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 | 1.1 | 11 | 17 | 7,135 | 0 |
[
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] | [
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] | move_to_position | 0.318342 | [
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] | [
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] | [
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0,
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.2 | 12 | 17 | 7,136 | 0 |
[
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] | [
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] | move_to_position | 0.312283 | [
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] | [
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] | [
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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 | 17 | 7,137 | 0 |
[
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] | [
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] | move_to_position | 0.144441 | [
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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 | [
0.000025167868443531916,
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] | 1 | 1.4 | 14 | 17 | 7,138 | 0 |
[
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] | [
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] | move_to_position | 0.376037 | [
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] | [
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0,
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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 | [
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0.3529815673828125,
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] | 1 | 1.5 | 15 | 17 | 7,139 | 0 |
[
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] | [
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] | move_to_position | 0.000013 | [
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] | [
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] | [
0.22832819819450378,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.00003808923065662384,
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] | 1 | 1.6 | 16 | 17 | 7,140 | 0 |
[
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] | [
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] | move_to_position | 0.000009 | [
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] | [
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] | [
0.22832819819450378,
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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 | 1.7 | 17 | 17 | 7,141 | 0 |
[
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] | [
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] | move_to_position | 0.000323 | [
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] | [
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] | [
0.22832819819450378,
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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 | 1.8 | 18 | 17 | 7,142 | 0 |
[
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] | [
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] | move_to_position | 0.001758 | [
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] | [
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] | [
0.22832819819450378,
-0.6043784022331238,
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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 | 1.9 | 19 | 17 | 7,143 | 0 |
[
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] | [
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] | move_to_position | 0.004321 | [
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] | [
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] | [
0.22832819819450378,
-0.6043784022331238,
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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 | 20 | 17 | 7,144 | 0 |
[
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] | [
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] | move_to_position | 0.008169 | [
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] | [
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] | [
0.22832819819450378,
-0.6043784022331238,
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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 | 2.1 | 21 | 17 | 7,145 | 0 |
[
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] | [
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] | move_to_position | 0.013991 | [
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] | [
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] | [
0.22832819819450378,
-0.6043784022331238,
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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 | 17 | 7,146 | 0 |
[
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] | [
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] | move_to_position | 0.020887 | [
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] | [
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] | [
0.22832819819450378,
-0.6043784022331238,
0.1046949028968811,
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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 | 2.3 | 23 | 17 | 7,147 | 0 |
[
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] | [
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] | move_to_position | 0.030478 | [
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] | [
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] | [
0.22832819819450378,
-0.6043784022331238,
0.1046949028968811,
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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 | 17 | 7,148 | 0 |
[
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] | [
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] | move_to_position | 0.04169 | [
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] | [
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] | [
0.22832819819450378,
-0.6043784022331238,
0.1046949028968811,
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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 | 2.5 | 25 | 17 | 7,149 | 0 |
[
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0
] | [
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] | move_to_position | 0.056627 | [
