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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-1.7272948026657104,
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1.5403603315353394,
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0
] | [
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1.5401527881622314,
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2.9885432720184326,
0
] | move_to_position | 0.090768 | [
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1.5208768844604492,
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] | [
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0,
0
] | [
0.021074818447232246,
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0.11428186297416687,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: retract after place | [
0.028690150007605553,
-0.6803081035614014,
0.047853827476501465,
3.1415226459503174,
-0.000010898541404458228,
3.14150071144104
] | 1 | 20 | 200 | 0 | 200 | 0 |
[
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] | [
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0
] | move_to_position | 0.160549 | [
-1.7425849437713623,
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1.5208768844604492,
-1.994654893875122,
-1.570574164390564,
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] | [
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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 | [
0.028099311515688896,
-0.6790141463279724,
0.05326567962765694,
-3.1414551734924316,
-0.000027665888410410844,
3.141510248184204
] | 1 | 20.1 | 201 | 0 | 201 | 0 |
[
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2.98634672164917,
0
] | [
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1.5382307767868042,
-2.0942890644073486,
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2.9856395721435547,
0
] | move_to_position | 0.255256 | [
-1.7425849437713623,
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1.5208768844604492,
-1.994654893875122,
-1.570574164390564,
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0
] | [
-0.021074818447232246,
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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 | [
0.02729562483727932,
-0.6774165630340576,
0.06004289165139198,
-3.141130208969116,
-0.000044694319512927905,
3.141505241394043
] | 1 | 20.200001 | 202 | 0 | 202 | 0 |
[
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] | [
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0
] | move_to_position | 0.369105 | [
-1.7425849437713623,
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1.5208768844604492,
-1.994654893875122,
-1.570574164390564,
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] | [
-0.021074818447232246,
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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 | [
0.026214007288217545,
-0.6753397583961487,
0.06931068003177643,
-3.1411733627319336,
-0.000048535497626289725,
3.141493797302246
] | 1 | 20.299999 | 203 | 0 | 203 | 0 |
[
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] | [
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1.5334912538528442,
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0
] | move_to_position | 0.505353 | [
-1.7425849437713623,
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1.5208768844604492,
-1.994654893875122,
-1.570574164390564,
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] | [
-0.021074818447232246,
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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 | [
0.025159385055303574,
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0.07873546332120895,
-3.1412394046783447,
-0.000028757705877069384,
3.1415531635284424
] | 1 | 20.4 | 204 | 0 | 204 | 0 |
[
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] | [
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1.5310264825820923,
-2.0412328243255615,
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2.97918701171875,
0
] | move_to_position | 0.624283 | [
-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 | [
0.02408609353005886,
-0.6709291338920593,
0.08832451701164246,
-3.1414456367492676,
-0.0000908075162442401,
3.1415069103240967
] | 1 | 20.5 | 205 | 0 | 205 | 0 |
[
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0
] | [
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1.5285605192184448,
-2.0275769233703613,
-1.5706056356430054,
2.9775474071502686,
0
] | move_to_position | 0.724684 | [
-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 | [
0.023307492956519127,
-0.6691994071006775,
0.095313660800457,
-3.1413376331329346,
-0.00007858275785110891,
3.1415326595306396
] | 1 | 20.6 | 206 | 0 | 206 | 0 |
[
-1.7395614385604858,
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1.5271066427230835,
-2.020612955093384,
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2.9767420291900635,
0
] | [
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1.5260798931121826,
-2.016047716140747,
-1.5705941915512085,
2.976175546646118,
0
] | move_to_position | 0.821057 | [
-1.7425849437713623,
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1.5208768844604492,
-1.994654893875122,
-1.570574164390564,
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0
] | [
-0.021074818447232246,
0.6648384928703308,
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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 | [
0.022475609555840492,
-0.6675260663032532,
0.1024358719587326,
-3.1412832736968994,
-0.000013939487871539313,
3.141538619995117
] | 1 | 20.700001 | 207 | 0 | 207 | 0 |
[
-1.7409390211105347,
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1.524288535118103,
-2.0084621906280518,
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2.9752964973449707,
0
] | [
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1.5234445333480835,
-2.0049688816070557,
-1.570583701133728,
2.974865198135376,
0
] | move_to_position | 0.905066 | [
-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 | [
0.021869385614991188,
-0.6662790775299072,
0.10795112699270248,
-3.1412954330444336,
-0.000014553977052855771,
3.1415722370147705
] | 1 | 20.799999 | 208 | 0 | 208 | 0 |
[
-1.7419027090072632,
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1.5221971273422241,
-2.0000054836273193,
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2.9743218421936035,
0
] | [
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1.5216724872589111,
-1.9978768825531006,
-1.5705771446228027,
2.9740285873413086,
0
] | move_to_position | 0.963035 | [
-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 | [
0.021426934748888016,
-0.6653380990028381,
0.11215104162693024,
-3.1413462162017822,
-0.000023956317818374373,
3.141580820083618
] | 1 | 20.9 | 209 | 0 | 209 | 0 |
[
-1.7422631978988647,
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1.5212210416793823,
-1.995808720588684,
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2.973849296569824,
0
] | [
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1.5209791660308838,
-1.9950692653656006,
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2.9736969470977783,
0
] | move_to_position | 0.991568 | [
-1.7425849437713623,
-1.0957715511322021,
1.5208768844604492,
-1.994654893875122,
