observation.state listlengths 7 7 | action listlengths 7 7 | skill.type large_stringclasses 4
values | skill.progress float32 0 1 | skill.goal_position.joint listlengths 7 7 | skill.goal_position.world_xyzrpy listlengths 6 6 | skill.goal_position.robot_xyzrpy listlengths 6 6 | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 61
values | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | timestamp float32 0 46.1 | frame_index int64 0 461 | episode_index int64 0 24 | index int64 0 10.6k | task_index int64 0 0 |
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] | 1 | 1 | 10 | 16 | 6,735 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.1 | 11 | 16 | 6,736 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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-0.4399999976158142,
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.2 | 12 | 16 | 6,737 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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-0.4399999976158142,
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0,
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.3 | 13 | 16 | 6,738 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
-0.000016537096598767675,
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] | 1 | 1.4 | 14 | 16 | 6,739 | 0 |
[
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] | [
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] | move_to_position | 0.102608 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
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0,
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.5 | 15 | 16 | 6,740 | 0 |
[
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] | [
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] | move_to_position | 0.00001 | [
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] | [
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] | [
0.18404027819633484,
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0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.000002058269274129998,
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0.35294240713119507,
2.7944986820220947,
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] | 1 | 1.6 | 16 | 16 | 6,741 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
0.18404027819633484,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.000002922898374890792,
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2.794492244720459,
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] | 1 | 1.7 | 17 | 16 | 6,742 | 0 |
[
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] | [
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] | move_to_position | 0.000394 | [
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] | [
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] | [
0.18404027819633484,
-0.5737026929855347,
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0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.000047703098971396685,
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] | 1 | 1.8 | 18 | 16 | 6,743 | 0 |
[
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] | [
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] | move_to_position | 0.00218 | [
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] | [
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] | [
0.18404027819633484,
-0.5737026929855347,
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0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.00048287565005011857,
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] | 1 | 1.9 | 19 | 16 | 6,744 | 0 |
[
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] | [
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] | move_to_position | 0.006189 | [
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] | [
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] | [
0.18404027819633484,
-0.5737026929855347,
0.11514443159103394,
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0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0011709034442901611,
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0.3514935076236725,
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] | 1 | 2 | 20 | 16 | 6,745 | 0 |
[
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] | [
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] | move_to_position | 0.011556 | [
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] | [
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] | [
0.18404027819633484,
-0.5737026929855347,
0.11514443159103394,
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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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2.7944841384887695,
0.06063653528690338,
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] | 1 | 2.1 | 21 | 16 | 6,746 | 0 |
[
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0
] | [
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] | move_to_position | 0.019054 | [
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] | [
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] | [
0.18404027819633484,
-0.5737026929855347,
0.11514443159103394,
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0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 2.2 | 22 | 16 | 6,747 | 0 |
[
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] | [
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] | move_to_position | 0.029346 | [
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] | [
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] | [
0.18404027819633484,
-0.5737026929855347,
0.11514443159103394,
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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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-0.4438740313053131,
0.34593114256858826,
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] | 1 | 2.3 | 23 | 16 | 6,748 | 0 |
[
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0
] | [
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] | move_to_position | 0.042915 | [
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-2.565167188644409,
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] | [
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] | [
0.18404027819633484,
-0.5737026929855347,
0.11514443159103394,
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0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 2.4 | 24 | 16 | 6,749 | 0 |
[
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] | [
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0
] | move_to_position | 0.060783 | [
-1.4277167320251465,
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-2.565167188644409,
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] | [
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] | [
0.18404027819633484,
-0.5737026929855347,
0.11514443159103394,
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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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0.3389151096343994,
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0.06064155325293541,
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] | 1 | 2.5 | 25 | 16 | 6,750 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.081816 | [
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-2.565167188644409,
-1.6993736028671265,
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] | [
