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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-2.0784337520599365,
-0.8833492994308472,
1.4259432554244995,
-2.1124889850616455,
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2.637968063354492,
0.7960784435272217
] | [
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1.425951361656189,
-2.1125028133392334,
-1.5708787441253662,
2.6379683017730713,
1
] | gripper_close | 0.796078 | [
-2.0782501697540283,
-0.8835014700889587,
1.425963282585144,
-2.1124322414398193,
-1.5708755254745483,
2.638045310974121,
1
] | [
0.22519268095493317,
0.6819676756858826,
0.024127239361405373,
3.1414639949798584,
0.00002906747249653563,
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] | [
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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 | [
-0.22532057762145996,
-0.6819161772727966,
0.024025505408644676,
3.141569137573242,
-0.000007737576197541784,
3.141495943069458
] | 0 | 30 | 300 | 0 | 300 | 0 |
[
-2.078418493270874,
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1.4259322881698608,
-2.11248517036438,
-1.5708688497543335,
2.6379647254943848,
0.7960784435272217
] | [
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1.425951361656189,
-2.1125028133392334,
-1.5708787441253662,
2.6379683017730713,
1
] | gripper_close | 0.796078 | [
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-0.8835014700889587,
1.425963282585144,
-2.1124322414398193,
-1.5708755254745483,
2.638045310974121,
1
] | [
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3.1414639949798584,
0.00002906747249653563,
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] | [
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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 | [
-0.2253146469593048,
-0.6819278597831726,
0.024030102416872978,
3.1415534019470215,
0.000010807124454004224,
3.141514539718628
] | 0 | 30.1 | 301 | 0 | 301 | 0 |
[
-2.0784270763397217,
-0.8833613395690918,
1.4259432554244995,
-2.1125009059906006,
-1.5708874464035034,
2.6379647254943848,
0.7960784435272217
] | [
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1.425951361656189,
-2.1125028133392334,
-1.5708787441253662,
2.6379683017730713,
1
] | gripper_close | 0.796078 | [
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1.425963282585144,
-2.1124322414398193,
-1.5708755254745483,
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1
] | [
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] | [
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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 | [
-0.22531671822071075,
-0.6819327473640442,
0.024044489488005638,
3.141536235809326,
0.0000279714549833443,
3.141526460647583
] | 0 | 30.200001 | 302 | 0 | 302 | 0 |
[
-2.078430414199829,
-0.883361279964447,
1.4259518384933472,
-2.112492322921753,
-1.5708497762680054,
2.637968063354492,
0.7960784435272217
] | [
-2.078427791595459,
-0.8833231329917908,
1.425951361656189,
-2.1125028133392334,
-1.5708787441253662,
2.6379683017730713,
1
] | gripper_close | 0.796078 | [
-2.0782501697540283,
-0.8835014700889587,
1.425963282585144,
-2.1124322414398193,
-1.5708755254745483,
2.638045310974121,
1
] | [
0.22519268095493317,
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0.024127239361405373,
3.1414639949798584,
0.00002906747249653563,
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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 | [
-0.225309818983078,
-0.6819304823875427,
0.024026688188314438,
3.1415445804595947,
0.0000020929960555804428,
3.141514539718628
] | 0 | 30.299999 | 303 | 0 | 303 | 0 |
[
-2.0784642696380615,
-0.8833420872688293,
1.4259480237960815,
-2.11248517036438,
-1.5708807706832886,
2.6379799842834473,
0.7960784435272217
] | [
-2.078427791595459,
-0.8833231329917908,
1.425951361656189,
-2.1125028133392334,
-1.5708787441253662,
2.6379683017730713,
1
] | gripper_close | 0.796078 | [
-2.0782501697540283,
-0.8835014700889587,
1.425963282585144,
-2.1124322414398193,
-1.5708755254745483,
2.638045310974121,
1
] | [
0.22519268095493317,
0.6819676756858826,
0.024127239361405373,
3.1414639949798584,
0.00002906747249653563,
-3.141547203063965
] | [
-0.22519268095493317,
-0.6819676756858826,
0.024127239361405373,
3.1414639949798584,
0.00002906747249653563,
-3.141547203063965
] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
-0.22531332075595856,
-0.6819241642951965,
0.024021314457058907,
3.141557216644287,
-0.000014786919564357959,
3.1415247917175293
] | 0 | 30.4 | 304 | 0 | 304 | 0 |
[
-2.078437089920044,
-0.8833264112472534,
1.4259670972824097,
-2.1124699115753174,
-1.570872187614441,
2.6379494667053223,
0.7960784435272217
] | [
-2.078427791595459,
-0.8833231329917908,
1.425951361656189,
-2.1125028133392334,
-1.5708787441253662,
2.6379683017730713,
1
] | gripper_close | 0.796078 | [
-2.0782501697540283,
-0.8835014700889587,
1.425963282585144,
-2.1124322414398193,
-1.5708755254745483,
2.638045310974121,
1
] | [
0.22519268095493317,
0.6819676756858826,
0.024127239361405373,
3.1414639949798584,
0.00002906747249653563,
-3.141547203063965
] | [
-0.22519268095493317,
-0.6819676756858826,
0.024127239361405373,
3.1414639949798584,
0.00002906747249653563,
-3.141547203063965
] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
-0.2253105789422989,
-0.6819319128990173,
0.02401372231543064,
3.1415445804595947,
0.000001977691454158048,
3.141526699066162
] | 0 | 30.5 | 305 | 0 | 305 | 0 |
[
-2.078406572341919,
-0.8833733797073364,
1.4259518384933472,
-2.1124818325042725,
-1.570884108543396,
2.6379494667053223,
0.7960784435272217
] | [
-2.078427791595459,
-0.8833231329917908,
1.425951361656189,
-2.1125028133392334,
-1.5708787441253662,
2.6379683017730713,
1
] | gripper_close | 0.796078 | [
-2.0782501697540283,
-0.8835014700889587,
1.425963282585144,
-2.1124322414398193,
-1.5708755254745483,
2.638045310974121,
1
] | [
0.22519268095493317,
0.6819676756858826,
0.024127239361405373,
3.1414639949798584,
0.00002906747249653563,
-3.141547203063965
] | [
-0.22519268095493317,
-0.6819676756858826,
0.024127239361405373,
3.1414639949798584,
0.00002906747249653563,
-3.141547203063965
] | 1 | pick chocolate pie_2 and place it on red plate_2: grasp chocolate pie_2 | [
-0.22530385851860046,
-0.6819401383399963,
0.02403191477060318,
3.141519546508789,
0.000019724984667846,
3.141563892364502
] | 0 | 30.6 | 306 | 0 | 306 | 0 |
[
-2.0784151554107666,
-0.8833420872688293,
1.4259599447250366,
-2.1124818325042725,
-1.570872187614441,
2.637957811355591,
1
] | [
-2.078427791595459,
-0.8833231329917908,
1.425951361656189,
-2.1125028133392334,
-1.5708787441253662,
2.6379683017730713,
1
] | move_to_position | 0.000064 | [
-2.0398075580596924,
-1.022538661956787,
1.479330062866211,
-2.0266916751861572,
-1.5706439018249512,
2.6764867305755615,
1
] | [
0.1844080090522766,
0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | [
-0.1844080090522766,
-0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: retract with chocolate pie_2 | [
-0.22530615329742432,
-0.6819285750389099,
0.024016529321670532,
3.141554355621338,
-0.000013124687029630877,
3.1415297985076904
] | 0 | 30.700001 | 307 | 0 | 307 | 0 |
[
-2.0784218311309814,
-0.883689820766449,
1.426094889640808,
-2.1123859882354736,
-1.570896029472351,
2.6380233764648438,
1
] | [
-2.078172445297241,
-0.8843794465065002,
1.4265389442443848,
-2.1120359897613525,
-1.5708855390548706,
2.638225555419922,
1
] | move_to_position | 0.002093 | [
-2.0398075580596924,
-1.022538661956787,
1.479330062866211,
-2.0266916751861572,
-1.5706439018249512,
2.6764867305755615,
1
] | [
0.1844080090522766,
0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | [
-0.1844080090522766,
-0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: retract with chocolate pie_2 | [
-0.22522638738155365,
-0.6818670034408569,
0.024359486997127533,
3.1413686275482178,
0.0001258587435586378,
3.141507148742676
] | 0 | 30.799999 | 308 | 0 | 308 | 0 |
[
-2.077770471572876,
-0.8858863711357117,
1.427428126335144,
-2.111407995223999,
-1.5708874464035034,
2.6386046409606934,
1
] | [
-2.077454090118408,
-0.8873149752616882,
1.4280989170074463,
-2.1106607913970947,
-1.5708802938461304,
2.6389424800872803,
1
] | move_to_position | 0.017698 | [
-2.0398075580596924,
-1.022538661956787,
1.479330062866211,
-2.0266916751861572,
-1.5706439018249512,
2.6764867305755615,
1
] | [
0.1844080090522766,
0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | [
-0.1844080090522766,
-0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: retract with chocolate pie_2 | [
-0.22432367503643036,
-0.6814011335372925,
0.025339370593428612,
-3.1415321826934814,
