CoRL2026-CSI/smolVLA_UR7e_Chocopie_50epoch
Robotics • 0.5B • Updated • 10
Datasets:
observation.state list | action list | skill.type stringclasses 4
values | skill.progress float32 0 1 | skill.goal_position.joint list | skill.goal_position.world_xyzrpy list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 1 | skill.natural_language stringclasses 170
values | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | timestamp float32 0 54 | frame_index int64 0 540 | episode_index int64 0 99 | index int64 0 42.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | move_to_position | 0.124688 | [
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[
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] | move_to_position | 0.151758 | [
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[
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] | move_to_position | 0 | [
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[
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] | move_to_position | 0 | [
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[
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[
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] | move_to_position | 0.51115 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.3 | 13 | 0 | 13 | 0 |
[
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] | [
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] | move_to_position | 0.140392 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.4 | 14 | 0 | 14 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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[
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] | [
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] | move_to_position | 0.000026 | [
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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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[
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] | move_to_position | 0.000019 | [
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0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
-0.00000872499276738381,
-0.43999814987182617,
0.35300949215888977,
-3.0454938411712646,
-0.0036581933964043856,
3.086819648742676
] | 1 | 1.7 | 17 | 0 | 17 | 0 |
[
-1.8683089017868042,
-1.6741501092910767,
1.571578860282898,
-1.3731104135513306,
-1.5892747640609741,
2.902545690536499,
0
] | [
-1.8680089712142944,
-1.6739575862884521,
1.5717847347259521,
-1.373408317565918,
-1.5891690254211426,
2.902844190597534,
0
] | move_to_position | 0.00008 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.00005103077637613751,
-0.4400559067726135,
0.3529910743236542,
-3.0456583499908447,
-0.003663345705717802,
3.0868003368377686
] | 1 | 1.8 | 18 | 0 | 18 | 0 |
[
-1.8675178289413452,
-1.6738659143447876,
1.5717991590499878,
-1.3738692998886108,
-1.589103102684021,
2.903256893157959,
0
] | [
-1.8672155141830444,
-1.6734340190887451,
1.572143793106079,
-1.3742624521255493,
-1.5890535116195679,
2.9036500453948975,
0
] | move_to_position | 0.000953 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.0003904134500771761,
-0.44027650356292725,
0.35275229811668396,
-3.045792818069458,
-0.0037056957371532917,
3.0868756771087646
] | 1 | 1.9 | 19 | 0 | 19 | 0 |
[
-1.8662999868392944,
-1.6728712320327759,
1.5724300146102905,
-1.3751131296157837,
-1.5889610052108765,
2.9044556617736816,
0
] | [
-1.865700364112854,
-1.6723713874816895,
1.5727473497390747,
-1.3758931159973145,
-1.5889030694961548,
2.9051642417907715,
0
] | move_to_position | 0.002612 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.0008512338972650468,
-0.44069042801856995,
0.3521049916744232,
-3.045454502105713,
-0.0038100765086710453,
3.086857557296753
