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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[
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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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0.2907283902168274,
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] | 1 | 0 | 0 | 6 | 2,553 | 0 |
[
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0
] | [
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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 | 0.1 | 1 | 6 | 2,554 | 0 |
[
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] | [
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] | move_to_position | 0.010722 | [
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] | [
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] | [
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0
] | 0 | move to initial position to start the task | [
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] | 1 | 0.2 | 2 | 6 | 2,555 | 0 |
[
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] | [
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] | move_to_position | 0.039848 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
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0.29375967383384705,
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] | 1 | 0.3 | 3 | 6 | 2,556 | 0 |
[
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] | [
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] | move_to_position | 0.089517 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
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] | 1 | 0.4 | 4 | 6 | 2,557 | 0 |
[
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] | [
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] | move_to_position | 0.164231 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.5 | 5 | 6 | 2,558 | 0 |
[
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] | [
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] | move_to_position | 0.268273 | [
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] | [
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] | [
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-0.4399999976158142,
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0,
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.6 | 6 | 6 | 2,559 | 0 |
[
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0
] | [
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] | move_to_position | 0.385993 | [
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] | [
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0,
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] | [
0,
-0.4399999976158142,
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0,
0,
0
] | 0 | move to initial position to start the task | [
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0.3165680468082428,
2.792874574661255,
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] | 1 | 0.7 | 7 | 6 | 2,560 | 0 |
[
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] | [
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] | move_to_position | 0.504902 | [
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] | [
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0,
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] | [
0,
-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
0.009192369878292084,
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0.32356518507003784,
2.7928197383880615,
0.060922473669052124,
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] | 1 | 0.8 | 8 | 6 | 2,561 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.623706 | [
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] | [
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0.4399999976158142,
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0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
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0.331440269947052,
2.7928473949432373,
0.060881584882736206,
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] | 1 | 0.9 | 9 | 6 | 2,562 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.745462 | [
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] | [
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0.4399999976158142,
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0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.004353164229542017,
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0.3387675881385803,
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] | 1 | 1 | 10 | 6 | 2,563 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.841958 | [
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] | [
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0.4399999976158142,
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0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
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0.3443217873573303,
2.7927744388580322,
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] | 1 | 1.1 | 11 | 6 | 2,564 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.912043 | [
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] | [
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0.4399999976158142,
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0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
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0.3483068645000458,
2.7928404808044434,
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] | 1 | 1.2 | 12 | 6 | 2,565 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.9634 | [
-1.9005208015441895,
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-1.8955012559890747,
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] | [
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0.4399999976158142,
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0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
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0.3512115478515625,
2.792771577835083,
0.060919906944036484,
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] | 1 | 1.3 | 13 | 6 | 2,566 | 0 |
[
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2.8825714588165283,
0
] | [
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1.931584358215332,
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2.882023572921753,
0
] | move_to_position | 0.991862 | [
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] | [
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0.4399999976158142,
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0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.00008351601718459278,
-0.44030365347862244,
0.35262632369995117,
2.7928249835968018,
0.06095275282859802,
3.06962251663208
] | 1 | 1.4 | 14 | 6 | 2,567 | 0 |
[
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2.8818519115448,
0
] | [
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1.9313822984695435,
-1.8955012559890747,
-1.5380263328552246,
2.881753921508789,
0
] | move_to_position | 0.999023 | [
-1.9005208015441895,
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1.9313822984695435,
-1.8955012559890747,
-1.5380263328552246,
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] | [
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0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.00004890677155344747,
-0.4400085508823395,
0.35289081931114197,
2.7929749488830566,
0.060874585062265396,
3.069746971130371
] | 1 | 1.5 | 15 | 6 | 2,568 | 0 |
[
-1.9003738164901733,
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0
] | [
-1.9005208015441895,
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-1.8955012559890747,
-1.5380263328552246,
2.881753921508789,
0
] | move_to_position | 0 | [
-1.3694114685058594,
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1.6365118026733398,
-2.5699024200439453,
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0
] | [
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0,
0,
0
] | [
0.23913338780403137,
-0.6936238408088684,
0.04766833782196045,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.000038217942346818745,
-0.4399949610233307,
0.35287240147590637,
2.7930684089660645,
0.060876160860061646,
3.069798231124878
] | 1 | 1.6 | 16 | 6 | 2,569 | 0 |
[
-1.9003547430038452,
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2.8817903995513916,
0
] | [
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1.9315638542175293,
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2.881782054901123,
0
] | move_to_position | 0 | [
-1.3694114685058594,
-0.9583370685577393,
1.6365118026733398,
-2.5699024200439453,
