
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-0.590077817440033,
0.09621638059616089,
3.1412973403930664,
-0.00010505372483748943,
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] | 0 | 15.4 | 154 | 0 | 154 | 0 |
[
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-2.1053574085235596,
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3.1106951236724854,
1
] | [
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1.725693702697754,
-2.1057181358337402,
-1.5703520774841309,
3.1043198108673096,
1
] | move_to_position | 0.31494 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.11155179142951965,
-0.5985086560249329,
0.0928884819149971,
-3.1415483951568604,
-0.00007003917562542483,
3.141263961791992
] | 0 | 15.5 | 155 | 0 | 155 | 0 |
[
-1.6227229833602905,
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-2.1057331562042236,
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3.093750238418579,
1
] | [
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-1.1712207794189453,
1.7077628374099731,
-2.1057960987091064,
-1.5703834295272827,
3.087761878967285,
1
] | move_to_position | 0.387419 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.10172427445650101,
-0.6068296432495117,
0.08984626829624176,
-3.1411240100860596,
-0.00008649016672279686,
3.1413469314575195
] | 0 | 15.6 | 156 | 0 | 156 | 0 |
[
-1.6391829252243042,
-1.158920168876648,
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-2.1057488918304443,
-1.5704010725021362,
3.077303409576416,
1
] | [
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-1.150513768196106,
1.6870180368423462,
-2.105617046356201,
-1.570418357849121,
3.0702707767486572,
1
] | move_to_position | 0.461453 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.09062197804450989,
-0.6163182258605957,
0.08631878346204758,
-3.1408603191375732,
-0.0001477809128118679,
3.141286849975586
] | 0 | 15.7 | 157 | 0 | 157 | 0 |
[
-1.6572431325912476,
-1.1370997428894043,
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-2.1054189205169678,
-1.570416808128357,
3.0592732429504395,
1
] | [
-1.6638357639312744,
-1.1289070844650269,
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-2.105224370956421,
-1.570454716682434,
3.0526695251464844,
1
] | move_to_position | 0.545504 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.07945644855499268,
-0.6258432865142822,
0.08283713459968567,
-3.1409127712249756,
-0.00017690189997665584,
3.1413357257843018
] | 0 | 15.8 | 158 | 0 | 158 | 0 |
[
-1.673444151878357,
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1.6523765325546265,
-2.1049411296844482,
-1.5704492330551147,
3.043099880218506,
1
] | [
-1.680515170097351,
-1.1078895330429077,
1.6429924964904785,
-2.1045610904693604,
-1.5704900026321411,
3.036003828048706,
1
] | move_to_position | 0.622578 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.06788388639688492,
-0.6355035901069641,
0.07931072264909744,
-3.1413111686706543,
-0.0001497154589742422,
3.141249179840088
] | 0 | 15.9 | 159 | 0 | 159 | 0 |
[
-1.6896761655807495,
-1.0960978269577026,
1.6306174993515015,
-2.1039974689483643,
-1.5704816579818726,
3.026854991912842,
1
] | [
-1.6949548721313477,
-1.0892850160598755,
1.6232973337173462,
-2.103592872619629,
-1.5705212354660034,
3.021575689315796,
1
] | move_to_position | 0.701568 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.05765135958790779,
-0.6437491774559021,
0.07594576478004456,
-3.141251564025879,
-0.00006783501157769933,
3.1413867473602295
] | 0 | 16 | 160 | 0 | 160 | 0 |
[
-1.7019795179367065,
-1.0800480842590332,
1.6131786108016968,
-2.1028597354888916,
-1.5705283880233765,
3.0145785808563232,
1
] | [
-1.7073644399642944,
-1.0724544525146484,
1.604864478111267,
-2.1019909381866455,
-1.5705493688583374,
3.0091755390167236,
1
] | move_to_position | 0.762907 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.04819659888744354,
-0.6513638496398926,
0.07301031798124313,
-3.1414389610290527,
-0.00012081560998922214,
3.141294240951538
] | 0 | 16.1 | 161 | 0 | 161 | 0 |
[
-1.7140001058578491,
-1.0629032850265503,
1.594032645225525,
-2.100677728652954,
-1.5705374479293823,
3.0025970935821533,
1
] | [
-1.7177289724349976,
-1.0572707653045654,
1.5875002145767212,
-2.0998101234436035,
-1.5705747604370117,
2.9988183975219727,
1
] | move_to_position | 0.827486 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.04021140933036804,
-0.6579961180686951,
0.07051196694374084,
-3.1413962841033936,
-0.00006136096635600552,
3.1412203311920166
