observation.state listlengths 7 7 | action listlengths 7 7 | skill.type large_stringclasses 4
values | skill.progress float32 0 1 | skill.goal_position.joint listlengths 7 7 | skill.goal_position.world_xyzrpy listlengths 6 6 | skill.goal_position.robot_xyzrpy listlengths 6 6 | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 61
values | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | timestamp float32 0 46.1 | frame_index int64 0 461 | episode_index int64 0 24 | index int64 0 10.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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[
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] | move_to_position | 0.232593 | [
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[
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[
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[
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.2 | 32 | 12 | 5,105 | 0 |
[
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] | move_to_position | 0.424026 | [
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] | 1 | 3.3 | 33 | 12 | 5,106 | 0 |
[
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] | move_to_position | 0.479083 | [
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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 | 0.530238 | [
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] | 1 | 3.5 | 35 | 12 | 5,108 | 0 |
[
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] | [
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] | move_to_position | 0.582959 | [
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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 | 3.7 | 37 | 12 | 5,110 | 0 |
[
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] | move_to_position | 0.68285 | [
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] | 1 | 3.8 | 38 | 12 | 5,111 | 0 |
[
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] | move_to_position | 0.733644 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.9 | 39 | 12 | 5,112 | 0 |
[
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] | [
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] | move_to_position | 0.775553 | [
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] | 1 | 4 | 40 | 12 | 5,113 | 0 |
[
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] | [
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] | move_to_position | 0.817108 | [
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] | [
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] | 1 | 4.1 | 41 | 12 | 5,114 | 0 |
[
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] | [
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] | move_to_position | 0.855518 | [
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0.11299899220466614,
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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 | 0.889005 | [
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] | [
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0
] | [
0.11299899220466614,
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0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.10051374137401581,
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2.7946078777313232,
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] | 1 | 4.3 | 43 | 12 | 5,116 | 0 |
[
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] | [
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] | move_to_position | 0.916851 | [
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] | [
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] | [
0.11299899220466614,
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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 | 12 | 5,117 | 0 |
[
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] | [
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] | move_to_position | 0.940463 | [
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] | [
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] | [
0.11299899220466614,
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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 | 12 | 5,118 | 0 |
[
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] | [
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] | move_to_position | 0.960962 | [
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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 | 4.6 | 46 | 12 | 5,119 | 0 |
[
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] | [
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] | move_to_position | 0.975219 | [
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] | [
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] | [
0.11299899220466614,
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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 | 12 | 5,120 | 0 |
[
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] | [
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] | move_to_position | 0.986779 | [
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] | [
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] | [
0.11299899220466614,
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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 | 12 | 5,121 | 0 |
[
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] | [
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] | move_to_position | 0.994453 | [
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] | [
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] | [
0.11299899220466614,
