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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] | 1 | 0.8 | 8 | 10 | 4,253 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.9 | 9 | 10 | 4,254 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1 | 10 | 10 | 4,255 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.1 | 11 | 10 | 4,256 | 0 |
[
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] | [
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] | move_to_position | 0.233877 | [
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] | [
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] | [
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-0.4399999976158142,
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.2 | 12 | 10 | 4,257 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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-0.4399999976158142,
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0,
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] | 0 | move to initial position to start the task | [
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0.3530329763889313,
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] | 1 | 1.3 | 13 | 10 | 4,258 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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-0.4399999976158142,
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0,
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] | 0 | move to initial position to start the task | [
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0.3530294597148895,
2.797140598297119,
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] | 1 | 1.4 | 14 | 10 | 4,259 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
0.00001310341485805111,
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0.35302165150642395,
2.7971677780151367,
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] | 1 | 1.5 | 15 | 10 | 4,260 | 0 |
[
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] | [
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] | move_to_position | 0.000002 | [
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] | [
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] | [
0.21296970546245575,
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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 | [
0.000011445617928984575,
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0.3530277609825134,
2.797135353088379,
0.0602562241256237,
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] | 1 | 1.6 | 16 | 10 | 4,261 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
0.21296970546245575,
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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 | [
0.000010935926184174605,
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0.35299986600875854,
2.7972121238708496,
0.06024055555462837,
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] | 1 | 1.7 | 17 | 10 | 4,262 | 0 |
[
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] | [
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] | move_to_position | 0.000183 | [
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] | [
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] | [
0.21296970546245575,
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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 | [
0.00009217361366609111,
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0.3530290126800537,
2.79702091217041,
0.06021205335855484,
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] | 1 | 1.8 | 18 | 10 | 4,263 | 0 |
[
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] | [
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] | move_to_position | 0.001176 | [
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] | [
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] | [
0.21296970546245575,
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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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0.35273313522338867,
2.7971105575561523,
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] | 1 | 1.9 | 19 | 10 | 4,264 | 0 |
[
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] | [
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] | move_to_position | 0.003079 | [
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] | [
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] | [
0.21296970546245575,
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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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0.3522266149520874,
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0.06015749275684357,
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] | 1 | 2 | 20 | 10 | 4,265 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.006531 | [
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] | [
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] | [
0.21296970546245575,
-0.6828703284263611,
0.10792133957147598,
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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 | [
0.0014242009492591023,
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0.3514994978904724,
2.797114849090576,
0.060191161930561066,
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] | 1 | 2.1 | 21 | 10 | 4,266 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.010925 | [
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1.6515699625015259,
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] | [
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0
] | [
0.21296970546245575,
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0.10792133957147598,
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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 | [
0.00238039786927402,
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0.3503664433956146,
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0.060138020664453506,
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] | 1 | 2.2 | 22 | 10 | 4,267 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.016751 | [
-1.4074093103408813,
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1.6515699625015259,
-2.465433359146118,
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] | [
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] | [
0.21296970546245575,
-0.6828703284263611,
0.10792133957147598,
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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 | [
0.0035007360856980085,
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0.3490922451019287,
2.7971394062042236,
0.060208383947610855,
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] | 1 | 2.3 | 23 | 10 | 4,268 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.023828 | [
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] | [
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0
] | [
0.21296970546245575,
-0.6828703284263611,
0.10792133957147598,
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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 | [
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0.3475085198879242,
2.797212600708008,
0.060154061764478683,
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] | 1 | 2.4 | 24 | 10 | 4,269 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.033406 | [
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1.6515699625015259,
-2.465433359146118,
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0
] | [
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] | [
0.21296970546245575,
-0.6828703284263611,
0.10792133957147598,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0064461021684110165,
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0.3456145226955414,
2.797128200531006,