-0.0000753715867176652,
3.141556978225708
] | 0 | 30.9 | 309 | 0 | 309 | 0 |
[
-2.076594114303589,
-0.8900733590126038,
1.4298175573349,
-2.1089112758636475,
-1.5707882642745972,
2.6396570205688477,
1
] | [
-2.0760161876678467,
-0.8930252194404602,
1.4309481382369995,
-2.1078007221221924,
-1.5708701610565186,
2.6403770446777344,
1
] | move_to_position | 0.048708 | [
-2.0398075580596924,
-1.022538661956787,
1.479330062866211,
-2.0266916751861572,
-1.5706439018249512,
2.6764867305755615,
1
] | [
0.1844080090522766,
0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | [
-0.1844080090522766,
-0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: retract with chocolate pie_2 | [
-0.22277520596981049,
-0.6805645227432251,
0.02721131034195423,
-3.1410059928894043,
-0.0005194029654376209,
-3.1415421962738037
] | 0 | 31 | 310 | 0 | 310 | 0 |
[
-2.074655771255493,
-0.8975595235824585,
1.4332717657089233,
-2.105297327041626,
-1.5708039999008179,
2.641603708267212,
1
] | [
-2.073901653289795,
-0.9011750817298889,
1.4347257614135742,
-2.1034297943115234,
-1.5708558559417725,
2.642486572265625,
1
] | move_to_position | 0.100426 | [
-2.0398075580596924,
-1.022538661956787,
1.479330062866211,
-2.0266916751861572,
-1.5706439018249512,
2.6764867305755615,
1
] | [
0.1844080090522766,
0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | [
-0.1844080090522766,
-0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: retract with chocolate pie_2 | [
-0.22071662545204163,
-0.6795768141746521,
0.030830828472971916,
-3.14140248298645,
-0.00013741315342485905,
-3.1415486335754395
] | 0 | 31.1 | 311 | 0 | 311 | 0 |
[
-2.072308301925659,
-0.907109260559082,
1.4373549222946167,
-2.1000325679779053,
-1.5708402395248413,
2.6440443992614746,
1
] | [
-2.0711669921875,
-0.9114187359809875,
1.4391189813613892,
-2.097581148147583,
-1.5708378553390503,
2.645214319229126,
1
] | move_to_position | 0.1674 | [
-2.0398075580596924,
-1.022538661956787,
1.479330062866211,
-2.0266916751861572,
-1.5706439018249512,
2.6764867305755615,
1
] | [
0.1844080090522766,
0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | [
-0.1844080090522766,
-0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: retract with chocolate pie_2 | [
-0.2182299941778183,
-0.6783759593963623,
0.034976258873939514,
-3.1415350437164307,
-0.00005178174251341261,
3.1415255069732666
] | 0 | 31.200001 | 312 | 0 | 312 | 0 |
[
-2.069061517715454,
-0.9189456701278687,
1.4423140287399292,
-2.0931413173675537,
-1.5708402395248413,
2.647272825241089,
1
] | [
-2.0669023990631104,
-0.92721027135849,
1.4456586837768555,
-2.088331937789917,
-1.570810079574585,
2.649467706680298,
1
] | move_to_position | 0.251851 | [
-2.0398075580596924,
-1.022538661956787,
1.479330062866211,
-2.0266916751861572,
-1.5706439018249512,
2.6764867305755615,
1
] | [
0.1844080090522766,
0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | [
-0.1844080090522766,
-0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: retract with chocolate pie_2 | [
-0.21430566906929016,
-0.6765279173851013,
0.04121147468686104,
-3.1415576934814453,
0.000017600428691366687,
3.1415514945983887
] | 0 | 31.299999 | 313 | 0 | 313 | 0 |
[
-2.0642507076263428,
-0.9370353817939758,
1.449665904045105,
-2.0825717449188232,
-1.5707930326461792,
2.6521315574645996,
1
] | [
-2.06252384185791,
-0.9433355331420898,
1.4522262811660767,
-2.0787770748138428,
-1.5707818269729614,
2.653834819793701,
1
] | move_to_position | 0.380329 | [
-2.0398075580596924,
-1.022538661956787,
1.479330062866211,
-2.0266916751861572,
-1.5706439018249512,
2.6764867305755615,
1
] | [
0.1844080090522766,
0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | [
-0.1844080090522766,
-0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: retract with chocolate pie_2 | [
-0.2088630646467209,
-0.6738471388816833,
0.049825750291347504,
3.1415679454803467,
0.00003925300916307606,
3.1415300369262695
] | 0 | 31.4 | 314 | 0 | 314 | 0 |
[
-2.059100389480591,
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1.4571889638900757,
-2.071316957473755,
-1.5708039999008179,
2.657175064086914,
1
] | [
-2.0575428009033203,
-0.9615408778190613,
1.459477186203003,
-2.0678255558013916,
-1.5707498788833618,
2.6588027477264404,
1
] | move_to_position | 0.513903 | [
-2.0398075580596924,
-1.022538661956787,
1.479330062866211,
-2.0266916751861572,
-1.5706439018249512,
2.6764867305755615,
1
] | [
0.1844080090522766,
0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | [
-0.1844080090522766,
-0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: retract with chocolate pie_2 | [
-0.20369262993335724,
-0.6712350845336914,
0.05783654749393463,
3.1415796279907227,
0.000034624492400325835,
3.1415598392486572
] | 0 | 31.5 | 315 | 0 | 315 | 0 |
[
-2.0545122623443604,
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1.4636038541793823,
-2.0612289905548096,
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2.6617820262908936,
1
] | [
-2.052706003189087,
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1.4660931825637817,
-2.057039260864258,
-1.5707193613052368,
2.6636264324188232,
1
] | move_to_position | 0.632669 | [
-2.0398075580596924,
-1.022538661956787,
1.479330062866211,
-2.0266916751861572,
-1.5706439018249512,
2.6764867305755615,
1
] | [
0.1844080090522766,
0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | [
-0.1844080090522766,
-0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: retract with chocolate pie_2 | [
-0.19872495532035828,
-0.6686844229698181,
0.06542651355266571,
3.141529083251953,
0.000027600119210546836,
-3.1415815353393555
] | 0 | 31.6 | 316 | 0 | 316 | 0 |
[
-2.050720453262329,
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1.468523383140564,
-2.0525906085968018,
-1.5706723928451538,
2.665559768676758,
1
] | [
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1.4705901145935059,
-2.0482804775238037,
-1.5706963539123535,
2.6674270629882812,
1
] | move_to_position | 0.730251 | [
-2.0398075580596924,
-1.022538661956787,
1.479330062866211,
-2.0266916751861572,
-1.5706439018249512,
2.6764867305755615,
1
] | [
0.1844080090522766,
0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | [
-0.1844080090522766,
-0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: retract with chocolate pie_2 | [
-0.19474142789840698,
-0.6666186451911926,
0.07163866609334946,
3.1415133476257324,
0.000016018118913052604,
3.1415464878082275
] | 0 | 31.700001 | 317 | 0 | 317 | 0 |
[
-2.0468051433563232,
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1.4727667570114136,
-2.043513059616089,
-1.5706733465194702,
2.669452667236328,
1
] | [
-2.0455286502838135,
-1.0036004781723022,
1.474073052406311,
-2.0403695106506348,
-1.570676565170288,
2.6707828044891357,
1
] | move_to_position | 0.827168 | [
-2.0398075580596924,
-1.022538661956787,
1.479330062866211,
-2.0266916751861572,
-1.5706439018249512,
2.6764867305755615,
1
] | [
0.1844080090522766,
0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | [
-0.1844080090522766,
-0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: retract with chocolate pie_2 | [
-0.19076550006866455,
-0.6646577715873718,
0.0777512714266777,
3.1415796279907227,
-0.00006861997826490551,
-3.1415905952453613
] | 0 | 31.799999 | 318 | 0 | 318 | 0 |
[
-2.0436251163482666,
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1.475885272026062,
-2.035813570022583,
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2.6727139949798584,
1
] | [
-2.042473077774048,
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1.4769479036331177,
-2.0330841541290283,
-1.5706590414047241,
2.6738295555114746,
1
] | move_to_position | 0.906838 | [
-2.0398075580596924,
-1.022538661956787,
1.479330062866211,
-2.0266916751861572,
-1.5706439018249512,
2.6764867305755615,
1
] | [
0.1844080090522766,
0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | [
-0.1844080090522766,
-0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: retract with chocolate pie_2 | [
-0.1876492202281952,
-0.6631006598472595,
0.08268450200557709,
3.141573667526245,
-0.00003518906669341959,
3.1415576934814453
] | 0 | 31.9 | 319 | 0 | 319 | 0 |
[
-2.041165590286255,
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1.4780515432357788,
-2.0299675464630127,
-1.570656657218933,
2.6751577854156494,
1
] | [
-2.0405914783477783,
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1.47862708568573,
-2.028568983078003,
-1.5706483125686646,
2.6757054328918457,
1
] | move_to_position | 0.966809 | [
-2.0398075580596924,
-1.022538661956787,
1.479330062866211,
-2.0266916751861572,
-1.5706439018249512,
2.6764867305755615,
1
] | [
0.1844080090522766,