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] | [
0.18404027819633484,
-0.5737026929855347,
0.11514443159103394,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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0.3338322341442108,
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0.06064149737358093,
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] | 1 | 2.6 | 26 | 16 | 6,751 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.105997 | [
-1.4277167320251465,
-1.3167426586151123,
1.9838664531707764,
-2.565167188644409,
-1.6993736028671265,
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] | [
-0.18404027819633484,
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0,
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] | [
0.18404027819633484,
-0.5737026929855347,
0.11514443159103394,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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0.32834911346435547,
2.794520139694214,
0.06062338501214981,
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] | 1 | 2.7 | 27 | 16 | 6,752 | 0 |
[
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0
] | [
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] | move_to_position | 0.132491 | [
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[
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] | move_to_position | 0.163242 | [
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[
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] | move_to_position | 0.197545 | [
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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 | 0.233282 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.1 | 31 | 16 | 6,756 | 0 |
[
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] | move_to_position | 0.273341 | [
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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 | 0.314145 | [
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[
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] | [
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] | move_to_position | 0.35484 | [
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[
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] | move_to_position | 0.399556 | [
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] | 1 | 3.5 | 35 | 16 | 6,760 | 0 |
[
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] | move_to_position | 0.447015 | [
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[
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] | [
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] | move_to_position | 0.492657 | [
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[
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] | move_to_position | 0.536422 | [
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[
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] | move_to_position | 0.583239 | [
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[
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] | [
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] | move_to_position | 0.629445 | [
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] | [
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[
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] | [
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] | move_to_position | 0.672866 | [
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] | [
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] | [
0.18404027819633484,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.1 | 41 | 16 | 6,766 | 0 |
[
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] | [
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] | move_to_position | 0.714931 | [
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] | [
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] | [
0.18404027819633484,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.2 | 42 | 16 | 6,767 | 0 |
[
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] | [
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] | move_to_position | 0.752567 | [
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] | [
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] | [
0.18404027819633484,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.3 | 43 | 16 | 6,768 | 0 |
[
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] | [
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] | move_to_position | 0.792218 | [
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1.9838664531707764,
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] | [
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] | [
0.18404027819633484,
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0.11514443159103394,
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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 | 16 | 6,769 | 0 |
[
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] | move_to_position | 0.826687 | [
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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 | 16 | 6,770 | 0 |
[
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] | move_to_position | 0.860281 | [
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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 | 0.887768 | [
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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 | 16 | 6,772 | 0 |
[
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] | [
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] | move_to_position | 0.91441 | [
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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 | 0.936499 | [
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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 | 0.954387 | [
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[
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] | [
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] | move_to_position | 0.969505 | [
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[
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] | move_to_position | 0.979736 | [
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[
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] | move_to_position | 0.987864 | [
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[
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] | move_to_position | 0.993378 | [
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[
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[
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] | move_to_position | 0.999006 | [
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[
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] | [
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] | move_to_position | 0.999678 | [
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[
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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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] | gripper_open | 1 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: open gripper | [
0.18403184413909912,
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2.7945353984832764,
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] | 1 | 6.1 | 61 | 16 | 6,786 | 0 |
[
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] | [