] | 0 | 16.200001 | 162 | 0 | 162 | 0 |
[
-1.7228363752365112,
-1.0494868755340576,
1.5782932043075562,
-2.0985023975372314,
-1.570534110069275,
2.9936513900756836,
1
] | [
-1.7264673709869385,
-1.0438153743743896,
1.5717154741287231,
-2.097480535507202,
-1.5705971717834473,
2.9900858402252197,
1
] | move_to_position | 0.878376 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.033262643963098526,
-0.6640118360519409,
0.06831208616495132,
-3.141371250152588,
-0.0000998899558908306,
3.1414132118225098
] | 0 | 16.299999 | 163 | 0 | 163 | 0 |
[
-1.7303327322006226,
-1.0378183126449585,
1.564644694328308,
-2.096407175064087,
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2.9862332344055176,
1
] | [
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1.5595171451568604,
-2.0956287384033203,
-1.5706144571304321,
2.983433961868286,
1
] | move_to_position | 0.922212 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
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1
] | [
-0.018645189702510834,
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0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.027776118367910385,
-0.6686393022537231,
0.06660181283950806,
-3.1413488388061523,
-0.00011823067325167358,
3.1412851810455322
] | 0 | 16.4 | 164 | 0 | 164 | 0 |
[
-1.7363747358322144,
-1.02861487865448,
1.5539339780807495,
-2.094831705093384,
-1.5705808401107788,
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1
] | [
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1.5507084131240845,
-2.094395637512207,
-1.5706270933151245,
2.978414535522461,
1
] | move_to_position | 0.956876 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.02345380187034607,
-0.672126293182373,
0.06525938957929611,
-3.1414008140563965,
-0.00009116037108469754,
3.141251802444458
] | 0 | 16.5 | 165 | 0 | 165 | 0 |
[
-1.7399615049362183,
-1.023152232170105,
1.5473726987838745,
-2.093905210494995,
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2.9765841960906982,
1
] | [
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1.5450419187545776,
-2.09350848197937,
-1.5706350803375244,
2.9753544330596924,
1
] | move_to_position | 0.977807 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.02091789059340954,
-0.6742002964019775,
0.06446419656276703,
-3.1414523124694824,
-0.00008699665340827778,
3.1413047313690186
] | 0 | 16.6 | 166 | 0 | 166 | 0 |
[
-1.7422512769699097,
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1.5429757833480835,
-2.0931785106658936,
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2.9743149280548096,
1
] | [
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1.5418328046798706,
-2.0929172039031982,
-1.5706393718719482,
2.9737839698791504,
1
] | move_to_position | 0.991712 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.019442347809672356,
-0.6754580736160278,
0.06395802646875381,
-3.141378402709961,
-0.00010041282075690106,
3.1412875652313232
] | 0 | 16.700001 | 167 | 0 | 167 | 0 |
[
-1.743106722831726,
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-2.092740297317505,
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1
] | [
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-2.0925965309143066,
-1.5706411600112915,
2.97320556640625,
1
] | move_to_position | 0.99783 | [
-1.7434277534484863,
-1.0172429084777832,
1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | [
-0.018645189702510834,
0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | [
0.018645189702510834,
-0.6762480139732361,
0.06372274458408356,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: approach above red plate_1 | [
0.018854564055800438,
-0.6761208176612854,
0.063829205930233,
-3.1415231227874756,
-0.00006670782750006765,
3.1413543224334717
] | 0 | 16.799999 | 168 | 0 | 168 | 0 |
[
-1.7432111501693726,
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-2.0925633907318115,
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1
] | [
-1.7434277534484863,
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1.5401926040649414,
-2.092529773712158,
-1.5706415176391602,
2.9731366634368896,
1
] | move_to_position | 0 | [
-1.7257484197616577,
-0.9757260084152222,
1.5407627820968628,
-2.1346046924591064,
-1.5707480907440186,
2.99064302444458,
1
] | [
-0.029639115557074547,
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0.03999999910593033,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: descend to red plate_1 | [
0.018791424110531807,
-0.6761733889579773,
0.06373292207717896,
-3.141308069229126,
