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 | 0.759105 | [
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] | 1 | 5.4 | 54 | 13 | 5,502 | 0 |
[
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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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] | 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 | 5.7 | 57 | 13 | 5,505 | 0 |
[
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] | [
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] | move_to_position | 0.861393 | [
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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 | 13 | 5,506 | 0 |
[
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] | move_to_position | 0.882156 | [
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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 | 13 | 5,507 | 0 |
[
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6 | 60 | 13 | 5,508 | 0 |
[
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] | [
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] | move_to_position | 0.919084 | [
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] | 1 | 6.1 | 61 | 13 | 5,509 | 0 |
[
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] | 1 | 6.2 | 62 | 13 | 5,510 | 0 |
[
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] | move_to_position | 0.948424 | [
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] | 1 | 6.3 | 63 | 13 | 5,511 | 0 |
[
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] | move_to_position | 0.959623 | [
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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 | 13 | 5,512 | 0 |
[
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] | [
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] | move_to_position | 0.969931 | [
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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 | 13 | 5,513 | 0 |
[
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] | [
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] | move_to_position | 0.978373 | [
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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 | 13 | 5,514 | 0 |
[
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] | [
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] | move_to_position | 0.984722 | [
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0.28152403235435486,
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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 | 13 | 5,515 | 0 |
[
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] | [
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] | move_to_position | 0.990418 | [
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] | [
0.28152403235435486,
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0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.8 | 68 | 13 | 5,516 | 0 |
[
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] | move_to_position | 0.994442 | [
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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 | 6.9 | 69 | 13 | 5,517 | 0 |
[
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] | [
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] | move_to_position | 0.997192 | [
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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 | 13 | 5,518 | 0 |
[
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] | [
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] | move_to_position | 0.998943 | [
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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 | 7.1 | 71 | 13 | 5,519 | 0 |
[
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] | move_to_position | 0.999589 | [
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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 | 7.2 | 72 | 13 | 5,520 | 0 |
[
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] | [
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] | move_to_position | 0.999806 | [
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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 | 7.3 | 73 | 13 | 5,521 | 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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] | 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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[
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] | [
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] | move_to_position | 0.000222 | [
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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 | 0.000705 | [
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] | [
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] | [
0.2834533154964447,
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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 | 7.9 | 79 | 13 | 5,527 | 0 |
[
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] | [
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] | move_to_position | 0.011966 | [
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] | [
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] | [
0.2834533154964447,
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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 | 13 | 5,528 | 0 |
[
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] | [
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] | move_to_position | 0.058999 | [
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] | [
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] | [
0.2834533154964447,
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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 | 13 | 5,529 | 0 |
[