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] | [
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] | [
0.22832819819450378,
-0.6043784022331238,
0.1046949028968811,
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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 | 2.6 | 26 | 17 | 7,150 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.074097 | [
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-2.5389201641082764,
-1.7212704420089722,
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] | [
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] | [
0.22832819819450378,
-0.6043784022331238,
0.1046949028968811,
0,
0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 2.7 | 27 | 17 | 7,151 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.094964 | [
-1.3567323684692383,
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-2.5389201641082764,
-1.7212704420089722,
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] | [
-0.22832819819450378,
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0,
0
] | [
0.22832819819450378,
-0.6043784022331238,
0.1046949028968811,
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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0.3310838043689728,
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0.06021016091108322,
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] | 1 | 2.8 | 28 | 17 | 7,152 | 0 |
[
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[
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] | move_to_position | 0.141201 | [
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[
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] | move_to_position | 0.16781 | [
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[
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] | move_to_position | 0.197479 | [
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[
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] | move_to_position | 0.231172 | [
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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 | 0.263112 | [
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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 | 3.4 | 34 | 17 | 7,158 | 0 |
[
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] | move_to_position | 0.298931 | [
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[
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] | move_to_position | 0.334775 | [
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[
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] | move_to_position | 0.375625 | [
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0.22832819819450378,
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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 | 0.413664 | [
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[
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] | move_to_position | 0.454197 | [
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] | 1 | 3.9 | 39 | 17 | 7,163 | 0 |
[
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] | move_to_position | 0.493233 | [
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[
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] | [
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] | move_to_position | 0.534741 | [
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] | [
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] | [
0.22832819819450378,
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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 | 17 | 7,165 | 0 |
[
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] | [
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] | move_to_position | 0.574227 | [
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] | [
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] | [
0.22832819819450378,
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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 | 17 | 7,166 | 0 |
[
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] | [
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] | move_to_position | 0.613645 | [
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1.8600775003433228,
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] | [
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] | [
0.22832819819450378,
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0.1046949028968811,
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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 | 17 | 7,167 | 0 |
[
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] | [
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] | move_to_position | 0.654613 | [
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] | [
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] | [
0.22832819819450378,
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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 | 17 | 7,168 | 0 |
[
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] | [
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] | move_to_position | 0.692028 | [
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] | [
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] | [
0.22832819819450378,
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0.1046949028968811,
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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 | 17 | 7,169 | 0 |
[
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[
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] | move_to_position | 0.76294 | [
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] | 1 | 4.7 | 47 | 17 | 7,171 | 0 |
[
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] | move_to_position | 0.797264 | [
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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 | 17 | 7,172 | 0 |
[
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] | move_to_position | 0.826966 | [
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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 | 17 | 7,173 | 0 |
[
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] | move_to_position | 0.85677 | [
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[
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] | move_to_position | 0.881777 | [
