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 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.4 | 54 | 1 | 500 | 0 |
[
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] | move_to_position | 0.830895 | [
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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 | 5.5 | 55 | 1 | 501 | 0 |
[
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] | move_to_position | 0.854735 | [
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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 | 5.6 | 56 | 1 | 502 | 0 |
[
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] | move_to_position | 0.877712 | [
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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 | 0.898579 | [
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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 | 5.8 | 58 | 1 | 504 | 0 |
[
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] | move_to_position | 0.917167 | [
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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 | 5.9 | 59 | 1 | 505 | 0 |
[
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] | [
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] | move_to_position | 0.93315 | [
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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 | 6 | 60 | 1 | 506 | 0 |
[
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] | [
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] | move_to_position | 0.948005 | [
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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 | 6.1 | 61 | 1 | 507 | 0 |
[
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] | move_to_position | 0.9599 | [
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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 | 6.2 | 62 | 1 | 508 | 0 |
[
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] | [
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] | move_to_position | 0.97056 | [
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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 | 6.3 | 63 | 1 | 509 | 0 |
[
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] | [
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] | move_to_position | 0.978869 | [
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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 | 1 | 510 | 0 |
[
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] | move_to_position | 0.985641 | [
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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 | 6.5 | 65 | 1 | 511 | 0 |
[
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] | [
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] | move_to_position | 0.991409 | [
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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 | 6.6 | 66 | 1 | 512 | 0 |
[
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] | [
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] | move_to_position | 0.995316 | [
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] | [
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] | [
0.301981657743454,
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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 | 6.7 | 67 | 1 | 513 | 0 |
[
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] | [
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] | move_to_position | 0.997823 | [
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] | [
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] | [
0.301981657743454,
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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 | 6.8 | 68 | 1 | 514 | 0 |
[
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] | [
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] | move_to_position | 0.999164 | [
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] | [
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] | [
0.301981657743454,
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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 | 6.9 | 69 | 1 | 515 | 0 |
[
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] | [
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0
] | move_to_position | 0.999673 | [
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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 | 7 | 70 | 1 | 516 | 0 |
[
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] | move_to_position | 0.999849 | [
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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 | 7.1 | 71 | 1 | 517 | 0 |
[
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] | gripper_open | 1 | [
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] | 1 | 7.2 | 72 | 1 | 518 | 0 |
[
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] | gripper_open | 1 | [
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[
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] | gripper_open | 1 | [
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[
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] | gripper_open | 1 | [
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] | [
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[
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] | move_to_position | 0.000003 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 7.6 | 76 | 1 | 522 | 0 |
[
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] | [
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] | move_to_position | 0.000278 | [
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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: descend to chocolate pie_1 | [
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] | 1 | 7.7 | 77 | 1 | 523 | 0 |
[
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] | [
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] | move_to_position | 0.013041 | [
