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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] | 0 | move to initial position to start the task | [
-0.000011575041753530968,
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2.794870138168335,
0.0604441799223423,
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] | 1 | 1.2 | 12 | 9 | 3,835 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.394592 | [
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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 | [
0.000002535895418986911,
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] | 1 | 1.3 | 13 | 9 | 3,836 | 0 |
[
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0
] | [
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] | move_to_position | 0 | [
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] | [
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0,
0
] | [
0,
-0.4399999976158142,
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0,
0,
0
] | 0 | move to initial position to start the task | [
0.0000061144046412664466,
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0.3529658317565918,
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] | 1 | 1.4 | 14 | 9 | 3,837 | 0 |
[
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] | [
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] | move_to_position | 0.563206 | [
-1.9004629850387573,
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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 | [
0.000018900374925578944,
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0.3529748022556305,
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0.060427263379096985,
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] | 1 | 1.5 | 15 | 9 | 3,838 | 0 |
[
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] | [
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] | move_to_position | 0 | [
-1.290054440498352,
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] | [
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0,
0
] | [
0.25923606753349304,
-0.57700514793396,
0.08403215557336807,
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0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0000012193769407531363,
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0.352970153093338,
2.7948992252349854,
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] | 1 | 1.6 | 16 | 9 | 3,839 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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0,
0
] | [
0.25923606753349304,
-0.57700514793396,
0.08403215557336807,
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0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
-0.0000060068837228755,
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0.3529898524284363,
2.7948601245880127,
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] | 1 | 1.7 | 17 | 9 | 3,840 | 0 |
[
-1.9003018140792847,
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0
] | [
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0
] | move_to_position | 0.000206 | [
-1.290054440498352,
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0
] | [
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0,
0
] | [
0.25923606753349304,
-0.57700514793396,
0.08403215557336807,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.00006189860869199038,
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0.3529883027076721,
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] | 1 | 1.8 | 18 | 9 | 3,841 | 0 |
[
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] | [
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0
] | move_to_position | 0.001346 | [
-1.290054440498352,
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] | [
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0,
0
] | [
0.25923606753349304,
-0.57700514793396,
0.08403215557336807,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.000409326225053519,
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2.794663906097412,
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] | 1 | 1.9 | 19 | 9 | 3,842 | 0 |
[
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] | [
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0
] | move_to_position | 0.003684 | [
-1.290054440498352,
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1.9092670679092407,
-2.589508533477783,
-1.7424118518829346,
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] | [
-0.25923606753349304,
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0,
0
] | [
0.25923606753349304,
-0.57700514793396,
0.08403215557336807,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.001017244067043066,
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0.351937472820282,
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0.06055384501814842,
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] | 1 | 2 | 20 | 9 | 3,843 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.007184 | [
-1.290054440498352,
-1.1975356340408325,
1.9092670679092407,
-2.589508533477783,
-1.7424118518829346,
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] | [
-0.25923606753349304,
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0,
0
] | [
0.25923606753349304,
-0.57700514793396,
0.08403215557336807,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.001864326186478138,
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0.35109540820121765,
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0.06053461134433746,
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] | 1 | 2.1 | 21 | 9 | 3,844 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.011834 | [
-1.290054440498352,
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1.9092670679092407,
-2.589508533477783,
-1.7424118518829346,
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] | [
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0,
0
] | [
0.25923606753349304,
-0.57700514793396,
0.08403215557336807,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.00314904167316854,
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0.34980419278144836,
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] | 1 | 2.2 | 22 | 9 | 3,845 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.017695 | [
-1.290054440498352,
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1.9092670679092407,
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0
] | [
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0,
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] | [
0.25923606753349304,
-0.57700514793396,
