CoRL2026-CSI/smolVLA_UR7e_Ours_Distribute_Choco_25epi_50epochs
Robotics • 0.5B • Updated • 38
Datasets:
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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] | move_to_position | 0.152896 | [
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[
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] | 1 | 1.7 | 17 | 0 | 17 | 0 |
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] | move_to_joint_state | 0.070476 | [
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] | 0 | level TCP before picking chocolate pie_1 | [
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[
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] | move_to_joint_state | 0.134653 | [
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] | [
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] | 0 | level TCP before picking chocolate pie_1 | [
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[
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] | move_to_joint_state | 0.217267 | [
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] | [
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] | 0 | level TCP before picking chocolate pie_1 | [
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[
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] | move_to_joint_state | 0.300461 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_1 | [
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[
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] | move_to_joint_state | 0.400167 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_1 | [
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[
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] | move_to_joint_state | 0.505387 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_1 | [
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[
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] | move_to_joint_state | 0.600926 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_1 | [
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[
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] | [
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] | move_to_joint_state | 0.694759 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_1 | [
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[
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] | move_to_joint_state | 0.787017 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_1 | [
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[
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] | move_to_joint_state | 0.867385 | [
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] | [
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] | 0 | level TCP before picking chocolate pie_1 | [
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[
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] | move_to_joint_state | 0.927801 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_1 | [
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[
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] | move_to_joint_state | 0.974001 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_1 | [
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[
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] | move_to_joint_state | 0.99801 | [
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] | [
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] | [
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] | 0 | level TCP before picking chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.000006 | [
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] | [
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] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
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] | 1 | 3.2 | 32 | 0 | 32 | 0 |
[
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] | move_to_position | 0 | [
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] | [
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] | [
0.15974931418895721,
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] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
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] | 1 | 3.3 | 33 | 0 | 33 | 0 |
[
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] | move_to_position | 0.000171 | [
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] | [
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] | [
0.15974931418895721,
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] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.00158 | [
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] | [
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] | [
0.15974931418895721,
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] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.004129 | [
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] | [
0.15974931418895721,
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0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.014116556383669376,
-0.3853646218776703,
0.341429740190506,
-3.141453742980957,
-0.00010930802818620577,
3.1415717601776123
] | 1 | 3.6 | 36 | 0 | 36 | 0 |
[
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2.827850818634033,
0
] | [
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1.783168077468872,
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0
] | move_to_position | 0.008343 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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0
] | [
-0.15974931418895721,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.014713510870933533,
-0.38605889678001404,
0.3402734398841858,
-3.141585350036621,
-0.00007884243677835912,
3.1414976119995117
] | 1 | 3.7 | 37 | 0 | 37 | 0 |
[
