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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[
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] | move_to_position | 0.242773 | [
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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 | 0.269313 | [
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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 | 0.299083 | [
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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 | 0.328888 | [
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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 | 40 | 2 | 905 | 0 |
[
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] | [
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] | move_to_position | 0.362521 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.1 | 41 | 2 | 906 | 0 |
[
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] | [
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] | move_to_position | 0.393827 | [
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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 | 2 | 907 | 0 |
[
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] | move_to_position | 0.428764 | [
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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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] | [
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] | move_to_position | 0.460833 | [
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[
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] | move_to_position | 0.494769 | [
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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 | 2 | 910 | 0 |
[
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] | move_to_position | 0.526934 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.6 | 46 | 2 | 911 | 0 |
[
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] | [
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] | move_to_position | 0.563107 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.7 | 47 | 2 | 912 | 0 |
[
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] | [
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] | move_to_position | 0.597173 | [
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] | 1 | 4.8 | 48 | 2 | 913 | 0 |
[
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] | [
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] | move_to_position | 0.630473 | [
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[
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] | [
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] | move_to_position | 0.662586 | [
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0.3017856776714325,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5 | 50 | 2 | 915 | 0 |
[
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] | [
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] | move_to_position | 0.693264 | [
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[
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] | move_to_position | 0.723638 | [
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[
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] | move_to_position | 0.753373 | [
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[
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] | move_to_position | 0.78206 | [
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[
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] | move_to_position | 0.809603 | [
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[
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] | move_to_position | 0.835089 | [
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[
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] | move_to_position | 0.857331 | [
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[
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] | move_to_position | 0.879088 | [
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[
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] | move_to_position | 0.899271 | [
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[
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] | move_to_position | 0.918196 | [
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[
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] | move_to_position | 0.934301 | [
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[
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] | move_to_position | 0.947908 | [
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[
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] | move_to_position | 0.959724 | [
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] | [
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] | [
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[
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] | [
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] | move_to_position | 0.969903 | [
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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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[
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] | [
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] | move_to_position | 0.978738 | [
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] | [
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] | [
0.3017856776714325,
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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 | 0.985723 | [
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] | [
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] | [
0.3017856776714325,
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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 | 2 | 931 | 0 |
[
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] | [
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0
] | move_to_position | 0.991008 | [
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1.413257122039795,
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] | [
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] | [
0.3017856776714325,
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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 | 2 | 932 | 0 |
[
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] | [
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] | move_to_position | 0.995105 | [
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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 | 6.8 | 68 | 2 | 933 | 0 |
[
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] | move_to_position | 0.997696 | [
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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 | 2 | 934 | 0 |
[
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] | move_to_position | 0.999121 | [
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] | [
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] | 1 | 7 | 70 | 2 | 935 | 0 |
[
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] | move_to_position | 0.999572 | [
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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 | 2 | 936 | 0 |
[
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] | move_to_position | 0.999796 | [
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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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] | 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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] | [
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[
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] | [
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] | move_to_position | 0.000157 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 7.7 | 77 | 2 | 942 | 0 |
[
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] | [
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] | move_to_position | 0.000127 | [
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] | [
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] | [
0.2768210768699646,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 7.8 | 78 | 2 | 943 | 0 |
[
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] | [
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] | move_to_position | 0.013499 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 7.9 | 79 | 2 | 944 | 0 |