] | 1 | 2 | 20 | 0 | 20 | 0 |
[
-1.8645175695419312,
-1.671540379524231,
1.5731724500656128,
-1.3771493434906006,
-1.5888317823410034,
2.9063146114349365,
0
] | [
-1.863628625869751,
-1.670825481414795,
1.5734905004501343,
-1.3781437873840332,
-1.5887274742126465,
2.907223701477051,
0
] | move_to_position | 0.005115 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.0015414883382618427,
-0.44132938981056213,
0.3513258099555969,
-3.0454442501068115,
-0.0038261818699538708,
3.086801528930664
] | 1 | 2.1 | 21 | 0 | 21 | 0 |
[
-1.8619416952133179,
-1.6695343255996704,
1.5740727186203003,
-1.3800303936004639,
-1.58859384059906,
2.9089176654815674,
0
] | [
-1.8607600927352905,
-1.6685599088668823,
1.5744253396987915,
-1.3812973499298096,
-1.5884941816329956,
2.910072088241577,
0
] | move_to_position | 0.008771 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.002472544787451625,
-0.44226619601249695,
0.35024866461753845,
-3.045461893081665,
-0.0037909571547061205,
3.086801767349243
] | 1 | 2.2 | 22 | 0 | 22 | 0 |
[
-1.858730673789978,
-1.6669336557388306,
1.5750325918197632,
-1.3834853172302246,
-1.5883673429489136,
2.912012815475464,
0
] | [
-1.856974720954895,
-1.6654072999954224,
1.5755456686019897,
-1.3855122327804565,
-1.5881818532943726,
2.913831949234009,
0
] | move_to_position | 0.013324 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.0037191794253885746,
-0.4435698390007019,
0.34883245825767517,
-3.04543399810791,
-0.003715920029208064,
3.0868654251098633
] | 1 | 2.3 | 23 | 0 | 23 | 0 |
[
-1.8547242879867554,
-1.6634641885757446,
1.5761579275131226,
-1.388031005859375,
-1.5880159139633179,
2.916044235229492,
0
] | [
-1.8530648946762085,
-1.6620018482208252,
1.576603889465332,
-1.3899171352386475,
-1.5878463983535767,
2.917719841003418,
0
] | move_to_position | 0.019283 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.005219573620706797,
-0.4452134668827057,
0.3471258282661438,
-3.0455446243286133,
-0.0037036153953522444,
3.086848497390747
] | 1 | 2.4 | 24 | 0 | 24 | 0 |
[
-1.849908709526062,
-1.659134030342102,
1.5773948431015015,
-1.3935185670852661,
-1.5875509977340698,
2.920869827270508,
0
] | [
-1.8473869562149048,
-1.6568456888198853,
1.5780047178268433,
-1.396389126777649,
-1.5873337984085083,
2.923374652862549,
0
] | move_to_position | 0.026555 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.006954320706427097,
-0.4471920430660248,
0.34505999088287354,
-3.04556941986084,
-0.003656963584944606,
3.0867958068847656
] | 1 | 2.5 | 25 | 0 | 25 | 0 |
[
-1.844178557395935,
-1.6539193391799927,
1.5787519216537476,
-1.4000309705734253,
-1.5870603322982788,
2.9265670776367188,
0
] | [
-1.840914011001587,
-1.6509108543395996,
1.5796598196029663,
-1.4038116931915283,
-1.5867252349853516,
2.9298295974731445,
0
] | move_to_position | 0.035226 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.009116695262491703,
-0.449613094329834,
0.3424875736236572,
-3.0455405712127686,
-0.0036220496986061335,
3.0868008136749268
] | 1 | 2.6 | 26 | 0 | 26 | 0 |
[
-1.8368228673934937,
-1.6472455263137817,
1.5809015035629272,
-1.408482313156128,
-1.5863555669784546,
2.9339051246643066,
0
] | [
-1.8325961828231812,
-1.643498420715332,
1.5821281671524048,
-1.4133237600326538,
-1.585942029953003,
2.938124656677246,
0
] | move_to_position | 0.046232 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.011959444731473923,
-0.45255497097969055,
0.33906060457229614,
-3.04522705078125,
-0.003684057155624032,
3.0867955684661865
] | 1 | 2.7 | 27 | 0 | 27 | 0 |
[
-1.8279227018356323,
-1.6392546892166138,
1.583551287651062,
-1.418744683265686,
-1.5855273008346558,
2.942781925201416,
0
] | [
-1.823577880859375,
-1.6353843212127686,
1.5847527980804443,
-1.4236624240875244,
-1.5850924253463745,