-1.570574164390564,
2.9736480712890625,
0
] | [
-0.021074818447232246,
0.6648384928703308,
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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 | [
0.021326301619410515,
-0.6648597717285156,
0.11378724873065948,
-3.1410791873931885,
-0.00009385486191604286,
-3.141460657119751
] | 1 | 21 | 210 | 0 | 210 | 0 |
[
-1.7424668073654175,
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2.9736509323120117,
0
] | [
-1.7425849437713623,
-1.0957714319229126,
1.5208768844604492,
-1.9946550130844116,
-1.570574164390564,
2.9736480712890625,
0
] | move_to_position | 0.998229 | [
-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 | [
0.021230965852737427,
-0.6647422909736633,
0.11404752731323242,
-3.1409287452697754,
-0.00010310814104741439,
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] | 1 | 21.1 | 211 | 0 | 211 | 0 |
[
-1.742559790611267,
-1.0955594778060913,
1.5210765600204468,
-1.994698166847229,
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2.9736578464508057,
0
] | [
-1.7425849437713623,
-1.0957715511322021,
1.5208768844604492,
-1.994654893875122,
-1.570574164390564,
2.9736480712890625,
0
] | move_to_joint_state | 0 | [
-1.7425559759140015,
-1.095639944076538,
1.5213443040847778,
-1.9955565929412842,
-1.5705608129501343,
2.973640203475952,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking chocolate pie_2 | [
0.0211449284106493,
-0.6647675037384033,
0.11407869309186935,
-3.140967845916748,
-0.0000997838651528582,
3.1415820121765137
] | 1 | 21.200001 | 212 | 0 | 212 | 0 |
[
-1.742606520652771,
-1.095531702041626,
1.5210179090499878,
-1.99465811252594,
-1.5705727338790894,
2.9736766815185547,
0
] | [
-1.7425295114517212,
-1.0955686569213867,
1.5210906267166138,
-1.994712233543396,
-1.5705687999725342,
2.973684549331665,
0
] | move_to_joint_state | 0 | [
-1.7425559759140015,
-1.095639944076538,
1.5213443040847778,
-1.9955565929412842,
-1.5705608129501343,
2.973640203475952,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking chocolate pie_2 | [
0.021147748455405235,
-0.664753794670105,
0.11406408995389938,
-3.1409225463867188,
-0.00014385006215889007,
3.141568183898926
] | 1 | 21.299999 | 213 | 0 | 213 | 0 |
[
-1.7425493001937866,
-1.0955630540847778,
1.5210331678390503,
-1.994698166847229,
-1.570569396018982,
2.973634958267212,
0
] | [
-1.742530345916748,
-1.0955710411071777,
1.5210992097854614,
-1.9947410821914673,
-1.570568561553955,
2.9736831188201904,
0
] | move_to_joint_state | 0 | [
-1.7425559759140015,
-1.095639944076538,
1.5213443040847778,
-1.9955565929412842,
-1.5705608129501343,
2.973640203475952,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking chocolate pie_2 | [
0.02114117331802845,
-0.664768397808075,
0.11407235264778137,
-3.1409659385681152,
-0.00011269101378275082,
3.1415624618530273
] | 1 | 21.4 | 214 | 0 | 214 | 0 |
[
-1.742559790611267,
-1.0955785512924194,
1.5210145711898804,
-1.99476158618927,
-1.5705536603927612,
2.973662853240967,
0
] | [
-1.7425318956375122,
-1.0955750942230225,
1.521113634109497,
-1.9947888851165771,
-1.5705680847167969,
2.9736804962158203,
0
] | move_to_joint_state | 0.035869 | [
-1.7425559759140015,
-1.095639944076538,
1.5213443040847778,
-1.9955565929412842,
-1.5705608129501343,
2.973640203475952,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking chocolate pie_2 | [
0.02113405615091324,
-0.6647911071777344,
0.11406449228525162,
-3.141012191772461,
-0.00010089743591379374,
3.1415252685546875
] | 1 | 21.5 | 215 | 0 | 215 | 0 |
[
-1.742566466331482,
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1.5210498571395874,
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2.973647356033325,
0
] | [
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-1.0955802202224731,
1.5211317539215088,
-1.9948490858078003,
-1.5705674886703491,
2.973677396774292,
0
] | move_to_joint_state | 0.103124 | [
-1.7425559759140015,
-1.095639944076538,
1.5213443040847778,
-1.9955565929412842,
-1.5705608129501343,
2.973640203475952,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking chocolate pie_2 | [
0.02117537148296833,
-0.6647790670394897,
0.11408331245183945,
-3.141069173812866,
-0.00010359469888499007,
3.141576051712036
] | 1 | 21.6 | 216 | 0 | 216 | 0 |
[
-1.7425445318222046,
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1.5211247205734253,
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0
] | [
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] | move_to_joint_state | 0.199229 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_2 | [
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] | 1 | 21.700001 | 217 | 0 | 217 | 0 |
[
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] | [
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] | move_to_joint_state | 0.257385 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_2 | [
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] | 1 | 21.799999 | 218 | 0 | 218 | 0 |
[
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] | [
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] | move_to_joint_state | 0.375995 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_2 | [
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] | 1 | 21.9 | 219 | 0 | 219 | 0 |
[
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] | [
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] | move_to_joint_state | 0.490844 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_2 | [
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] | 1 | 22 | 220 | 0 | 220 | 0 |
[
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] | [
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] | move_to_joint_state | 0.56881 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_2 | [
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] | 1 | 22.1 | 221 | 0 | 221 | 0 |
[
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] | [
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] | move_to_joint_state | 0.704506 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_2 | [
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] | 1 | 22.200001 | 222 | 0 | 222 | 0 |
[
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] | [
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] | move_to_joint_state | 0.759227 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_2 | [
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] | 1 | 22.299999 | 223 | 0 | 223 | 0 |
[
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] | [
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] | move_to_joint_state | 0.86773 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_2 | [
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] | 1 | 22.4 | 224 | 0 | 224 | 0 |
[
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] | [
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] | move_to_joint_state | 0.90497 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_2 | [
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] | 1 | 22.5 | 225 | 0 | 225 | 0 |
[
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] | [
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] | move_to_joint_state | 0.964671 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_2 | [