[
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] | [
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] | move_to_position | 0.050677 | [
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] | [
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] | [
0.2768210768699646,
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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 | 2 | 945 | 0 |
[
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] | [
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] | move_to_position | 0.10659 | [
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] | [
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] | [
0.2768210768699646,
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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 | 2 | 946 | 0 |
[
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] | [
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] | move_to_position | 0.180241 | [
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] | [
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] | [
0.2768210768699646,
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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 | 2 | 947 | 0 |
[
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] | [
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] | move_to_position | 0.255349 | [
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] | [
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] | [
0.2768210768699646,
-0.6713911294937134,
0.028999999165534973,
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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 | 8.3 | 83 | 2 | 948 | 0 |
[
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] | [
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] | move_to_position | 0.367151 | [
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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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] | move_to_position | 0.494888 | [
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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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] | move_to_position | 0.622252 | [
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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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] | move_to_position | 0.748793 | [
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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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] | move_to_position | 0.836967 | [
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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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[
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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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] | [
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[
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] | gripper_close | 0 | [
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[
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] | gripper_close | 0.047059 | [
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[
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] | gripper_close | 0.313725 | [
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[
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] | gripper_close | 0.447058 | [
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] | [
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[
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] | gripper_close | 0.545098 | [
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] | [
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[
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] | gripper_close | 0.623529 | [
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] | [
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[
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] | gripper_close | 0.705882 | [
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] | gripper_close | 0.815686 | [
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] | gripper_close | 0.815686 | [
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] | [
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] | gripper_close | 0.815686 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | gripper_close | 0.815686 | [
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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 | 0.815686 | [
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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 | 11.5 | 115 | 2 | 980 | 0 |
[
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] | [
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1
] | gripper_close | 0.815686 | [
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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 | 2 | 981 | 0 |
[
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] | [
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1
] | gripper_close | 0.815686 | [
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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 | 2 | 982 | 0 |
[
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] | [
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1
] | gripper_close | 0.815686 | [
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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 | 2 | 983 | 0 |
[
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] | [
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1
] | gripper_close | 0.815686 | [
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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 | 2 | 984 | 0 |
[
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] | [
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1
] | gripper_close | 0.815686 | [
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1
] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 0 | 12 | 120 | 2 | 985 | 0 |
[
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] | [
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1
] | gripper_close | 0.815686 | [
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] | [
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] | [
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0.02899443730711937,
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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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0.02899712324142456,
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3.141529083251953
] | 0 | 12.1 | 121 | 2 | 986 | 0 |
[
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] | [
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1
] | gripper_close | 0.815686 | [
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1
] | [
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] | [
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0.02899443730711937,
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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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0.02898433618247509,
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3.141552448272705
] | 0 | 12.2 | 122 | 2 | 987 | 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
] | [
0.2386460304260254,
-0.6431079506874084,
0.09676539152860641,
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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0.029013315215706825,
-3.138744592666626,
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3.1415679454803467
] | 0 | 12.3 | 123 | 2 | 988 | 0 |
[
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1.389212965965271,
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1
] | [
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1.3894007205963135,
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3.349626302719116,
1
] | move_to_position | 0.000049 | [
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1
] | [
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0,
0,
0
] | [
0.2386460304260254,
-0.6431079506874084,
0.09676539152860641,
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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0.029048314318060875,
-3.138720989227295,
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] | 0 | 12.4 | 124 | 2 | 989 | 0 |
[