-0.00009945733472704887,
3.1414730548858643
] | 0 | 16.9 | 169 | 0 | 169 | 0 |
[
-1.74319589138031,
-1.0174280405044556,
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-2.0925514698028564,
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2.9731125831604004,
1
] | [
-1.7432183027267456,
-1.017375111579895,
1.5403693914413452,
-2.092561960220337,
-1.5706323385238647,
2.973207473754883,
1
] | move_to_position | 0 | [
-1.7257484197616577,
-0.9757260084152222,
1.5407627820968628,
-2.1346046924591064,
-1.5707480907440186,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: descend to red plate_1 | [
0.018800238147377968,
-0.6761545538902283,
0.06372792273759842,
-3.141286849975586,
-0.00011566146713448688,
3.141500234603882
] | 0 | 17 | 170 | 0 | 170 | 0 |
[
-1.74309241771698,
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1.5404199361801147,
-2.092986822128296,
-1.5706638097763062,
2.973405599594116,
1
] | [
-1.7427725791931152,
-1.0163320302963257,
1.540413737297058,
-2.0936453342437744,
-1.570635199546814,
2.973705291748047,
1
] | move_to_position | 0.011311 | [
-1.7257484197616577,
-0.9757260084152222,
1.5407627820968628,
-2.1346046924591064,
-1.5707480907440186,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: descend to red plate_1 | [
0.018926970660686493,
-0.6762322187423706,
0.06317576766014099,
-3.1410274505615234,
-0.00017332388961222023,
3.1413321495056152
] | 0 | 17.1 | 171 | 0 | 171 | 0 |
[
-1.7423352003097534,
-1.0149266719818115,
1.5404165983200073,
-2.0948660373687744,
-1.5706361532211304,
2.9741902351379395,
1
] | [
-1.7416555881500244,
-1.0137155055999756,
1.5405205488204956,
-2.096360206604004,
-1.5706424713134766,
2.974842071533203,
1
] | move_to_position | 0.056332 | [
-1.7257484197616577,
-0.9757260084152222,
1.5407627820968628,
-2.1346046924591064,
-1.5707480907440186,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: descend to red plate_1 | [
0.019471444189548492,
-0.6765987873077393,
0.06208223104476929,
-3.1412513256073,
-0.0001136660430347547,
3.1413326263427734
] | 0 | 17.200001 | 172 | 0 | 172 | 0 |
[
-1.7409390211105347,
-1.0119560956954956,
1.5404876470565796,
-2.098181962966919,
-1.5706285238265991,
2.9755449295043945,
1
] | [
-1.7401021718978882,
-1.0100735425949097,
1.5406609773635864,
-2.1001334190368652,
-1.5706526041030884,
2.976388931274414,
1
] | move_to_position | 0.13201 | [
-1.7257484197616577,
-0.9757260084152222,
1.5407627820968628,
-2.1346046924591064,
-1.5707480907440186,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: descend to red plate_1 | [
0.020369544625282288,
-0.6771372556686401,
0.0602429024875164,
-3.1414644718170166,
-0.00009125070209847763,
3.1413800716400146
] | 0 | 17.299999 | 173 | 0 | 173 | 0 |
[
-1.739310622215271,
-1.0081888437271118,
1.540608286857605,
-2.102135419845581,
-1.570644736289978,
2.977189779281616,
1
] | [
-1.7383924722671509,
-1.006060004234314,
1.5408040285110474,
-2.104283332824707,
-1.5706638097763062,
2.9780776500701904,
1
] | move_to_position | 0.224489 | [
-1.7257484197616577,
-0.9757260084152222,
1.5407627820968628,
-2.1346046924591064,
-1.5707480907440186,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: descend to red plate_1 | [
0.02138439565896988,
-0.6776742935180664,
0.05799122899770737,
-3.1414296627044678,
-0.00007151060708565637,
3.1413934230804443
] | 0 | 17.4 | 174 | 0 | 174 | 0 |
[
-1.7373894453048706,
-1.0037189722061157,
1.5408848524093628,
-2.106752634048462,
-1.570637583732605,
2.979060649871826,
1
] | [
-1.7367128133773804,
-1.0021101236343384,
1.5409291982650757,
-2.1083569526672363,
-1.5706747770309448,
2.979732036590576,
1
] | move_to_position | 0.333066 | [
-1.7257484197616577,
-0.9757260084152222,
1.5407627820968628,
-2.1346046924591064,
-1.5707480907440186,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: descend to red plate_1 | [
0.022598179057240486,
-0.6782640218734741,
0.05533076822757721,
-3.1413004398345947,
-0.00010761677549453452,
3.141411304473877
] | 0 | 17.5 | 175 | 0 | 175 | 0 |
[
-1.7356165647506714,
-0.9995782375335693,
1.5409635305404663,
-2.110901117324829,
-1.5706614255905151,
2.9807584285736084,
1
] | [
-1.7349258661270142,
-0.9978970289230347,
1.5410370826721191,
-2.1126840114593506,
-1.5706865787506104,
2.9814929962158203,
1
] | move_to_position | 0.432154 | [
-1.7257484197616577,
-0.9757260084152222,
1.5407627820968628,
-2.1346046924591064,
-1.5707480907440186,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: descend to red plate_1 | [