2.9471182823181152,
0
] | move_to_position | 0.059421 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.015377109870314598,
-0.45592403411865234,
0.3350771367549896,
-3.044983148574829,
-0.0037372170481830835,
3.0868496894836426
] | 1 | 2.8 | 28 | 0 | 28 | 0 |
[
-1.818139910697937,
-1.6302930116653442,
1.5862334966659546,
-1.429970145225525,
-1.5845922231674194,
2.9525365829467773,
0
] | [
-1.81265127658844,
-1.6252096891403198,
1.5875401496887207,
-1.4362658262252808,
-1.5840626955032349,
2.958014965057373,
0
] | move_to_position | 0.073976 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.0192462969571352,
-0.4598172903060913,
0.33051925897598267,
-3.044764995574951,
-0.0037954365834593773,
3.0867676734924316
] | 1 | 2.9 | 29 | 0 | 29 | 0 |
[
-1.806376338005066,
-1.6191984415054321,
1.5888007879257202,
-1.44344961643219,
-1.5835002660751343,
2.964282274246216,
0
] | [
-1.8007712364196777,
-1.6135351657867432,
1.5898363590240479,
-1.4500983953475952,
-1.582942247390747,
2.969863176345825,
0
] | move_to_position | 0.091726 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.023807106539607048,
-0.4643997848033905,
0.3254362940788269,
-3.0448317527770996,
-0.003804726991802454,
3.0868003368377686
] | 1 | 3 | 30 | 0 | 30 | 0 |
[
-1.7948635816574097,
-1.607446312904358,
1.5906575918197632,
-1.4570112228393555,
-1.5823968648910522,
2.975712299346924,
0
] | [
-1.7897272109985352,
-1.6019614934921265,
1.591090202331543,
-1.4631061553955078,
-1.5819000005722046,
2.9808778762817383,
0
] | move_to_position | 0.1098 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.028459103778004646,
-0.4693227708339691,
0.32013437151908875,
-3.044868230819702,
-0.0037974382285028696,
3.08687162399292
] | 1 | 3.1 | 31 | 0 | 31 | 0 |
[
-1.7827056646347046,
-1.5941106081008911,
1.5912317037582397,
-1.4715262651443481,
-1.5812309980392456,
2.9879209995269775,
0
] | [
-1.7770086526870728,
-1.587673544883728,
1.591360092163086,
-1.4782999753952026,
-1.5806983709335327,
2.993563175201416,
0
] | move_to_position | 0.129838 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.03335030749440193,
-0.4749971330165863,
0.31480106711387634,
-3.0458078384399414,
-0.003618349554017186,
3.086780071258545
] | 1 | 3.2 | 32 | 0 | 32 | 0 |
[
-1.7696021795272827,
-1.5791655778884888,
1.5912350416183472,
-1.4873055219650269,
-1.5799988508224487,
3.0010056495666504,
0
] | [
-1.7630470991134644,
-1.5715808868408203,
1.5913206338882446,
-1.4952064752578735,
-1.5793771743774414,
3.00748872756958,
0
] | move_to_position | 0.151846 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.03852948918938637,
-0.4808952808380127,
0.309125691652298,
-3.0466227531433105,
-0.0035189283080399036,
3.0868349075317383
] | 1 | 3.3 | 33 | 0 | 33 | 0 |
[
-1.7552903890609741,
-1.5624639987945557,
1.5912350416183472,
-1.5046896934509277,
-1.5786503553390503,
3.0152151584625244,
0
] | [
-1.7476615905761719,
-1.5533709526062012,
1.5911513566970825,
-1.5139931440353394,
-1.5779199600219727,
3.022834539413452,
0
] | move_to_position | 0.175958 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.044663552194833755,
-0.48763009905815125,
0.30236801505088806,
-3.0475070476531982,
-0.0034404154866933823,
3.0868210792541504
] | 1 | 3.4 | 34 | 0 | 34 | 0 |
[
-1.7390631437301636,
-1.5429308414459229,
1.5911263227462769,
-1.524451732635498,
-1.5770968198776245,
3.0314042568206787,
0
] | [
-1.733397364616394,
-1.535841703414917,
1.5908169746398926,
-1.5314873456954956,
-1.576568841934204,
3.037062406539917,
0
] | move_to_position | 0.203493 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.0515788272023201,
-0.4948379397392273,
0.29462841153144836,
-3.0478665828704834,
-0.0034190891310572624,
3.0868897438049316
] | 1 | 3.5 | 35 | 0 | 35 | 0 |