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0.11408515274524689,
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] | 1 | 22.6 | 226 | 0 | 226 | 0 |
[
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] | [
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] | move_to_joint_state | 0.925716 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_2 | [
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3.141563653945923,
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] | 1 | 22.700001 | 227 | 0 | 227 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
-0.1986371874809265,
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0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
0.021150408312678337,
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] | 1 | 22.799999 | 228 | 0 | 228 | 0 |
[
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] | [
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0
] | move_to_position | 0.000027 | [
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] | [
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] | [
-0.1986371874809265,
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0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
0.02115730755031109,
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] | 1 | 22.9 | 229 | 0 | 229 | 0 |
[
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] | [
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0
] | move_to_position | 0.001109 | [
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] | [
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] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
0.020777251571416855,
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0.11397239565849304,
3.1415774822235107,
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] | 1 | 23 | 230 | 0 | 230 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.006444 | [
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-0.925227701663971,
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] | [
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] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
0.01933170296251774,
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0.11363071203231812,
3.141486406326294,
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] | 1 | 23.1 | 231 | 0 | 231 | 0 |
[
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0
] | [
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-1.9988317489624023,
-1.5705684423446655,
2.9658727645874023,
0
] | move_to_position | 0.015976 | [
-2.043572187423706,
-0.925227701663971,
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-2.0718913078308105,
-1.570815086364746,
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] | [
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] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
0.017021765932440758,
-0.6650306582450867,
0.11279979348182678,
-3.141493082046509,
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] | 1 | 23.200001 | 232 | 0 | 232 | 0 |
[
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2.9634013175964355,
0
] | [
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0
] | move_to_position | 0.02968 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
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] | [
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] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
0.013610581867396832,
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0.11191919445991516,
3.14145827293396,
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] | 1 | 23.299999 | 233 | 0 | 233 | 0 |
[
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2.9562127590179443,
0
] | [
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1.5238147974014282,
-2.003898859024048,
-1.5705732107162476,
2.952976703643799,
0
] | move_to_position | 0.051379 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
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] | [
0.1986371874809265,
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0,
0,
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] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
0.008965427055954933,
-0.6658399701118469,
0.11048465222120285,
3.1415352821350098,
-0.000002213014340668451,
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] | 1 | 23.4 | 234 | 0 | 234 | 0 |
[
-1.7683542966842651,
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-2.005842924118042,
-1.5705846548080444,
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0
] | [
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1.5238624811172485,
-2.007364511489868,
-1.57057785987854,
2.943666696548462,
0
] | move_to_position | 0.077024 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
0.002382904989644885,
-0.6666252613067627,
0.10861460119485855,
3.1413638591766357,
0.000043316915252944455,
-3.141568899154663
] | 1 | 23.5 | 235 | 0 | 235 | 0 |
[
-1.7795366048812866,
-1.0840156078338623,
1.5237840414047241,
-2.0100162029266357,
-1.5705760717391968,
2.9365932941436768,
0
] | [
-1.7850167751312256,
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1.523806095123291,
-2.012125015258789,
-1.5705840587615967,
2.931147336959839,
0
] | move_to_position | 0.111078 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.005710578989237547,
-0.6675079464912415,
0.10631106048822403,
3.14111590385437,
0.000146802281960845,
-3.1415202617645264
] | 1 | 23.6 | 236 | 0 | 236 | 0 |
[
-1.7942746877670288,
-1.0790400505065918,
1.5237911939620972,
-2.0156409740448,
-1.5705655813217163,
2.9218697547912598,
0
] | [
-1.8000041246414185,
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1.5235912799835205,
-2.0177597999572754,
-1.570591688156128,
2.9161689281463623,
0
] | move_to_position | 0.155556 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.01592422090470791,
-0.6685391068458557,
0.10355101525783539,
3.1405394077301025,
0.00022791473020333797,
-3.1415669918060303
] | 1 | 23.700001 | 237 | 0 | 237 | 0 |
[
-1.8097432851791382,
-1.0733306407928467,
1.5235365629196167,
-2.0212976932525635,
-1.5706156492233276,
2.9064903259277344,
0
] | [
-1.817655324935913,
-1.0702768564224243,
1.5230721235275269,
-2.024120569229126,
-1.570601463317871,
2.8985283374786377,
0
] | move_to_position | 0.202343 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.02673640288412571,
-0.6694678068161011,
0.10048025101423264,
3.140322208404541,
0.0003317732480354607,
-3.141587257385254
] | 1 | 23.799999 | 238 | 0 | 238 | 0 |
[
-1.8276041746139526,
-1.066112756729126,
1.5226248502731323,
-2.0275328159332275,
-1.5706242322921753,
2.8885366916656494,
0
] | [
-1.8351069688796997,
-1.0628080368041992,
1.52219557762146,
-2.0299549102783203,
-1.5706123113632202,
2.881087064743042,
0
] | move_to_position | 0.257064 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.03942589461803436,
-0.6704286336898804,
0.09653954207897186,
3.1406431198120117,
0.00026460716617293656,
-3.141566514968872
] | 1 | 23.9 | 239 | 0 | 239 | 0 |
[
-1.844502329826355,
-1.0583610534667969,
1.5214890241622925,
-2.0328524112701416,
-1.5706356763839722,
2.871687412261963,
0
] | [
-1.853353500366211,
-1.0538511276245117,
1.5204178094863892,
-2.035454750061035,
-1.5706255435943604,
2.862851619720459,
0