0.02370726503431797,
-0.6788428425788879,
0.05303492397069931,
-3.141357421875,
-0.00008768936095293611,
3.141533851623535
] | 0 | 17.6 | 176 | 0 | 176 | 0 |
[
-1.7339261770248413,
-0.9955755472183228,
1.5410279035568237,
-2.115100622177124,
-1.570708155632019,
2.9824743270874023,
1
] | [
-1.7333883047103882,
-0.9942548274993896,
1.541090488433838,
-2.1163976192474365,
-1.5706967115402222,
2.983015298843384,
1
] | move_to_position | 0.530067 | [
-1.7257484197616577,
-0.9757260084152222,
1.5407627820968628,
-2.1346046924591064,
-1.5707480907440186,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: descend to red plate_1 | [
0.024700574576854706,
-0.6793820261955261,
0.05083813890814781,
-3.1413943767547607,
-0.0000844266833155416,
3.1415023803710938
] | 0 | 17.700001 | 177 | 0 | 177 | 0 |
[
-1.732571005821228,
-0.9923978447914124,
1.5410798788070679,
-2.1183345317840576,
-1.570715308189392,
2.983811855316162,
1
] | [
-1.7320408821105957,
-0.9910316467285156,
1.5410802364349365,
-2.119633913040161,
-1.5707056522369385,
2.9843602180480957,
1
] | move_to_position | 0.606727 | [
-1.7257484197616577,
-0.9757260084152222,
1.5407627820968628,
-2.1346046924591064,
-1.5707480907440186,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: descend to red plate_1 | [
0.0254269540309906,
-0.6797854900360107,
0.04917958751320839,
-3.141397714614868,
-0.000029214770620455965,
3.1414897441864014
] | 0 | 17.799999 | 178 | 0 | 178 | 0 |
[
-1.7312811613082886,
-0.9891250133514404,
1.5410765409469604,
-2.121431589126587,
-1.5706852674484253,
2.9851462841033936,
1
] | [
-1.7305744886398315,
-0.9874914288520813,
1.5410341024398804,
-2.123137950897217,
-1.5707154273986816,
2.9858243465423584,
1
] | move_to_position | 0.682702 | [
-1.7257484197616577,
-0.9757260084152222,
1.5407627820968628,
-2.1346046924591064,
-1.5707480907440186,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: descend to red plate_1 | [
0.02637418359518051,
-0.6802569627761841,
0.04715076461434364,
-3.141345977783203,
-0.00005532303839572705,
3.141500234603882
] | 0 | 17.9 | 179 | 0 | 179 | 0 |
[
-1.729756236076355,
-0.9855905771255493,
1.5410455465316772,
-2.1250040531158447,
-1.5706733465194702,
2.9866297245025635,
1
] | [
-1.7291566133499146,
-0.9840494394302368,
1.540969729423523,
-2.1265153884887695,
-1.5707249641418457,
2.9872400760650635,
1
] | move_to_position | 0.767785 | [
-1.7257484197616577,
-0.9757260084152222,
1.5407627820968628,
-2.1346046924591064,
-1.5707480907440186,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: descend to red plate_1 | [
0.027326980605721474,
-0.6807295680046082,
0.045061144977808,
-3.1412386894226074,
-0.0001361353788524866,
3.141537666320801
] | 0 | 18 | 180 | 0 | 180 | 0 |
[
-1.7284554243087769,
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1.5410279035568237,
-2.1281516551971436,
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2.9879212379455566,
1
] | [
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1.5408967733383179,
-2.1296815872192383,
-1.5707340240478516,
2.988570213317871,
1
] | move_to_position | 0.844623 | [
-1.7257484197616577,
-0.9757260084152222,
1.5407627820968628,
-2.1346046924591064,
-1.5707480907440186,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: descend to red plate_1 | [
0.028105204924941063,
-0.6811358332633972,
0.04326106235384941,
-3.141158103942871,
-0.00012625045201275498,
3.14151668548584
] | 0 | 18.1 | 181 | 0 | 181 | 0 |
[
-1.727124571800232,
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1.5409959554672241,
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2.9892311096191406,
1
] | [
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1.5408353805541992,
-2.1320571899414062,
-1.5707406997680664,
2.989569664001465,
1
] | move_to_position | 0.918452 | [
-1.7257484197616577,
-0.9757260084152222,
1.5407627820968628,
-2.1346046924591064,
-1.5707480907440186,
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1
] | [
-0.029639115557074547,
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0.03999999910593033,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: descend to red plate_1 | [
0.02883949875831604,
-0.68153977394104,
0.041667044162750244,
-3.1411688327789307,
-0.00009372187923872843,
3.141536235809326
] | 0 | 18.200001 | 182 | 0 | 182 | 0 |
[
-1.7263697385787964,
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1.5408052206039429,
-2.1333234310150146,
-1.5707052946090698,
2.990062952041626,
1
] | [
-1.726038932800293,