[
-1.7233918905258179,
-1.5230761766433716,
1.5905283689498901,
-1.5438348054885864,
-1.5756043195724487,
3.0470523834228516,
0
] | [
-1.7169373035430908,
-1.5145869255065918,
1.5901451110839844,
-1.5517091751098633,
-1.575010895729065,
3.053481101989746,
0
] | move_to_position | 0.23069 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.058654457330703735,
-0.5021575093269348,
0.28651344776153564,
-3.0479979515075684,
-0.0034491841215640306,
3.0867044925689697
] | 1 | 3.6 | 36 | 0 | 36 | 0 |
[
-1.7071641683578491,
-1.5013176202774048,
1.5895503759384155,
-1.563693881034851,
-1.5740751028060913,
3.063202381134033,
0
] | [
-1.6998493671417236,
-1.4909886121749878,
1.5890175104141235,
-1.5726854801177979,
-1.5733956098556519,
3.0705270767211914,
0
] | move_to_position | 0.259361 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.06555250287055969,
-0.5089107155799866,
0.27833089232444763,
-3.047011613845825,
-0.0035618797410279512,
3.0868635177612305
] | 1 | 3.7 | 37 | 0 | 37 | 0 |
[
-1.6918262243270874,
-1.4792616367340088,
1.5882681608200073,
-1.5824681520462036,
-1.5726689100265503,
3.0784788131713867,
0
] | [
-1.6851805448532104,
-1.469185709953308,
1.5872846841812134,
-1.590690016746521,
-1.5720115900039673,
3.085160732269287,
0
] | move_to_position | 0.287239 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.07334426045417786,
-0.5164670348167419,
0.26848167181015015,
-3.0447936058044434,
-0.0037006339989602566,
3.0868124961853027
] | 1 | 3.8 | 38 | 0 | 38 | 0 |
[
-1.6759613752365112,
-1.4550199508666992,
1.5851677656173706,
-1.602084755897522,
-1.5711511373519897,
3.0943522453308105,
0
] | [
-1.668436884880066,
-1.4429908990859985,
1.582879900932312,
-1.611458420753479,
-1.570432186126709,
3.101865291595459,
0
] | move_to_position | 0.317404 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.08092737942934036,
-0.5240930914878845,
0.2592306435108185,
-3.043501377105713,
-0.003746559377759695,
3.0868031978607178
] | 1 | 3.9 | 39 | 0 | 39 | 0 |
[
-1.6597117185592651,
-1.428881287574768,
1.5796068906784058,
-1.6223822832107544,
-1.5695761442184448,
3.1105384826660156,
0
] | [
-1.651388168334961,
-1.4150594472885132,
1.5760427713394165,
-1.6326816082000732,
-1.5688252449035645,
3.11887526512146,
0
] | move_to_position | 0.34977 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.08919789642095566,
-0.5328416228294373,
0.24961434304714203,
-3.0434377193450928,
-0.003698931075632572,
3.0868053436279297
] | 1 | 4 | 40 | 0 | 40 | 0 |
[
-1.6422332525253296,
-1.3996697664260864,
1.5715736150741577,
-1.6439725160598755,
-1.567966341972351,
3.127999782562256,
0
] | [
-1.6363422870635986,
-1.38935387134552,
1.568311095237732,
-1.6513190269470215,
-1.5674090385437012,
3.1338870525360107,
0
] | move_to_position | 0.385711 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.0976974219083786,
-0.5418010950088501,
0.24011501669883728,
-3.0439839363098145,
-0.003732134588062763,
3.0868241786956787
] | 1 | 4.1 | 41 | 0 | 41 | 0 |
[
-1.6261643171310425,
-1.3712571859359741,
1.5621994733810425,
-1.6638399362564087,
-1.5664571523666382,
3.144052743911743,
0
] | [
-1.6187708377838135,
-1.3579729795455933,
1.5574294328689575,
-1.6727747917175293,
-1.5657585859298706,
3.1514194011688232,
0
] | move_to_position | 0.420261 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.10603369772434235,
-0.550746500492096,
0.23080354928970337,
-3.0447869300842285,
-0.003629893995821476,
3.086848258972168
] | 1 | 4.2 | 42 | 0 | 42 | 0 |
[
-1.6105073690414429,
-1.342687726020813,
1.551629900932312,
-1.6826931238174438,
-1.5650190114974976,
3.159658193588257,
0
] | [
-1.6035351753234863,
-1.329368233680725,
1.5463950634002686,
-1.6908886432647705,
-1.5643322467803955,
3.166621208190918,
0