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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 | 12 | 5,122 | 0 |
[
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] | [
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] | move_to_position | 0.998255 | [
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] | [
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] | [
0.11299899220466614,
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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 | 12 | 5,123 | 0 |
[
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] | [
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] | move_to_position | 0.99955 | [
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] | [
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] | [
0.11299899220466614,
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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 | 5.1 | 51 | 12 | 5,124 | 0 |
[
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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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] | gripper_open | 1 | [
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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 | 5.4 | 54 | 12 | 5,127 | 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 | 5.5 | 55 | 12 | 5,128 | 0 |
[
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] | [
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0
] | move_to_position | 0.000059 | [
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] | [
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] | [
0.1384793072938919,
-0.5841352343559265,
0.028999999165534973,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.1130080595612526,
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] | 1 | 5.6 | 56 | 12 | 5,129 | 0 |
[
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] | [
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0
] | move_to_position | 0.000265 | [
-1.5194528102874756,
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-2.8153462409973145,
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] | [
-0.1384793072938919,
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0,
0
] | [
0.1384793072938919,
-0.5841352343559265,
0.028999999165534973,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.11301450431346893,
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] | 1 | 5.7 | 57 | 12 | 5,130 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.011097 | [
-1.5194528102874756,
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-2.8153462409973145,
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] | [
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0,
0
] | [
0.1384793072938919,
-0.5841352343559265,
0.028999999165534973,
0,
0,
0
] | 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 | 5.8 | 58 | 12 | 5,131 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.039487 | [
-1.5194528102874756,
-1.166054368019104,
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-2.8153462409973145,
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] | [
-0.1384793072938919,
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0,
0,
0
] | [
0.1384793072938919,
-0.5841352343559265,
0.028999999165534973,
0,
0,
0
] | 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 | 5.9 | 59 | 12 | 5,132 | 0 |
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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 | 0.05098 | [
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[
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] | gripper_close | 0.184314 | [
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[
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] | gripper_close | 0.321569 | [
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] | gripper_close | 0.819608 | [
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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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] | gripper_close | 0.819608 | [
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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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] | gripper_close | 0.819608 | [
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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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] | gripper_close | 0.819608 | [
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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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] | gripper_close | 0.819608 | [
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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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[
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] | gripper_close | 0.819608 | [
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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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[
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] | gripper_close | 0.819608 | [
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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 | 9.3 | 93 | 12 | 5,166 | 0 |
[
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] | gripper_close | 0.819608 | [
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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 | 9.4 | 94 | 12 | 5,167 | 0 |
[
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] | gripper_close | 0.819608 | [
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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 | 9.5 | 95 | 12 | 5,168 | 0 |