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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 | 0.905078 | [
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[
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] | move_to_position | 0.926671 | [
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[
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] | move_to_position | 0.944023 | [
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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 | 0.958486 | [
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[
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] | move_to_position | 0.970112 | [
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[
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] | move_to_position | 0.980182 | [
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[
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] | move_to_position | 0.988006 | [
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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 | 17 | 7,182 | 0 |
[
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] | [
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] | move_to_position | 0.993731 | [
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] | [
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] | [
0.22832819819450378,
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0.1046949028968811,
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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 | 17 | 7,183 | 0 |
[
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] | [
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] | move_to_position | 0.997263 | [
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] | [
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] | [
0.22832819819450378,
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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 | 0.999081 | [
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] | [
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] | [
0.22832819819450378,
-0.6043784022331238,
0.1046949028968811,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.1 | 61 | 17 | 7,185 | 0 |
[
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] | [
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] | move_to_position | 0.999638 | [
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1.8600775003433228,
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] | [
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] | [
0.22832819819450378,
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0.1046949028968811,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.22822308540344238,
-0.6043038368225098,
0.1047443225979805,
2.796107769012451,
0.060177721083164215,
3.0697519779205322
] | 1 | 6.2 | 62 | 17 | 7,186 | 0 |
[
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0
] | [
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0
] | 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 | [
0.22828809916973114,
-0.6043617129325867,
0.10480032116174698,
2.7959365844726562,
0.060110244899988174,
3.0697391033172607
] | 1 | 6.3 | 63 | 17 | 7,187 | 0 |
[
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] | [
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0
] | gripper_open | 1 | [
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] | [
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] | [
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2.795992851257324,
0.06012498959898949,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: open gripper | [
0.22832778096199036,
-0.6044163107872009,
0.10479194670915604,
2.7959179878234863,
0.060081858187913895,
3.069777727127075
] | 1 | 6.4 | 64 | 17 | 7,188 | 0 |
[
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3.3968753814697266,
0.0117647061124444
] | [
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1.8600775003433228,
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3.396860122680664,
0
] | gripper_open | 1 | [
-1.3568276166915894,
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0
] | [
-0.22829386591911316,
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] | [
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-0.6043406128883362,
0.10477911680936813,
2.795992851257324,
0.06012498959898949,
3.0697860717773438
] | 0 | pick up the left chocolate pie and place it on the left red plate: open gripper | [
0.22836565971374512,
-0.604377806186676,
0.1047108918428421,
2.796063184738159,
0.06011614948511124,
3.069866180419922
] | 1 | 6.5 | 65 | 17 | 7,189 | 0 |
[
-1.3567250967025757,
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1.8600696325302124,
-2.5389249324798584,
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3.3968684673309326,
0.0117647061124444
] | [
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1.8600775003433228,
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0
] | gripper_open | 1 | [
-1.3568276166915894,
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-2.5389363765716553,
-1.7212899923324585,
3.396834135055542,
0
] | [
-0.22829386591911316,
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] | [
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-0.6043406128883362,
0.10477911680936813,
2.795992851257324,
0.06012498959898949,
3.0697860717773438
] | 0 | pick up the left chocolate pie and place it on the left red plate: open gripper | [
0.22834093868732452,
-0.6043986082077026,
0.10471606999635696,
2.796046257019043,
0.06013789400458336,
3.0698306560516357
] | 1 | 6.6 | 66 | 17 | 7,190 | 0 |
[
-1.3567365407943726,
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1.8600786924362183,
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3.3968377113342285,
0
] | [
-1.3567323684692383,
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1.8600775003433228,
-2.5389201641082764,
-1.7212704420089722,
3.396860122680664,
0
] | move_to_position | 0 | [
-1.2903776168823242,
-1.0259974002838135,
1.8092103004455566,
-2.660007953643799,
-1.7419849634170532,
3.4609479904174805,
0
] | [
-0.27207109332084656,
0.6212862133979797,
0.03099999949336052,
0,
0,
0
] | [
0.27207109332084656,
-0.6212862133979797,
0.03099999949336052,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.22833232581615448,
-0.6043867468833923,
0.10471956431865692,
2.7960317134857178,