] | move_to_position | 0.454699 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.1146271675825119,
-0.5597113966941833,
0.22137586772441864,
-3.045489549636841,
-0.0037443852052092552,
3.0868611335754395
] | 1 | 4.3 | 43 | 0 | 43 | 0 |
[
-1.5957659482955933,
-1.3140208721160889,
1.5400928258895874,
-1.6999469995498657,
-1.5636061429977417,
3.174376964569092,
0
] | [
-1.590455412864685,
-1.3034212589263916,
1.5354362726211548,
-1.7059721946716309,
-1.563112497329712,
3.1796722412109375,
0
] | move_to_position | 0.488593 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.12345152348279953,
-0.5689189434051514,
0.21133263409137726,
-3.0455141067504883,
-0.0036716896574944258,
3.0868594646453857
] | 1 | 4.4 | 44 | 0 | 44 | 0 |
[
-1.5813463926315308,
-1.2844884395599365,
1.5267704725265503,
-1.7162505388259888,
-1.5622490644454956,
3.1887435913085938,
0
] | [
-1.5751019716262817,
-1.271061897277832,
1.5202789306640625,
-1.723300576210022,
-1.5616858005523682,
3.1949925422668457,
0
] | move_to_position | 0.523261 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.1320483237504959,
-0.578002393245697,
0.2015075385570526,
-3.0454390048980713,
-0.0036805039271712303,
3.086827278137207
] | 1 | 4.5 | 45 | 0 | 45 | 0 |
[
-1.5674141645431519,
-1.2541064023971558,
1.5118101835250854,
-1.7318650484085083,
-1.5609434843063354,
3.2026472091674805,
0
] | [
-1.5613417625427246,
-1.2405338287353516,
1.504758358001709,
-1.7384446859359741,
-1.5604115724563599,
3.208723545074463,
0
] | move_to_position | 0.558666 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.14046922326087952,
-0.5869859457015991,
0.19181537628173828,
-3.045440435409546,
-0.0036748230922967196,
3.086848258972168
] | 1 | 4.6 | 46 | 0 | 46 | 0 |
[
-1.5539277791976929,
-1.2235695123672485,
1.4956930875778198,
-1.74639093875885,
-1.5597556829452515,
3.2161550521850586,
0
] | [
-1.5478873252868652,
-1.2094875574111938,
1.4879498481750488,
-1.7528326511383057,
-1.5591692924499512,
3.22214937210083,
0
] | move_to_position | 0.594143 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.14890225231647491,
-0.5958724617958069,
0.18217875063419342,
-3.0455212593078613,
-0.003672071034088731,
3.0868566036224365
] | 1 | 4.7 | 47 | 0 | 47 | 0 |
[
-1.5411137342453003,
-1.1934596300125122,
1.478967547416687,
-1.7598553895950317,
-1.558555006980896,
3.228884696960449,
0
] | [
-1.5349477529525757,
-1.1786960363388062,
1.4703562259674072,
-1.766186237335205,
-1.5579777956008911,
3.2350614070892334,
0
] | move_to_position | 0.628974 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.1571120172739029,
-0.6043528914451599,
0.17263351380825043,
-3.0453808307647705,
-0.0036867528688162565,
3.086897850036621
] | 1 | 4.8 | 48 | 0 | 48 | 0 |
[
-1.5291026830673218,
-1.1644914150238037,
1.4618929624557495,
-1.7720447778701782,
-1.557437777519226,
3.2408828735351562,
0
] | [
-1.5233538150787354,
-1.1505012512207031,
1.4534610509872437,
-1.7776297330856323,
-1.5569127798080444,
3.2466299533843994,
0
] | move_to_position | 0.662571 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.1649588793516159,
-0.6124293804168701,
0.16357088088989258,
-3.045478105545044,
-0.0036234769504517317,
3.086801528930664
] | 1 | 4.9 | 49 | 0 | 49 | 0 |
[
-1.5173181295394897,
-1.1354308128356934,
1.4439719915390015,
-1.7832633256912231,
-1.556360125541687,
3.252650260925293,
0
] | [
-1.51348078250885,
-1.1255316734313965,
1.4374511241912842,
-1.7867212295532227,
-1.5560095310211182,
3.2564809322357178,
0
] | move_to_position | 0.696267 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.1726241111755371,
-0.6200951933860779,
0.15480323135852814,
-3.0454699993133545,
-0.003600652562454343,
3.0868093967437744
] | 1 | 5 | 50 | 0 | 50 | 0 |
[
-1.507038950920105,