0.08403215557336807,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 2.3 | 23 | 9 | 3,846 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.025706 | [
-1.290054440498352,
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-2.589508533477783,
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] | [
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0,
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] | [
0.25923606753349304,
-0.57700514793396,
0.08403215557336807,
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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 | 2.4 | 24 | 9 | 3,847 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.035705 | [
-1.290054440498352,
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-2.589508533477783,
-1.7424118518829346,
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] | [
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0,
0
] | [
0.25923606753349304,
-0.57700514793396,
0.08403215557336807,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.008873438462615013,
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0.34373995661735535,
2.794860363006592,
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] | 1 | 2.5 | 25 | 9 | 3,848 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.047757 | [
-1.290054440498352,
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1.9092670679092407,
-2.589508533477783,
-1.7424118518829346,
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] | [
-0.25923606753349304,
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0,
0
] | [
0.25923606753349304,
-0.57700514793396,
0.08403215557336807,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.011883288621902466,
-0.44631117582321167,
0.3406553864479065,
2.794900894165039,
0.060485899448394775,
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] | 1 | 2.6 | 26 | 9 | 3,849 | 0 |
[
-1.8506907224655151,
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0
] | [
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0
] | move_to_position | 0.062347 | [
-1.290054440498352,
-1.1975356340408325,
1.9092670679092407,
-2.589508533477783,
-1.7424118518829346,
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] | [
-0.25923606753349304,
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0,
0
] | [
0.25923606753349304,
-0.57700514793396,
0.08403215557336807,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.015591046772897243,
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0.33679577708244324,
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0.06046118214726448,
3.069911003112793
] | 1 | 2.7 | 27 | 9 | 3,850 | 0 |
[
-1.8361872434616089,
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0
] | [
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-1.9629911184310913,
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0
] | move_to_position | 0.080687 | [
-1.290054440498352,
-1.1975356340408325,
1.9092670679092407,
-2.589508533477783,
-1.7424118518829346,
3.4608471393585205,
0
] | [
-0.25923606753349304,
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0,
0,
0
] | [
0.25923606753349304,
-0.57700514793396,
0.08403215557336807,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.020134925842285156,
-0.45045849680900574,
0.33207568526268005,
2.7950100898742676,
0.06042999401688576,
3.0699081420898438
] | 1 | 2.8 | 28 | 9 | 3,851 | 0 |
[
-1.820708155632019,
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0
] | [
-1.8148853778839111,
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-1.9799227714538574,
-1.5675653219223022,
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0
] | move_to_position | 0.100573 | [
-1.290054440498352,
-1.1975356340408325,
1.9092670679092407,
-2.589508533477783,
-1.7424118518829346,
3.4608471393585205,
0
] | [
-0.25923606753349304,
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0,
0
] | [
0.25923606753349304,
-0.57700514793396,
0.08403215557336807,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.024690279737114906,
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0.3273378312587738,
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0.06040952727198601,
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] | 1 | 2.9 | 29 | 9 | 3,852 | 0 |
[
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[
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] | move_to_position | 0.14555 | [
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[
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] | move_to_position | 0.172687 | [
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[
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] | move_to_position | 0.20094 | [
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[
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] | move_to_position | 0.230835 | [
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[
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] | move_to_position | 0.261994 | [
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[
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] | move_to_position | 0.294999 | [
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] | 1 | 3.6 | 36 | 9 | 3,859 | 0 |
[
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] | move_to_position | 0.328084 | [
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[
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] | move_to_position | 0.366316 | [
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[
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] | move_to_position | 0.403249 | [
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] | [
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] | [
0.25923606753349304,
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[
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] | move_to_position | 0.439678 | [
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[
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] | move_to_position | 0.478039 | [
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] | [
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] | [
0.25923606753349304,
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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 | 0.515741 | [
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] | [
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] | [
0.25923606753349304,
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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 | 9 | 3,865 | 0 |
[
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] | [