] | move_to_position | 0.30912 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.05111364275217056,
-0.67104172706604,
0.09238386154174805,
-3.1411592960357666,
-0.00013699178816750646,
-3.141453981399536
] | 1 | 24 | 240 | 0 | 240 | 0 |
[
-1.8644517660140991,
-1.0481232404708862,
1.5183676481246948,
-2.0386478900909424,
-1.5706599950790405,
2.851789712905884,
0
] | [
-1.8709535598754883,
-1.044643759727478,
1.5169023275375366,
-2.040483236312866,
-1.5706390142440796,
2.845262050628662,
0
] | move_to_position | 0.372126 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.06552240252494812,
-0.6721451282501221,
0.0876394733786583,
-3.140166997909546,
-0.000447332626208663,
3.141580820083618
] | 1 | 24.1 | 241 | 0 | 241 | 0 |
[
-1.8846625089645386,
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1.5132311582565308,
-2.0443904399871826,
-1.570656657218933,
2.8314943313598633,
0
] | [
-1.8919533491134644,
-1.0331761837005615,
1.5111080408096313,
-2.0462355613708496,
-1.5706558227539062,
2.824275016784668,
0
] | move_to_position | 0.437587 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.07986992597579956,
-0.673527181148529,
0.0833001360297203,
-3.1400630474090576,
-0.0005144861643202603,
-3.141556739807129
] | 1 | 24.200001 | 242 | 0 | 242 | 0 |
[
-1.906345248222351,
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1.506449580192566,
-2.0500504970550537,
-1.5706838369369507,
2.8099091053009033,
0
] | [
-1.9130593538284302,
-1.0211760997772217,
1.5040537118911743,
-2.051750421524048,
-1.5706734657287598,
2.8031816482543945,
0
] | move_to_position | 0.508345 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.09499476104974747,
-0.6750214695930481,
0.07905387878417969,
-3.1405439376831055,
-0.00039607041981071234,
-3.141577959060669
] | 1 | 24.299999 | 243 | 0 | 243 | 0 |
[
-1.9266360998153687,
-1.0132482051849365,
1.4990133047103882,
-2.0551211833953857,
-1.5706685781478882,
2.7896220684051514,
0
] | [
-1.9329156875610352,
-1.0094183683395386,
1.4965561628341675,
-2.056652784347534,
-1.5706907510757446,
2.783337354660034,
0
] | move_to_position | 0.575553 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.10982756316661835,
-0.6764063239097595,
0.07499083876609802,
-3.1411595344543457,
-0.00017736929294187576,
-3.141566276550293
] | 1 | 24.4 | 244 | 0 | 244 | 0 |
[
-1.945304274559021,
-1.0017907619476318,
1.491479754447937,
-2.0595405101776123,
-1.5707076787948608,
2.7708983421325684,
0
] | [
-1.950966715812683,
-0.9982125759124756,
1.4891301393508911,
-2.0607712268829346,
-1.5707072019577026,
2.7652971744537354,
0
] | move_to_position | 0.638238 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.12405466288328171,
-0.6775596737861633,
0.07097324728965759,
3.1415743827819824,
-0.000015899197023827583,
-3.141505002975464
] | 1 | 24.5 | 245 | 0 | 245 | 0 |
[
-1.962182879447937,
-0.9908987879753113,
1.48395574092865,
-2.063067674636841,
-1.5706852674484253,
2.754154682159424,
0
] | [
-1.9677186012268066,
-0.9868907928466797,
1.4810339212417603,
-2.0640547275543213,
-1.5707238912582397,
2.7485549449920654,
0
] | move_to_position | 0.695451 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.13654635846614838,
-0.6784563660621643,
0.0673174113035202,
3.141512632369995,
4.595027576215216e-7,
3.141580581665039
] | 1 | 24.6 | 246 | 0 | 246 | 0 |
[
-1.9780157804489136,
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1.4751008749008179,
-2.06577467918396,
-1.5707162618637085,
2.738178014755249,
0
] | [
-1.9839720726013184,
-0.9748144745826721,
1.4714107513427734,
-2.0666394233703613,
-1.5707417726516724,
2.7323107719421387,
0
] | move_to_position | 0.75207 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.14865386486053467,
-0.6795752644538879,
0.06361014395952225,
3.141568660736084,
-0.00002606407542771194,
-3.1415152549743652
] | 1 | 24.700001 | 247 | 0 | 247 | 0 |
[
-1.9927366971969604,
-0.9679867029190063,
1.4656490087509155,
-2.067814588546753,
-1.570752501487732,
2.7235829830169678,
0
] | [
-1.998790979385376,
-0.9630987644195557,
1.461490511894226,
-2.068544626235962,
-1.5707590579986572,
2.7175002098083496,
0
] | move_to_position | 0.805722 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.15998652577400208,
-0.6807140707969666,
0.06044508144259453,
3.141265630722046,
0.00015979229647200555,
3.1415326595306396
] | 1 | 24.799999 | 248 | 0 | 248 | 0 |
[
-2.0063183307647705,
-0.9569293856620789,
1.4560927152633667,
-2.06933856010437,
-1.570764422416687,
2.709932565689087,
0
] | [
-2.011335849761963,
-0.9528430104255676,
1.4525388479232788,
-2.069840908050537,
-1.5707741975784302,
2.7049622535705566,
0
] | move_to_position | 0.856763 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.1700841784477234,
-0.6816712617874146,
0.05737973004579544,
3.14129900932312,
0.00010239374387310818,
-3.1415560245513916
] | 1 | 24.9 | 249 | 0 | 249 | 0 |
[
-2.01719069480896,
-0.9480507373809814,
1.4483946561813354,
-2.0702927112579346,
-1.5707610845565796,
2.699143409729004,
0
] | [
-2.021662950515747,
-0.9444093704223633,
1.445174217224121,
-2.0706803798675537,
-1.570786714553833,
2.694640874862671,
0
] | move_to_position | 0.897489 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.17868199944496155,
-0.6823035478591919,
0.05473439767956734,
3.1415352821350098,
0.000007495325917261653,
3.14152193069458
] | 1 | 25 | 250 | 0 | 250 | 0 |
[
-2.0257508754730225,
-0.9411806464195251,
1.4423741102218628,
-2.0709164142608643,
-1.5707730054855347,
2.6906094551086426,
0
] | [
-2.028062343597412,
-0.9392804503440857,
1.4407545328140259,
-2.0711023807525635,
-1.5707942247390747,
2.6882448196411133,
0
] | move_to_position | 0.929406 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.18519547581672668,
-0.6826597452163696,
0.052833687514066696,
-3.141484498977661,
-0.00007852010458009318,
3.1415646076202393
] | 1 | 25.1 | 251 | 0 | 251 | 0 |
[
-2.0320279598236084,
-0.9359467625617981,
1.4377816915512085,
-2.0713236331939697,
-1.5707882642745972,
2.6842381954193115,
0
] | [
-2.0343050956726074,
-0.9340448379516602,
1.4360442161560059,
-2.071478843688965,
-1.5708019733428955,
2.6820056438446045,
0
] | move_to_position | 0.953257 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.18962721526622772,
-0.6829198598861694,
0.05147157236933708,
-3.141334056854248,
-0.00016204759594984353,
3.1415820121765137
] | 1 | 25.200001 | 252 | 0 | 252 | 0 |
[
-2.036536455154419,
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1.4342221021652222,
-2.071601152420044,
-1.5708121061325073,
2.6797714233398438,
0
] | [
-2.038036584854126,
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1.4329209327697754,
-2.071678638458252,
-1.5708069801330566,
2.6782760620117188,
0
] | move_to_position | 0.970516 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.19337721168994904,
-0.6831956505775452,
0.05033206194639206,
-3.1412746906280518,
-0.0001951630983967334,
3.1415584087371826
] | 1 | 25.299999 | 253 | 0 | 253 | 0 |
[
-2.039865732192993,
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1.4312561750411987,
-2.071730375289917,
-1.5708154439926147,
2.676464557647705,
0
] | [
-2.0408573150634766,
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1.4302953481674194,
-2.071808099746704,
-1.5708109140396118,
2.6754567623138428,
0