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] | move_to_position | 0.000089 | [
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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 | 6.2 | 62 | 16 | 6,787 | 0 |
[
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] | [
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] | move_to_position | 0.000077 | [
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] | [
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] | [
0.14798495173454285,
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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 | 6.3 | 63 | 16 | 6,788 | 0 |
[
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] | [
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] | move_to_position | 0.009003 | [
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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 | 6.4 | 64 | 16 | 6,789 | 0 |
[
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] | [
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] | move_to_position | 0.03739 | [
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] | [
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] | [
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-0.5869994163513184,
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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 | 6.5 | 65 | 16 | 6,790 | 0 |
[
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] | [
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] | move_to_position | 0.087916 | [
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] | [
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] | [
0.14798495173454285,
-0.5869994163513184,
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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 | 6.6 | 66 | 16 | 6,791 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.158116 | [
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0
] | [
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] | [
0.14798495173454285,
-0.5869994163513184,
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 | 6.7 | 67 | 16 | 6,792 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.26887 | [
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] | [
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] | [
0.14798495173454285,
-0.5869994163513184,
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 | [
0.17384073138237,
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2.7946012020111084,
0.06066376715898514,
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] | 1 | 6.8 | 68 | 16 | 6,793 | 0 |
[
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3.3021247386932373,
0
] | [
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2.022437334060669,
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3.2980287075042725,
0
] | move_to_position | 0.375186 | [
-1.5009862184524536,
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2.056762933731079,
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0
] | [
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0,
0
] | [
0.14798495173454285,
-0.5869994163513184,
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 | [
0.16967880725860596,
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0.08082282543182373,
2.7945923805236816,
0.06065597012639046,
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] | 1 | 6.9 | 69 | 16 | 6,794 | 0 |
[
-1.4643768072128296,
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3.2937231063842773,
0
] | [
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2.030229330062866,
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0
] | move_to_position | 0.495618 | [
-1.5009862184524536,
-1.1567131280899048,
2.056762933731079,
-2.806278705596924,
-1.6757949590682983,
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0
] | [
-0.14798495173454285,
0.5869994163513184,
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0,
0,
0
] | [
0.14798495173454285,
-0.5869994163513184,
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 | [
0.1651938110589981,
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0.07009102404117584,
2.794476270675659,
0.06061979755759239,
3.0696628093719482
] | 1 | 7 | 70 | 16 | 6,795 | 0 |
[
-1.4739197492599487,
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3.284623146057129,
0
] | [
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2.0388851165771484,
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3.281315326690674,
0
] | move_to_position | 0.627402 | [
-1.5009862184524536,
-1.1567131280899048,
2.056762933731079,
-2.806278705596924,
-1.6757949590682983,
3.258957624435425,
0
] | [
-0.14798495173454285,
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0,
0
] | [
0.14798495173454285,
-0.5869994163513184,
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 | [
0.16084204614162445,
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0.05953298881649971,
2.7946932315826416,
0.060651566833257675,
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] | 1 | 7.1 | 71 | 16 | 6,796 | 0 |
[
-1.4823983907699585,
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3.2765676975250244,
0
] | [
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2.045799732208252,
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0
] | move_to_position | 0.74315 | [
-1.5009862184524536,
-1.1567131280899048,
2.056762933731079,
-2.806278705596924,
-1.6757949590682983,
3.258957624435425,
0
] | [
-0.14798495173454285,
0.5869994163513184,
0.028999999165534973,
0,
0,
0
] | [
0.14798495173454285,
-0.5869994163513184,
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 | [
0.15642625093460083,
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0.04914911091327667,
2.7946131229400635,
0.060619886964559555,
3.069700241088867
] | 1 | 7.2 | 72 | 16 | 6,797 | 0 |
[
-1.4893420934677124,
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2.0489914417266846,
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3.2700183391571045,
0
] | [
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3.2681350708007812,
0
] | move_to_position | 0.838545 | [
-1.5009862184524536,
-1.1567131280899048,
2.056762933731079,
-2.806278705596924,
-1.6757949590682983,
3.258957624435425,
0
] | [
-0.14798495173454285,
0.5869994163513184,
0.028999999165534973,
0,
0,
0
] | [
0.14798495173454285,
-0.5869994163513184,
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 | [
0.1531653106212616,
-0.5850590467453003,
0.04149903729557991,
2.794416666030884,
0.06062166765332222,
3.069674491882324
] | 1 | 7.3 | 73 | 16 | 6,798 | 0 |
[
-1.494794249534607,
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2.0528571605682373,
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3.2649059295654297,
0
] | [
-1.4962345361709595,
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2.0538387298583984,
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3.26346492767334,
0
] | move_to_position | 0.913388 | [
-1.5009862184524536,
-1.1567131280899048,
2.056762933731079,
-2.806278705596924,
-1.6757949590682983,
3.258957624435425,
0
] | [
-0.14798495173454285,
0.5869994163513184,
0.028999999165534973,
0,
0,
0
] | [
0.14798495173454285,
-0.5869994163513184,
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 | [
0.15067888796329498,
-0.5859721302986145,
0.03548688441514969,
2.7944750785827637,
0.0605916753411293,
3.069650173187256
] | 1 | 7.4 | 74 | 16 | 6,799 | 0 |
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