-1.108605146408081,
1.4258102178573608,
-1.792216420173645,
-1.5554097890853882,
3.2628235816955566,
0
] | [
-1.5033509731292725,
-1.0983941555023193,
1.4186798334121704,
-1.7952402830123901,
-1.5550881624221802,
3.266587734222412,
0
] | move_to_position | 0.727646 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.1796560287475586,
-0.6273908019065857,
0.1468432992696762,
-3.045504331588745,
-0.0037014922127127647,
3.086869955062866
] | 1 | 5.1 | 51 | 0 | 51 | 0 |
[
-1.4976381063461304,
-1.082519292831421,
1.4071439504623413,
-1.7997018098831177,
-1.5545791387557983,
3.272270679473877,
0
] | [
-1.4938510656356812,
-1.0716863870620728,
1.3991026878356934,
-1.8025285005569458,
-1.554228663444519,
3.2760658264160156,
0
] | move_to_position | 0.758262 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.18627336621284485,
-0.63443523645401,
0.13927802443504333,
-3.0455195903778076,
-0.0036493181250989437,
3.0868358612060547
] | 1 | 5.2 | 52 | 0 | 52 | 0 |
[
-1.4889377355575562,
-1.0575610399246216,
1.3883832693099976,
-1.806033730506897,
-1.5537689924240112,
3.2809855937957764,
0
] | [
-1.4853218793869019,
-1.046898603439331,
1.380211591720581,
-1.8085752725601196,
-1.5534597635269165,
3.2845749855041504,
0
] | move_to_position | 0.787772 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.19278326630592346,
-0.641371488571167,
0.13180138170719147,
-3.0454931259155273,
-0.003672464285045862,
3.0868544578552246
] | 1 | 5.3 | 53 | 0 | 53 | 0 |
[
-1.480984091758728,
-1.034104585647583,
1.3703259229660034,
-1.8114696741104126,
-1.5530732870101929,
3.288862943649292,
0
] | [
-1.478116512298584,
-1.0256425142288208,
1.3636760711669922,
-1.813425064086914,
-1.5528113842010498,
3.2917630672454834,
0
] | move_to_position | 0.815542 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.1989540010690689,
-0.6479495167732239,
0.12464014440774918,
-3.045559883117676,
-0.0036439127288758755,
3.086853265762329
] | 1 | 5.4 | 54 | 0 | 54 | 0 |
[
-1.4737175703048706,
-1.0127274990081787,
1.3536032438278198,
-1.8163195848464966,
-1.5524152517318726,
3.2961275577545166,
0
] | [
-1.470852255821228,
-1.0042212009429932,
1.3468763828277588,
-1.8181778192520142,
-1.5521576404571533,
3.2990095615386963,
0
] | move_to_position | 0.840968 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.20453859865665436,
-0.6535711288452148,
0.11809892952442169,
-3.045413017272949,
-0.0035998167004436255,
3.086810350418091
] | 1 | 5.5 | 55 | 0 | 55 | 0 |
[
-1.4673184156417847,
-0.993503987789154,
1.3380802869796753,
-1.8202468156814575,
-1.5518983602523804,
3.3025193214416504,
0
] | [
-1.4643932580947876,
-0.9844534397125244,
1.330618977546692,
-1.8218350410461426,
-1.5515789985656738,
3.305452346801758,
0
] | move_to_position | 0.863979 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.20950646698474884,
-0.6586071848869324,
0.11258981376886368,
-3.045670747756958,
-0.0037015907000750303,
3.086848497390747
] | 1 | 5.6 | 56 | 0 | 56 | 0 |
[
-1.4614442586898804,
-0.975223958492279,
1.322799563407898,
-1.823236107826233,
-1.5513089895248413,
3.3083670139312744,
0
] | [
-1.4587229490280151,
-0.9663323163986206,
1.314985752105713,
-1.8244715929031372,
-1.551073670387268,
3.311107635498047,
0
] | move_to_position | 0.885995 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.21394607424736023,
-0.66323322057724,
0.10729780048131943,
-3.0454330444335938,
-0.003622512798756361,
3.0868117809295654
] | 1 | 5.7 | 57 | 0 | 57 | 0 |
[
-1.4560855627059937,
-0.9577713012695312,
1.307287573814392,
-1.8255330324172974,
-1.550822138786316,
3.313730478286743,
0
] | [
-1.4543253183364868,
-0.9518336057662964,
1.302068829536438,
-1.8261659145355225,
-1.5506834983825684,
3.31549334526062,
0