0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | [
-0.1844080090522766,
-0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: retract with chocolate pie_2 | [
-0.18556484580039978,
-0.6620795726776123,
0.08602260798215866,
3.1414756774902344,
0.000017835616745287552,
3.141551971435547
] | 0 | 32 | 320 | 0 | 320 | 0 |
[
-2.040156602859497,
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1.4789890050888062,
-2.0274345874786377,
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2.676109790802002,
1
] | [
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1.4792473316192627,
-2.0269124507904053,
-1.5706443786621094,
2.6763949394226074,
1
] | move_to_position | 0.992493 | [
-2.0398075580596924,
-1.022538661956787,
1.479330062866211,
-2.0266916751861572,
-1.5706439018249512,
2.6764867305755615,
1
] | [
0.1844080090522766,
0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | [
-0.1844080090522766,
-0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: retract with chocolate pie_2 | [
-0.18465206027030945,
-0.661590576171875,
0.08756416290998459,
3.1414520740509033,
0.00003159055995638482,
3.141509771347046
] | 0 | 32.099998 | 321 | 0 | 321 | 0 |
[
-2.0400421619415283,
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1.479141116142273,
-2.026808500289917,
-1.570644736289978,
2.676424741744995,
1
] | [
-2.0398075580596924,
-1.022538661956787,
1.479330062866211,
-2.0266916751861572,
-1.5706439018249512,
2.6764867305755615,
1
] | move_to_position | 0.997979 | [
-2.0398075580596924,
-1.022538661956787,
1.479330062866211,
-2.0266916751861572,
-1.5706439018249512,
2.6764867305755615,
1
] | [
0.1844080090522766,
0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | [
-0.1844080090522766,
-0.6614554524421692,
0.08784744888544083,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: retract with chocolate pie_2 | [
-0.18456347286701202,
-0.6615018844604492,
0.08780799061059952,
3.141460418701172,
0.000013792266145173926,
3.1413347721099854
] | 0 | 32.200001 | 322 | 0 | 322 | 0 |
[
-2.039973497390747,
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1.4791826009750366,
-2.0267093181610107,
-1.5706599950790405,
2.6764919757843018,
1
] | [
-2.0398075580596924,
-1.022538661956787,
1.479330062866211,
-2.0266916751861572,
-1.5706439018249512,
2.6764867305755615,
1
] | move_to_position | 0.000051 | [
-1.8349881172180176,
-1.011681079864502,
1.4791769981384277,
-2.0373401641845703,
-1.5706671476364136,
2.881495237350464,
1
] | [
0.046488936990499496,
0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | [
-0.046488936990499496,
-0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: approach above red plate_2 | [
-0.1844860315322876,
-0.6614702939987183,
0.08773563802242279,
-3.141566038131714,
-0.00004034250741824508,
3.141401767730713
] | 0 | 32.299999 | 323 | 0 | 323 | 0 |
[
-2.039903402328491,
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1.4792336225509644,
-2.0266849994659424,
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2.676469326019287,
1
] | [
-2.0397744178771973,
-1.0223866701126099,
1.4792739152908325,
-2.026764154434204,
-1.5706285238265991,
2.6767876148223877,
1
] | move_to_position | 0.000165 | [
-1.8349881172180176,
-1.011681079864502,
1.4791769981384277,
-2.0373401641845703,
-1.5706671476364136,
2.881495237350464,
1
] | [
0.046488936990499496,
0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | [
-0.046488936990499496,
-0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: approach above red plate_2 | [
-0.18444161117076874,
-0.6614654064178467,
0.08773171156644821,
-3.1415529251098633,
-0.00010350695083616301,
3.1413416862487793
] | 0 | 32.400002 | 324 | 0 | 324 | 0 |
[
-2.0385701656341553,
-1.022513508796692,
1.4797691106796265,
-2.02690052986145,
-1.5706208944320679,
2.6778767108917236,
1
] | [
-2.0371322631835938,
-1.0228080749511719,
1.4801920652389526,
-2.0272774696350098,
-1.5706285238265991,
2.679507255554199,
1
] | move_to_position | 0.006834 | [
-1.8349881172180176,
-1.011681079864502,
1.4791769981384277,
-2.0373401641845703,
-1.5706671476364136,
2.881495237350464,
1
] | [
0.046488936990499496,
0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | [
-0.046488936990499496,
-0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: approach above red plate_2 | [
-0.18308894336223602,
-0.6616151928901672,
0.0876072496175766,
-3.1414167881011963,
-0.00015316107601393014,
3.1413705348968506
] | 0 | 32.5 | 325 | 0 | 325 | 0 |
[
-2.034595251083374,
-1.0231908559799194,
1.4810150861740112,
-2.0276553630828857,
-1.5706394910812378,
2.682008981704712,
1
] | [
-2.032411813735962,
-1.023369312286377,
1.4815173149108887,
-2.028032064437866,
-1.5706285238265991,
2.684185266494751,
1
] | move_to_position | 0.026535 | [
-1.8349881172180176,
-1.011681079864502,
1.4791769981384277,
-2.0373401641845703,
-1.5706671476364136,
2.881495237350464,
1
] | [
0.046488936990499496,
0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | [
-0.046488936990499496,
-0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: approach above red plate_2 | [
-0.1799471080303192,
-0.6621829867362976,
0.08760296553373337,
3.1415257453918457,
-0.00003028204446309246,
3.1411924362182617
] | 0 | 32.599998 | 326 | 0 | 326 | 0 |
[
-2.027667284011841,
-1.0238827466964722,
1.4826081991195679,
-2.0286576747894287,
-1.570604681968689,
2.6888530254364014,
1
] | [
-2.023226737976074,
-1.0240670442581177,
1.4834486246109009,
-2.029245376586914,
-1.5706285238265991,
2.693279504776001,
1
] | move_to_position | 0.059989 | [
-1.8349881172180176,
-1.011681079864502,
1.4791769981384277,
-2.0373401641845703,
-1.5706671476364136,
2.881495237350464,
1
] | [
0.046488936990499496,
0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | [
-0.046488936990499496,
-0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: approach above red plate_2 | [
-0.174911230802536,
-0.6631285548210144,
0.08738353103399277,
3.1415138244628906,
-0.00001588101076777093,
3.141328811645508
] | 0 | 32.700001 | 327 | 0 | 327 | 0 |
[
-2.017263174057007,
-1.0242888927459717,
1.484371542930603,
-2.0298988819122314,
-1.5706208944320679,
2.6991865634918213,
1
] | [
-2.0127556324005127,
-1.0244390964508057,
1.4849669933319092,
-2.0303776264190674,
-1.5706287622451782,
2.7037224769592285,
1
] | move_to_position | 0.110379 | [
-1.8349881172180176,
-1.011681079864502,
1.4791769981384277,
-2.0373401641845703,
-1.5706671476364136,
2.881495237350464,
1
] | [
0.046488936990499496,
0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | [
-0.046488936990499496,
-0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: approach above red plate_2 | [
-0.16742335259914398,
-0.6646583676338196,
0.08700965344905853,
3.1415631771087646,
-0.000051663537306012586,
3.141389846801758
] | 0 | 32.799999 | 328 | 0 | 328 | 0 |
[
-2.003506898880005,
-1.024515986442566,
1.4861911535263062,
-2.0313313007354736,
-1.5706394910812378,
2.713002920150757,
1
] | [
-1.9966984987258911,
-1.0246555805206299,
1.4870840311050415,
-2.0320370197296143,
-1.570629596710205,
2.719780206680298,
1
] | move_to_position | 0.177343 | [
-1.8349881172180176,
-1.011681079864502,
1.4791769981384277,
-2.0373401641845703,
-1.5706671476364136,
2.881495237350464,
1
] | [
0.046488936990499496,
0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | [
-0.046488936990499496,
-0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: approach above red plate_2 | [
-0.15725696086883545,
-0.6666762828826904,
0.08636818826198578,
-3.1413393020629883,
-0.00014855658810120076,
3.1413023471832275
] | 0 | 32.900002 | 329 | 0 | 329 | 0 |
[
-1.9839977025985718,
-1.0246962308883667,
1.4886635541915894,
-2.03332257270813,
-1.5706638097763062,
2.7324702739715576,
1
] | [
-1.976049542427063,
-1.0247724056243896,
1.4895339012145996,
-2.034064292907715,
-1.5706316232681274,
2.740429639816284,
1
] | move_to_position | 0.271834 | [
-1.8349881172180176,
-1.011681079864502,
1.4791769981384277,
-2.0373401641845703,
-1.5706671476364136,
2.881495237350464,
1
] | [
0.046488936990499496,
0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | [
-0.046488936990499496,
-0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: approach above red plate_2 | [
-0.14378881454467773,
-0.6691815257072449,
0.08559554070234299,
-3.141117811203003,
-0.0002653038827702403,
3.141378164291382
] | 0 | 33 | 330 | 0 | 330 | 0 |
[
-1.963600993156433,
-1.0248078107833862,
1.4907296895980835,
-2.0352118015289307,
-1.5706323385238647,
2.752967357635498,
1
] | [
-1.9537246227264404,
-1.0248152017593384,
1.4913872480392456,
-2.0359511375427246,
-1.5706346035003662,
2.7627551555633545,
1
] | move_to_position | 0.370754 | [
-1.8349881172180176,