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-1.4803508520126343,
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0
] | [
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0
] | move_to_position | 0.013944 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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] | [
-0.15974931418895721,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.015577266924083233,
-0.38710930943489075,
0.3384639322757721,
-3.1415460109710693,
-0.00005951454659225419,
3.141456365585327
] | 1 | 3.8 | 38 | 0 | 38 | 0 |
[
-1.8807495832443237,
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0
] | [
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1.7901954650878906,
-1.4903620481491089,
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2.8366918563842773,
0
] | move_to_position | 0.021291 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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] | [
-0.15974931418895721,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.016647817566990852,
-0.38848596811294556,
0.3363194763660431,
3.141472101211548,
-0.00002699414653761778,
3.1414010524749756
] | 1 | 3.9 | 39 | 0 | 39 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.030698 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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] | [
-0.15974931418895721,
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0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.01803344488143921,
-0.39020833373069763,
0.3334461450576782,
3.141528367996216,
-0.0000265593971562339,
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] | 1 | 4 | 40 | 0 | 40 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.043623 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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] | [
-0.15974931418895721,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.01988278515636921,
-0.39235779643058777,
0.32975420355796814,
3.1415886878967285,
-0.00005611469896393828,
3.1415350437164307
] | 1 | 4.1 | 41 | 0 | 41 | 0 |
[
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-1.5182732343673706,
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0
] | [
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0
] | move_to_position | 0.057898 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.02221158891916275,
-0.3949349820613861,
0.325180321931839,
-3.141554355621338,
-0.00008582341979490593,
3.1415247917175293
] | 1 | 4.2 | 42 | 0 | 42 | 0 |
[
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-1.5349955558776855,
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0
] | [
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0
] | move_to_position | 0.077295 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.024879205971956253,
-0.39799821376800537,
0.3198091387748718,
-3.141429901123047,
-0.0001003727811621502,
3.1414639949798584
] | 1 | 4.3 | 43 | 0 | 43 | 0 |
[
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0
] | [
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-1.560133934020996,
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0
] | move_to_position | 0.097767 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.02785479463636875,
-0.40156856179237366,
0.3138923943042755,
3.1415586471557617,
-0.00010021591879194602,
3.1413981914520264
] | 1 | 4.4 | 44 | 0 | 44 | 0 |
[
-1.8320602178573608,
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-1.5715914964675903,
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0
] | [
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-1.5810341835021973,
-1.5696552991867065,
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0
] | move_to_position | 0.119611 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.031177233904600143,
-0.40582388639450073,
0.30703282356262207,
3.141528606414795,
-0.000025209430532413535,
3.141432285308838
] | 1 | 4.5 | 45 | 0 | 45 | 0 |
[
-1.819487452507019,
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-1.59499990940094,
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0
] | [
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-1.6065722703933716,
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0
] | move_to_position | 0.146613 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.034812428057193756,
-0.4101424217224121,
0.2996405065059662,
-3.1415393352508545,
-0.0001068084457074292,
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] | 1 | 4.6 | 46 | 0 | 46 | 0 |
[
-1.8062657117843628,
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-1.6194621324539185,
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0
] | [
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-1.6289160251617432,
-1.5696696043014526,
2.9141833782196045,
0
] | move_to_position | 0.174787 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.039344292134046555,
-0.4153546392917633,
0.29068151116371155,
3.141538143157959,
-0.000020248395230737515,
3.141503095626831
] | 1 | 4.7 | 47 | 0 | 47 | 0 |
[
-1.7923377752304077,
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-1.6458784341812134,
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0
] | [
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-1.7800395488739014,
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-1.656470537185669,
-1.569679856300354,
2.9285824298858643,
0
] | move_to_position | 0.205262 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.04380452260375023,
-0.4204062819480896,
0.28183868527412415,
-3.1415536403656006,
-0.00004106617416255176,
3.141531467437744
] | 1 | 4.8 | 48 | 0 | 48 | 0 |
[
-1.7784727811813354,
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-1.6731950044631958,
-1.5696743726730347,
2.9371259212493896,
0
] | [
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-1.7599231004714966,
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-1.687608242034912,