] | move_to_position | 0.983947 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.19595620036125183,
-0.6834824681282043,
0.049593236297369,
-3.1413426399230957,
-0.00010303634917363524,
3.141568422317505
] | 1 | 25.4 | 254 | 0 | 254 | 0 |
[
-2.0420501232147217,
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1.4290980100631714,
-2.071852445602417,
-1.5708154439926147,
2.674265146255493,
0
] | [
-2.042633295059204,
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1.4284220933914185,
-2.071871757507324,
-1.570813536643982,
2.6736817359924316,
0
] | move_to_position | 0.993116 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
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0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.19761672616004944,
-0.683736264705658,
0.04912266135215759,
-3.1414952278137207,
-0.000059009165852330625,
3.1415205001831055
] | 1 | 25.5 | 255 | 0 | 255 | 0 |
[
-2.0431883335113525,
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1.427772879600525,
-2.071881055831909,
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2.6731314659118652,
0
] | [
-2.043433666229248,
-0.9253941774368286,
1.4274513721466064,
-2.071890115737915,
-1.570814847946167,
2.672881603240967,
0
] | move_to_position | 0.998136 | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | [
0.1986371874809265,
0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | [
-0.1986371874809265,
-0.6839413046836853,
0.04882466048002243,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: approach above chocolate pie_2 | [
-0.198430597782135,
-0.683898389339447,
0.04892679303884506,
3.1415789127349854,
-0.000017672620742814615,
3.141547918319702
] | 1 | 25.6 | 256 | 0 | 256 | 0 |
[
-2.0433528423309326,
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1.4274643659591675,
-2.071881055831909,
-1.5708273649215698,
2.6728196144104004,
0
] | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | gripper_open | 1 | [
-2.0433528423309326,
-0.9254842400550842,
1.4274643659591675,
-2.071881055831909,
-1.5708273649215698,
2.6728196144104004,
0
] | [
0.19848421216011047,
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0.04891993850469589,
3.1415212154388428,
-0.00004036154132336378,
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] | [
-0.19848421216011047,
-0.6839432716369629,
0.04891993850469589,
3.1415212154388428,
-0.00004036154132336378,
-3.141469717025757
] | 0 | pick chocolate pie_2 and place it on red plate_2: open gripper | [
-0.1984853595495224,
-0.6839454174041748,
0.04891502112150192,
3.1415445804595947,
0.000013004624634049833,
-3.141404867172241
] | 1 | 25.700001 | 257 | 0 | 257 | 0 |
[
-2.043400526046753,
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1.427468180656433,
-2.0718863010406494,
-1.5708273649215698,
2.67276668548584,
0.0117647061124444
] | [
-2.043572187423706,
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1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | gripper_open | 1 | [
-2.0433528423309326,
-0.9254842400550842,
1.4274643659591675,
-2.071881055831909,
-1.5708273649215698,
2.6728196144104004,
0
] | [
0.19848421216011047,
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0.04891993850469589,
3.1415212154388428,
-0.00004036154132336378,
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] | [
-0.19848421216011047,
-0.6839432716369629,
0.04891993850469589,
3.1415212154388428,
-0.00004036154132336378,
-3.141469717025757
] | 0 | pick chocolate pie_2 and place it on red plate_2: open gripper | [
-0.19855718314647675,
-0.6839451193809509,
0.048900675028562546,
3.1415200233459473,
-0.00002646250868565403,
-3.141494035720825
] | 1 | 25.799999 | 258 | 0 | 258 | 0 |
[
-2.0436198711395264,
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1.4272655248641968,
-2.071881055831909,
-1.570820689201355,
2.672739028930664,
0.0117647061124444
] | [
-2.043572187423706,
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1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | gripper_open | 1 | [
-2.0433528423309326,
-0.9254842400550842,
1.4274643659591675,
-2.071881055831909,
-1.5708273649215698,
2.6728196144104004,
0
] | [
0.19848421216011047,
0.6839432716369629,
0.04891993850469589,
3.1415212154388428,
-0.00004036154132336378,
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] | [
-0.19848421216011047,
-0.6839432716369629,
0.04891993850469589,
3.1415212154388428,
-0.00004036154132336378,
-3.141469717025757
] | 0 | pick chocolate pie_2 and place it on red plate_2: open gripper | [
-0.19866010546684265,
-0.683954656124115,
0.04881739616394043,
-3.141592025756836,
-0.000008540637281839736,
3.1415817737579346
] | 1 | 25.9 | 259 | 0 | 259 | 0 |
[
-2.0435922145843506,
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1.4272798299789429,
-2.0719048976898193,
-1.5707968473434448,
2.672773838043213,
0.0117647061124444
] | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | gripper_open | 1 | [
-2.0433528423309326,
-0.9254842400550842,
1.4274643659591675,
-2.071881055831909,
-1.5708273649215698,
2.6728196144104004,
0
] | [
0.19848421216011047,
0.6839432716369629,
0.04891993850469589,
3.1415212154388428,
-0.00004036154132336378,
-3.141469717025757
] | [
-0.19848421216011047,
-0.6839432716369629,
0.04891993850469589,
3.1415212154388428,
-0.00004036154132336378,
-3.141469717025757
] | 0 | pick chocolate pie_2 and place it on red plate_2: open gripper | [
-0.19870887696743011,
-0.683946430683136,
0.048818815499544144,
3.1415908336639404,
0.000014652948266302701,
3.1415340900421143
] | 1 | 26 | 260 | 0 | 260 | 0 |
[
-2.043595552444458,
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1.4272602796554565,
-2.071889638900757,
-1.5708121061325073,
2.672739028930664,
0
] | [
-2.043572187423706,
-0.925227701663971,
1.4272606372833252,
-2.0718913078308105,
-1.570815086364746,
2.672743082046509,
0
] | move_to_position | 0 | [
-2.078427791595459,
-0.8833231329917908,
1.425951361656189,
-2.1125028133392334,
-1.5708787441253662,
2.6379683017730713,
0
] | [
0.22532838582992554,
0.6819171905517578,
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0,
0,
0
] | [
-0.22532838582992554,
-0.6819171905517578,
0.024000000208616257,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: descend to chocolate pie_2 | [
-0.19868093729019165,
-0.6839470863342285,
0.0488310270011425,
-3.1415886878967285,
-0.000027295116524328478,
3.141556978225708
] | 1 | 26.1 | 261 | 0 | 261 | 0 |
[
-2.043576955795288,
-0.9252234697341919,
1.4272602796554565,
-2.071881055831909,
-1.5708273649215698,
2.672739028930664,
0
] | [
-2.0436627864837646,
-0.9251567125320435,
1.427261233329773,
-2.0719974040985107,
-1.5708087682724,
2.6727123260498047,
0
] | move_to_position | 0 | [
-2.078427791595459,
-0.8833231329917908,
1.425951361656189,
-2.1125028133392334,
-1.5708787441253662,
2.6379683017730713,
0
] | [
0.22532838582992554,
0.6819171905517578,
0.024000000208616257,
0,
0,
0
] | [
-0.22532838582992554,
-0.6819171905517578,
0.024000000208616257,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: descend to chocolate pie_2 | [
-0.19870522618293762,
-0.6839528679847717,
0.04882447049021721,
3.1415467262268066,
-0.000028673848646576516,
3.1415014266967773
] | 1 | 26.200001 | 262 | 0 | 262 | 0 |
[
-2.0443265438079834,
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1.4272640943527222,