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1.540783166885376,
-2.1339166164398193,
-1.5707460641860962,
2.9903528690338135,
1
] | move_to_position | 0.967804 | [
-1.7257484197616577,
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1.5407627820968628,
-2.1346046924591064,
-1.5707480907440186,
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1
] | [
-0.029639115557074547,
0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: descend to red plate_1 | [
0.029314322397112846,
-0.6818656325340271,
0.0405743382871151,
-3.1413376331329346,
-0.00004219006223138422,
3.1414830684661865
] | 0 | 18.299999 | 183 | 0 | 183 | 0 |
[
-1.725988745689392,
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1.540793776512146,
-2.1344425678253174,
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2.990558624267578,
1
] | [
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1.5407627820968628,
-2.13460373878479,
-1.570747971534729,
2.990642547607422,
1
] | move_to_position | 0.994439 | [
-1.7257484197616577,
-0.9757260084152222,
1.5407627820968628,
-2.1346046924591064,
-1.5707480907440186,
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1
] | [
-0.029639115557074547,
0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.03999999910593033,
0,
0,
0
] | 1 | pick chocolate pie_1 and place it on red plate_1: descend to red plate_1 | [
0.029519837349653244,
-0.6819556951522827,
0.040023837238550186,
-3.141230821609497,
-0.00005679137757397257,
3.141397714614868
] | 0 | 18.4 | 184 | 0 | 184 | 0 |
[
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1
] | [
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1.5407627820968628,
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0
] | gripper_open | 0 | [
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0
] | [
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] | [
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0.04005209729075432,
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-0.000034532113204477355,
3.1413419246673584
] | 0 | pick chocolate pie_1 and place it on red plate_1: release at red plate_1 | [
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0.040047578513622284,
-3.1413345336914062,
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] | 0 | 18.5 | 185 | 0 | 185 | 0 |
[
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] | [
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1.5407627820968628,
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0
] | gripper_open | 0.176471 | [
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] | [
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] | [
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0.04005209729075432,
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3.1413419246673584
] | 0 | pick chocolate pie_1 and place it on red plate_1: release at red plate_1 | [
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0.04008066654205322,
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] | 0 | 18.6 | 186 | 0 | 186 | 0 |
[
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] | [
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1.5407627820968628,
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0
] | gripper_open | 0.290196 | [
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] | [
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] | [
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0.04005209729075432,
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3.1413419246673584
] | 0 | pick chocolate pie_1 and place it on red plate_1: release at red plate_1 | [
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0.04006142541766167,
-3.141432762145996,
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3.1415295600891113
] | 0 | 18.700001 | 187 | 0 | 187 | 0 |
[
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] | [
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1.5407627820968628,
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2.99064302444458,
0
] | gripper_open | 0.415686 | [
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0
] | [
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] | [
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0.04005209729075432,
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3.1413419246673584
] | 0 | pick chocolate pie_1 and place it on red plate_1: release at red plate_1 | [
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0.040000349283218384,
-3.1413159370422363,