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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: descend to chocolate pie_1 | [
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] | 1 | 7.8 | 78 | 1 | 524 | 0 |
[
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] | [
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] | move_to_position | 0.04798 | [
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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: descend to chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.101761 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 8 | 80 | 1 | 526 | 0 |
[
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] | [
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] | move_to_position | 0.177337 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 8.1 | 81 | 1 | 527 | 0 |
[
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] | [
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] | move_to_position | 0.257607 | [
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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: descend to chocolate pie_1 | [
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] | 1 | 8.2 | 82 | 1 | 528 | 0 |
[
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] | [
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] | move_to_position | 0.359169 | [
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] | [
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] | [
0.28974127769470215,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 8.3 | 83 | 1 | 529 | 0 |
[
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] | [
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] | move_to_position | 0.486166 | [
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] | [
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] | [
0.28974127769470215,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 8.4 | 84 | 1 | 530 | 0 |
[
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] | [
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] | move_to_position | 0.620961 | [
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] | [
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] | [
0.28974127769470215,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 8.5 | 85 | 1 | 531 | 0 |
[
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] | [
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] | move_to_position | 0.743219 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | gripper_close | 0.831372 | [
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] | gripper_close | 0.835294 | [
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] | gripper_close | 0.835294 | [
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] | gripper_close | 0.835294 | [
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[
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] | [
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1
] | gripper_close | 0.835294 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 0 | 11.7 | 117 | 1 | 563 | 0 |
[
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] | gripper_close | 0.835294 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 0 | 11.8 | 118 | 1 | 564 | 0 |
[
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] | [
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1
] | gripper_close | 0.835294 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 0 | 11.9 | 119 | 1 | 565 | 0 |
[
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] | [
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1
] | gripper_close | 0.835294 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 0 | 12 | 120 | 1 | 566 | 0 |
[
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] | [
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1
] | gripper_close | 0.835294 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 0 | 12.1 | 121 | 1 | 567 | 0 |
[
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] | [
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1
] | move_to_position | 0 | [
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] | [
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0,
0
] | [
0.3026716113090515,
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0.0680372342467308,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
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] | 0 | 12.2 | 122 | 1 | 568 | 0 |
[
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1
] | [
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1
] | move_to_position | 0 | [
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1
] | [
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0,
0
] | [
0.3026716113090515,
-0.5965341329574585,
0.0680372342467308,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
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0.03205260634422302,
-3.1404318809509277,
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] | 0 | 12.3 | 123 | 1 | 569 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.012296 | [
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] | [
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0,
0
] | [
0.3026716113090515,
-0.5965341329574585,
0.0680372342467308,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
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0.03257455676794052,
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] | 0 | 12.4 | 124 | 1 | 570 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.052003 | [
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1
] | [
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0,
0,
0
] | [
0.3026716113090515,
-0.5965341329574585,
0.0680372342467308,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
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0.03416721895337105,
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] | 0 | 12.5 | 125 | 1 | 571 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.110697 | [
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1
] | [
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0,
0
] | [
0.3026716113090515,
-0.5965341329574585,
0.0680372342467308,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