-1.7191119194030762,
3.384056329727173,
0
] | [
-0.23913338780403137,
0.6936238408088684,
0.04766833782196045,
0,
0,
0
] | [
0.23913338780403137,
-0.6936238408088684,
0.04766833782196045,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.00006375740485964343,
-0.4399954080581665,
0.3528435528278351,
2.7931225299835205,
0.06081783398985863,
3.0698280334472656
] | 1 | 1.7 | 17 | 6 | 2,570 | 0 |
[
-1.900302767753601,
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0
] | [
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0
] | move_to_position | 0.000075 | [
-1.3694114685058594,
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1.6365118026733398,
-2.5699024200439453,
-1.7191119194030762,
3.384056329727173,
0
] | [
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0,
0,
0
] | [
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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 | 1.8 | 18 | 6 | 2,571 | 0 |
[
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] | move_to_position | 0.000695 | [
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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 | 0.001999 | [
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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 | 0.004204 | [
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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 | 0.007095 | [
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[
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] | move_to_position | 0.011399 | [
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[
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] | move_to_position | 0.016601 | [
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[
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] | move_to_position | 0.022679 | [
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] | 1 | 2.5 | 25 | 6 | 2,578 | 0 |
[
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] | move_to_position | 0.03034 | [
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] | 1 | 2.6 | 26 | 6 | 2,579 | 0 |
[
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] | move_to_position | 0.039876 | [
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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 | 0.05095 | [
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] | [
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[
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] | move_to_position | 0.06384 | [
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[
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] | move_to_position | 0.078648 | [
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[
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] | [
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] | move_to_position | 0.094553 | [
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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 | 0.113103 | [
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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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] | 1 | 3.2 | 32 | 6 | 2,585 | 0 |
[
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] | [
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] | move_to_position | 0.132437 | [
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] | [
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] | [
0.23913338780403137,
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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 | 3.3 | 33 | 6 | 2,586 | 0 |
[
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] | [
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0
] | move_to_position | 0.153003 | [
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] | [
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] | [
0.23913338780403137,
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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 | 6 | 2,587 | 0 |
[
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] | [
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] | move_to_position | 0.176374 | [
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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 | 3.5 | 35 | 6 | 2,588 | 0 |
[
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] | [
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] | move_to_position | 0.200199 | [
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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 | 3.6 | 36 | 6 | 2,589 | 0 |
[
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] | move_to_position | 0.224245 | [
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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 | 3.7 | 37 | 6 | 2,590 | 0 |
[
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] | move_to_position | 0.252427 | [
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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 | 3.8 | 38 | 6 | 2,591 | 0 |
[
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] | [
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] | move_to_position | 0.27941 | [
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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 | 6 | 2,592 | 0 |
[
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] | move_to_position | 0.30859 | [
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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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] | 1 | 4 | 40 | 6 | 2,593 | 0 |
[
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] | [
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] | move_to_position | 0.339679 | [
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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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] | 1 | 4.1 | 41 | 6 | 2,594 | 0 |
[
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] | [
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] | move_to_position | 0.370374 | [
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] | [
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] | [
0.23913338780403137,
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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 | 4.2 | 42 | 6 | 2,595 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.399303 | [
-1.3694114685058594,
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] | [
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] | [
0.23913338780403137,
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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 | 4.3 | 43 | 6 | 2,596 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.432907 | [
-1.3694114685058594,
-0.9583370685577393,
1.6365118026733398,
-2.5699024200439453,
-1.7191119194030762,
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] | [
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] | [
0.23913338780403137,
-0.6936238408088684,
0.04766833782196045,
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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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2.7950496673583984,
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] | 1 | 4.4 | 44 | 6 | 2,597 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.4664 | [
-1.3694114685058594,
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1.6365118026733398,
-2.5699024200439453,
-1.7191119194030762,
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0
] | [
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] | [
0.23913338780403137,
-0.6936238408088684,
0.04766833782196045,
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0,
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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 | 4.5 | 45 | 6 | 2,598 | 0 |
[
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3.1971821784973145,
0
] | [
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0
] | move_to_position | 0.498258 | [
-1.3694114685058594,
-0.9583370685577393,
1.6365118026733398,
-2.5699024200439453,
-1.7191119194030762,
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0
] | [
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0
] | [
0.23913338780403137,
-0.6936238408088684,
0.04766833782196045,
0,
0,
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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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2.7941009998321533,
0.06099703535437584,
3.069856643676758
] | 1 | 4.6 | 46 | 6 | 2,599 | 0 |
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