[
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] | [
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1
] | gripper_close | 0.819608 | [
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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 | 9.6 | 96 | 12 | 5,169 | 0 |
[
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] | [
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1
] | gripper_close | 0.819608 | [
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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 | 9.7 | 97 | 12 | 5,170 | 0 |
[
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] | [
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1
] | gripper_close | 0.819608 | [
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1
] | [
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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 | 9.8 | 98 | 12 | 5,171 | 0 |
[
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] | [
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1
] | gripper_close | 0.819608 | [
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1
] | [
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] | [
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0.029043789952993393,
2.7944588661193848,
0.060530051589012146,
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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 | 9.9 | 99 | 12 | 5,172 | 0 |
[
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] | [
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1
] | gripper_close | 0.819608 | [
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1
] | [
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] | [
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0.029043789952993393,
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0.060530051589012146,
3.0696918964385986
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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2.7945542335510254,
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] | 0 | 10 | 100 | 12 | 5,173 | 0 |
[
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] | [
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1
] | gripper_close | 0.819608 | [
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1
] | [
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] | [
0.13839055597782135,
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0.029043789952993393,
2.7944588661193848,
0.060530051589012146,
3.0696918964385986
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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2.79457688331604,
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] | 0 | 10.1 | 101 | 12 | 5,174 | 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
] | [
0.093388631939888,
-0.5840219855308533,
0.07747498899698257,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.13845810294151306,
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0.028983507305383682,
2.7945468425750732,
0.06052437052130699,
3.0697922706604004
] | 0 | 10.2 | 102 | 12 | 5,175 | 0 |
[
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3.2413456439971924,
1
] | [
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1
] | move_to_position | 0 | [
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2.0726683139801025,
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1
] | [
-0.093388631939888,
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0,
0,
0
] | [
0.093388631939888,
-0.5840219855308533,
0.07747498899698257,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.13846835494041443,
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0.029017934575676918,
2.794499158859253,
0.06055865436792374,
3.069880247116089
] | 0 | 10.3 | 103 | 12 | 5,176 | 0 |
[
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3.240314245223999,
1
] | [
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-2.812868356704712,
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1
] | move_to_position | 0.011834 | [
-1.6101949214935303,
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2.0726683139801025,
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1
] | [
-0.093388631939888,
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0,
0,
0
] | [
0.093388631939888,
-0.5840219855308533,
0.07747498899698257,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.13786162436008453,
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0.02961580827832222,
2.7946977615356445,
0.06046179682016373,
3.0699408054351807
] | 0 | 10.4 | 104 | 12 | 5,177 | 0 |
[
-1.5234946012496948,
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3.237356662750244,
1
] | [
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2.0746874809265137,
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3.2355473041534424,
1
] | move_to_position | 0.046112 | [
-1.6101949214935303,
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2.0726683139801025,
-2.703803777694702,
-1.638809323310852,
3.1554877758026123,
1
] | [
-0.093388631939888,
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0,
0,
0
] | [
0.093388631939888,
-0.5840219855308533,
0.07747498899698257,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.1362449675798416,
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0.03138597309589386,
2.7947728633880615,
0.0605674646794796,
3.0700523853302
] | 0 | 10.5 | 105 | 12 | 5,178 | 0 |
[
-1.528112769126892,
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1
] | [
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2.075195550918579,
-2.802065372467041,
-1.6656489372253418,