] | move_to_position | 0.907402 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.21810194849967957,
-0.6677270531654358,
0.1026904508471489,
-3.0457122325897217,
-0.0036803889088332653,
3.0868523120880127
] | 1 | 5.8 | 58 | 0 | 58 | 0 |
[
-1.4517186880111694,
-0.9429928064346313,
1.2941073179244995,
-1.8270360231399536,
-1.5504344701766968,
3.3181045055389404,
0
] | [
-1.4500861167907715,
-0.9376136660575867,
1.289177656173706,
-1.8275766372680664,
-1.550308108329773,
3.31972074508667,
0
] | move_to_position | 0.925467 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.22165721654891968,
-0.6715121865272522,
0.09852702915668488,
-3.0455257892608643,
-0.003626941004768014,
3.086865186691284
] | 1 | 5.9 | 59 | 0 | 59 | 0 |
[
-1.4478567838668823,
-0.930335521697998,
1.2825697660446167,
-1.8282586336135864,
-1.550111174583435,
3.321887731552124,
0
] | [
-1.4464715719223022,
-0.925524890422821,
1.2782366275787354,
-1.8287378549575806,
-1.5499879121780396,
3.3233253955841064,
0
] | move_to_position | 0.941102 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.22489376366138458,
-0.674875795841217,
0.09489777684211731,
-3.0455849170684814,
-0.0036722589284181595,
3.0869102478027344
] | 1 | 6 | 60 | 0 | 60 | 0 |
[
-1.4446567296981812,
-0.9194269180297852,
1.2727769613265991,
-1.8293806314468384,
-1.5498236417770386,
3.325178384780884,
0
] | [
-1.4434293508529663,
-0.9154671430587769,
1.2692155838012695,
-1.8297476768493652,
-1.5497180223464966,
3.326359272003174,
0
] | move_to_position | 0.954474 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.22736655175685883,
-0.6773892045021057,
0.09190835058689117,
-3.045395612716675,
-0.0036405809223651886,
3.086822271347046
] | 1 | 6.1 | 61 | 0 | 61 | 0 |
[
-1.4419244527816772,
-0.9104817509651184,
1.2646011114120483,
-1.830116868019104,
-1.5496147871017456,
3.3278276920318604,
0
] | [
-1.4409475326538086,
-0.9070723056793213,
1.2614970207214355,
-1.830439805984497,
-1.549498438835144,
3.328833818435669,
0
] | move_to_position | 0.965522 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.22964651882648468,
-0.6796619296073914,
0.08935895562171936,
-3.045436382293701,
-0.003651629900559783,
3.086859941482544
] | 1 | 6.2 | 62 | 0 | 62 | 0 |
[
-1.4397433996200562,
-0.9028915762901306,
1.2576178312301636,
-1.8306728601455688,
-1.5493735074996948,
3.3300516605377197,
0
] | [
-1.4389257431030273,
-0.900065541267395,
1.2548928260803223,
-1.830888271331787,
-1.549320101737976,
3.3308498859405518,
0
] | move_to_position | 0.974891 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.2314632087945938,
-0.6815178394317627,
0.08719701319932938,
-3.0453033447265625,
-0.0036081646103411913,
3.0868442058563232
] | 1 | 6.3 | 63 | 0 | 63 | 0 |
[
-1.4379791021347046,
-0.8966887593269348,
1.2515853643417358,
-1.8310586214065552,
-1.5492366552352905,
3.331826686859131,
0
] | [
-1.4372962713241577,
-0.8942839503288269,
1.2493160963058472,
-1.8311561346054077,
-1.5491769313812256,
3.33247447013855,
0
] | move_to_position | 0.982722 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.2329440712928772,
-0.6830952763557434,
0.08560407161712646,
-3.0454626083374023,
-0.0036564539186656475,
3.086906909942627
] | 1 | 6.4 | 64 | 0 | 64 | 0 |
[
-1.4365142583847046,
-0.891672670841217,
1.2466696500778198,
-1.8312312364578247,
-1.5491083860397339,
3.3332111835479736,
0
] | [
-1.4360612630844116,
-0.8898103833198547,
1.2449167966842651,
-1.8312946557998657,
-1.549068570137024,
3.3337056636810303,
0
] | move_to_position | 0.989072 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.23413032293319702,
-0.6843781471252441,
0.084257572889328,
-3.0454814434051514,
-0.0036363156978040934,
3.0868759155273438
] | 1 | 6.5 | 65 | 0 | 65 | 0 |
[
-1.4355262517929077,
-0.887820839881897,
1.2429879903793335,