-1.5696940422058105,
2.944370985031128,
0
] | move_to_position | 0.23685 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.0485062301158905,
-0.42596733570098877,
0.27240028977394104,
-3.1415488719940186,
-0.0000767937526688911,
3.141481876373291
] | 1 | 4.9 | 49 | 0 | 49 | 0 |
[
-1.7637985944747925,
-1.7496577501296997,
1.8824633359909058,
-1.7026172876358032,
-1.5696743726730347,
2.951756715774536,
0
] | [
-1.75664484500885,
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1.886972188949585,
-1.717323899269104,
-1.5697102546691895,
2.958941698074341,
0
] | move_to_position | 0.271311 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.0534428134560585,
-0.432084858417511,
0.2624410092830658,
3.141582727432251,
-0.00007614390051458031,
3.14150333404541
] | 1 | 5 | 50 | 0 | 50 | 0 |
[
-1.7480419874191284,
-1.7267810106277466,
1.8922771215438843,
-1.7353874444961548,
-1.5696724653244019,
2.967641830444336,
0
] | [
-1.74270761013031,
-1.718871831893921,
1.8954945802688599,
-1.7464369535446167,
-1.5697270631790161,
2.972923517227173,
0
] | move_to_position | 0.309724 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.058621857315301895,
-0.4384710490703583,
0.2518409192562103,
3.1415669918060303,
-0.00006706671410938725,
3.1413631439208984
] | 1 | 5.1 | 51 | 0 | 51 | 0 |
[
-1.7325748205184937,
-1.7033530473709106,
1.9013136625289917,
-1.7678977251052856,
-1.5697191953659058,
2.9830546379089355,
0
] | [
-1.7272428274154663,
-1.6948562860488892,
1.9043450355529785,
-1.7793042659759521,
-1.5697475671768188,
2.9884390830993652,
0
] | move_to_position | 0.347932 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.06420883536338806,
-0.44496941566467285,
0.24065618216991425,
-3.141566038131714,
-0.0000367934480891563,
3.141475200653076
] | 1 | 5.2 | 52 | 0 | 52 | 0 |
[
-1.7171677350997925,
-1.6784206628799438,
1.9097083806991577,
-1.8010860681533813,
-1.5697358846664429,
2.998589038848877,
0
] | [
-1.711234211921692,
-1.668478012084961,
1.9125490188598633,
-1.8138878345489502,
-1.569771647453308,
3.004502296447754,
0
] | move_to_position | 0.387194 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.07017425447702408,
-0.45185256004333496,
0.22864316403865814,
-3.1414294242858887,
-0.00005220030652708374,
3.1413791179656982
] | 1 | 5.3 | 53 | 0 | 53 | 0 |
[
-1.7019418478012085,
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0
] | [
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3.019239902496338,
0
] | move_to_position | 0.426817 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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] | [
-0.15974931418895721,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.07613373547792435,
-0.45873621106147766,
0.21693767607212067,
-3.1415789127349854,
-0.00005545886597246863,
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] | 1 | 5.4 | 54 | 0 | 54 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.467001 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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] | [
-0.15974931418895721,
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0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.08185891807079315,
-0.4654984176158905,
0.20557692646980286,
3.141530752182007,
-0.00005943545693298802,
3.1413917541503906
] | 1 | 5.5 | 55 | 0 | 55 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.506523 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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0
] | [
-0.15974931418895721,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.08757446706295013,
-0.47254911065101624,
0.19421277940273285,
3.141275405883789,
-0.00003347153324284591,
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] | 1 | 5.6 | 56 | 0 | 56 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.547762 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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0
] | [
-0.15974931418895721,
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0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.09359826147556305,
-0.4800073802471161,
0.18216818571090698,
3.1408932209014893,
0.000017772787032299675,
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] | 1 | 5.7 | 57 | 0 | 57 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.589794 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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0
] | [
-0.15974931418895721,
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0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.0995592400431633,
-0.48717254400253296,
0.1702478528022766,
3.1407058238983154,
0.00001658015389693901,
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] | 1 | 5.8 | 58 | 0 | 58 | 0 |
[
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0
] | [
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-2.0082361698150635,
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0
] | move_to_position | 0.629968 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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] | [
-0.15974931418895721,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.10554512590169907,
-0.494033545255661,
0.1582058221101761,
3.140836477279663,
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] | 1 | 5.9 | 59 | 0 | 59 | 0 |
[
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-2.0241191387176514,
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0
] | [
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0
] | move_to_position | 0.667453 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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0
] | [
-0.15974931418895721,
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0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.11111972481012344,
-0.4998518228530884,
0.14675050973892212,