0.06022210791707039,
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] | 1 | 2.5 | 25 | 10 | 4,270 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.044655 | [
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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 | 2.6 | 26 | 10 | 4,271 | 0 |
[
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] | move_to_position | 0.058982 | [
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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 | 2.7 | 27 | 10 | 4,272 | 0 |
[
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] | move_to_position | 0.074972 | [
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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 | 2.8 | 28 | 10 | 4,273 | 0 |
[
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] | move_to_position | 0.09401 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 2.9 | 29 | 10 | 4,274 | 0 |
[
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] | move_to_position | 0.113818 | [
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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 | 0.137205 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.1 | 31 | 10 | 4,276 | 0 |
[
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] | move_to_position | 0.161394 | [
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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 | 0.18826 | [
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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 | 0.21798 | [
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[
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] | move_to_position | 0.246643 | [
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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 | 0.277372 | [
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[
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] | move_to_position | 0.311954 | [
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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 | 0.345965 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.8 | 38 | 10 | 4,283 | 0 |
[
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] | [
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] | move_to_position | 0.381118 | [
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] | [
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] | [
0.21296970546245575,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.9 | 39 | 10 | 4,284 | 0 |
[
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] | [
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] | move_to_position | 0.418884 | [
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] | [
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] | [
0.21296970546245575,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4 | 40 | 10 | 4,285 | 0 |
[
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] | [
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] | move_to_position | 0.454963 | [
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] | [
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] | [
0.21296970546245575,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.1 | 41 | 10 | 4,286 | 0 |
[
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] | [
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] | move_to_position | 0.492972 | [
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] | [
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] | [
0.21296970546245575,
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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 | 10 | 4,287 | 0 |
[
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] | move_to_position | 0.529805 | [
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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 | 10 | 4,288 | 0 |
[
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] | move_to_position | 0.568351 | [
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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 | 10 | 4,289 | 0 |
[
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] | [
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] | move_to_position | 0.606335 | [
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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 | 10 | 4,290 | 0 |
[
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] | move_to_position | 0.64161 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.6 | 46 | 10 | 4,291 | 0 |
[
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] | [
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] | move_to_position | 0.676149 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.7 | 47 | 10 | 4,292 | 0 |
[
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] | [
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] | move_to_position | 0.710421 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.8 | 48 | 10 | 4,293 | 0 |
[
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] | [
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] | move_to_position | 0.743862 | [
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] | [
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] | [
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0.10792133957147598,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.9 | 49 | 10 | 4,294 | 0 |
[
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] | [
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] | move_to_position | 0.777123 | [
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] | [
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] | [
0.21296970546245575,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5 | 50 | 10 | 4,295 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.806885 | [
-1.4074093103408813,
-1.0791395902633667,
1.6515699625015259,
-2.465433359146118,
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] | [
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] | [
0.21296970546245575,
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0.10792133957147598,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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2.7971315383911133,
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] | 1 | 5.1 | 51 | 10 | 4,296 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.834332 | [
-1.4074093103408813,
-1.0791395902633667,
1.6515699625015259,
-2.465433359146118,
-1.7052987813949585,
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] | [
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] | [
0.21296970546245575,
-0.6828703284263611,
0.10792133957147598,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.2 | 52 | 10 | 4,297 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.861238 | [
-1.4074093103408813,
-1.0791395902633667,
1.6515699625015259,
-2.465433359146118,
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] | [
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] | [
0.21296970546245575,
-0.6828703284263611,
0.10792133957147598,
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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 | 5.3 | 53 | 10 | 4,298 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.884648 | [
-1.4074093103408813,
-1.0791395902633667,
1.6515699625015259,
-2.465433359146118,
-1.7052987813949585,
3.348176956176758,
0
] | [
-0.21296970546245575,
0.6828703284263611,
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0
] | [
0.21296970546245575,
-0.6828703284263611,
0.10792133957147598,
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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0.13615290820598602,
2.797121286392212,
0.0602106936275959,
3.0700323581695557
] | 1 | 5.4 | 54 | 10 | 4,299 | 0 |
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