-1.011681079864502,
1.4791769981384277,
-2.0373401641845703,
-1.5706671476364136,
2.881495237350464,
1
] | [
0.046488936990499496,
0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | [
-0.046488936990499496,
-0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: approach above red plate_2 | [
-0.12989316880702972,
-0.6716465950012207,
0.08493158221244812,
-3.1410295963287354,
-0.00025227334117516875,
3.1413300037384033
] | 0 | 33.099998 | 331 | 0 | 331 | 0 |
[
-1.9421213865280151,
-1.0247814655303955,
1.4917057752609253,
-2.0367448329925537,
-1.5706175565719604,
2.774384021759033,
1
] | [
-1.935806155204773,
-1.0247694253921509,
1.4917629957199097,
-2.0370404720306396,
-1.570637822151184,
2.7806742191314697,
1
] | move_to_position | 0.474442 | [
-1.8349881172180176,
-1.011681079864502,
1.4791769981384277,
-2.0373401641845703,
-1.5706671476364136,
2.881495237350464,
1
] | [
0.046488936990499496,
0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | [
-0.046488936990499496,
-0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: approach above red plate_2 | [
-0.11647196114063263,
-0.674160361289978,
0.08479008823633194,
3.141494035720825,
2.52376999299031e-8,
3.141310691833496
] | 0 | 33.200001 | 332 | 0 | 332 | 0 |
[
-1.922308325767517,
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1.4911068677902222,
-2.037480115890503,
-1.570656657218933,
2.79414963722229,
1
] | [
-1.913595199584961,
-1.0232993364334106,
1.4905925989151,
-2.037760019302368,
-1.5706429481506348,
2.8028855323791504,
1
] | move_to_position | 0.570398 | [
-1.8349881172180176,
-1.011681079864502,
1.4791769981384277,
-2.0373401641845703,
-1.5706671476364136,
2.881495237350464,
1
] | [
0.046488936990499496,
0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | [
-0.046488936990499496,
-0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: approach above red plate_2 | [
-0.10192780196666718,
-0.6770498752593994,
0.08470996469259262,
3.1407063007354736,
0.00029158120742067695,
3.141425848007202
] | 0 | 33.299999 | 333 | 0 | 333 | 0 |
[
-1.9004043340682983,
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1.489423155784607,
-2.0379483699798584,
-1.5706723928451538,
2.8160581588745117,
1
] | [
-1.891501784324646,
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1.4884650707244873,
-2.0380914211273193,
-1.5706487894058228,
2.824979782104492,
1
] | move_to_position | 0.677384 | [
-1.8349881172180176,
-1.011681079864502,
1.4791769981384277,
-2.0373401641845703,
-1.5706671476364136,
2.881495237350464,
1
] | [
0.046488936990499496,
0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | [
-0.046488936990499496,
-0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: approach above red plate_2 | [
-0.08737023174762726,
-0.6797744035720825,
0.08379583060741425,
3.141096591949463,
0.00014341549831442535,
3.1413791179656982
] | 0 | 33.400002 | 334 | 0 | 334 | 0 |
[
-1.8806003332138062,
-1.019270896911621,
1.487252116203308,
-2.038151979446411,
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2.8358843326568604,
1
] | [
-1.8733898401260376,
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1.486331582069397,
-2.038188934326172,
-1.570654034614563,
2.843092441558838,
1
] | move_to_position | 0.774537 | [
-1.8349881172180176,
-1.011681079864502,
1.4791769981384277,
-2.0373401641845703,
-1.5706671476364136,
2.881495237350464,
1
] | [
0.046488936990499496,
0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | [
-0.046488936990499496,
-0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: approach above red plate_2 | [
-0.07454949617385864,
-0.6820878982543945,
0.08304815739393234,
3.141331195831299,
0.000022090018319431692,
3.141293525695801
] | 0 | 33.5 | 335 | 0 | 335 | 0 |
[
-1.8637293577194214,
-1.016811728477478,
1.485146403312683,
-2.038203001022339,
-1.5706828832626343,
2.8527090549468994,
1
] | [
-1.8592547178268433,
-1.0162171125411987,
1.4845741987228394,
-2.038189172744751,
-1.5706580877304077,
2.8572278022766113,
1
] | move_to_position | 0.857251 | [
-1.8349881172180176,
-1.011681079864502,
1.4791769981384277,
-2.0373401641845703,
-1.5706671476364136,
2.881495237350464,
1
] | [
0.046488936990499496,
0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | [
-0.046488936990499496,
-0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: approach above red plate_2 | [
-0.06391641497612,
-0.6838344931602478,
0.08237049728631973,
-3.141519546508789,
-0.00004883157089352608,
3.1414828300476074
] | 0 | 33.599998 | 336 | 0 | 336 | 0 |
[
-1.852301001548767,
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1.483514666557312,
-2.0381557941436768,
-1.570656657218933,
2.8641059398651123,
1
] | [
-1.8489410877227783,
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1.4828541278839111,
-2.03802490234375,
-1.5706614255905151,
2.867541790008545,
1
] | move_to_position | 0.913292 | [
-1.8349881172180176,
-1.011681079864502,
1.4791769981384277,
-2.0373401641845703,
-1.5706671476364136,
2.881495237350464,
1
] | [
0.046488936990499496,
0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | [
-0.046488936990499496,
-0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: approach above red plate_2 | [
-0.05687137693166733,
-0.6850355863571167,
0.08206149935722351,
-3.141547679901123,
-0.000017604843378649093,
3.1413862705230713
] | 0 | 33.700001 | 337 | 0 | 337 | 0 |
[
-1.8440769910812378,
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1.4817918539047241,
-2.037895917892456,
-1.5706757307052612,
2.8724846839904785,
1
] | [
-1.841288447380066,
-1.0131688117980957,
1.481091022491455,
-2.037736415863037,
-1.570664405822754,
2.875194787979126,
1
] | move_to_position | 0.954391 | [
-1.8349881172180176,
-1.011681079864502,
1.4791769981384277,
-2.0373401641845703,
-1.5706671476364136,
2.881495237350464,
1
] | [
0.046488936990499496,
0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | [
-0.046488936990499496,
-0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: approach above red plate_2 | [
-0.05159052461385727,
-0.6860235929489136,
0.08185915648937225,
-3.1415820121765137,
-0.000034128785046050325,
3.1413731575012207
] | 0 | 33.799999 | 338 | 0 | 338 | 0 |
[
-1.8380578756332397,
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1.480206847190857,
-2.0375654697418213,
-1.5706723928451538,
2.8783881664276123,
1
] | [
-1.83668053150177,
-1.0121095180511475,
1.4797388315200806,
-2.0374631881713867,
-1.5706663131713867,
2.879802703857422,
1
] | move_to_position | 0.984264 | [
-1.8349881172180176,
-1.011681079864502,
1.4791769981384277,
-2.0373401641845703,
-1.5706671476364136,
2.881495237350464,
1
] | [
0.046488936990499496,
0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | [
-0.046488936990499496,
-0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: approach above red plate_2 | [
-0.04822485148906708,
-0.6867296695709229,
0.08173756301403046,
3.1415352821350098,
-0.0000252307527262019,
3.1414239406585693
] | 0 | 33.900002 | 339 | 0 | 339 | 0 |
[
-1.8354185819625854,
-1.011986255645752,
1.47940194606781,
-2.0374233722686768,
-1.57064950466156,
2.881039619445801,
1
] | [
-1.835038661956787,
-1.0116909742355347,
1.4791889190673828,
-2.0373423099517822,
-1.570667028427124,
2.8814446926116943,
1
] | move_to_position | 0.99746 | [
-1.8349881172180176,
-1.011681079864502,
1.4791769981384277,
-2.0373401641845703,
-1.5706671476364136,
2.881495237350464,
1
] | [
0.046488936990499496,
0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | [
-0.046488936990499496,
-0.6871088147163391,
0.08163521438837051,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: approach above red plate_2 | [
-0.04662646725773811,
-0.6870437264442444,
0.0817134901881218,
3.1415159702301025,
0.000027530855732038617,
3.141395330429077
] | 0 | 34 | 340 | 0 | 340 | 0 |
[
-1.8350704908370972,
-1.0118827819824219,
1.479369044303894,
-2.0373103618621826,
-1.5706652402877808,
2.8814287185668945,
1
] | [
-1.8349881172180176,
-1.011681079864502,
1.4791769981384277,
-2.0373401641845703,
-1.5706671476364136,
2.881495237350464,
1
] | move_to_position | 0 | [
-1.9061403274536133,
-0.9651384949684143,
1.5196342468261719,
-2.124366283416748,
-1.570780873298645,
2.8104097843170166,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: descend to red plate_2 | [
-0.046539220958948135,
-0.6870420575141907,
0.08168637007474899,
3.1415903568267822,
-0.000044390311813913286,
3.1413471698760986
] | 0 | 34.099998 | 341 | 0 | 341 | 0 |
[
-1.8350738286972046,
-1.0118625164031982,
1.479397177696228,
-2.037332773208618,
-1.570656657218933,
2.8814592361450195,
1
] | [
-1.8352562189102173,
-1.0118322372436523,
1.4794796705245972,
-2.037490129470825,