-3.141340494155884,
-0.00007299883873201907,
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] | 1 | 6 | 60 | 0 | 60 | 0 |
[
-1.6079477071762085,
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-2.051358461380005,
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0
] | [
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-2.064603328704834,
-1.5700511932373047,
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0
] | move_to_position | 0.704247 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.11666296422481537,
-0.5058338046073914,
0.13553611934185028,
-3.1405832767486572,
-0.00010208383901044726,
3.1415038108825684
] | 1 | 6.1 | 61 | 0 | 61 | 0 |
[
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-2.0787241458892822,
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0
] | [
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-1.4041287899017334,
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-2.087170124053955,
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0
] | move_to_position | 0.742732 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.12213702499866486,
-0.5125011801719666,
0.12453130632638931,
-3.140676498413086,
-0.00009748560114530846,
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] | 1 | 6.2 | 62 | 0 | 62 | 0 |
[
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-2.102177858352661,
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0
] | [
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-2.1105294227600098,
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0
] | move_to_position | 0.776835 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.12715931236743927,
-0.5188093185424805,
0.11455153673887253,
-3.141153335571289,
-0.00006285023846430704,
3.141468048095703
] | 1 | 6.3 | 63 | 0 | 63 | 0 |
[
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-2.1243045330047607,
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3.139122724533081,
0
] | [
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-1.3480161428451538,
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-2.132662057876587,
-1.570167899131775,
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0
] | move_to_position | 0.809479 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.13181233406066895,
-0.5244671106338501,
0.1053239107131958,
-3.1414623260498047,
-0.000025402396204299293,
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] | 1 | 6.4 | 64 | 0 | 64 | 0 |
[
-1.5684131383895874,
-1.3329881429672241,
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-2.144627332687378,
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0
] | [
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-1.3233121633529663,
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-2.1520166397094727,
-1.5702035427093506,
3.1511032581329346,
0
] | move_to_position | 0.839763 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.13631197810173035,
-0.5295634865760803,
0.0963236391544342,
-3.1415066719055176,
-0.00004727105988422409,
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] | 1 | 6.5 | 65 | 0 | 65 | 0 |
[
-1.5609811544418335,
-1.3104463815689087,
1.9022401571273804,
-2.1616780757904053,
-1.5702046155929565,
3.155332326889038,
0
] | [
-1.5578572750091553,
-1.3005291223526,
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-2.168818950653076,
-1.570237398147583,
3.158477306365967,
0
] | move_to_position | 0.866105 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.1403118371963501,
-0.5342245101928711,
0.08842237293720245,
3.14151668548584,
-0.00006630955613218248,
3.1414008140563965
] | 1 | 6.6 | 66 | 0 | 66 | 0 |
[
-1.5539830923080444,
-1.2882131338119507,
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-2.177501916885376,
-1.5702837705612183,
3.162325382232666,
0
] | [
-1.5512171983718872,
-1.279111385345459,
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-2.183833360671997,
-1.5702699422836304,
3.1651432514190674,
0
] | move_to_position | 0.891685 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.14409224689006805,
-0.5387217402458191,
0.08080801367759705,
-3.1414716243743896,
-0.00007860192272346467,
3.1414387226104736
] | 1 | 6.7 | 67 | 0 | 67 | 0 |
[
-1.5477265119552612,
-1.2676860094070435,
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-2.191636323928833,
-1.5702580213546753,
3.168619394302368,
0
] | [
-1.5455478429794312,
-1.2603991031646729,
1.8871135711669922,
-2.1965441703796387,
-1.570298671722412,
3.1708343029022217,
0
] | move_to_position | 0.915162 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.1473090797662735,
-0.5426947474479675,
0.07436288893222809,
3.1415746212005615,
-0.00003702582398545928,
3.1414363384246826
] | 1 | 6.8 | 68 | 0 | 68 | 0 |
[
-1.5425628423690796,
-1.2504948377609253,
1.8839033842086792,
-2.2032415866851807,
-1.5703243017196655,
3.1738121509552,
0
] | [
-1.5407140254974365,
-1.2444387674331665,
1.8819516897201538,
-2.207343101501465,
-1.5703232288360596,
3.175686836242676,
0
] | move_to_position | 0.934728 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.15029902756214142,
-0.5461871027946472,
0.06834690272808075,
-3.14151668548584,
-0.00007405134965665638,
3.141465902328491
] | 1 | 6.9 | 69 | 0 | 69 | 0 |
[
-1.5382121801376343,
-1.23635995388031,
1.8794139623641968,
-2.2128617763519287,
-1.5703638792037964,
3.1782004833221436,
0
] | [
-1.536539912223816,
-1.2307184934616089,
1.8775044679641724,
-2.216616630554199,
-1.5703442096710205,
3.1798768043518066,
0
] | move_to_position | 0.950859 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.15273067355155945,
-0.5489466190338135,
0.06342069804668427,
-3.141547918319702,
-0.0000348724024661351,
3.1414120197296143
] | 1 | 7 | 70 | 0 | 70 | 0 |
[
-1.5346449613571167,
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1.8752630949020386,
-2.220813035964966,