-2.072697401046753,
-1.5707930326461792,
2.672161102294922,
0
] | [
-2.0448226928710938,
-0.9238340854644775,
1.4272823333740234,
-2.073399543762207,
-1.5708110332489014,
2.671577215194702,
0
] | move_to_position | 0.019681 | [
-2.078427791595459,
-0.8833231329917908,
1.425951361656189,
-2.1125028133392334,
-1.5708787441253662,
2.6379683017730713,
0
] | [
0.22532838582992554,
0.6819171905517578,
0.024000000208616257,
0,
0,
0
] | [
-0.22532838582992554,
-0.6819171905517578,
0.024000000208616257,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: descend to chocolate pie_2 | [
-0.19946688413619995,
-0.683868944644928,
0.04809701442718506,
-3.1414716243743896,
-0.00008568027260480449,
3.1413278579711914
] | 1 | 26.299999 | 263 | 0 | 263 | 0 |
[
-2.046032667160034,
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1.4272602796554565,
-2.0747487545013428,
-1.5708035230636597,
2.6704721450805664,
0
] | [
-2.0471131801605225,
-0.921173095703125,
1.4273052215576172,
-2.0761260986328125,
-1.5708154439926147,
2.669296979904175,
0
] | move_to_position | 0.068436 | [
-2.078427791595459,
-0.8833231329917908,
1.425951361656189,
-2.1125028133392334,
-1.5708787441253662,
2.6379683017730713,
0
] | [
0.22532838582992554,
0.6819171905517578,
0.024000000208616257,
0,
0,
0
] | [
-0.22532838582992554,
-0.6819171905517578,
0.024000000208616257,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: descend to chocolate pie_2 | [
-0.20082837343215942,
-0.6838595867156982,
0.046878963708877563,
3.1414811611175537,
0.00003307349470560439,
3.1414661407470703
] | 1 | 26.4 | 264 | 0 | 264 | 0 |
[
-2.0485823154449463,
-0.9195281863212585,
1.4272836446762085,
-2.0778090953826904,
-1.5707968473434448,
2.6679136753082275,
0
] | [
-2.049947738647461,
-0.9178602695465088,
1.4273265600204468,
-2.079483985900879,
-1.5708210468292236,
2.6664626598358154,
0
] | move_to_position | 0.140661 | [
-2.078427791595459,
-0.8833231329917908,
1.425951361656189,
-2.1125028133392334,
-1.5708787441253662,
2.6379683017730713,
0
] | [
0.22532838582992554,
0.6819171905517578,
0.024000000208616257,
0,
0,
0
] | [
-0.22532838582992554,
-0.6819171905517578,
0.024000000208616257,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: descend to chocolate pie_2 | [
-0.20295754075050354,
-0.6837075352668762,
0.04496746137738228,
3.1414549350738525,
0.000020027029677294195,
3.1413955688476562
] | 1 | 26.5 | 265 | 0 | 265 | 0 |
[
-2.051826238632202,
-0.9156508445739746,
1.4272655248641968,
-2.0816729068756104,
-1.5708502531051636,
2.6646201610565186,
0
] | [
-2.0535545349121094,
-0.913627028465271,
1.4273486137390137,
-2.083744764328003,
-1.5708280801773071,
2.662848949432373,
0
] | move_to_position | 0.234484 | [
-2.078427791595459,
-0.8833231329917908,
1.425951361656189,
-2.1125028133392334,
-1.5708787441253662,
2.6379683017730713,
0
] | [
0.22532838582992554,
0.6819171905517578,
0.024000000208616257,
0,
0,
0
] | [
-0.22532838582992554,
-0.6819171905517578,
0.024000000208616257,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: descend to chocolate pie_2 | [
-0.20542337000370026,
-0.6835720539093018,
0.04268864914774895,
3.141366720199585,
0.0000935817661229521,
3.1415176391601562
] | 1 | 26.6 | 266 | 0 | 266 | 0 |
[
-2.0556318759918213,
-0.9112606048583984,
1.4273251295089722,
-2.0861451625823975,
-1.5708273649215698,
2.6607918739318848,
0
] | [
-2.0570366382598877,
-0.9095247387886047,
1.427365779876709,
-2.087847948074341,
-1.5708348751068115,
2.659358501434326,
0
] | move_to_position | 0.342731 | [
-2.078427791595459,
-0.8833231329917908,
1.425951361656189,
-2.1125028133392334,
-1.5708787441253662,
2.6379683017730713,
0
] | [
0.22532838582992554,
0.6819171905517578,
0.024000000208616257,
0,
0,
0
] | [
-0.22532838582992554,
-0.6819171905517578,
0.024000000208616257,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: descend to chocolate pie_2 | [
-0.20813104510307312,
-0.6833599209785461,
0.04019954055547714,
3.1413702964782715,
0.00010314492101315409,
3.141488790512085
] | 1 | 26.700001 | 267 | 0 | 267 | 0 |
[
-2.0590717792510986,
-0.9070708751678467,
1.4273689985275269,
-2.0902912616729736,
-1.570820689201355,
2.657285690307617,
0
] | [
-2.060436725616455,
-0.9055001735687256,
1.427378535270691,
-2.091844320297241,
-1.570841670036316,
2.6559503078460693,
0
] | move_to_position | 0.44315 | [
-2.078427791595459,
-0.8833231329917908,
1.425951361656189,
-2.1125028133392334,
-1.5708787441253662,
2.6379683017730713,
0
] | [
0.22532838582992554,
0.6819171905517578,
0.024000000208616257,
0,
0,
0
] | [
-0.22532838582992554,
-0.6819171905517578,
0.024000000208616257,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: descend to chocolate pie_2 | [
-0.21098937094211578,
-0.6831067800521851,
0.037450116127729416,
3.1414220333099365,
0.00004223503856337629,
3.141526699066162
] | 1 | 26.799999 | 268 | 0 | 268 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.533664 | [
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] | [
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0,
0
] | [
-0.22532838582992554,
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0.024000000208616257,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: descend to chocolate pie_2 | [
-0.21328815817832947,
-0.6828840970993042,
0.03527727350592613,
3.141476631164551,
0.000034334534575464204,
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] | 1 | 26.9 | 269 | 0 | 269 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.60974 | [
-2.078427791595459,
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1.425951361656189,
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] | [
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0,
0
] | [
-0.22532838582992554,
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0.024000000208616257,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: descend to chocolate pie_2 | [
-0.21522970497608185,
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0.03338504582643509,
3.141566514968872,
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] | 1 | 27 | 270 | 0 | 270 | 0 |
[
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0
] | [
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1.4271539449691772,
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0
] | move_to_position | 0.687063 | [
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1.425951361656189,
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] | [
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0,
0
] | [
-0.22532838582992554,
-0.6819171905517578,
0.024000000208616257,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: descend to chocolate pie_2 | [
-0.21733319759368896,
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0.031341396272182465,
-3.1414754390716553,
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3.1415135860443115
] | 1 | 27.1 | 271 | 0 | 271 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.766572 | [
-2.078427791595459,
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1.425951361656189,
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-1.5708787441253662,
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] | [
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0,
0
] | [
-0.22532838582992554,