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] | 0 | 18.799999 | 188 | 0 | 188 | 0 |
[
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2.990630626678467,
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] | [
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1.5407627820968628,
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2.99064302444458,
0
] | gripper_open | 0.541176 | [
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0
] | [
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] | [
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0.04005209729075432,
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3.1413419246673584
] | 0 | pick chocolate pie_1 and place it on red plate_1: release at red plate_1 | [
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0.03998700529336929,
-3.1413376331329346,
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] | 1 | 18.9 | 189 | 0 | 189 | 0 |
[
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] | [
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0
] | gripper_open | 0.662745 | [
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0
] | [
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] | [
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0.04005209729075432,
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3.1413419246673584
] | 0 | pick chocolate pie_1 and place it on red plate_1: release at red plate_1 | [
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0.039971135556697845,
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3.141493558883667
] | 1 | 19 | 190 | 0 | 190 | 0 |
[
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] | [
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0
] | gripper_open | 0.784314 | [
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0
] | [
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] | [
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0.04005209729075432,
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3.1413419246673584
] | 0 | pick chocolate pie_1 and place it on red plate_1: release at red plate_1 | [
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0.039989881217479706,
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3.141525983810425
] | 1 | 19.1 | 191 | 0 | 191 | 0 |
[
-1.7257331609725952,
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] | [
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1.5407627820968628,
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2.99064302444458,
0
] | gripper_open | 0.909804 | [
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0
] | [
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] | [
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0.04005209729075432,
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3.1413419246673584
] | 0 | pick chocolate pie_1 and place it on red plate_1: release at red plate_1 | [
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0.039979517459869385,
-3.1413071155548096,
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3.1415576934814453
] | 1 | 19.200001 | 192 | 0 | 192 | 0 |
[
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] | [
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2.99064302444458,
0
] | gripper_open | 0.988233 | [
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0
] | [
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] | [
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0.04005209729075432,
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3.1413419246673584
] | 0 | pick chocolate pie_1 and place it on red plate_1: release at red plate_1 | [
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0.03999476134777069,
-3.1413254737854004,
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3.1415345668792725
] | 1 | 19.299999 | 193 | 0 | 193 | 0 |
[
-1.7257646322250366,
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] | [
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1.5407627820968628,
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0
] | gripper_open | 0.988232 | [
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0
] | [
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] | [
0.02949872799217701,
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0.04005209729075432,
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3.1413419246673584
] | 0 | pick chocolate pie_1 and place it on red plate_1: release at red plate_1 | [
0.029635533690452576,