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] | 0 | 12.6 | 126 | 1 | 572 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.18598 | [
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1
] | [
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0,
0,
0
] | [
0.3026716113090515,
-0.5965341329574585,
0.0680372342467308,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
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] | 0 | 12.7 | 127 | 1 | 573 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.266197 | [
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1.561090350151062,
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3.41196608543396,
1
] | [
-0.3026716113090515,
0.5965341329574585,
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0,
0,
0
] | [
0.3026716113090515,
-0.5965341329574585,
0.0680372342467308,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
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0.04207691177725792,
-3.140387535095215,
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] | 0 | 12.8 | 128 | 1 | 574 | 0 |
[
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1.5317295789718628,
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3.391957998275757,
1
] | [
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1.533846139907837,
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3.393364429473877,
1
] | move_to_position | 0.361125 | [
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1.561090350151062,
-2.0921192169189453,
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3.41196608543396,
1
] | [
-0.3026716113090515,
0.5965341329574585,
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0,
0,
0
] | [
0.3026716113090515,
-0.5965341329574585,
0.0680372342467308,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
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0.045777708292007446,
-3.14045786857605,
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] | 0 | 12.9 | 129 | 1 | 575 | 0 |
[
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3.3957841396331787,
1
] | [
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3.397418260574341,
1
] | move_to_position | 0.485139 | [
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1.561090350151062,
-2.0921192169189453,
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3.41196608543396,
1
] | [
-0.3026716113090515,
0.5965341329574585,
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0,
0,
0
] | [
0.3026716113090515,
-0.5965341329574585,
0.0680372342467308,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
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0.05005018040537834,
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] | 0 | 13 | 130 | 1 | 576 | 0 |
[
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1
] | [
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3.4014980792999268,
1
] | move_to_position | 0.609303 | [
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1.561090350151062,
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3.41196608543396,
1
] | [
-0.3026716113090515,
0.5965341329574585,
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0,
0,
0
] | [
0.3026716113090515,
-0.5965341329574585,
0.0680372342467308,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
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0.0549052469432354,
-3.14046311378479,
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] | 0 | 13.1 | 131 | 1 | 577 | 0 |
[
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3.4036858081817627,
1
] | [
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1.5511575937271118,
-2.1027934551239014,
-1.5699626207351685,
3.4047908782958984,
1
] | move_to_position | 0.737647 | [
-1.3039884567260742,
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1.561090350151062,
-2.0921192169189453,
-1.5699220895767212,
3.41196608543396,
1
] | [
-0.3026716113090515,
0.5965341329574585,
0.0680372342467308,
0,
0,
0
] | [
0.3026716113090515,
-0.5965341329574585,
0.0680372342467308,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
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0.05935898795723915,
-3.1403133869171143,
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] | 0 | 13.2 | 132 | 1 | 578 | 0 |
[
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1.554146647453308,
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3.406790256500244,
1
] | [
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1
] | move_to_position | 0.838669 | [
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1
] | [
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0,
0
] | [
0.3026716113090515,
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0.0680372342467308,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.3008165657520294,
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0.06277833133935928,
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] | 0 | 13.3 | 133 | 1 | 579 | 0 |
[
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] | [
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1
] | move_to_position | 0.910726 | [
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1
] | [
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0,
0
] | [
0.3026716113090515,
-0.5965341329574585,
0.0680372342467308,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.3016464412212372,
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0.06514091044664383,
-3.140366792678833,
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] | 0 | 13.4 | 134 | 1 | 580 | 0 |
[
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] | [
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1
] | move_to_position | 0.960109 | [
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1.561090350151062,
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1
] | [
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0,
0
] | [
0.3026716113090515,
-0.5965341329574585,
0.0680372342467308,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.3021931052207947,
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0.06665024161338806,