3.2303802967071533,
1
] | move_to_position | 0.096214 | [
-1.6101949214935303,
-1.2842317819595337,
2.0726683139801025,
-2.703803777694702,
-1.638809323310852,
3.1554877758026123,
1
] | [
-0.093388631939888,
0.5840219855308533,
0.07747498899698257,
0,
0,
0
] | [
0.093388631939888,
-0.5840219855308533,
0.07747498899698257,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.13359789550304413,
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0.03418605774641037,
2.794656991958618,
0.060560405254364014,
3.0698864459991455
] | 0 | 10.6 | 106 | 12 | 5,179 | 0 |
[
-1.534584879875183,
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2.07531476020813,
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3.226978302001953,
1
] | [
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2.0754082202911377,
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-1.6632927656173706,
3.2237653732299805,
1
] | move_to_position | 0.167461 | [
-1.6101949214935303,
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2.0726683139801025,
-2.703803777694702,
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3.1554877758026123,
1
] | [
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0,
0,
0
] | [
0.093388631939888,
-0.5840219855308533,
0.07747498899698257,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.13017331063747406,
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0.03799694404006004,
2.7944300174713135,
0.06049742549657822,
3.069889783859253
] | 0 | 10.7 | 107 | 12 | 5,180 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.259418 | [
-1.6101949214935303,
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2.0726683139801025,
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3.1554877758026123,
1
] | [
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0,
0,
0
] | [
0.093388631939888,
-0.5840219855308533,
0.07747498899698257,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.12583492696285248,
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0.04267837852239609,
2.7944016456604004,
0.06044939160346985,
3.069845676422119
] | 0 | 10.8 | 108 | 12 | 5,181 | 0 |
[
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1
] | [
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3.2039308547973633,
1
] | move_to_position | 0.380275 | [
-1.6101949214935303,
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2.0726683139801025,
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3.1554877758026123,
1
] | [
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0,
0,
0
] | [
0.093388631939888,
-0.5840219855308533,
0.07747498899698257,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.12067661434412003,
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0.04833556339144707,
2.7942445278167725,
0.06044430285692215,
3.069896697998047
] | 0 | 10.9 | 109 | 12 | 5,182 | 0 |
[
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2.0754001140594482,
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3.1973843574523926,
1
] | [
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3.1927976608276367,
1
] | move_to_position | 0.51258 | [
-1.6101949214935303,
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2.0726683139801025,
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1
] | [
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0,
0,
0
] | [
0.093388631939888,
-0.5840219855308533,
0.07747498899698257,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.11471416056156158,
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0.054756440222263336,
2.7942914962768555,
0.06043335422873497,
3.069871664047241
] | 0 | 11 | 110 | 12 | 5,183 | 0 |
[
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2.075427770614624,
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1
] | [
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2.075425386428833,
-2.7402584552764893,
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3.1825098991394043,
1
] | move_to_position | 0.639632 | [
-1.6101949214935303,
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2.0726683139801025,
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-1.638809323310852,
3.1554877758026123,
1
] | [
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0,
0,
0
] | [
0.093388631939888,
-0.5840219855308533,
0.07747498899698257,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.10900827497243881,
-0.5843075513839722,
0.06079232320189476,
2.794295310974121,
0.06046627089381218,
3.0698161125183105
] | 0 | 11.1 | 111 | 12 | 5,184 | 0 |
[
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2.0754315853118896,
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1
] | [
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2.075356960296631,
-2.729794502258301,
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3.174560785293579,
1
] | move_to_position | 0.745316 | [
-1.6101949214935303,
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2.0726683139801025,
-2.703803777694702,
-1.638809323310852,
3.1554877758026123,
1
] | [
-0.093388631939888,
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0,
0,
0
] | [
0.093388631939888,
-0.5840219855308533,
0.07747498899698257,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.1043287143111229,
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0.06572344154119492,
2.7945494651794434,
0.060489825904369354,
3.0698530673980713
] | 0 | 11.2 | 112 | 12 | 5,185 | 0 |
[
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2.0752475261688232,
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3.17040753364563,
1
] | [
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-2.720414876937866,