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3.1818294525146484,
0
] | [
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1.8738981485366821,
-2.2232625484466553,
-1.5703601837158203,
3.1829299926757812,
0
] | move_to_position | 0.964547 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.154738187789917,
-0.5512639880180359,
0.05938590690493584,
-3.141540050506592,
-0.000047159708628896624,
3.141387939453125
] | 1 | 7.1 | 71 | 0 | 71 | 0 |
[
-1.5317782163619995,
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1.8717073202133179,
-2.227027177810669,
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3.1846396923065186,
0
] | [
-1.53055739402771,
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1.8700587749481201,
-2.229580879211426,
-1.5703761577606201,
3.1858813762664795,
0
] | move_to_position | 0.975462 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.15630954504013062,
-0.5531413555145264,
0.056282639503479004,
3.1415772438049316,
-0.0000367949869541917,
3.141406536102295
] | 1 | 7.2 | 72 | 0 | 72 | 0 |
[
-1.5294040441513062,
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-2.2319905757904053,
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3.187032699584961,
0
] | [
-1.528717041015625,
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-2.2334771156311035,
-1.5703864097595215,
3.1877284049987793,
0
] | move_to_position | 0.984712 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.15764886140823364,
-0.554777204990387,
0.05360410735011101,
3.1415772438049316,
-0.00008685484499437734,
3.1414053440093994
] | 1 | 7.3 | 73 | 0 | 73 | 0 |
[
-1.5277117490768433,
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1.8660019636154175,
-2.23555064201355,
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0
] | [
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-2.2366583347320557,
-1.5703949928283691,
3.1892457008361816,
0
] | move_to_position | 0.991489 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.15853913128376007,
-0.5559052228927612,
0.05177078768610954,
-3.14156174659729,
-0.000035058317735092714,
3.1414268016815186
] | 1 | 7.4 | 74 | 0 | 74 | 0 |
[
-1.5265806913375854,
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-2.2379186153411865,
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0
] | [
-1.5262712240219116,
-1.1951961517333984,
1.8640058040618896,
-2.238640785217285,
-1.5704001188278198,
3.19018292427063,
0
] | move_to_position | 0.99588 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.15922310948371887,
-0.5567159652709961,
0.05044474080204964,
-3.141587495803833,
-0.00008149341738317162,
3.1414806842803955
] | 1 | 7.5 | 75 | 0 | 75 | 0 |
[
-1.5260909795761108,
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1.8636149168014526,
-2.2393720149993896,
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3.1904869079589844,
0
] | [
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-1.1934274435043335,
1.8633180856704712,
-2.2397220134735107,
-1.570402979850769,
3.190692901611328,
0
] | move_to_position | 0.998451 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.15947096049785614,
-0.5570706725120544,
0.049668245017528534,
-3.141439437866211,
-0.000023402490114676766,
3.141289472579956
] | 1 | 7.6 | 76 | 0 | 76 | 0 |
[
-1.5257524251937866,
-1.193016529083252,
1.863345980644226,
-2.23995041847229,
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3.190798759460449,
0
] | [
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1.863065481185913,
-2.240118980407715,
-1.5704039335250854,
3.190880298614502,
0
] | move_to_position | 0.999508 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
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0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.15962918102741241,
-0.5572087168693542,
0.049429599195718765,
-3.141448974609375,
-0.00005881135439267382,
3.1412975788116455
] | 1 | 7.7 | 77 | 0 | 77 | 0 |
[
-1.5255922079086304,
-1.192911982536316,
1.8631213903427124,
-2.240159273147583,
-1.5704082250595093,
3.190875768661499,
0
] | [
-1.5255475044250488,
-1.1926769018173218,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | move_to_position | 0.999775 | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | [
-0.15974931418895721,
0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: approach above chocolate pie_1 | [
0.1597272902727127,
-0.557318389415741,
0.04947814717888832,
3.1414365768432617,
-0.000047723049647174776,
3.141383409500122
] | 1 | 7.8 | 78 | 0 | 78 | 0 |
[
-1.5255593061447144,
-1.1928999423980713,
1.8630555868148804,
-2.2401559352874756,
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3.1909286975860596,
0
] | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | gripper_open | 1 | [
-1.5255593061447144,
-1.1928999423980713,
1.8630555868148804,
-2.2401559352874756,
-1.5704015493392944,
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0
] | [
-0.1597314476966858,
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] | [
0.1597314476966858,
-0.5573291778564453,
0.0494854599237442,
3.1414265632629395,
-0.00007016288145678118,
3.141376256942749
] | 0 | pick chocolate pie_1 and place it on red plate_1: open gripper | [
0.1597370207309723,
-0.5573228597640991,
0.0494723878800869,
3.141451835632324,
-0.00005038681047153659,
3.1413986682891846
] | 1 | 7.9 | 79 | 0 | 79 | 0 |
[
-1.5255712270736694,
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-2.240144968032837,
-1.5704234838485718,
3.190906524658203,
0.0117647061124444
] | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | gripper_open | 1 | [
-1.5255593061447144,
-1.1928999423980713,
1.8630555868148804,
-2.2401559352874756,
-1.5704015493392944,
3.1909286975860596,
0
] | [
-0.1597314476966858,
0.5573291778564453,
0.0494854599237442,
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] | [
0.1597314476966858,
-0.5573291778564453,