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] | 0 | 13.5 | 135 | 1 | 581 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.987172 | [
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1
] | [
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0,
0
] | [
0.3026716113090515,
-0.5965341329574585,
0.0680372342467308,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.30246788263320923,
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0.06772647053003311,
-3.1405134201049805,
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] | 0 | 13.6 | 136 | 1 | 582 | 0 |
[
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1
] | [
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1.561090350151062,
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1
] | move_to_position | 0 | [
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1.52060866355896,
-2.025296449661255,
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1
] | [
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0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.3026113212108612,
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0.06801145523786545,
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] | 0 | 13.7 | 137 | 1 | 583 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.000013 | [
-1.7104802131652832,
-1.0640732049942017,
1.52060866355896,
-2.025296449661255,
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3.0055832862854004,
1
] | [
-0.041641965508461,
0.6701909303665161,
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0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.3026120066642761,
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0.0679846778512001,
-3.1404290199279785,
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] | 0 | 13.8 | 138 | 1 | 584 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.000718 | [
-1.7104802131652832,
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1.52060866355896,
-2.025296449661255,
-1.5702658891677856,
3.0055832862854004,
1
] | [
-0.041641965508461,
0.6701909303665161,
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0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.30231550335884094,
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0.06800888478755951,
-3.1403818130493164,
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] | 0 | 13.9 | 139 | 1 | 585 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.003859 | [
-1.7104802131652832,
-1.0640732049942017,
1.52060866355896,
-2.025296449661255,
-1.5702658891677856,
3.0055832862854004,
1
] | [
-0.041641965508461,
0.6701909303665161,
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0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.301320880651474,
-0.5968816876411438,
0.06814511120319366,
-3.1403591632843018,
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] | 0 | 14 | 140 | 1 | 586 | 0 |
[
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-2.0922257900238037,
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1
] | [
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-2.0922532081604004,
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1
] | move_to_position | 0.010571 | [
-1.7104802131652832,
-1.0640732049942017,
1.52060866355896,
-2.025296449661255,
-1.5702658891677856,
3.0055832862854004,
1
] | [
-0.041641965508461,
0.6701909303665161,
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0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2994024455547333,
-0.597337007522583,
0.06838108599185944,
-3.140313148498535,
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] | 0 | 14.1 | 141 | 1 | 587 | 0 |
[
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-2.092241048812866,
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1
] | [
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-2.0922629833221436,
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1
] | move_to_position | 0.019472 | [
-1.7104802131652832,
-1.0640732049942017,
1.52060866355896,
-2.025296449661255,
-1.5702658891677856,
3.0055832862854004,
1
] | [
-0.041641965508461,
0.6701909303665161,
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0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.296847403049469,
-0.5980908870697021,
0.0686376765370369,
-3.140305519104004,
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] | 0 | 14.2 | 142 | 1 | 588 | 0 |
[
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3.398115634918213,
1
] | [
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-2.0922694206237793,
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3.3950037956237793,
1
] | move_to_position | 0.032793 | [
-1.7104802131652832,
-1.0640732049942017,
1.52060866355896,
-2.025296449661255,
-1.5702658891677856,
3.0055832862854004,
1
] | [
-0.041641965508461,
0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.29314178228378296,
-0.5991572141647339,
0.06901544332504272,
-3.1402883529663086,
-0.000433224777225405,
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] | 0 | 14.3 | 143 | 1 | 589 | 0 |
[
-1.3253263235092163,
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-2.092299699783325,
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3.390782356262207,
1
] | [
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1.5689313411712646,
-2.0922718048095703,
-1.569898247718811,
3.3877506256103516,
1
] | move_to_position | 0.050464 | [
-1.7104802131652832,
-1.0640732049942017,
1.52060866355896,
-2.025296449661255,
-1.5702658891677856,
3.0055832862854004,
1
] | [
-0.041641965508461,
0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2887502908706665,
-0.6005494594573975,
0.06954457610845566,
-3.1404709815979004,
-0.0004643949505407363,
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] | 0 | 14.4 | 144 | 1 | 590 | 0 |
[
-1.3340352773666382,
-1.0472286939620972,
1.5704888105392456,
-2.0922648906707764,
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3.3820390701293945,
1
] | [
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-1.0484752655029297,
1.5717856884002686,
-2.0922417640686035,
-1.5699033737182617,
3.3778529167175293,
1
] | move_to_position | 0.071256 | [
-1.7104802131652832,