-1.5706216096878052,
2.881281852722168,
1
] | move_to_position | 0.000048 | [
-1.9061403274536133,
-0.9651384949684143,
1.5196342468261719,
-2.124366283416748,
-1.570780873298645,
2.8104097843170166,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: descend to red plate_2 | [
-0.046587150543928146,
-0.6870298385620117,
0.08169130980968475,
-3.1415903568267822,
-0.000018441091015120037,
3.141314744949341
] | 0 | 34.200001 | 342 | 0 | 342 | 0 |
[
-1.8360642194747925,
-1.0113943815231323,
1.4799131155014038,
-2.0382344722747803,
-1.5706757307052612,
2.8806419372558594,
1
] | [
-1.8370882272720337,
-1.0109047889709473,
1.4807974100112915,
-2.039735794067383,
-1.5706251859664917,
2.8795149326324463,
1
] | move_to_position | 0.011667 | [
-1.9061403274536133,
-0.9651384949684143,
1.5196342468261719,
-2.124366283416748,
-1.570780873298645,
2.8104097843170166,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: descend to red plate_2 | [
-0.04740699380636215,
-0.6869239807128906,
0.08093877881765366,
-3.1413869857788086,
-0.0001236115349456668,
3.1411328315734863
] | 0 | 34.299999 | 343 | 0 | 343 | 0 |
[
-1.8386467695236206,
-1.009843111038208,
1.4818986654281616,
-2.041844606399536,
-1.5706084966659546,
2.877922296524048,
1
] | [
-1.840632438659668,
-1.0089621543884277,
1.48337984085083,
-2.044261932373047,
-1.5706324577331543,
2.875965118408203,
1
] | move_to_position | 0.050927 | [
-1.9061403274536133,
-0.9651384949684143,
1.5196342468261719,
-2.124366283416748,
-1.570780873298645,
2.8104097843170166,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: descend to red plate_2 | [
-0.049397312104701996,
-0.6867336630821228,
0.07932546734809875,
3.141542911529541,
-0.0000499190173286479,
3.1413233280181885
] | 0 | 34.400002 | 344 | 0 | 344 | 0 |
[
-1.8429588079452515,
-1.0076050758361816,
1.4850181341171265,
-2.0473029613494873,
-1.570651888847351,
2.8736155033111572,
1
] | [
-1.8446511030197144,
-1.0066564083099365,
1.486211895942688,
-2.049401044845581,
-1.570641040802002,
2.871912717819214,
1
] | move_to_position | 0.112227 | [
-1.9061403274536133,
-0.9651384949684143,
1.5196342468261719,
-2.124366283416748,
-1.570780873298645,
2.8104097843170166,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: descend to red plate_2 | [
-0.05227644741535187,
-0.6863857507705688,
0.07691425085067749,
3.141587257385254,
-0.00006644013774348423,
3.141331672668457
] | 0 | 34.5 | 345 | 0 | 345 | 0 |
[
-1.8479193449020386,
-1.0047156810760498,
1.4884451627731323,
-2.0536348819732666,
-1.570651888847351,
2.868528366088867,
1
] | [
-1.8507038354873657,
-1.0030139684677124,
1.4902219772338867,
-2.057055711746216,
-1.5706541538238525,
2.8658154010772705,
1
] | move_to_position | 0.183756 | [
-1.9061403274536133,
-0.9651384949684143,
1.5196342468261719,
-2.124366283416748,
-1.570780873298645,
2.8104097843170166,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: descend to red plate_2 | [
-0.05595752224326134,
-0.6860089302062988,
0.07382525503635406,
3.1415295600891113,
-0.00006684848631266505,
3.1413750648498535
] | 0 | 34.599998 | 346 | 0 | 346 | 0 |
[
-1.853955626487732,
-1.0010019540786743,
1.492205023765564,
-2.0610854625701904,
-1.5706948041915894,
2.8625755310058594,
1
] | [
-1.8561725616455078,
-0.9995390772819519,
1.493522047996521,
-2.0638322830200195,
-1.5706661939620972,
2.8603382110595703,
1
] | move_to_position | 0.268657 | [
-1.9061403274536133,
-0.9651384949684143,
1.5196342468261719,
-2.124366283416748,
-1.570780873298645,
2.8104097843170166,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: descend to red plate_2 | [
-0.060137540102005005,
-0.6856195330619812,
0.07033799588680267,
3.141547441482544,
-0.0000384751328965649,
3.1413276195526123
] | 0 | 34.700001 | 347 | 0 | 347 | 0 |
[
-1.8604153394699097,
-0.9968336820602417,
1.4959067106246948,
-2.0689661502838135,
-1.5706409215927124,
2.856200695037842,
1
] | [
-1.8635843992233276,
-0.9946454167366028,
1.497710108757019,
-2.072904586791992,
-1.5706828832626343,
2.8529324531555176,
1
] | move_to_position | 0.359013 | [
-1.9061403274536133,
-0.9651384949684143,
1.5196342468261719,
-2.124366283416748,
-1.570780873298645,
2.8104097843170166,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: descend to red plate_2 | [
-0.06490284204483032,
-0.6851854920387268,
0.06638246774673462,
3.1415860652923584,
-0.00005298866381053813,
3.1412878036499023
] | 0 | 34.799999 | 348 | 0 | 348 | 0 |
[
-1.8690656423568726,
-0.9910435676574707,
1.500736117362976,
-2.0795204639434814,
-1.5706652402877808,
2.8475165367126465,
1
] | [
-1.872484564781189,
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1.5025991201400757,
-2.0837550163269043,
-1.570703148841858,
2.84403920173645,
1
] | move_to_position | 0.480749 | [
-1.9061403274536133,
-0.9651384949684143,
1.5196342468261719,
-2.124366283416748,
-1.570780873298645,
2.8104097843170166,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: descend to red plate_2 | [
-0.07094481587409973,
-0.6846358180046082,
0.06122313067317009,
-3.1415321826934814,
-0.0000722908298484981,
3.141389846801758
] | 0 | 34.900002 | 349 | 0 | 349 | 0 |
[
-1.8780049085617065,
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1.5055545568466187,
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2.838440418243408,
1
] | [
-1.8810194730758667,
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1.5072047710418701,
-2.0941364765167236,
-1.5707225799560547,
2.8355109691619873,
1
] | move_to_position | 0.607465 | [
-1.9061403274536133,
-0.9651384949684143,
1.5196342468261719,
-2.124366283416748,
-1.570780873298645,
2.8104097843170166,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: descend to red plate_2 | [
-0.07700686901807785,
-0.6840506792068481,
0.05612495541572571,
-3.1415672302246094,
-0.000035640961868921295,
3.1414730548858643
] | 0 | 35 | 350 | 0 | 350 | 0 |
[
-1.8868955373764038,
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1.510306715965271,
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2.829655408859253,
1
] | [
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1.511818528175354,
-2.1046767234802246,
-1.5707423686981201,
2.8268394470214844,
1
] | move_to_position | 0.731531 | [
-1.9061403274536133,
-0.9651384949684143,
1.5196342468261719,
-2.124366283416748,
-1.570780873298645,
2.8104097843170166,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: descend to red plate_2 | [
-0.08314644545316696,
-0.683322548866272,
0.051022969186306,
-3.141498327255249,
0.00002098084587487392,
3.1413326263427734
] | 0 | 35.099998 | 351 | 0 | 351 | 0 |
[
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1.5144747495651245,
-2.1108176708221436,
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2.82177996635437,
1
] | [
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1.5157551765441895,
-2.1138298511505127,
-1.570759654045105,
2.81929874420166,
1
] | move_to_position | 0.841612 | [
-1.9061403274536133,
-0.9651384949684143,
1.5196342468261719,
-2.124366283416748,
-1.570780873298645,
2.8104097843170166,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: descend to red plate_2 | [
-0.08788323402404785,
-0.6827332377433777,
0.047098882496356964,
3.141545057296753,
-0.000031005049095256254,
3.141348361968994
] | 0 | 35.200001 | 352 | 0 | 352 | 0 |
[
-1.9000962972640991,
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1.5171302556991577,
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2.8165040016174316,
1
] | [
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1.5180540084838867,
-2.1194751262664795,
-1.570770502090454,
2.814612865447998,
1
] | move_to_position | 0.915436 | [
-1.9061403274536133,
-0.9651384949684143,
1.5196342468261719,
-2.124366283416748,
-1.570780873298645,
2.8104097843170166,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: descend to red plate_2 | [
-0.09155136346817017,
-0.6822667717933655,
0.04405606910586357,
3.141541004180908,
0.000042576368286972865,
3.1413381099700928
] | 0 | 35.299999 | 353 | 0 | 353 | 0 |
[
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1.5187901258468628,
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2.812990665435791,
1
] | [
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1.519112229347229,
-2.122408866882324,
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2.8121302127838135,
1
] | move_to_position | 0.964028 | [
-1.9061403274536133,
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1.5196342468261719,
-2.124366283416748,
-1.570780873298645,
2.8104097843170166,
1
] | [
0.09519022703170776,
0.6818943023681641,
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0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: descend to red plate_2 | [