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] | [
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] | move_to_position | 0.131329 | [
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] | [
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] | [
0.2834533154964447,
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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 | 13 | 5,530 | 0 |
[
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] | [
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] | move_to_position | 0.229324 | [
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] | [
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] | [
0.2834533154964447,
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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 | 13 | 5,531 | 0 |
[
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] | [
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] | move_to_position | 0.339097 | [
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] | [
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] | [
0.2834533154964447,
-0.6304044127464294,
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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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] | 1 | 8.4 | 84 | 13 | 5,532 | 0 |
[
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] | move_to_position | 0.444969 | [
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] | gripper_close | 0.317647 | [
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] | gripper_close | 0.447059 | [
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] | gripper_close | 0.552941 | [
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] | gripper_close | 0.85098 | [
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] | gripper_close | 0.85098 | [
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] | gripper_close | 0.85098 | [
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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 | 0.85098 | [
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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 | 0.85098 | [
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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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1
] | gripper_close | 0.85098 | [
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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 | 11.6 | 116 | 13 | 5,564 | 0 |
[
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] | [
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] | gripper_close | 0.85098 | [
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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 | 11.7 | 117 | 13 | 5,565 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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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 | 11.8 | 118 | 13 | 5,566 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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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 | 11.9 | 119 | 13 | 5,567 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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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 | 13 | 5,568 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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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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2.7957749366760254,
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] | 0 | 12.1 | 121 | 13 | 5,569 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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1
] | [
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] | [
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0.028155049309134483,
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0.06004386767745018,
3.0699644088745117
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.02800108678638935,
2.7957630157470703,
0.06013957038521767,
3.0700674057006836
] | 0 | 12.2 | 122 | 13 | 5,570 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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1
] | [
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] | [
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0.028155049309134483,
2.7955949306488037,
0.06004386767745018,
3.0699644088745117
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.02798793651163578,
2.7958180904388428,
0.060184724628925323,
3.0700268745422363
] | 0 | 12.3 | 123 | 13 | 5,571 | 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
] | [
0.2830084264278412,
-0.6203944087028503,
0.04167967662215233,
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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0.027990471571683884,
2.7958219051361084,
0.060151081532239914,
3.070050001144409
] | 0 | 12.4 | 124 | 13 | 5,572 | 0 |
[
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1
] | [
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1.768203854560852,
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1
] | move_to_position | 0 | [
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1
] | [
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0,
0,
0
] | [
0.2830084264278412,
-0.6203944087028503,
0.04167967662215233,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2834396958351135,
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0.027996158227324486,
2.795804738998413,
0.06013280153274536,
3.0700769424438477
] | 0 | 12.5 | 125 | 13 | 5,573 | 0 |
[
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1
] | [
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1.7688552141189575,
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1
] | move_to_position | 0.012974 | [
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1