-1.0640732049942017,
1.52060866355896,
-2.025296449661255,
-1.5702658891677856,
3.0055832862854004,
1
] | [
-0.041641965508461,
0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2825184166431427,
-0.6024258136749268,
0.07023577392101288,
-3.14064621925354,
-0.0005477796657942235,
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] | 0 | 14.5 | 145 | 1 | 591 | 0 |
[
-1.3455771207809448,
-1.0508205890655518,
1.5741342306137085,
-2.0922329425811768,
-1.5699208974838257,
3.3703653812408447,
1
] | [
-1.3510457277297974,
-1.0523381233215332,
1.575872778892517,
-2.092062473297119,
-1.5699098110198975,
3.3650267124176025,
1
] | move_to_position | 0.098732 | [
-1.7104802131652832,
-1.0640732049942017,
1.52060866355896,
-2.025296449661255,
-1.5702658891677856,
3.0055832862854004,
1
] | [
-0.041641965508461,
0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.27506303787231445,
-0.6043121218681335,
0.07094433158636093,
-3.140407085418701,
-0.0005046664155088365,
-3.1412570476531982
] | 0 | 14.6 | 146 | 1 | 592 | 0 |
[
-1.3602365255355835,
-1.054977297782898,
1.5785273313522339,
-2.091813802719116,
-1.5699399709701538,
3.355903148651123,
1
] | [
-1.3661431074142456,
-1.0566694736480713,
1.580185890197754,
-2.091609477996826,
-1.5699177980422974,
3.349928379058838,
1
] | move_to_position | 0.13311 | [
-1.7104802131652832,
-1.0640732049942017,
1.52060866355896,
-2.025296449661255,
-1.5702658891677856,
3.0055832862854004,
1
] | [
-0.041641965508461,
0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.26614809036254883,
-0.6065447926521301,
0.07170730829238892,
-3.1399636268615723,
-0.00036749517312273383,
-3.1414599418640137
] | 0 | 14.7 | 147 | 1 | 593 | 0 |
[
-1.3757380247116089,
-1.0592492818832397,
1.5824226140975952,
-2.0911362171173096,
-1.5699294805526733,
3.340245008468628,
1
] | [
-1.3816512823104858,
-1.0606809854507446,
1.5835214853286743,
-2.090843439102173,
-1.5699268579483032,
3.3344194889068604,
1
] | move_to_position | 0.169876 | [
-1.7104802131652832,
-1.0640732049942017,
1.52060866355896,
-2.025296449661255,
-1.5702658891677856,
3.0055832862854004,
1
] | [
-0.041641965508461,
0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2554222047328949,
-0.6093410849571228,
0.07275428622961044,
-3.139592170715332,
-0.0002897709491662681,
-3.1413073539733887
] | 0 | 14.8 | 148 | 1 | 594 | 0 |
[
-1.393206000328064,
-1.06331467628479,
1.585100531578064,
-2.090062379837036,
-1.5699185132980347,
3.3229587078094482,
1
] | [
-1.4019559621810913,
-1.0650418996810913,
1.585618019104004,
-2.0893216133117676,
-1.5699403285980225,
3.3141138553619385,
1
] | move_to_position | 0.211087 | [
-1.7104802131652832,
-1.0640732049942017,
1.52060866355896,
-2.025296449661255,
-1.5702658891677856,
3.0055832862854004,
1
] | [
-0.041641965508461,
0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.24444454908370972,
-0.6127498149871826,
0.07420123368501663,
-3.140064239501953,
-0.00044911718578077853,
-3.141451358795166
] | 0 | 14.9 | 149 | 1 | 595 | 0 |
[
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1.5856231451034546,
-2.0883500576019287,
-1.5699256658554077,
3.3035998344421387,
1
] | [
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1.5858105421066284,
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3.2963690757751465,
1
] | move_to_position | 0.257293 | [
-1.7104802131652832,
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1.52060866355896,
-2.025296449661255,
-1.5702658891677856,
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] | [
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0,
0
] | [
0.041641965508461,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.23310427367687225,
-0.6168758273124695,
0.07612093538045883,
-3.141523599624634,
-0.000672892841976136,
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] | 0 | 15 | 150 | 1 | 596 | 0 |
[
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-2.086251974105835,
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1
] | [
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1.5859355926513672,
-2.085397720336914,
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1
] | move_to_position | 0.305691 | [
-1.7104802131652832,
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1.52060866355896,
-2.025296449661255,
-1.5702658891677856,
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1
] | [
-0.041641965508461,
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0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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-0.6214879751205444,
0.07834584265947342,
3.140151262283325,
-0.0008753941510803998,
-3.141343593597412
] | 0 | 15.1 | 151 | 1 | 597 | 0 |
[
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-2.0836517810821533,
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1
] | [
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-2.0826830863952637,
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1
] | move_to_position | 0.360923 | [
-1.7104802131652832,
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1.52060866355896,
-2.025296449661255,
-1.5702658891677856,
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] | [
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0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.20609520375728607,
-0.6256195306777954,
0.08031189441680908,
3.139251470565796,
-0.0009032022207975388,
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] | 0 | 15.2 | 152 | 1 | 598 | 0 |
[
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3.238257646560669,
1
] | [
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3.2289323806762695,
1
] | move_to_position | 0.413563 | [
-1.7104802131652832,
-1.0640732049942017,
1.52060866355896,
-2.025296449661255,
-1.5702658891677856,
3.0055832862854004,
1
] | [
-0.041641965508461,
0.6701909303665161,
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0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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0.08212535083293915,
3.138977289199829,
-0.0007639752584509552,
-3.1413514614105225
] | 0 | 15.3 | 153 | 1 | 599 | 0 |
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