-0.09371470659971237,
-0.6820079684257507,
0.04222547635436058,
3.1415462493896484,
2.3952853211994807e-7,
3.141322374343872
] | 0 | 35.400002 | 354 | 0 | 354 | 0 |
[
-1.9054592847824097,
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2.8110928535461426,
1
] | [
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1.5195671319961548,
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2.8107669353485107,
1
] | move_to_position | 0.990059 | [
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1.5196342468261719,
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2.8104097843170166,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: descend to red plate_2 | [
-0.09482838958501816,
-0.6820083260536194,
0.04141395539045334,
3.1413769721984863,
0.00010043799557024613,
3.1413495540618896
] | 0 | 35.5 | 355 | 0 | 355 | 0 |
[
-1.9059017896652222,
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1.5194252729415894,
-2.124241590499878,
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2.81054425239563,
1
] | [
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1.5196342468261719,
-2.124366044998169,
-1.570780873298645,
2.8104097843170166,
1
] | move_to_position | 0.997231 | [
-1.9061403274536133,
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1.5196342468261719,
-2.124366283416748,
-1.570780873298645,
2.8104097843170166,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick chocolate pie_2 and place it on red plate_2: descend to red plate_2 | [
-0.0950559750199318,
-0.6820265054702759,
0.041183337569236755,
3.1412973403930664,
0.00009929732914315537,
3.1414945125579834
] | 0 | 35.599998 | 356 | 0 | 356 | 0 |
[
-1.905920386314392,
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1.5194863080978394,
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2.8104753494262695,
1
] | [
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1.5196342468261719,
-2.124366283416748,
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2.8104097843170166,
0
] | gripper_open | 0 | [
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1.5194863080978394,
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0
] | [
0.09503841400146484,
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] | [
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3.141321897506714,
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] | 0 | pick chocolate pie_2 and place it on red plate_2: release at red plate_2 | [
-0.09504997730255127,
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0.041153617203235626,
3.141357660293579,
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3.1415510177612305
] | 0 | 35.700001 | 357 | 0 | 357 | 0 |
[
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0.7960784435272217
] | [
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1.5196342468261719,
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2.8104097843170166,
0
] | gripper_open | 0.203921 | [
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1.5194863080978394,
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0
] | [
0.09503841400146484,
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] | [
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0.04115979000926018,
3.141321897506714,
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3.14158034324646
] | 0 | pick chocolate pie_2 and place it on red plate_2: release at red plate_2 | [
-0.09512294083833694,
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0.041075266897678375,
3.1413981914520264,
0.000031428153306478634,
3.1414358615875244
] | 0 | 35.799999 | 358 | 0 | 358 | 0 |
[
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1.5196541547775269,
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2.8103578090667725,
0.7647058963775635
] | [
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1.5196342468261719,
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2.8104097843170166,
0
] | gripper_open | 0.235294 | [
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1.5194863080978394,
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0
] | [
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] | [
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0.04115979000926018,
3.141321897506714,
0.00010241577547276393,
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] | 0 | pick chocolate pie_2 and place it on red plate_2: release at red plate_2 | [
-0.09519858658313751,
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0.04097408801317215,
3.1415741443634033,
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3.1413156986236572
] | 0 | 35.900002 | 359 | 0 | 359 | 0 |
[
-1.9061607122421265,
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1.5196326971054077,
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2.810391426086426,
0.6509804129600525
] | [
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1.5196342468261719,
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2.8104097843170166,
0
] | gripper_open | 0.34902 | [
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1.5194863080978394,
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0
] | [
0.09503841400146484,
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] | [
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0.04115979000926018,
3.141321897506714,
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] | 0 | pick chocolate pie_2 and place it on red plate_2: release at red plate_2 | [
-0.09520456194877625,
-0.6819260716438293,
0.04099676012992859,
3.1415488719940186,
0.00006533426494570449,
3.1413469314575195
] | 0 | 36 | 360 | 0 | 360 | 0 |
[
-1.9061540365219116,
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1.5196384191513062,
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2.8104069232940674,
0.529411792755127
] | [
-1.9061403274536133,
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1.5196342468261719,
-2.124366283416748,
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2.8104097843170166,
0
] | gripper_open | 0.470588 | [
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1.5194863080978394,
-2.124297857284546,
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2.8104753494262695,
0
] | [
0.09503841400146484,
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] | [
-0.09503841400146484,
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0.04115979000926018,
3.141321897506714,
0.00010241577547276393,
3.14158034324646
] | 0 | pick chocolate pie_2 and place it on red plate_2: release at red plate_2 | [
-0.09517306834459305,
-0.6819146275520325,
0.0409766361117363,
3.141591787338257,
0.000030206163501134142,
3.1414079666137695
] | 0 | 36.099998 | 361 | 0 | 361 | 0 |
[
-1.9061421155929565,
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1.5196384191513062,
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2.8103997707366943,
0.40784314274787903
] | [
-1.9061403274536133,
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1.5196342468261719,
-2.124366283416748,
-1.570780873298645,
2.8104097843170166,
0
] | gripper_open | 0.592157 | [
-1.905920386314392,
-0.965305745601654,
1.5194863080978394,
-2.124297857284546,
-1.5707801580429077,
2.8104753494262695,
0
] | [
0.09503841400146484,
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] | [
-0.09503841400146484,
-0.6820054054260254,
0.04115979000926018,
3.141321897506714,
0.00010241577547276393,
3.14158034324646
] | 0 | pick chocolate pie_2 and place it on red plate_2: release at red plate_2 | [
-0.09517396241426468,
-0.6819117665290833,
0.04098120704293251,
3.1415743827819824,
-0.000017195976397488266,
3.141373634338379
] | 1 | 36.200001 | 362 | 0 | 362 | 0 |
[
-1.906126856803894,
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1.5196455717086792,
-2.1244008541107178,
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2.8103997707366943,
0.2862745225429535
] | [
-1.9061403274536133,
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1.5196342468261719,
-2.124366283416748,
-1.570780873298645,
2.8104097843170166,
0
] | gripper_open | 0.713725 | [
-1.905920386314392,
-0.965305745601654,
1.5194863080978394,
-2.124297857284546,
-1.5707801580429077,
2.8104753494262695,
0
] | [
0.09503841400146484,
0.6820054054260254,
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] | [
-0.09503841400146484,
-0.6820054054260254,
0.04115979000926018,
3.141321897506714,
0.00010241577547276393,
3.14158034324646
] | 0 | pick chocolate pie_2 and place it on red plate_2: release at red plate_2 | [
-0.09519657492637634,
-0.6819100379943848,
0.04098522663116455,
-3.141580104827881,
0.00005085616430733353,
3.1413402557373047
