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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] | move_to_position | 0 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0 | [
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] | move_to_position | 0 | [
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] | [
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] | move_to_position | 0 | [
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[
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] | move_to_position | 0 | [
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.1 | 11 | 5 | 2,131 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.2 | 12 | 5 | 2,132 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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0,
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.3 | 13 | 5 | 2,133 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.4 | 14 | 5 | 2,134 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 1.5 | 15 | 5 | 2,135 | 0 |
[
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[
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[
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] | move_to_position | 0.001252 | [
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[
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] | move_to_position | 0.003232 | [
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[
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] | move_to_position | 0.00617 | [
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[
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] | move_to_position | 0.010742 | [
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[
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[
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] | move_to_position | 0.023762 | [
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[
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] | move_to_position | 0.032888 | [
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[
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] | move_to_position | 0.043995 | [
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[
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] | move_to_position | 0.057371 | [
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[
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[
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] | move_to_position | 0.091718 | [
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[
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] | move_to_position | 0.111478 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 2.9 | 29 | 5 | 2,149 | 0 |
[
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] | [
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] | move_to_position | 0.135025 | [
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] | [
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] | [
0.30066603422164917,
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[
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] | [
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] | move_to_position | 0.158729 | [
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] | [
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] | [
0.30066603422164917,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.1 | 31 | 5 | 2,151 | 0 |
[
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] | [
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] | move_to_position | 0.183727 | [
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] | [
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0.30066603422164917,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.2 | 32 | 5 | 2,152 | 0 |
[
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] | move_to_position | 0.212438 | [
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] | 1 | 3.3 | 33 | 5 | 2,153 | 0 |
[
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] | move_to_position | 0.242133 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.4 | 34 | 5 | 2,154 | 0 |
[
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] | [
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] | move_to_position | 0.273762 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.5 | 35 | 5 | 2,155 | 0 |
[
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] | move_to_position | 0.305531 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.340135 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.375107 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.409792 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.9 | 39 | 5 | 2,159 | 0 |
[
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] | [
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] | move_to_position | 0.446278 | [
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[
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] | [
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] | move_to_position | 0.481165 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.517894 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.55663 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.593563 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.630721 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.664944 | [
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] | [
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] | [
0.30066603422164917,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.6 | 46 | 5 | 2,166 | 0 |
[
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] | [
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] | move_to_position | 0.697378 | [
-1.2380462884902954,
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-2.422060489654541,
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] | [
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] | [
0.30066603422164917,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.733229 | [
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] | [
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] | [
0.30066603422164917,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.8 | 48 | 5 | 2,168 | 0 |
[
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] | [
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] | move_to_position | 0.763976 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.9 | 49 | 5 | 2,169 | 0 |