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] | move_to_position | 0.553258 | [
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1.9092670679092407,
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] | [
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] | [
0.25923606753349304,
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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 | 9 | 3,866 | 0 |
[
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] | [
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0
] | move_to_position | 0.591422 | [
-1.290054440498352,
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1.9092670679092407,
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] | [
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] | [
0.25923606753349304,
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0.08403215557336807,
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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 | 4.4 | 44 | 9 | 3,867 | 0 |
[
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] | [
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] | move_to_position | 0.628814 | [
-1.290054440498352,
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1.9092670679092407,
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] | [
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] | [
0.25923606753349304,
-0.57700514793396,
0.08403215557336807,
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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 | 9 | 3,868 | 0 |
[
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] | [
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0
] | move_to_position | 0.666081 | [
-1.290054440498352,
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1.9092670679092407,
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] | [
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] | [
0.25923606753349304,
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0.08403215557336807,
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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 | 0.733813 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.8 | 48 | 9 | 3,871 | 0 |
[
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] | move_to_position | 0.767283 | [
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[
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] | move_to_position | 0.799638 | [
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[
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] | move_to_position | 0.82827 | [
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[
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] | move_to_position | 0.854645 | [
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[
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] | move_to_position | 0.879267 | [
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[
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] | move_to_position | 0.901677 | [
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[
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] | move_to_position | 0.922374 | [
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[
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] | move_to_position | 0.939461 | [
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] | [
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[
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] | move_to_position | 0.953947 | [
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[
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] | move_to_position | 0.966392 | [
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[
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] | move_to_position | 0.976483 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.985129 | [
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] | [
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] | [
0.25923606753349304,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6 | 60 | 9 | 3,883 | 0 |
[
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] | [
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] | move_to_position | 0.991283 | [
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1.9092670679092407,
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] | [
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] | [
0.25923606753349304,
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0.08403215557336807,
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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 | 0.99561 | [
-1.290054440498352,
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1.9092670679092407,
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] | [
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] | [
0.25923606753349304,
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0.08403215557336807,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.2 | 62 | 9 | 3,885 | 0 |
[
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] | [
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0
] | move_to_position | 0.99816 | [
-1.290054440498352,
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1.9092670679092407,
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] | [
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] | [
0.25923606753349304,
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0.08403215557336807,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.3 | 63 | 9 | 3,886 | 0 |
[
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] | [
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] | move_to_position | 0.999403 | [
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] | [
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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 | 6.4 | 64 | 9 | 3,887 | 0 |
[
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] | move_to_position | 0.999727 | [
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] | [
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] | [
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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 | 6.5 | 65 | 9 | 3,888 | 0 |
[
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] | [
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] | gripper_open | 1 | [
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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: open gripper | [
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] | 1 | 6.6 | 66 | 9 | 3,889 | 0 |
[
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] | gripper_open | 1 | [