-0.6819171905517578,
0.024000000208616257,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: descend to chocolate pie_2 | [
-0.21945476531982422,
-0.6822847127914429,
0.02930292673408985,
-3.1414291858673096,
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] | 1 | 27.200001 | 272 | 0 | 272 | 0 |
[
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] | [
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0
] | move_to_position | 0.847274 | [
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] | [
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0,
0
] | [
-0.22532838582992554,
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0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: descend to chocolate pie_2 | [
-0.22156617045402527,
-0.682163417339325,
0.027407178655266762,
-3.14147686958313,
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] | 1 | 27.299999 | 273 | 0 | 273 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.915268 | [
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1.425951361656189,
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] | [
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0,
0
] | [
-0.22532838582992554,
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0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: descend to chocolate pie_2 | [
-0.22330351173877716,
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0.02576322853565216,
-3.141481637954712,
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] | 1 | 27.4 | 274 | 0 | 274 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.968701 | [
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] | [
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0,
0
] | [
-0.22532838582992554,
-0.6819171905517578,
0.024000000208616257,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: descend to chocolate pie_2 | [
-0.2246764749288559,
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-3.141540288925171,
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] | 1 | 27.5 | 275 | 0 | 275 | 0 |
[
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0
] | [
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1.4259514808654785,
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0
] | move_to_position | 0.995221 | [
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] | [
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0,
0
] | [
-0.22532838582992554,
-0.6819171905517578,
0.024000000208616257,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: descend to chocolate pie_2 | [
-0.22519850730895996,
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0.024103421717882156,
3.1415672302246094,
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] | 1 | 27.6 | 276 | 0 | 276 | 0 |
[
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0
] | [
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1.425951361656189,
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1
] | gripper_close | 0 | [
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1
] | [
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] | [
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0.024127239361405373,
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
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3.141469955444336,
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] | 1 | 27.700001 | 277 | 0 | 277 | 0 |
[
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] | [
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1
] | gripper_close | 0.05098 | [
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] | [
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] | [
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0.024127239361405373,
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
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3.1414263248443604,
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] | 1 | 27.799999 | 278 | 0 | 278 | 0 |
[
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] | [
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2.6379683017730713,
1
] | gripper_close | 0.176471 | [
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] | [
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] | [
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0.024127239361405373,
3.1414639949798584,
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
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0.024083469063043594,
3.1414618492126465,
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] | 1 | 27.9 | 279 | 0 | 279 | 0 |
[
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] | [
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1.425951361656189,
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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_2 and place it on red plate_2: grasp chocolate pie_2 | [
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3.1415815353393555,
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] | 1 | 28 | 280 | 0 | 280 | 0 |
[
-2.0785653591156006,
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] | [
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1.425951361656189,
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2.6379683017730713,
1
] | gripper_close | 0.443137 | [
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] | [
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] | [
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
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0.024164488539099693,
3.141237497329712,
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] | 1 | 28.1 | 281 | 0 | 281 | 0 |
[
-2.0784404277801514,
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] | [
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1.425951361656189,
-2.1125028133392334,
-1.5708787441253662,
2.6379683017730713,
1
] | gripper_close | 0.552941 | [
-2.0782501697540283,
-0.8835014700889587,
1.425963282585144,
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1
] | [
0.22519268095493317,
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] | [
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0.024127239361405373,
3.1414639949798584,
0.00002906747249653563,
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
-0.225320965051651,
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0.024326184764504433,
3.1409897804260254,
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] | 0 | 28.200001 | 282 | 0 | 282 | 0 |
[
-2.0784761905670166,
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1.425639033317566,
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0.6235294342041016
] | [
-2.078427791595459,
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1.425951361656189,
-2.1125028133392334,
-1.5708787441253662,
2.6379683017730713,
1
] | gripper_close | 0.623529 | [
-2.0782501697540283,
-0.8835014700889587,
1.425963282585144,
-2.1124322414398193,
-1.5708755254745483,
2.638045310974121,
1
] | [
0.22519268095493317,
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] | [
-0.22519268095493317,
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0.024127239361405373,
3.1414639949798584,
0.00002906747249653563,
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
-0.2254885584115982,
-0.6821408271789551,