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1.3902643918991089,
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3.3492496013641357,
1
] | [
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1.3917118310928345,
-2.083463191986084,
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3.348701000213623,
1
] | move_to_position | 0.010613 | [
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1.468704104423523,
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3.3029422760009766,
1
] | [
-0.2386460304260254,
0.6431079506874084,
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0,
0,
0
] | [
0.2386460304260254,
-0.6431079506874084,
0.09676539152860641,
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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0.029976362362504005,
-3.1387438774108887,
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3.1415481567382812
] | 0 | 12.5 | 125 | 2 | 990 | 0 |
[
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1.3932493925094604,
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3.347999334335327,
1
] | [
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1.39548921585083,
-2.081040859222412,
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3.3470559120178223,
1
] | move_to_position | 0.039788 | [
-1.4132871627807617,
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1.468704104423523,
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3.3029422760009766,
1
] | [
-0.2386460304260254,
0.6431079506874084,
0.09676539152860641,
0,
0,
0
] | [
0.2386460304260254,
-0.6431079506874084,
0.09676539152860641,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.27494195103645325,
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0.03212926536798477,
-3.1387951374053955,
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3.141421318054199
] | 0 | 12.6 | 126 | 2 | 991 | 0 |
[
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1.3980926275253296,
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3.3458476066589355,
1
] | [
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1.4010318517684937,
-2.0769236087799072,
-1.5695327520370483,
3.344416856765747,
1
] | move_to_position | 0.089881 | [
-1.4132871627807617,
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1.468704104423523,
-2.003805160522461,
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3.3029422760009766,
1
] | [
-0.2386460304260254,
0.6431079506874084,
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0,
0,
0
] | [
0.2386460304260254,
-0.6431079506874084,
0.09676539152860641,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.27297443151474,
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0.03571133315563202,
-3.1387131214141846,
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3.1415114402770996
] | 0 | 12.7 | 127 | 2 | 992 | 0 |
[
-1.3735674619674683,
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1.404248595237732,
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3.3427886962890625,
1
] | [
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1.4080902338027954,
-2.0709643363952637,
-1.5695213079452515,
3.3407704830169678,
1
] | move_to_position | 0.158027 | [
-1.4132871627807617,
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1.468704104423523,
-2.003805160522461,
-1.569417119026184,
3.3029422760009766,
1
] | [
-0.2386460304260254,
0.6431079506874084,
0.09676539152860641,
0,
0,
0
] | [
0.2386460304260254,
-0.6431079506874084,
0.09676539152860641,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2703789472579956,
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0.040512535721063614,
-3.1386823654174805,
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] | 0 | 12.8 | 128 | 2 | 993 | 0 |
[
-1.3778785467147827,
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1.4126008749008179,
-2.067063570022583,
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3.338391065597534,
1
] | [
-1.3806068897247314,
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1.417714238166809,
-2.0625994205474854,
-1.5695056915283203,
3.335705041885376,
1
] | move_to_position | 0.254553 | [
-1.4132871627807617,
-1.0320559740066528,
1.468704104423523,
-2.003805160522461,
-1.569417119026184,
3.3029422760009766,
1
] | [
-0.2386460304260254,
0.6431079506874084,
0.09676539152860641,
0,
0,
0
] | [
0.2386460304260254,
-0.6431079506874084,
0.09676539152860641,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2664741277694702,
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0.04749242588877678,
-3.1387581825256348,
-0.0008206721977330744,
-3.141571283340454
] | 0 | 12.9 | 129 | 2 | 994 | 0 |
[
-1.3837608098983765,
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1.4235695600509644,
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3.332517623901367,
1
] | [
-1.385900855064392,
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1.4275802373886108,
-2.053744077682495,
-1.569489598274231,
3.3303990364074707,
1
] | move_to_position | 0.383389 | [
-1.4132871627807617,
-1.0320559740066528,
1.468704104423523,
-2.003805160522461,
-1.569417119026184,
3.3029422760009766,
1
] | [
-0.2386460304260254,
0.6431079506874084,
0.09676539152860641,
0,
0,
0
] | [
0.2386460304260254,
-0.6431079506874084,
0.09676539152860641,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2614482641220093,
-0.6602044701576233,
0.056341562420129776,
-3.138756036758423,
-0.0008012664620764554,
3.1415047645568848
] | 0 | 13 | 130 | 2 | 995 | 0 |
[
-1.3897112607955933,
-0.9542546272277832,
1.4344476461410522,
-2.047372579574585,
-1.5694636106491089,
3.326636552810669,
1
] | [
-1.391900897026062,
-0.9619662761688232,
1.4383107423782349,
-2.043517589569092,
-1.569471836090088,
3.324384927749634,
1
] | move_to_position | 0.51204 | [
-1.4132871627807617,
-1.0320559740066528,
1.468704104423523,
-2.003805160522461,
-1.569417119026184,
3.3029422760009766,
1
] | [
-0.2386460304260254,
0.6431079506874084,
0.09676539152860641,
0,
0,
0
] | [
0.2386460304260254,
-0.6431079506874084,
0.09676539152860641,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2568906247615814,
-0.6567197442054749,
0.0643898993730545,
-3.1387505531311035,
-0.0007833033450879157,
3.1415138244628906
] | 0 | 13.1 | 131 | 2 | 996 | 0 |
[
-1.3948391675949097,
-0.9719166159629822,
1.443215250968933,
-2.038384199142456,
-1.569470763206482,
3.3215019702911377,
1
] | [
-1.3968156576156616,
-0.9787003993988037,
1.446365237236023,
-2.034834384918213,
-1.5694580078125,
3.3194580078125,
1
] | move_to_position | 0.621973 | [
-1.4132871627807617,
-1.0320559740066528,
1.468704104423523,
-2.003805160522461,
-1.569417119026184,
3.3029422760009766,
1
] | [
-0.2386460304260254,
0.6431079506874084,
0.09676539152860641,
0,
0,
0
] | [
0.2386460304260254,
-0.6431079506874084,
0.09676539152860641,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.25247374176979065,
-0.6533402800559998,
0.07221352308988571,
-3.138688087463379,
-0.0007647562888450921,
3.1415746212005615
] | 0 | 13.2 | 132 | 2 | 997 | 0 |
[
-1.399694800376892,
-0.9883400201797485,
1.4506925344467163,
-2.029578447341919,
-1.5694307088851929,
3.31657075881958,
1
] | [
-1.4019250869750977,
-0.9956198930740356,
1.4539110660552979,
-2.025456666946411,
-1.5694446563720703,
3.314335346221924,
1
] | move_to_position | 0.72427 | [
-1.4132871627807617,
-1.0320559740066528,
1.468704104423523,
-2.003805160522461,
-1.569417119026184,
3.3029422760009766,
1
] | [
-0.2386460304260254,
0.6431079506874084,
0.09676539152860641,
0,
0,
0
] | [
0.2386460304260254,
-0.6431079506874084,
0.09676539152860641,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.24852919578552246,
-0.6504599452018738,
0.07927825301885605,
-3.1388280391693115,
-0.0007565693813376129,
3.141558885574341
] | 0 | 13.3 | 133 | 2 | 998 | 0 |
[
-1.4045599699020386,
-1.004228949546814,
1.457558512687683,
-2.020519971847534,
-1.5694626569747925,
3.3117008209228516,
1
] | [
-1.4065309762954712,
-1.0105758905410767,
1.4602073431015015,
-2.0167934894561768,
-1.5694330930709839,
3.3097169399261475,
1
] | move_to_position | 0.824104 | [
-1.4132871627807617,
-1.0320559740066528,
1.468704104423523,
-2.003805160522461,
-1.569417119026184,
3.3029422760009766,
1
] | [
-0.2386460304260254,
0.6431079506874084,
0.09676539152860641,
0,
0,
0
] | [
0.2386460304260254,
-0.6431079506874084,
0.09676539152860641,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.24477383494377136,
-0.6476432681083679,
0.08594062924385071,
-3.1387569904327393,
-0.0007794894045218825,
-3.141580581665039
] | 0 | 13.4 | 134 | 2 | 999 | 0 |
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