0.0494854599237442,
3.1414265632629395,
-0.00007016288145678118,
3.141376256942749
] | 0 | pick chocolate pie_1 and place it on red plate_1: open gripper | [
0.15973928570747375,
-0.5573095679283142,
0.04937335476279259,
-3.1415557861328125,
-0.00006809933256590739,
3.14137601852417
] | 1 | 8 | 80 | 0 | 80 | 0 |
[
-1.5255407094955444,
-1.1926443576812744,
1.8630231618881226,
-2.2401559352874756,
-1.5703963041305542,
3.1908912658691406,
0.0117647061124444
] | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | gripper_open | 1 | [
-1.5255593061447144,
-1.1928999423980713,
1.8630555868148804,
-2.2401559352874756,
-1.5704015493392944,
3.1909286975860596,
0
] | [
-0.1597314476966858,
0.5573291778564453,
0.0494854599237442,
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-0.00007016288145678118,
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] | [
0.1597314476966858,
-0.5573291778564453,
0.0494854599237442,
3.1414265632629395,
-0.00007016288145678118,
3.141376256942749
] | 0 | pick chocolate pie_1 and place it on red plate_1: open gripper | [
0.15973994135856628,
-0.5573253631591797,
0.0493512824177742,
-3.141549587249756,
-0.00005216151475906372,
3.1413750648498535
] | 1 | 8.1 | 81 | 0 | 81 | 0 |
[
-1.5255321264266968,
-1.1926599740982056,
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-2.2401673793792725,
-1.5704396963119507,
3.1909029483795166,
0.0117647061124444
] | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | gripper_open | 1 | [
-1.5255593061447144,
-1.1928999423980713,
1.8630555868148804,
-2.2401559352874756,
-1.5704015493392944,
3.1909286975860596,
0
] | [
-0.1597314476966858,
0.5573291778564453,
0.0494854599237442,
3.1414265632629395,
-0.00007016288145678118,
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] | [
0.1597314476966858,
-0.5573291778564453,
0.0494854599237442,
3.1414265632629395,
-0.00007016288145678118,
3.141376256942749
] | 0 | pick chocolate pie_1 and place it on red plate_1: open gripper | [
0.1597423553466797,
-0.5573287010192871,
0.049367908388376236,
-3.1415834426879883,
-0.00006229952850844711,
3.141413927078247
] | 1 | 8.2 | 82 | 0 | 82 | 0 |
[
-1.5255593061447144,
-1.1926790475845337,
1.8630303144454956,
-2.2401793003082275,
-1.5704234838485718,
3.190906524658203,
0
] | [
-1.5255473852157593,
-1.1926767826080322,
1.8630262613296509,
-2.240180730819702,
-1.570404052734375,
3.1909093856811523,
0
] | move_to_position | 0 | [
-1.555782437324524,
-1.113208532333374,
1.8187564611434937,
-2.275362491607666,
-1.5705029964447021,
3.1606948375701904,
0
] | [
-0.14318853616714478,
0.5840104818344116,
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0,
0,
0
] | [
0.14318853616714478,
-0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: descend to chocolate pie_1 | [
0.15973736345767975,
-0.5573301911354065,
0.04937632009387016,
3.141589403152466,
-0.000050921327783726156,
3.141395330429077
] | 1 | 8.3 | 83 | 0 | 83 | 0 |
[
-1.5255249738693237,
-1.192667007446289,
1.863015055656433,
-2.240191698074341,
-1.570435881614685,
3.1909372806549072,
0
] | [
-1.5256149768829346,
-1.1925017833709717,
1.8629018068313599,
-2.2402641773223877,
-1.570407509803772,
3.1908254623413086,
0
] | move_to_position | 0 | [
-1.555782437324524,
-1.113208532333374,
1.8187564611434937,
-2.275362491607666,
-1.5705029964447021,
3.1606948375701904,
0
] | [
-0.14318853616714478,
0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | [
0.14318853616714478,
-0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: descend to chocolate pie_1 | [
0.15972118079662323,
-0.5573217272758484,
0.04934168979525566,
-3.1415233612060547,
-0.00001322774824075168,
3.141383647918701
] | 1 | 8.4 | 84 | 0 | 84 | 0 |
[
-1.5258349180221558,
-1.1914958953857422,
1.8623899221420288,
-2.240682363510132,
-1.5704048871994019,
3.190488338470459,
0
] | [
-1.5264471769332886,
-1.190428614616394,
1.8618372678756714,
-2.2413010597229004,
-1.5704134702682495,
3.1899943351745605,
0
] | move_to_position | 0.013999 | [
-1.555782437324524,
-1.113208532333374,
1.8187564611434937,
-2.275362491607666,
-1.5705029964447021,
3.1606948375701904,
0
] | [
-0.14318853616714478,
0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | [
0.14318853616714478,
-0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: descend to chocolate pie_1 | [
0.15949279069900513,
-0.5579007863998413,
0.0489087738096714,
3.1415581703186035,
-0.00007018219912424684,
3.1415059566497803
] | 1 | 8.5 | 85 | 0 | 85 | 0 |
[
-1.5271786451339722,
-1.188397765159607,
1.8607438802719116,
-2.2422268390655518,
-1.5703743696212769,
3.189293146133423,
0
] | [
-1.5281459093093872,
-1.1861711740493774,
1.8596839904785156,
-2.2434024810791016,
-1.570418357849121,
3.188297986984253,
0
] | move_to_position | 0.053703 | [
-1.555782437324524,
-1.113208532333374,
1.8187564611434937,
-2.275362491607666,
-1.5705029964447021,
3.1606948375701904,
0
] | [
-0.14318853616714478,
0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | [
0.14318853616714478,
-0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: descend to chocolate pie_1 | [
0.1587298959493637,
-0.5590600371360779,
0.04785473272204399,
3.141528844833374,
-0.00007003240170888603,
3.141414165496826
] | 1 | 8.6 | 86 | 0 | 86 | 0 |
[
-1.5290693044662476,
-1.1837881803512573,
1.8584321737289429,
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3.1873385906219482,
0
] | [
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1.8571522235870361,
-2.245805501937866,
-1.5704224109649658,
3.1863393783569336,
0
] | move_to_position | 0.112632 | [
-1.555782437324524,
-1.113208532333374,
1.8187564611434937,
-2.275362491607666,
-1.5705029964447021,
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0
] | [
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0,
0
] | [
0.14318853616714478,
-0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: descend to chocolate pie_1 | [