] | [
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0,
0,
0
] | [
0.2830084264278412,
-0.6203944087028503,
0.04167967662215233,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2833731770515442,
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0.028317317366600037,
2.795637845993042,
0.060195546597242355,
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] | 0 | 12.6 | 126 | 13 | 5,574 | 0 |
[
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1
] | [
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1.7700839042663574,
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3.474453926086426,
1
] | move_to_position | 0.063113 | [
-1.2723159790039062,
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1.7889775037765503,
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1
] | [
-0.2830084264278412,
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0,
0,
0
] | [
0.2830084264278412,
-0.6203944087028503,
0.04167967662215233,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.28330954909324646,
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0.029042184352874756,
2.7958052158355713,
0.060162100940942764,
3.0698673725128174
] | 0 | 12.7 | 127 | 13 | 5,575 | 0 |
[
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1
] | [
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3.4747982025146484,
1
] | move_to_position | 0.143311 | [
-1.2723159790039062,
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1.7889775037765503,
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1
] | [
-0.2830084264278412,
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0,
0,
0
] | [
0.2830084264278412,
-0.6203944087028503,
0.04167967662215233,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2833612859249115,
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0.030114902183413506,
2.795837163925171,
0.06018154323101044,
3.0700032711029053
] | 0 | 12.8 | 128 | 13 | 5,576 | 0 |
[
-1.2755120992660522,
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3.4750401973724365,
1
] | [
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-1.746665120124817,
3.475233554840088,
1
] | move_to_position | 0.235847 | [
-1.2723159790039062,
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1.7889775037765503,
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3.478135347366333,
1
] | [
-0.2830084264278412,
0.6203944087028503,
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0,
0,
0
] | [
0.2830084264278412,
-0.6203944087028503,
0.04167967662215233,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2833316922187805,
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0.03149010241031647,
2.7958550453186035,
0.06022568419575691,
3.0700371265411377
] | 0 | 12.9 | 129 | 13 | 5,577 | 0 |
[
-1.2750662565231323,
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1.7754234075546265,
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3.475429058074951,
1
] | [
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1.7762142419815063,
-2.638287305831909,
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3.475606918334961,
1
] | move_to_position | 0.3405 | [
-1.2723159790039062,
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1.7889775037765503,
-2.626605749130249,
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3.478135347366333,
1
] | [
-0.2830084264278412,
0.6203944087028503,
0.04167967662215233,
0,
0,
0
] | [
0.2830084264278412,
-0.6203944087028503,
0.04167967662215233,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.28330743312835693,
-0.6267582178115845,
0.032902903854846954,
2.7959182262420654,
0.06022205576300621,
3.070077657699585
] | 0 | 13 | 130 | 13 | 5,578 | 0 |
[
-1.2746943235397339,
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1.7776960134506226,
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3.475841999053955,
1
] | [
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1.7783987522125244,
-2.6363863945007324,
-1.746848464012146,
3.4760122299194336,
1
] | move_to_position | 0.449829 | [
-1.2723159790039062,
-1.0363991260528564,
1.7889775037765503,
-2.626605749130249,
-1.7474489212036133,
3.478135347366333,
1
] | [
-0.2830084264278412,
0.6203944087028503,
0.04167967662215233,
0,
0,
0
] | [
0.2830084264278412,
-0.6203944087028503,
0.04167967662215233,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.28322190046310425,
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0.034372009336948395,
2.7958762645721436,
0.06018686667084694,
3.070040702819824
] | 0 | 13.1 | 131 | 13 | 5,579 | 0 |
[
-1.274314284324646,
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1.7797006368637085,
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1
] | [
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1
] | move_to_position | 0.542847 | [
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] | [
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0,
0
] | [
0.2830084264278412,
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0.04167967662215233,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.28318190574645996,
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0.03566555678844452,
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] | 0 | 13.2 | 132 | 13 | 5,580 | 0 |
[
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] | [
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1
] | move_to_position | 0.625367 | [
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] | [
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] | [
0.2830084264278412,
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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 | 13.3 | 133 | 13 | 5,581 | 0 |
[
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] | [
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1
] | move_to_position | 0.703484 | [
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] | [