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0.03995945304632187,
-3.141256093978882,
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3.1414968967437744
] | 1 | 19.4 | 194 | 0 | 194 | 0 |
[
-1.7257517576217651,
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1.5407646894454956,
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2.990630626678467,
0.0117647061124444
] | [
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1.5407627820968628,
-2.1346046924591064,
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2.99064302444458,
0
] | gripper_open | 0.988232 | [
-1.7259410619735718,
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1.540819525718689,
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2.990602970123291,
0
] | [
-0.02949872799217701,
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] | [
0.02949872799217701,
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0.04005209729075432,
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-0.000034532113204477355,
3.1413419246673584
] | 0 | pick chocolate pie_1 and place it on red plate_1: release at red plate_1 | [
0.029634490609169006,
-0.6820068955421448,
0.039983250200748444,
-3.1413004398345947,
-0.00006603071233257651,
3.1415226459503174
] | 1 | 19.5 | 195 | 0 | 195 | 0 |
[
-1.7257646322250366,
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0
] | [
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1.5407627820968628,
-2.1346046924591064,
-1.5707480907440186,
2.99064302444458,
0
] | move_to_position | 0.000021 | [
-1.7425849437713623,
-1.0957715511322021,
1.5208768844604492,
-1.994654893875122,
-1.570574164390564,
2.9736480712890625,
0
] | [
-0.021074818447232246,
0.6648384928703308,
0.11428186297416687,
0,
0,
0
] | [
0.021074818447232246,
-0.6648384928703308,
0.11428186297416687,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: retract after place | [
0.029636206105351448,
-0.6820229887962341,
0.03999772295355797,
-3.141352415084839,
-0.0000739214156055823,
3.1415107250213623
] | 1 | 19.6 | 196 | 0 | 196 | 0 |
[
-1.725767970085144,
-0.9757015109062195,
1.5407284498214722,
-2.134599447250366,
-1.5707329511642456,
2.990630626678467,
0
] | [
-1.725829005241394,
-0.9759947657585144,
1.540655493736267,
-2.1343488693237305,
-1.5707324743270874,
2.9905638694763184,
0
] | move_to_position | 0 | [
-1.7425849437713623,
-1.0957715511322021,
1.5208768844604492,
-1.994654893875122,
-1.570574164390564,
2.9736480712890625,
0
] | [
-0.021074818447232246,
0.6648384928703308,
0.11428186297416687,
0,
0,
0
] | [
0.021074818447232246,
-0.6648384928703308,
0.11428186297416687,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: retract after place | [
0.029635481536388397,
-0.682016909122467,
0.040021199733018875,
-3.1413393020629883,
-0.00005996074105496518,
3.141526460647583
] | 1 | 19.700001 | 197 | 0 | 197 | 0 |
[
-1.72586190700531,
-0.9769488573074341,
1.5406368970870972,
-2.1333811283111572,
-1.570724368095398,
2.990426540374756,
0
] | [
-1.726202130317688,
-0.9787378907203674,
1.5405510663986206,
-2.131683588027954,
-1.5707285404205322,
2.9901909828186035,
0
] | move_to_position | 0.009354 | [
-1.7425849437713623,
-1.0957715511322021,
1.5208768844604492,
-1.994654893875122,
-1.570574164390564,
2.9736480712890625,
0
] | [
-0.021074818447232246,
0.6648384928703308,
0.11428186297416687,
0,
0,
0
] | [
0.021074818447232246,
-0.6648384928703308,
0.11428186297416687,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: retract after place | [
0.029541395604610443,
-0.6818410754203796,
0.04105610400438309,
-3.1414976119995117,
-0.00006392577779479325,
-3.141554832458496
] | 1 | 19.799999 | 198 | 0 | 198 | 0 |
[
-1.7264450788497925,
-0.9812026023864746,
1.5405710935592651,
-2.12919545173645,
-1.5707439184188843,
2.989898681640625,
0
] | [
-1.72686767578125,
-0.9841968417167664,
1.540436863899231,
-2.126185178756714,
-1.570720911026001,
2.9895174503326416,
0
] | move_to_position | 0.041274 | [
-1.7425849437713623,
-1.0957715511322021,
1.5208768844604492,
-1.994654893875122,
-1.570574164390564,
2.9736480712890625,
0
] | [
-0.021074818447232246,
0.6648384928703308,
0.11428186297416687,
0,
0,
0
] | [
0.021074818447232246,
-0.6648384928703308,
0.11428186297416687,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: retract after place | [
0.029164085164666176,
-0.6812053918838501,
0.04388780891895294,
3.14158296585083,
0.000006576529813173693,
3.1415581703186035
] | 1 | 19.9 | 199 | 0 | 199 | 0 |
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