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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: open gripper | [
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] | 1 | 6.7 | 67 | 9 | 3,890 | 0 |
[
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] | gripper_open | 1 | [
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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: open gripper | [
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] | 1 | 6.8 | 68 | 9 | 3,891 | 0 |
[
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] | [
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0
] | gripper_open | 1 | [
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0
] | [
-0.25921422243118286,
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: open gripper | [
0.2592329680919647,
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0.0840117409825325,
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0.06045326963067055,
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] | 1 | 6.9 | 69 | 9 | 3,892 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000059 | [
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] | [
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0,
0
] | [
0.2768697440624237,
-0.6227315664291382,
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0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.2592277228832245,
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0.0840248093008995,
2.7949445247650146,
0.06044765189290047,
3.069920778274536
] | 1 | 7 | 70 | 9 | 3,893 | 0 |
[
-1.2900465726852417,
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0
] | [
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0
] | move_to_position | 0.000383 | [
-1.2830888032913208,
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1.7979652881622314,
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3.46763014793396,
0
] | [
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0,
0,
0
] | [
0.2768697440624237,
-0.6227315664291382,
0.03200000151991844,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.2592466175556183,
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0.08400178700685501,
2.7948837280273438,
0.06044263392686844,
3.069922924041748
] | 1 | 7.1 | 71 | 9 | 3,894 | 0 |
[
-1.2899855375289917,
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3.460878849029541,
0
] | [
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1.907141923904419,
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3.461010456085205,
0
] | move_to_position | 0.011745 | [
-1.2830888032913208,
-1.021601915359497,
1.7979652881622314,
-2.652973175048828,
-1.7448104619979858,
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0
] | [
-0.2768697440624237,
0.6227315664291382,
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0,
0,
0
] | [
0.2768697440624237,
-0.6227315664291382,
0.03200000151991844,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.25952377915382385,
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0.08325597643852234,
2.7948341369628906,
0.06040879711508751,
3.0699357986450195
] | 1 | 7.2 | 72 | 9 | 3,895 | 0 |
[
-1.2896870374679565,
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1.905145525932312,
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3.4611546993255615,
0
] | [
-1.2895821332931519,
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1.9038362503051758,
-2.5942790508270264,
-1.7425457239151,
3.46126651763916,
0
] | move_to_position | 0.043185 | [
-1.2830888032913208,
-1.021601915359497,
1.7979652881622314,
-2.652973175048828,
-1.7448104619979858,
3.46763014793396,
0
] | [
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0.6227315664291382,
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0,
0
] | [
0.2768697440624237,
-0.6227315664291382,
0.03200000151991844,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.26011985540390015,
-0.5791816115379333,
0.08150718361139297,
2.7948057651519775,
0.06035604700446129,
3.0699639320373535
] | 1 | 7.3 | 73 | 9 | 3,896 | 0 |
[
-1.2893117666244507,
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1.9004262685775757,
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3.4615111351013184,
0
] | [
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1.8971387147903442,
-2.5991969108581543,
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3.461744785308838,
0
] | move_to_position | 0.090551 | [
-1.2830888032913208,
-1.021601915359497,
1.7979652881622314,
-2.652973175048828,
-1.7448104619979858,
3.46763014793396,
0
] | [
-0.2768697440624237,
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0,
0,
0
] | [
0.2768697440624237,
-0.6227315664291382,
0.03200000151991844,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.2611076831817627,
-0.5816905498504639,
0.07866983860731125,
2.7948520183563232,
0.060379233211278915,
3.069997787475586
] | 1 | 7.4 | 74 | 9 | 3,897 | 0 |
[
-1.2887715101242065,
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1.8927968740463257,
-2.602092981338501,
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3.4620494842529297,
0
] | [
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3.462259531021118,
0
] | move_to_position | 0.164438 | [
-1.2830888032913208,
-1.021601915359497,
1.7979652881622314,
-2.652973175048828,
-1.7448104619979858,
3.46763014793396,
0
] | [
-0.2768697440624237,
0.6227315664291382,
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0,
0,
0
] | [
0.2768697440624237,
-0.6227315664291382,
0.03200000151991844,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.26245051622390747,
-0.5852519869804382,
0.07462183386087418,
2.7950403690338135,
0.06049419939517975,
3.0699708461761475
] | 1 | 7.5 | 75 | 9 | 3,898 | 0 |
[
-1.2880295515060425,
-1.1494407653808594,
1.8815988302230835,
-2.6096627712249756,
-1.7431000471115112,
3.4627795219421387,
0
] | [
-1.2877596616744995,
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1.8772501945495605,
-2.6125195026397705,
-1.7431864738464355,
3.46307635307312,
0
] | move_to_position | 0.270505 | [
-1.2830888032913208,
-1.021601915359497,
1.7979652881622314,
-2.652973175048828,
-1.7448104619979858,
3.46763014793396,
0
] | [
-0.2768697440624237,
0.6227315664291382,
0.03200000151991844,
0,
0,
0
] | [
0.2768697440624237,
-0.6227315664291382,
0.03200000151991844,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.2643234431743622,
-0.5901144742965698,
0.06936182081699371,
2.7948455810546875,
0.060392048209905624,
3.0699679851531982
] | 1 | 7.6 | 76 | 9 | 3,899 | 0 |
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