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0,
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] | [
0.2830084264278412,
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0.04167967662215233,
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 | 13.4 | 134 | 13 | 5,582 | 0 |
[
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] | [
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1
] | move_to_position | 0.781414 | [
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] | [
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] | [
0.2830084264278412,
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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 | 13.5 | 135 | 13 | 5,583 | 0 |
[
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] | [
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1
] | move_to_position | 0.854216 | [
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] | [
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] | [
0.2830084264278412,
-0.6203944087028503,
0.04167967662215233,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.28308963775634766,
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0.03992373123764992,
2.795703649520874,
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] | 0 | 13.6 | 136 | 13 | 5,584 | 0 |
[
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] | [
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1
] | move_to_position | 0.919985 | [
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] | [
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0,
0
] | [
0.2830084264278412,
-0.6203944087028503,
0.04167967662215233,
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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2.7957875728607178,
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] | 0 | 13.7 | 137 | 13 | 5,585 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.969367 | [
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] | [
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0,
0
] | [
0.2830084264278412,
-0.6203944087028503,
0.04167967662215233,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2830478250980377,
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0.041455063968896866,
2.795611619949341,
0.06004707142710686,
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] | 0 | 13.8 | 138 | 13 | 5,586 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.993433 | [
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1.7889775037765503,
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1
] | [
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0,
0
] | [
0.2830084264278412,
-0.6203944087028503,
0.04167967662215233,
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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0.041680727154016495,
2.7956929206848145,
0.06011108309030533,
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] | 0 | 13.9 | 139 | 13 | 5,587 | 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
] | [
-0.01606958732008934,
-0.6753917932510376,
0.07207796722650528,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2830314040184021,
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0.041610900312662125,
2.79585599899292,
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] | 0 | 14 | 140 | 13 | 5,588 | 0 |
[
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1
] | [
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1
] | move_to_position | 0 | [
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1.8471217155456543,
-2.643840789794922,
-1.5762557983398438,
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1
] | [
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0.6753917932510376,
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0,
0,
0
] | [
-0.01606958732008934,
-0.6753917932510376,
0.07207796722650528,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2830287516117096,
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0.04161308333277702,
2.7958545684814453,
0.06015129014849663,
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] | 0 | 14.1 | 141 | 13 | 5,589 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.000305 | [
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1.8471217155456543,
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1
] | [
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0,
0,
0
] | [
-0.01606958732008934,
-0.6753917932510376,
0.07207796722650528,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.28286120295524597,
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0.04161293804645538,
2.795884370803833,
0.060224052518606186,
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] | 0 | 14.2 | 142 | 13 | 5,590 | 0 |
[
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3.4768173694610596,
1
] | [
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1
] | move_to_position | 0.002748 | [
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1.8471217155456543,
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1
] | [
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0,
0,
0
] | [
-0.01606958732008934,
-0.6753917932510376,
0.07207796722650528,
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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0.04174163192510605,
2.7958028316497803,
0.06021249666810036,
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] | 0 | 14.3 | 143 | 13 | 5,591 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.007473 | [
-1.7928171157836914,
-1.123854160308838,
1.8471217155456543,
-2.643840789794922,
-1.5762557983398438,
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1
] | [
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0.6753917932510376,
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0,
0,
0
] | [
-0.01606958732008934,
-0.6753917932510376,
0.07207796722650528,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.280647337436676,