[
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] | move_to_position | 0.793612 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.823799 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.1 | 51 | 5 | 2,171 | 0 |
[
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] | move_to_position | 0.849305 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.873239 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.89649 | [
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[
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] | move_to_position | 0.916368 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.934247 | [
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[
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] | move_to_position | 0.949011 | [
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[
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] | [
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] | move_to_position | 0.961659 | [
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[
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] | move_to_position | 0.972894 | [
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[
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] | move_to_position | 0.981592 | [
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[
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] | move_to_position | 0.98886 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.993707 | [
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] | [
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] | 1 | 6.2 | 62 | 5 | 2,182 | 0 |
[
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] | move_to_position | 0.997138 | [
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] | [
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] | [
0.30066603422164917,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.3 | 63 | 5 | 2,183 | 0 |
[
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] | [
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] | move_to_position | 0.998873 | [
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] | [
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] | [
0.30066603422164917,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.999592 | [
-1.2380462884902954,
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1.7173283100128174,
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] | [
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] | [
0.30066603422164917,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.3004639446735382,
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] | 1 | 6.5 | 65 | 5 | 2,185 | 0 |
[
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] | [
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0
] | move_to_position | 0.999792 | [
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] | [
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0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.3006148040294647,
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0.12814238667488098,
2.7944695949554443,
0.060503922402858734,
3.0699024200439453
] | 1 | 6.6 | 66 | 5 | 2,186 | 0 |
[
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0
] | [
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0
] | gripper_open | 1 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: open gripper | [
0.3006332218647003,
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0.128149151802063,
2.794469118118286,
0.0604841522872448,
3.069946765899658
] | 1 | 6.7 | 67 | 5 | 2,187 | 0 |
[
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] | [
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0
] | gripper_open | 1 | [
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] | [
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] | [
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0.060503922402858734,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: open gripper | [
0.300645112991333,
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0.1280931532382965,
2.7945053577423096,
0.06051554158329964,
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] | 1 | 6.8 | 68 | 5 | 2,188 | 0 |
[
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] | [
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0
] | gripper_open | 1 | [
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0
] | [
-0.3006148040294647,
0.6091610193252563,
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] | [
0.3006148040294647,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: open gripper | [
0.30064716935157776,
-0.6092032194137573,
0.12808528542518616,
2.7945289611816406,
0.06051201745867729,
3.069890022277832
] | 1 | 6.9 | 69 | 5 | 2,189 | 0 |
[
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] | [
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0
] | gripper_open | 1 | [
-1.238110899925232,
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0
] | [
-0.3006148040294647,
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] | [
0.3006148040294647,
-0.6091610193252563,
0.12814238667488098,
2.7944695949554443,
0.060503922402858734,
3.0699024200439453
] | 0 | pick up the left chocolate pie and place it on the left red plate: open gripper | [
0.3006591200828552,
-0.6091992259025574,
0.1281076967716217,
2.7944860458374023,
0.060506973415613174,
3.0699357986450195
] | 1 | 7 | 70 | 5 | 2,190 | 0 |
[
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0
] | [
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1.7173283100128174,
-2.422060489654541,
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0
] | move_to_position | 0 | [
-1.2743489742279053,
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1.7615214586257935,
-2.6415040493011475,
-1.7476770877838135,
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0
] | [
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0,
0,
0
] | [
0.28508758544921875,
-0.6319317817687988,
0.028999999165534973,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.3006438612937927,
-0.6092096567153931,
0.12809821963310242,
2.7945048809051514,
0.06050520017743111,
3.069912910461426
] | 1 | 7.1 | 71 | 5 | 2,191 | 0 |
[
-1.238012671470642,
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1.7173489332199097,
-2.422069787979126,
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3.511139392852783,
0
] | [
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1.7176513671875,