] | 1 | 36.299999 | 363 | 0 | 363 | 0 |
[
-1.906157374382019,
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1.5196384191513062,
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2.8103652000427246,
0.16078431904315948
] | [
-1.9061403274536133,
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1.5196342468261719,
-2.124366283416748,
-1.570780873298645,
2.8104097843170166,
0
] | gripper_open | 0.839215 | [
-1.905920386314392,
-0.965305745601654,
1.5194863080978394,
-2.124297857284546,
-1.5707801580429077,
2.8104753494262695,
0
] | [
0.09503841400146484,
0.6820054054260254,
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3.141321897506714,
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] | [
-0.09503841400146484,
-0.6820054054260254,
0.04115979000926018,
3.141321897506714,
0.00010241577547276393,
3.14158034324646
] | 0 | pick chocolate pie_2 and place it on red plate_2: release at red plate_2 | [
-0.09518910199403763,
-0.6819061636924744,
0.0409696102142334,
-3.1415836811065674,
0.00003793913128902204,
3.1413590908050537
] | 1 | 36.400002 | 364 | 0 | 364 | 0 |
[
-1.9061607122421265,
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1.5196384191513062,
-2.124354124069214,
-1.5707811117172241,
2.8103878498077393,
0.03921568766236305
] | [
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2.8104097843170166,
0
] | gripper_open | 0.960783 | [
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] | [
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] | [
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3.141321897506714,
0.00010241577547276393,
3.14158034324646
] | 0 | pick chocolate pie_2 and place it on red plate_2: release at red plate_2 | [
-0.09519103169441223,
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0.04100275784730911,
3.1415317058563232,
0.0000016895761518753716,
3.141378402709961
] | 1 | 36.5 | 365 | 0 | 365 | 0 |
[
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0.0117647061124444
] | [
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0
] | gripper_open | 0.98823 | [
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] | [
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] | [
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0.04115979000926018,
3.141321897506714,
0.00010241577547276393,
3.14158034324646
] | 0 | pick chocolate pie_2 and place it on red plate_2: release at red plate_2 | [
-0.0951981171965599,
-0.6819121837615967,
0.040988706052303314,
-3.141592025756836,
0.000025722918508108705,
3.141331911087036
] | 1 | 36.599998 | 366 | 0 | 366 | 0 |
[
-1.906175971031189,
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2.8104188442230225,
0.0117647061124444
] | [
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0
] | gripper_open | 0.98823 | [
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] | [
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] | [
-0.09503841400146484,
-0.6820054054260254,
0.04115979000926018,
3.141321897506714,
0.00010241577547276393,
3.14158034324646
] | 0 | pick chocolate pie_2 and place it on red plate_2: release at red plate_2 | [
-0.09517669677734375,
-0.681908130645752,
0.04095783084630966,
-3.14157772064209,
-0.0000045435831452778075,
3.1413540840148926
] | 1 | 36.700001 | 367 | 0 | 367 | 0 |
[
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] | [
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0
] | gripper_open | 0.988231 | [
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-2.124297857284546,
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0
] | [
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] | [
-0.09503841400146484,
-0.6820054054260254,
0.04115979000926018,
3.141321897506714,
0.00010241577547276393,
3.14158034324646
] | 0 | pick chocolate pie_2 and place it on red plate_2: release at red plate_2 | [
-0.09519447386264801,
-0.6819182634353638,
0.04098424315452576,
3.1415700912475586,
0.000021147892766748555,
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] | 1 | 36.799999 | 368 | 0 | 368 | 0 |
[
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0
] | [
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-2.124366283416748,
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0
] | move_to_position | 0 | [
-1.9311479330062866,
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1.609300136566162,
-2.0943808555603027,
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] | [
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0,
0,
0
] | [
-0.09905843436717987,
-0.6442649364471436,
0.0774550661444664,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: retract after place | [
-0.09515736997127533,
-0.6819076538085938,
0.04095226898789406,
-3.1415529251098633,
5.707892114514834e-7,
3.1414010524749756
] | 1 | 36.900002 | 369 | 0 | 369 | 0 |
[
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0
] | [
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-2.1243181228637695,
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0
] | move_to_position | 0 | [
-1.9311479330062866,
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1.609300136566162,
-2.0943808555603027,
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0
] | [
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0,
0,
0
] | [
-0.09905843436717987,
-0.6442649364471436,
0.0774550661444664,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: retract after place | [
-0.0951848104596138,
-0.6819222569465637,
0.04099529981613159,
3.141549587249756,
-0.000013640603356179781,
3.1413192749023438
] | 1 | 37 | 370 | 0 | 370 | 0 |
[
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0
] | [
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1.521729826927185,
-2.1239497661590576,
-1.5707366466522217,
2.809946060180664,
0
] | move_to_position | 0.011219 | [
-1.9311479330062866,
-1.0848232507705688,
1.609300136566162,
-2.0943808555603027,
-1.5706063508987427,
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0
] | [
0.09905843436717987,
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0,
0,
0
] | [
-0.09905843436717987,
-0.6442649364471436,
0.0774550661444664,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: retract after place | [
-0.095228411257267,
-0.6813194751739502,
0.04136515036225319,
-3.1414387226104736,
-0.00010103755630552769,
3.1413052082061768
] | 1 | 37.099998 | 371 | 0 | 371 | 0 |
[
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0
] | [
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1.5259783267974854,
-2.1230320930480957,
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0
] | move_to_position | 0.044027 | [
-1.9311479330062866,
-1.0848232507705688,
1.609300136566162,
-2.0943808555603027,
-1.5706063508987427,
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0
] | [
0.09905843436717987,
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0,
0,
0
] | [
-0.09905843436717987,
-0.6442649364471436,
0.0774550661444664,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: retract after place | [
-0.09548874944448471,
-0.6799181699752808,
0.042730964720249176,
-3.1414854526519775,
-0.00004416823139763437,
3.1411213874816895
] | 1 | 37.200001 | 372 | 0 | 372 | 0 |
[
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0
] | [
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-2.121587038040161,
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2.8074653148651123,
0
] | move_to_position | 0.095973 | [
-1.9311479330062866,
-1.0848232507705688,
1.609300136566162,
-2.0943808555603027,
-1.5706063508987427,
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0
] | [
0.09905843436717987,
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0,
0,
0
] | [
-0.09905843436717987,
-0.6442649364471436,
0.0774550661444664,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: retract after place | [
-0.09561129659414291,
-0.6778755187988281,
0.04479021579027176,
-3.1415858268737793,
-0.00003897594069712795,
3.141260862350464
] | 1 | 37.299999 | 373 | 0 | 373 | 0 |
[
-1.910122275352478,
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2.8064486980438232,
0
] | [
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1.5382825136184692,
-2.11979603767395,
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2.8057937622070312,
0
] | move_to_position | 0.169388 | [
-1.9311479330062866,
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1.609300136566162,
-2.0943808555603027,
-1.5706063508987427,
2.7853341102600098,
0
] | [
0.09905843436717987,
0.6442649364471436,
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0,
0,
0
] | [
-0.09905843436717987,
-0.6442649364471436,
0.0774550661444664,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: retract after place | [