-0.6208134293556213,
0.041948359459638596,
2.7956151962280273,
0.06015252694487572,
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] | 0 | 14.4 | 144 | 13 | 5,592 | 0 |
[
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1.7934855222702026,
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3.471027135848999,
1
] | [
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1.794461727142334,
-2.6298863887786865,
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3.4693660736083984,
1
] | move_to_position | 0.014782 | [
-1.7928171157836914,
-1.123854160308838,
1.8471217155456543,
-2.643840789794922,
-1.5762557983398438,
2.9836134910583496,
1
] | [
0.01606958732008934,
0.6753917932510376,
0.07207796722650528,
0,
0,
0
] | [
-0.01606958732008934,
-0.6753917932510376,
0.07207796722650528,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.27843883633613586,
-0.6211395263671875,
0.04211283102631569,
2.795745849609375,
0.060218632221221924,
3.0701305866241455
] | 0 | 14.5 | 145 | 13 | 5,593 | 0 |
[
-1.2841123342514038,
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-2.630808115005493,
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3.4666154384613037,
1
] | [
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1.79754638671875,
-2.631639003753662,
-1.7430903911590576,
3.4639861583709717,
1
] | move_to_position | 0.023976 | [
-1.7928171157836914,
-1.123854160308838,
1.8471217155456543,
-2.643840789794922,
-1.5762557983398438,
2.9836134910583496,
1
] | [
0.01606958732008934,
0.6753917932510376,
0.07207796722650528,
0,
0,
0
] | [
-0.01606958732008934,
-0.6753917932510376,
0.07207796722650528,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2753560543060303,
-0.6217280030250549,
0.042410410940647125,
2.795748472213745,
0.060198523104190826,
3.0701565742492676
] | 0 | 14.6 | 146 | 13 | 5,594 | 0 |
[
-1.2907274961471558,
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-2.6327688694000244,
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3.4602386951446533,
1
] | [
-1.2932536602020264,
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1.800862431526184,
-2.63350772857666,
-1.7411386966705322,
3.4578306674957275,
1
] | move_to_position | 0.037219 | [
-1.7928171157836914,
-1.123854160308838,
1.8471217155456543,
-2.643840789794922,
-1.5762557983398438,
2.9836134910583496,
1
] | [
0.01606958732008934,
0.6753917932510376,
0.07207796722650528,
0,
0,
0
] | [
-0.01606958732008934,
-0.6753917932510376,
0.07207796722650528,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2713007926940918,
-0.6225662231445312,
0.04283260554075241,
2.795738458633423,
0.06014276295900345,
3.070082902908325
] | 0 | 14.7 | 147 | 13 | 5,595 | 0 |
[
-1.2988313436508179,
-1.0470483303070068,
1.8036283254623413,
-2.6351001262664795,
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3.452476978302002,
1
] | [
-1.3018743991851807,
-1.0481884479522705,
1.8051762580871582,
-2.635927200317383,
-1.7384885549545288,
3.449512481689453,
1
] | move_to_position | 0.053374 | [
-1.7928171157836914,
-1.123854160308838,
1.8471217155456543,
-2.643840789794922,
-1.5762557983398438,
2.9836134910583496,
1
] | [
0.01606958732008934,
0.6753917932510376,
0.07207796722650528,
0,
0,
0
] | [
-0.01606958732008934,
-0.6753917932510376,
0.07207796722650528,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2664780616760254,
-0.6235123872756958,
0.043320681899785995,
2.7958226203918457,
0.06016303598880768,
3.070063352584839
] | 0 | 14.8 | 148 | 13 | 5,596 | 0 |
[
-1.3088372945785522,
-1.050935983657837,
1.8088048696517944,
-2.637979745864868,
-1.7363723516464233,
3.4428157806396484,
1
] | [
-1.314666986465454,
-1.0531668663024902,
1.8118587732315063,
-2.639700412750244,
-1.734574794769287,
3.4371559619903564,
1
] | move_to_position | 0.073314 | [
-1.7928171157836914,
-1.123854160308838,
1.8471217155456543,
-2.643840789794922,
-1.5762557983398438,
2.9836134910583496,
1
] | [
0.01606958732008934,
0.6753917932510376,
0.07207796722650528,
0,
0,
0
] | [
-0.01606958732008934,
-0.6753917932510376,
0.07207796722650528,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.26024314761161804,
-0.6246727108955383,
0.044016048312187195,
2.7957258224487305,
0.0601162426173687,
3.070068597793579
] | 0 | 14.9 | 149 | 13 | 5,597 | 0 |
[
-1.321942687034607,
-1.0560557842254639,
1.8157204389572144,
-2.6418445110321045,
-1.73233163356781,
3.4300596714019775,
1
] | [
-1.3268500566482544,
-1.0578460693359375,
1.8181034326553345,
-2.6432173252105713,
-1.730838656425476,
3.425394058227539,
1
] | move_to_position | 0.099469 | [
-1.7928171157836914,
-1.123854160308838,
1.8471217155456543,
-2.643840789794922,
-1.5762557983398438,
2.9836134910583496,
1
] | [
0.01606958732008934,
0.6753917932510376,
0.07207796722650528,
0,
0,
0
] | [
-0.01606958732008934,
-0.6753917932510376,
0.07207796722650528,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2522841691970825,
-0.6260469555854797,
0.0447896309196949,
2.795752763748169,
0.06015610694885254,
3.0701167583465576
] | 0 | 15 | 150 | 13 | 5,598 | 0 |
[
-1.3367055654525757,
-1.0614765882492065,
1.8228977918624878,
-2.6458933353424072,
-1.7277940511703491,
3.41589093208313,
1
] | [
-1.3425993919372559,
-1.0636245012283325,
1.8256618976593018,
-2.647432804107666,
-1.7259730100631714,
3.4102132320404053,
1
] | move_to_position | 0.128528 | [
-1.7928171157836914,
-1.123854160308838,
1.8471217155456543,
-2.643840789794922,
-1.5762557983398438,
2.9836134910583496,
1
] | [
0.01606958732008934,
0.6753917932510376,
0.07207796722650528,
0,
0,
0
] | [
-0.01606958732008934,
-0.6753917932510376,
0.07207796722650528,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.24354740977287292,
-0.627629280090332,
0.045715853571891785,
2.795616626739502,
0.06011257320642471,
3.070087194442749
] | 0 | 15.1 | 151 | 13 | 5,599 | 0 |
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