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3.1675760746002197,
1
] | move_to_position | 0.826501 | [
-1.6101949214935303,
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2.0726683139801025,
-2.703803777694702,
-1.638809323310852,
3.1554877758026123,
1
] | [
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0.5840219855308533,
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0,
0,
0
] | [
0.093388631939888,
-0.5840219855308533,
0.07747498899698257,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.10044848173856735,
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0.06974190473556519,
2.794863224029541,
0.060511548072099686,
3.069869041442871
] | 0 | 11.3 | 113 | 12 | 5,186 | 0 |
[
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3.164041757583618,
1
] | [
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-2.7126145362854004,
-1.6411173343658447,
3.161860466003418,
1
] | move_to_position | 0.900568 | [
-1.6101949214935303,
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2.0726683139801025,
-2.703803777694702,
-1.638809323310852,
3.1554877758026123,
1
] | [
-0.093388631939888,
0.5840219855308533,
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0,
0,
0
] | [
0.093388631939888,
-0.5840219855308533,
0.07747498899698257,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.09741979837417603,
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0.07303399592638016,
2.7947921752929688,
0.06050030142068863,
3.0698227882385254
] | 0 | 11.4 | 114 | 12 | 5,187 | 0 |
[
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2.073521375656128,
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3.159120798110962,
1
] | [
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2.0731306076049805,
-2.7068581581115723,
-1.6396077871322632,
3.15769100189209,
1
] | move_to_position | 0.957855 | [
-1.6101949214935303,
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2.0726683139801025,
-2.703803777694702,
-1.638809323310852,
3.1554877758026123,
1
] | [
-0.093388631939888,
0.5840219855308533,
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0,
0,
0
] | [
0.093388631939888,
-0.5840219855308533,
0.07747498899698257,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.0950053334236145,
-0.5839504599571228,
0.075686514377594,
2.794618844985962,
0.060497891157865524,
3.069779634475708
] | 0 | 11.5 | 115 | 12 | 5,188 | 0 |
[
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2.0729892253875732,
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3.156222343444824,
1
] | [
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2.072701930999756,
-2.7041029930114746,
-1.6388883590698242,
3.1557061672210693,
1
] | move_to_position | 0.991452 | [
-1.6101949214935303,
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2.0726683139801025,
-2.703803777694702,
-1.638809323310852,
3.1554877758026123,
1
] | [
-0.093388631939888,
0.5840219855308533,
0.07747498899698257,
0,
0,
0
] | [
0.093388631939888,
-0.5840219855308533,
0.07747498899698257,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.09364543855190277,
-0.5839649438858032,
0.0771302804350853,
2.7946717739105225,
0.06054570898413658,
3.0698435306549072
] | 0 | 11.6 | 116 | 12 | 5,189 | 0 |
[
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2.07281756401062,
-2.703913450241089,
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3.1555747985839844,
1
] | [
-1.6101949214935303,
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2.0726683139801025,
-2.703803777694702,
-1.638809323310852,
3.1554877758026123,
1
] | move_to_position | 0.998526 | [
-1.6101949214935303,
-1.2842317819595337,
2.0726683139801025,
-2.703803777694702,
-1.638809323310852,
3.1554877758026123,
1
] | [
-0.093388631939888,
0.5840219855308533,
0.07747498899698257,
0,
0,
0
] | [
0.093388631939888,
-0.5840219855308533,
0.07747498899698257,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.09346272796392441,
-0.5839855074882507,
0.07739350199699402,
2.7946808338165283,
0.060493968427181244,
3.069894313812256
] | 0 | 11.7 | 117 | 12 | 5,190 | 0 |
[
-1.6100586652755737,
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2.072676420211792,
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3.1554837226867676,
1
] | [
-1.6101949214935303,
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2.0726683139801025,
-2.703803777694702,
-1.638809323310852,
3.1554877758026123,
1
] | move_to_position | 0.000027 | [
-1.7731469869613647,
-1.243675708770752,
1.8395479917526245,
-2.5174152851104736,
-1.5829933881759644,
3.002020835876465,
1
] | [
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0.6591991782188416,
0.13097016513347626,
0,
0,
0
] | [
-0.00135511823464185,
-0.6591991782188416,
0.13097016513347626,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.09345661848783493,
-0.584029495716095,
0.07742099463939667,
2.7946667671203613,
0.06047990173101425,
3.069955348968506
] | 0 | 11.8 | 118 | 12 | 5,191 | 0 |
[
-1.6103376150131226,
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2.0723936557769775,
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3.155163526535034,
1
] | [
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2.07177472114563,
-2.702901601791382,
-1.6384730339050293,
3.1545069217681885,
1
] | move_to_position | 0.001535 | [
-1.7731469869613647,
-1.243675708770752,
1.8395479917526245,
-2.5174152851104736,
-1.5829933881759644,
3.002020835876465,
1
] | [
0.00135511823464185,
0.6591991782188416,
0.13097016513347626,
0,
0,
0
] | [
-0.00135511823464185,
-0.6591991782188416,
0.13097016513347626,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.09312962740659714,
-0.5842649936676025,