0.06015202775597572,
3.0698115825653076
] | 1 | 6.7 | 67 | 17 | 7,191 | 0 |
[
-1.3567441701889038,
-1.208237886428833,
1.8600629568099976,
-2.538893461227417,
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3.3968377113342285,
0
] | [
-1.3566522598266602,
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1.860061764717102,
-2.5391032695770264,
-1.72133207321167,
3.3969292640686035,
0
] | move_to_position | 0 | [
-1.2903776168823242,
-1.0259974002838135,
1.8092103004455566,
-2.660007953643799,
-1.7419849634170532,
3.4609479904174805,
0
] | [
-0.27207109332084656,
0.6212862133979797,
0.03099999949336052,
0,
0,
0
] | [
0.27207109332084656,
-0.6212862133979797,
0.03099999949336052,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.22834323346614838,
-0.6044020652770996,
0.10461471974849701,
2.7961199283599854,
0.06017637252807617,
3.0698204040527344
] | 1 | 6.8 | 68 | 17 | 7,192 | 0 |
[
-1.3559144735336304,
-1.2063591480255127,
1.8599494695663452,
-2.5402705669403076,
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3.3975350856781006,
0
] | [
-1.355310082435608,
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1.85967218875885,
-2.541801929473877,
-1.721771478652954,
3.3982207775115967,
0
] | move_to_position | 0.010419 | [
-1.2903776168823242,
-1.0259974002838135,
1.8092103004455566,
-2.660007953643799,
-1.7419849634170532,
3.4609479904174805,
0
] | [
-0.27207109332084656,
0.6212862133979797,
0.03099999949336052,
0,
0,
0
] | [
0.27207109332084656,
-0.6212862133979797,
0.03099999949336052,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.22900651395320892,
-0.6045196652412415,
0.10352148860692978,
2.796297550201416,
0.06025739386677742,
3.069951057434082
] | 1 | 6.9 | 69 | 17 | 7,193 | 0 |
[
-1.3537319898605347,
-1.200863003730774,
1.8589681386947632,
-2.544806718826294,
-1.7222503423690796,
3.3996925354003906,
0
] | [
-1.3525739908218384,
-1.197806477546692,
1.8585896492004395,
-2.547196388244629,
-1.72262442111969,
3.4008562564849854,
0
] | move_to_position | 0.04237 | [
-1.2903776168823242,
-1.0259974002838135,
1.8092103004455566,
-2.660007953643799,
-1.7419849634170532,
3.4609479904174805,
0
] | [
-0.27207109332084656,
0.6212862133979797,
0.03099999949336052,
0,
0,
0
] | [
0.27207109332084656,
-0.6212862133979797,
0.03099999949336052,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.23056082427501678,
-0.6051944494247437,
0.10099590569734573,
2.795999050140381,
0.06018175184726715,
3.0698862075805664
] | 1 | 7 | 70 | 17 | 7,194 | 0 |
[
-1.3505791425704956,
-1.192724585533142,
1.8575395345687866,
-2.5510165691375732,
-1.7232259511947632,
3.4027366638183594,
0
] | [
-1.3483933210372925,
-1.187053918838501,
1.8564589023590088,
-2.5552613735198975,
-1.7239266633987427,
3.404886484146118,
0
] | move_to_position | 0.088322 | [
-1.2903776168823242,
-1.0259974002838135,
1.8092103004455566,
-2.660007953643799,
-1.7419849634170532,
3.4609479904174805,
0
] | [
-0.27207109332084656,
0.6212862133979797,
0.03099999949336052,
0,
0,
0
] | [
0.27207109332084656,
-0.6212862133979797,
0.03099999949336052,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.23271845281124115,
-0.6060228943824768,
0.0973307266831398,
2.7960243225097656,
0.06016771122813225,
3.0698413848876953
] | 1 | 7.1 | 71 | 17 | 7,195 | 0 |
[
-1.3455628156661987,
-1.1795413494110107,
1.8547452688217163,
-2.5606343746185303,
-1.7248014211654663,
3.407644033432007,
0
] | [
-1.3431565761566162,
-1.1732101440429688,
1.853338360786438,
-2.5652012825012207,
-1.7255693674087524,
3.4099385738372803,
0
] | move_to_position | 0.162128 | [
-1.2903776168823242,
-1.0259974002838135,
1.8092103004455566,
-2.660007953643799,
-1.7419849634170532,
3.4609479904174805,
0
] | [
-0.27207109332084656,
0.6212862133979797,
0.03099999949336052,
0,
0,
0
] | [
0.27207109332084656,
-0.6212862133979797,
0.03099999949336052,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.23606659471988678,
-0.6074631214141846,
0.09168606996536255,
2.7960407733917236,
0.060140397399663925,
3.069793701171875
] | 1 | 7.2 | 72 | 17 | 7,196 | 0 |
[
-1.338570475578308,
-1.1609433889389038,
1.8504999876022339,
-2.573951482772827,
-1.7269963026046753,
3.4143826961517334,
0
] | [
-1.3353031873703003,
-1.1523473262786865,
1.848530650138855,
-2.5800704956054688,
-1.7280328273773193,
3.417515993118286,
0
] | move_to_position | 0.265656 | [
-1.2903776168823242,
-1.0259974002838135,
1.8092103004455566,
-2.660007953643799,
-1.7419849634170532,
3.4609479904174805,
0
] | [
-0.27207109332084656,
0.6212862133979797,
0.03099999949336052,
0,
0,
0
] | [
0.27207109332084656,
-0.6212862133979797,
0.03099999949336052,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.2408943921327591,
-0.6094095706939697,
0.0835573822259903,
2.7960703372955322,
0.06016635522246361,
3.069805860519409
] | 1 | 7.3 | 73 | 17 | 7,197 | 0 |
[
-1.3308523893356323,
-1.1404993534088135,
1.8456825017929077,
-2.588414430618286,
-1.729382872581482,
3.4217875003814697,
0
] | [
-1.3269550800323486,
-1.1299794912338257,
1.843109130859375,
-2.595747947692871,
-1.7306476831436157,
3.4255728721618652,
0
] | move_to_position | 0.379178 | [
-1.2903776168823242,
-1.0259974002838135,
1.8092103004455566,
-2.660007953643799,
-1.7419849634170532,
3.4609479904174805,
0
] | [
-0.27207109332084656,
0.6212862133979797,
0.03099999949336052,
0,
0,
0
] | [
0.27207109332084656,
-0.6212862133979797,
0.03099999949336052,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.24597033858299255,
-0.6113062500953674,
0.07507912814617157,
2.796078681945801,
0.06012916564941406,
3.0698559284210205
] | 1 | 7.4 | 74 | 17 | 7,198 | 0 |
[
-1.3223198652267456,
-1.1174731254577637,
1.839800238609314,
-2.604360818862915,
-1.732066035270691,
3.4300665855407715,
0
] | [
-1.3183088302612305,
-1.1063958406448364,
1.8367918729782104,
-2.6116816997528076,
-1.7333476543426514,
3.43392276763916,
0
] | move_to_position | 0.50643 | [
-1.2903776168823242,
-1.0259974002838135,
1.8092103004455566,
-2.660007953643799,
-1.7419849634170532,
3.4609479904174805,
0
] | [
-0.27207109332084656,
0.6212862133979797,
0.03099999949336052,
0,
0,
0
] | [
0.27207109332084656,
-0.6212862133979797,
0.03099999949336052,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.2513677477836609,
-0.6133064031600952,
0.06601480394601822,
2.795954942703247,
0.06002416834235191,
3.069812774658203
] | 1 | 7.5 | 75 | 17 | 7,199 | 0 |
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