-0.09586682915687561,
-0.6751183271408081,
0.04754600673913956,
3.1415531635284424,
-0.000008805748620943632,
3.1413633823394775
] | 1 | 37.400002 | 374 | 0 | 374 | 0 |
[
-1.9122947454452515,
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2.804287910461426,
0
] | [
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1.5471800565719604,
-2.1170313358306885,
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2.803377628326416,
0
] | move_to_position | 0.256896 | [
-1.9311479330062866,
-1.0848232507705688,
1.609300136566162,
-2.0943808555603027,
-1.5706063508987427,
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0
] | [
0.09905843436717987,
0.6442649364471436,
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0,
0,
0
] | [
-0.09905843436717987,
-0.6442649364471436,
0.0774550661444664,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: retract after place | [
-0.09627308696508408,
-0.6719499230384827,
0.050761621445417404,
3.141536235809326,
0.000023073969714459963,
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] | 1 | 37.5 | 375 | 0 | 375 | 0 |
[
-1.9150289297103882,
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-2.1149051189422607,
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2.8015410900115967,
0
] | [
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1.5588115453720093,
-2.113291025161743,
-1.5706894397735596,
2.800175905227661,
0
] | move_to_position | 0.367958 | [
-1.9311479330062866,
-1.0848232507705688,
1.609300136566162,
-2.0943808555603027,
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0
] | [
0.09905843436717987,
0.6442649364471436,
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0,
0,
0
] | [
-0.09905843436717987,
-0.6442649364471436,
0.0774550661444664,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: retract after place | [
-0.09676957130432129,
-0.6673271656036377,
0.05533448979258537,
3.1415553092956543,
-0.000005338486062100856,
3.141348361968994
] | 1 | 37.599998 | 376 | 0 | 376 | 0 |
[
-1.918420672416687,
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2.7981927394866943,
0
] | [
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1.5712425708770752,
-2.109199047088623,
-1.5706695318222046,
2.7967207431793213,
0
] | move_to_position | 0.502188 | [
-1.9311479330062866,
-1.0848232507705688,
1.609300136566162,
-2.0943808555603027,
-1.5706063508987427,
2.7853341102600098,
0
] | [
0.09905843436717987,
0.6442649364471436,
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0,
0,
0
] | [
-0.09905843436717987,
-0.6442649364471436,
0.0774550661444664,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: retract after place | [
-0.09731676429510117,
-0.662214457988739,
0.06027130037546158,
3.141591787338257,
-0.00001966313175216783,
3.141324996948242
] | 1 | 37.700001 | 377 | 0 | 377 | 0 |
[
-1.9214614629745483,
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2.795051097869873,
0
] | [
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1.5825904607772827,
-2.105360507965088,
-1.5706512928009033,
2.7935307025909424,
0
] | move_to_position | 0.626515 | [
-1.9311479330062866,
-1.0848232507705688,
1.609300136566162,
-2.0943808555603027,
-1.5706063508987427,
2.7853341102600098,
0
] | [
0.09905843436717987,
0.6442649364471436,
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0,
0,
0
] | [
-0.09905843436717987,
-0.6442649364471436,
0.0774550661444664,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: retract after place | [
-0.09774851053953171,
-0.6576385498046875,
0.06471670418977737,
3.1414999961853027,
0.00005375874025048688,
3.141385793685913
] | 1 | 37.799999 | 378 | 0 | 378 | 0 |
[
-1.9243100881576538,
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1.5872377157211304,
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2.792207717895508,
0
] | [
-1.9251973628997803,
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1.5903311967849731,
-2.10261607170105,
-1.5706387758255005,
2.7913098335266113,
0
] | move_to_position | 0.739998 | [
-1.9311479330062866,
-1.0848232507705688,
1.609300136566162,
-2.0943808555603027,
-1.5706063508987427,
2.7853341102600098,
0
] | [
0.09905843436717987,
0.6442649364471436,
0.0774550661444664,
0,
0,
0
] | [
-0.09905843436717987,
-0.6442649364471436,
0.0774550661444664,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: retract after place | [
-0.09812357276678085,
-0.6535102725028992,
0.06853916496038437,
3.1415486335754395,
0.000010383406333858147,
3.141348123550415
] | 1 | 37.900002 | 379 | 0 | 379 | 0 |
[
-1.9265397787094116,
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2.789984703063965,
0
] | [
-1.9273011684417725,
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1.5973398685455322,
-2.0998435020446777,
-1.5706270933151245,
2.7891974449157715,
0
] | move_to_position | 0.827173 | [
-1.9311479330062866,
-1.0848232507705688,
1.609300136566162,
-2.0943808555603027,
-1.5706063508987427,
2.7853341102600098,
0
] | [
0.09905843436717987,
0.6442649364471436,
0.0774550661444664,
0,
0,
0
] | [
-0.09905843436717987,
-0.6442649364471436,
0.0774550661444664,
0,
0,
0
] | 0 | pick chocolate pie_2 and place it on red plate_2: retract after place | [
-0.09842527657747269,
-0.6503333449363708,
0.07154704630374908,
3.1415512561798096,
-0.000015122249351406936,
3.1413424015045166
] | 1 | 38 | 380 | 0 | 380 | 0 |
[
-1.9283860921859741,
-1.0723830461502075,
1.600847601890564,
-2.098379373550415,
-1.5706208944320679,
2.7881195545196533,
0
] | [
-1.9291225671768188,
-1.075715184211731,
1.6031265258789062,
-2.09731388092041,
-1.5706171989440918,
2.7873682975769043,
0
] | move_to_position | 0.897482 | [
-1.9311479330062866,
-1.0848232507705688,
1.609300136566162,
-2.0943808555603027,
-1.5706063508987427,
2.7853341102600098,
0
] | [
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[
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[
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] | 0 | return to home after task completion | [
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[
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] | move_to_position | 0.008529 | [
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] | 0 | return to home after task completion | [
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] | move_to_position | 0.014475 | [
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] | 0 | return to home after task completion | [
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[
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] | 0 | return to home after task completion | [
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[
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] | move_to_position | 0.033098 | [
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] | 0 | return to home after task completion | [
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[
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] | move_to_position | 0.0459 | [
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] | [
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] | 0 | return to home after task completion | [
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[
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] | move_to_position | 0.061444 | [
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] | 0 | return to home after task completion | [
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[
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] | move_to_position | 0.081179 | [
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] | 0 | return to home after task completion | [
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[
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] | move_to_position | 0.103832 | [
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] | 0 | return to home after task completion | [
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[
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] | move_to_position | 0.12834 | [
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] | 0 | return to home after task completion | [
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[
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] | move_to_position | 0.154525 | [
-1.8804893493652344,
-1.7391302585601807,
1.6477404832839966,
-1.4786076545715332,
-1.5698449611663818,
2.834876298904419,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
-0.08195819705724716,
-0.6092538833618164,
0.1250477284193039,
3.141453504562378,
0.00006689122528769076,
3.1415586471557617
] | 1 | 39.900002 | 399 | 0 | 399 | 0 |
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