0.15765738487243652,
-0.5607065558433533,
0.04626363143324852,
-3.141570568084717,
-0.000046787499741185457,
3.1414690017700195
] | 1 | 8.7 | 87 | 0 | 87 | 0 |
[
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1.8552922010421753,
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0
] | [
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1.8535593748092651,
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-1.5704281330108643,
3.183650016784668,
0
] | move_to_position | 0.189262 | [
-1.555782437324524,
-1.113208532333374,
1.8187564611434937,
-2.275362491607666,
-1.5705029964447021,
3.1606948375701904,
0
] | [
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0.5840104818344116,
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0,
0,
0
] | [
0.14318853616714478,
-0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: descend to chocolate pie_1 | [
0.15636970102787018,
-0.562769889831543,
0.04441079869866371,
3.141554355621338,
-0.000027200201657251455,
3.1414577960968018
] | 1 | 8.8 | 88 | 0 | 88 | 0 |
[
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1.8517316579818726,
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0
] | [
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1.8502012491226196,
-2.2519078254699707,
-1.5704346895217896,
3.1812539100646973,
0
] | move_to_position | 0.274745 | [
-1.555782437324524,
-1.113208532333374,
1.8187564611434937,
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] | [
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0,
0
] | [
0.14318853616714478,
-0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: descend to chocolate pie_1 | [
0.15495631098747253,
-0.5650557279586792,
0.04227088764309883,
-3.1415205001831055,
-0.00007514908793382347,
3.1414341926574707
] | 1 | 8.9 | 89 | 0 | 89 | 0 |
[
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] | [
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1.8459091186523438,
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3.1783199310302734,
0
] | move_to_position | 0.365092 | [
-1.555782437324524,
-1.113208532333374,
1.8187564611434937,
-2.275362491607666,
-1.5705029964447021,
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0
] | [
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0,
0
] | [
0.14318853616714478,
-0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: descend to chocolate pie_1 | [
0.15356773138046265,
-0.5673720836639404,
0.04023812711238861,
3.14157772064209,
-0.00008225216151913628,
3.1414613723754883
] | 1 | 9 | 90 | 0 | 90 | 0 |
[
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1.8430551290512085,
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3.1763617992401123,
0
] | [
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1.840772032737732,
-2.2593462467193604,
-1.570455551147461,
3.1748621463775635,
0
] | move_to_position | 0.471293 | [
-1.555782437324524,
-1.113208532333374,
1.8187564611434937,
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-1.5705029964447021,
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0
] | [
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0,
0
] | [
0.14318853616714478,
-0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: descend to chocolate pie_1 | [
0.15157416462898254,
-0.5706056356430054,
0.0373678132891655,
3.1415436267852783,
-0.00006183220830280334,
3.14139723777771
] | 1 | 9.1 | 91 | 0 | 91 | 0 |
[
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0
] | [
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1.8350188732147217,
-2.2637572288513184,
-1.5704680681228638,
3.171036958694458,
0
] | move_to_position | 0.589552 | [
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1.8187564611434937,
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-1.5705029964447021,
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0
] | [
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0,
0
] | [
0.14318853616714478,
-0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: descend to chocolate pie_1 | [
0.14962197840213776,
-0.5738162398338318,
0.034499917179346085,
3.141468048095703,
-0.00008193880785256624,
3.1414334774017334
] | 1 | 9.2 | 92 | 0 | 92 | 0 |
[
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1.831978678703308,
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0
] | [
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1.8300479650497437,
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3.1677746772766113,
0
] | move_to_position | 0.716714 | [
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1.8187564611434937,
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0
] | [
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0,
0
] | [
0.14318853616714478,
-0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: descend to chocolate pie_1 | [
0.1475200355052948,
-0.577118456363678,
0.03135812282562256,
-3.1415884494781494,
-0.00004790155071532354,
3.14143967628479
] | 1 | 9.3 | 93 | 0 | 93 | 0 |
[
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1.826849341392517,
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3.1656832695007324,
0
] | [
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1.8251835107803345,
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-1.5704894065856934,
3.164640188217163,
0
] | move_to_position | 0.82938 | [
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1.8187564611434937,
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-1.5705029964447021,
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0
] | [
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0,
0
] | [
0.14318853616714478,
-0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: descend to chocolate pie_1 | [
0.14579784870147705,
-0.579834520816803,
0.028818869963288307,
-3.1415343284606934,
-0.00006684535037493333,
3.141390562057495
] | 1 | 9.4 | 94 | 0 | 94 | 0 |
[