-2.422682762145996,
-1.7581114768981934,
3.5110442638397217,
0
] | move_to_position | 0.000054 | [
-1.2743489742279053,
-0.995567262172699,
1.7615214586257935,
-2.6415040493011475,
-1.7476770877838135,
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0
] | [
-0.28508758544921875,
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0,
0,
0
] | [
0.28508758544921875,
-0.6319317817687988,
0.028999999165534973,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.3006862998008728,
-0.609224259853363,
0.12801575660705566,
2.7944533824920654,
0.0604582279920578,
3.069938898086548
] | 1 | 7.2 | 72 | 5 | 2,192 | 0 |
[
-1.2382920980453491,
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1.7182015180587769,
-2.4243876934051514,
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3.510854959487915,
0
] | [
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1.7192493677139282,
-2.427086114883423,
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3.5103609561920166,
0
] | move_to_position | 0.010406 | [
-1.2743489742279053,
-0.995567262172699,
1.7615214586257935,
-2.6415040493011475,
-1.7476770877838135,
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0
] | [
-0.28508758544921875,
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0,
0,
0
] | [
0.28508758544921875,
-0.6319317817687988,
0.028999999165534973,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.3004903793334961,
-0.6094224452972412,
0.12656845152378082,
2.7947444915771484,
0.06054653599858284,
3.070005416870117
] | 1 | 7.3 | 73 | 5 | 2,193 | 0 |
[
-1.2394212484359741,
-1.1588844060897827,
1.7204116582870483,
-2.4307854175567627,
-1.7577241659164429,
3.509843349456787,
0
] | [
-1.240224003791809,
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1.7219668626785278,
-2.435692548751831,
-1.7575316429138184,
3.509016990661621,
0
] | move_to_position | 0.037766 | [
-1.2743489742279053,
-0.995567262172699,
1.7615214586257935,
-2.6415040493011475,
-1.7476770877838135,
3.4759514331817627,
0
] | [
-0.28508758544921875,
0.6319317817687988,
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0,
0,
0
] | [
0.28508758544921875,
-0.6319317817687988,
0.028999999165534973,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.29992520809173584,
-0.6101076602935791,
0.12354402244091034,
2.794620990753174,
0.06051737070083618,
3.0699257850646973
] | 1 | 7.4 | 74 | 5 | 2,194 | 0 |
[
-1.24115788936615,
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1.723718523979187,
-2.4419009685516357,
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3.508056879043579,
0
] | [
-1.242206335067749,
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1.7254551649093628,
-2.447927951812744,
-1.7569754123687744,
3.507094621658325,
0
] | move_to_position | 0.086379 | [
-1.2743489742279053,
-0.995567262172699,
1.7615214586257935,
-2.6415040493011475,
-1.7476770877838135,
3.4759514331817627,
0
] | [
-0.28508758544921875,
0.6319317817687988,
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0,
0,
0
] | [
0.28508758544921875,
-0.6319317817687988,
0.028999999165534973,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.2991907298564911,
-0.6114055514335632,
0.11843973398208618,
2.794419527053833,
0.06046046316623688,
3.069997787475586
] | 1 | 7.5 | 75 | 5 | 2,195 | 0 |
[
-1.2440026998519897,
-1.1395984888076782,
1.728464961051941,
-2.4591023921966553,
-1.7564257383346558,
3.5053179264068604,
0
] | [
-1.2454644441604614,
-1.1334588527679443,
1.7310651540756226,
-2.468026876449585,
-1.7560372352600098,
3.5039355754852295,
0
] | move_to_position | 0.162687 | [
-1.2743489742279053,
-0.995567262172699,
1.7615214586257935,
-2.6415040493011475,
-1.7476770877838135,
3.4759514331817627,
0
] | [
-0.28508758544921875,
0.6319317817687988,
0.028999999165534973,
0,
0,
0
] | [
0.28508758544921875,
-0.6319317817687988,
0.028999999165534973,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.29789912700653076,
-0.6134311556816101,
0.11022014915943146,
2.7944421768188477,
0.06046776846051216,
3.069897174835205
] | 1 | 7.6 | 76 | 5 | 2,196 | 0 |
[
-1.2478140592575073,
-1.1233551502227783,
1.7350157499313354,
-2.4825632572174072,
-1.755372405052185,
3.50164532661438,
0
] | [
-1.2495208978652954,
-1.115959644317627,
1.7378065586090088,
-2.4930031299591064,
-1.754868745803833,
3.500002861022949,
0
] | move_to_position | 0.266496 | [
-1.2743489742279053,
-0.995567262172699,
1.7615214586257935,
-2.6415040493011475,
-1.7476770877838135,
3.4759514331817627,
0
] | [
-0.28508758544921875,
0.6319317817687988,
0.028999999165534973,
0,
0,
0
] | [
0.28508758544921875,
-0.6319317817687988,
0.028999999165534973,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.2962171137332916,
-0.6158304810523987,
0.09960007667541504,
2.7944047451019287,
0.060505885630846024,
3.06998348236084
] | 1 | 7.7 | 77 | 5 | 2,197 | 0 |
[
-1.2521017789840698,
-1.1043583154678345,
1.7418102025985718,
-2.508981466293335,
-1.7541402578353882,
3.4974358081817627,
0
] | [
-1.253650188446045,
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1.7439147233963013,
-2.5182502269744873,
-1.753677487373352,
3.4960005283355713,
0
] | move_to_position | 0.384485 | [
-1.2743489742279053,
-0.995567262172699,
1.7615214586257935,
-2.6415040493011475,
-1.7476770877838135,
3.4759514331817627,
0
] | [
-0.28508758544921875,
0.6319317817687988,
0.028999999165534973,
0,
0,
0
] | [
0.28508758544921875,
-0.6319317817687988,
0.028999999165534973,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.294355183839798,
-0.6183966994285583,
0.08780363947153091,
2.7946245670318604,
0.06056610122323036,
3.0699782371520996
] | 1 | 7.8 | 78 | 5 | 2,198 | 0 |
[
-1.256414771080017,
-1.084640383720398,
1.7473992109298706,
-2.5351879596710205,
-1.7528618574142456,
3.4932751655578613,
0
] | [
-1.2580634355545044,
-1.0768519639968872,
1.749077320098877,
-2.544912338256836,
-1.7524012327194214,
3.4917242527008057,
0
] | move_to_position | 0.502823 | [
-1.2743489742279053,
-0.995567262172699,
1.7615214586257935,
-2.6415040493011475,
-1.7476770877838135,
3.4759514331817627,
0
] | [
-0.28508758544921875,
0.6319317817687988,
0.028999999165534973,
0,
0,
0
] | [
0.28508758544921875,
-0.6319317817687988,
0.028999999165534973,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.2926207482814789,
-0.621046781539917,
0.07679104804992676,
2.7944207191467285,
0.06049613282084465,
3.0699586868286133
] | 1 | 7.9 | 79 | 5 | 2,199 | 0 |
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