0.07759510725736618,
2.794630527496338,
0.06051461026072502,
3.069922685623169
] | 0 | 11.9 | 119 | 12 | 5,192 | 0 |
[
-1.612921118736267,
-1.28406822681427,
2.070082426071167,
-2.701382875442505,
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3.152949333190918,
1
] | [
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2.0686228275299072,
-2.6998684406280518,
-1.6373487710952759,
3.1513705253601074,
1
] | move_to_position | 0.013689 | [
-1.7731469869613647,
-1.243675708770752,
1.8395479917526245,
-2.5174152851104736,
-1.5829933881759644,
3.002020835876465,
1
] | [
0.00135511823464185,
0.6591991782188416,
0.13097016513347626,
0,
0,
0
] | [
-0.00135511823464185,
-0.6591991782188416,
0.13097016513347626,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.09180102497339249,
-0.5852283239364624,
0.0782742127776146,
2.7946462631225586,
0.060504455119371414,
3.0698180198669434
] | 0 | 12 | 120 | 12 | 5,193 | 0 |
[
-1.6171029806137085,
-1.2840286493301392,
2.0659282207489014,
-2.69734787940979,
-1.6364821195602417,
3.148827314376831,
1
] | [
-1.6201640367507935,
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2.062713384628296,
-2.6944162845611572,
-1.6354092359542847,
3.14597749710083,
1
] | move_to_position | 0.035302 | [
-1.7731469869613647,
-1.243675708770752,
1.8395479917526245,
-2.5174152851104736,
-1.5829933881759644,
3.002020835876465,
1
] | [
0.00135511823464185,
0.6591991782188416,
0.13097016513347626,
0,
0,
0
] | [
-0.00135511823464185,
-0.6591991782188416,
0.13097016513347626,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.08929417282342911,
-0.5871602892875671,
0.07965809106826782,
2.7947659492492676,
0.060493674129247665,
3.070040702819824
] | 0 | 12.1 | 121 | 12 | 5,194 | 0 |
[
-1.6242631673812866,
-1.283725380897522,
2.0580689907073975,
-2.690314531326294,
-1.6339792013168335,
3.142031669616699,
1
] | [
-1.6283974647521973,
-1.2834171056747437,
2.0534725189208984,
-2.6862123012542725,
-1.6326076984405518,
3.138214111328125,
1
] | move_to_position | 0.073477 | [
-1.7731469869613647,
-1.243675708770752,
1.8395479917526245,
-2.5174152851104736,
-1.5829933881759644,
3.002020835876465,
1
] | [
0.00135511823464185,
0.6591991782188416,
0.13097016513347626,
0,
0,
0
] | [
-0.00135511823464185,
-0.6591991782188416,
0.13097016513347626,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.08539660274982452,
-0.5902616381645203,
0.08185887336730957,
2.794809579849243,
0.060538530349731445,
3.0699803829193115
] | 0 | 12.2 | 122 | 12 | 5,195 | 0 |
[
-1.634128451347351,
-1.2830350399017334,
2.0466582775115967,
-2.6802799701690674,
-1.6306527853012085,
3.1328232288360596,
1
] | [
-1.6394227743148804,
-1.282631754875183,
2.0402817726135254,
-2.6748342514038086,
-1.6288471221923828,
3.1278254985809326,
1
] | move_to_position | 0.127291 | [
-1.7731469869613647,
-1.243675708770752,
1.8395479917526245,
-2.5174152851104736,
-1.5829933881759644,
3.002020835876465,
1
] | [
0.00135511823464185,
0.6591991782188416,
0.13097016513347626,
0,
0,
0
] | [
-0.00135511823464185,
-0.6591991782188416,
0.13097016513347626,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.07996827363967896,
-0.594821035861969,
0.08512996882200241,
2.794518232345581,
0.06044955924153328,
3.0699543952941895
] | 0 | 12.3 | 123 | 12 | 5,196 | 0 |
[
-1.6472681760787964,
-1.2818341255187988,
2.0307772159576416,
-2.666733980178833,
-1.6261342763900757,
3.1204373836517334,
1
] | [
-1.6560637950897217,
-1.2807084321975708,
2.0201587677001953,
-2.65755558013916,
-1.6231660842895508,
3.1121490001678467,
1
] | move_to_position | 0.200486 | [
-1.7731469869613647,
-1.243675708770752,
1.8395479917526245,
-2.5174152851104736,
-1.5829933881759644,
3.002020835876465,
1
] | [
0.00135511823464185,
0.6591991782188416,
0.13097016513347626,
0,
0,
0
] | [
-0.00135511823464185,
-0.6591991782188416,
0.13097016513347626,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.07245424389839172,
-0.6009546518325806,
0.0894956961274147,
2.794393301010132,
0.06055587902665138,
3.0699832439422607
] | 0 | 12.4 | 124 | 12 | 5,197 | 0 |
[
-1.6659659147262573,
-1.2793378829956055,
2.007826566696167,
-2.6471188068389893,
-1.6197932958602905,
3.1027774810791016,
1
] | [
-1.6737957000732422,
-1.278018832206726,
1.9980226755142212,
-2.6388132572174072,
-1.61710786819458,
3.0954487323760986,
1
] | move_to_position | 0.305753 | [
-1.7731469869613647,
-1.243675708770752,
1.8395479917526245,
-2.5174152851104736,
-1.5829933881759644,
3.002020835876465,
1
] | [
0.00135511823464185,
0.6591991782188416,
0.13097016513347626,
0,
0,
0
] | [
-0.00135511823464185,
-0.6591991782188416,
0.13097016513347626,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.06175265461206436,
-0.6093412041664124,
0.09543268382549286,
2.7945218086242676,
0.060472819954156876,
3.0698978900909424
] | 0 | 12.5 | 125 | 12 | 5,198 | 0 |
[
-1.6855882406234741,
-1.2758241891860962,
1.9825843572616577,
-2.6259710788726807,
-1.6130751371383667,
3.0843253135681152,
1
] | [
-1.6922664642333984,
-1.274332046508789,
1.973387598991394,
-2.618540048599243,
-1.610788345336914,
3.0780599117279053,
1
] | move_to_position | 0.418922 | [
-1.7731469869613647,
-1.243675708770752,
1.8395479917526245,
-2.5174152851104736,
-1.5829933881759644,
3.002020835876465,
1
] | [
0.00135511823464185,
0.6591991782188416,
0.13097016513347626,
0,
0,
0
] | [
-0.00135511823464185,
-0.6591991782188416,
0.13097016513347626,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.05192141979932785,
-0.6169928312301636,
0.10092361271381378,
2.7946274280548096,
0.06048981845378876,
3.070000410079956
] | 0 | 12.6 | 126 | 12 | 5,199 | 0 |
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