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0
] | [
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1.8215645551681519,
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3.162384033203125,
0
] | move_to_position | 0.914814 | [
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1.8187564611434937,
-2.275362491607666,
-1.5705029964447021,
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0
] | [
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0,
0,
0
] | [
0.14318853616714478,
-0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: descend to chocolate pie_1 | [
0.1443784087896347,
-0.5820903778076172,
0.026708878576755524,
-3.141479730606079,
-0.000061017424741294235,
3.1414365768432617
] | 1 | 9.5 | 95 | 0 | 95 | 0 |
[
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1.820212721824646,
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3.1615774631500244,
0
] | [
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1.8196148872375488,
-2.274815559387207,
-1.5705013275146484,
3.1611952781677246,
0
] | move_to_position | 0.969554 | [
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1.8187564611434937,
-2.275362491607666,
-1.5705029964447021,
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0
] | [
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0,
0,
0
] | [
0.14318853616714478,
-0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: descend to chocolate pie_1 | [
0.14362607896327972,
-0.583346426486969,
0.025529105216264725,
-3.1414637565612793,
-0.00010175201896345243,
3.141458749771118
] | 1 | 9.6 | 96 | 0 | 96 | 0 |
[
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1.8190969228744507,
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3.160980224609375,
0
] | [
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1.8188673257827759,
-2.2752981185913086,
-1.5705028772354126,
3.1607539653778076,
0
] | move_to_position | 0.991924 | [
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1.8187564611434937,
-2.275362491607666,
-1.5705029964447021,
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0
] | [
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0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | [
0.14318853616714478,
-0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: descend to chocolate pie_1 | [
0.14337441325187683,
-0.5838143825531006,
0.025124605745077133,
-3.141503095626831,
-0.00005791853982373141,
3.1415600776672363
] | 1 | 9.7 | 97 | 0 | 97 | 0 |
[
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1.8190101385116577,
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0
] | [
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1.8187564611434937,
-2.275362491607666,
-1.5705029964447021,
3.1606948375701904,
0
] | move_to_position | 0.996207 | [
-1.555782437324524,
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1.8187564611434937,
-2.275362491607666,
-1.5705029964447021,
3.1606948375701904,
0
] | [
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0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | [
0.14318853616714478,
-0.5840104818344116,
0.02500000037252903,
0,
0,
0
] | 0 | pick chocolate pie_1 and place it on red plate_1: descend to chocolate pie_1 | [
0.14331194758415222,
-0.5839067697525024,
0.025080544874072075,
3.1415512561798096,
-0.00008425410487689078,
-3.1415464878082275
] | 1 | 9.8 | 98 | 0 | 98 | 0 |
[
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1.818963885307312,
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0
] | [
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1.8187564611434937,
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3.1606948375701904,
1
] | gripper_close | 0 | [
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1.818963885307312,
-2.2753541469573975,
-1.5705054998397827,
3.1607255935668945,
1
] | [
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0.5839152932167053,
0.025070009753108025,
3.1415677070617676,
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3.1415746212005615
] | [
0.14328238368034363,
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0.025070009753108025,
3.1415677070617676,
-0.00007209464092738926,
3.1415746212005615
] | 1 | pick chocolate pie_1 and place it on red plate_1: grasp chocolate pie_1 | [
0.14325179159641266,
-0.5839194059371948,
0.02506590634584427,
3.1415727138519287,
-0.00004483717566472478,
3.141538143157959
] | 1 | 9.9 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "ur7e",
"total_episodes": 25,
"total_frames": 10563,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:25"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow.pos",
"wrist_1.pos",
"wrist_2.pos",
"wrist_3.pos",
"gripper.pos"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow.pos",
"wrist_1.pos",
"wrist_2.pos",
"wrist_3.pos",
"gripper.pos"
]
},
"observation.images.realsense_topview": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.realsense_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"skill.type": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"skill.progress": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"skill.goal_position.joint": {
"dtype": "float32",
"shape": [
7
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow.pos",
"wrist_1.pos",
"wrist_2.pos",
"wrist_3.pos",
"gripper.pos"
]
},
"skill.goal_position.world_xyzrpy": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"skill.goal_position.robot_xyzrpy": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"skill.goal_position.gripper": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper.pos"
]
},
"skill.natural_language": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"observation.ee_pos.robot_xyzrpy": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.gripper_binary": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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