0.02446441724896431,
3.1407790184020996,
0.0005774633609689772,
3.1415021419525146
] | 0 | 28.299999 | 283 | 0 | 283 | 0 |
[
-2.0784990787506104,
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1.4256190061569214,
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2.637957811355591,
0.6941176652908325
] | [
-2.078427791595459,
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1.425951361656189,
-2.1125028133392334,
-1.5708787441253662,
2.6379683017730713,
1
] | gripper_close | 0.694117 | [
-2.0782501697540283,
-0.8835014700889587,
1.425963282585144,
-2.1124322414398193,
-1.5708755254745483,
2.638045310974121,
1
] | [
0.22519268095493317,
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0.024127239361405373,
3.1414639949798584,
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] | [
-0.22519268095493317,
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0.024127239361405373,
3.1414639949798584,
0.00002906747249653563,
-3.141547203063965
] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
-0.22555063664913177,
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0.024405265226960182,
3.1408939361572266,
0.0005316222668625414,
3.1413991451263428
] | 0 | 28.4 | 284 | 0 | 284 | 0 |
[
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1
] | gripper_close | 0.760784 | [
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] | [
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
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3.141467332839966,
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] | 0 | 28.5 | 285 | 0 | 285 | 0 |
[
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1
] | gripper_close | 0.788235 | [
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] | [
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
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3.141509532928467,
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] | 0 | 28.6 | 286 | 0 | 286 | 0 |
[
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] | gripper_close | 0.796078 | [
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] | [
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
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] | 0 | 28.700001 | 287 | 0 | 287 | 0 |
[
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] | gripper_close | 0.796078 | [
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] | [
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
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] | 0 | 28.799999 | 288 | 0 | 288 | 0 |
[
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] | gripper_close | 0.796078 | [
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] | [
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
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] | 0 | 28.9 | 289 | 0 | 289 | 0 |
[
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1
] | gripper_close | 0.796078 | [
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] | [
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
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[
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1
] | gripper_close | 0.796078 | [
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] | [
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
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] | 0 | 29.1 | 291 | 0 | 291 | 0 |
[
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1
] | gripper_close | 0.796078 | [
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] | [
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
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] | 0 | 29.200001 | 292 | 0 | 292 | 0 |
[
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] | [
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1
] | gripper_close | 0.796078 | [
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] | [
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] | [
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
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] | 0 | 29.299999 | 293 | 0 | 293 | 0 |
[
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] | [
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1
] | gripper_close | 0.796078 | [
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] | [
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] | [
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
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] | 0 | 29.4 | 294 | 0 | 294 | 0 |
[
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] | [
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1
] | gripper_close | 0.796078 | [
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] | [
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] | [
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
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0.023986607789993286,
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] | 0 | 29.5 | 295 | 0 | 295 | 0 |
[
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] | [
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1
] | gripper_close | 0.796078 | [
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] | [
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] | [
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
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0.023991215974092484,
-3.14158034324646,
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] | 0 | 29.6 | 296 | 0 | 296 | 0 |
[
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] | [
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1
] | gripper_close | 0.796078 | [
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] | [
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] | [
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
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0.024030014872550964,
3.1415281295776367,
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] | 0 | 29.700001 | 297 | 0 | 297 | 0 |
[
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] | [
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1
] | gripper_close | 0.796078 | [
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] | [
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] | [
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
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0.024011515080928802,
3.1415491104125977,
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] | 0 | 29.799999 | 298 | 0 | 298 | 0 |
[
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] | [
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2.6379683017730713,
1
] | gripper_close | 0.796078 | [
-2.0782501697540283,
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1
] | [
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] | [
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0.024127239361405373,
3.1414639949798584,
0.00002906747249653563,
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] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
-0.22532214224338531,
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0.02402074635028839,
3.1415629386901855,
0.000003394654186195112,
3.1414875984191895
] | 0 | 29.9 | 299 | 0 | 299 | 0 |
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