-1.8313432931900024,
-1.5490554571151733,
3.3342342376708984,
0
] | [
-1.4351950883865356,
-0.8866380453109741,
1.241764783859253,
-1.8313648700714111,
-1.5489928722381592,
3.334568977355957,
0
] | move_to_position | 0.993864 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.23495224118232727,
-0.6853554844856262,
0.08323398977518082,
-3.0454723834991455,
-0.003682684153318405,
3.08683443069458
] | 1 | 6.6 | 66 | 0 | 66 | 0 |
[
-1.4349969625473022,
-0.8854401707649231,
1.2405580282211304,
-1.8313871622085571,
-1.5489577054977417,
3.334836483001709,
0
] | [
-1.4346230030059814,
-0.8845752477645874,
1.2397435903549194,
-1.8314296007156372,
-1.5489426851272583,
3.335139274597168,
0
] | move_to_position | 0.996894 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.2354462444782257,
-0.6860324144363403,
0.0826016217470169,
-3.045531988143921,
-0.0036532990634441376,
3.0866854190826416
] | 1 | 6.7 | 67 | 0 | 67 | 0 |
[
-1.4345687627792358,
-0.8838542103767395,
1.2390774488449097,
-1.8314348459243774,
-1.5489519834518433,
3.335310459136963,
0
] | [
-1.43433678150177,
-0.8835636973381042,
1.2387709617614746,
-1.831474781036377,
-1.5489174127578735,
3.3354249000549316,
0
] | move_to_position | 0.998853 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.23579339683055878,
-0.6863325834274292,
0.0822179988026619,
-3.0454769134521484,
-0.003653905587270856,
3.086726427078247
] | 1 | 6.8 | 68 | 0 | 68 | 0 |
[
-1.4342764616012573,
-0.8833711743354797,
1.2385729551315308,
-1.8314672708511353,
-1.5489200353622437,
3.3355143070220947,
0
] | [
-1.4342024326324463,
-0.8830888271331787,
1.2383142709732056,
-1.831496000289917,
-1.548905611038208,
3.3355588912963867,
0
] | move_to_position | 0.999527 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.2360008955001831,
-0.6864286661148071,
0.08211422711610794,
-3.0455446243286133,
-0.0036576713901013136,
3.0868375301361084
] | 1 | 6.9 | 69 | 0 | 69 | 0 |
[
-1.4342049360275269,
-0.8832291960716248,
1.23839271068573,
-1.831475853919983,
-1.5489133596420288,
3.3355672359466553,
0
] | [
-1.4341729879379272,
-0.8829848766326904,
1.238214373588562,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | move_to_position | 0.999734 | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.0820000022649765,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.0820000022649765,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: approach above chocolate_pie_1 | [
0.23603665828704834,
-0.6864569783210754,
0.08202503621578217,
-3.045457363128662,
-0.0036599119193851948,
3.086831569671631
] | 1 | 7 | 70 | 0 | 70 | 0 |
[
-1.4342130422592163,
-0.8831623196601868,
1.238381266593933,
-1.8314567804336548,
-1.5489200353622437,
3.3355672359466553,
0
] | [
-1.4341728687286377,
-0.8829845786094666,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | gripper_open | 1 | [
-1.4342130422592163,
-0.8831623196601868,
1.238381266593933,
-1.8314567804336548,
-1.5489200353622437,
3.3355672359466553,
0
] | [
-0.2360306829214096,
0.6864758729934692,
0.08206260204315186,
-3.0455195903778076,
-0.0036726868711411953,
3.086827039718628
] | [
0.2360306829214096,
-0.6864758729934692,
0.08206260204315186,
-3.0455195903778076,
-0.0036726868711411953,
3.086827039718628
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: open gripper | [
0.2360447347164154,
-0.6864782571792603,
0.08205173909664154,
-3.0455219745635986,
-0.0036695911549031734,
3.086808204650879
] | 1 | 7.1 | 71 | 0 | 71 | 0 |
[
-1.434216856956482,
-0.8830475211143494,
1.2382324934005737,
-1.8314982652664185,
-1.5489200353622437,
3.335570812225342,
0.0117647061124444
] | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | gripper_open | 1 | [
-1.4342130422592163,
-0.8831623196601868,
1.238381266593933,
-1.8314567804336548,
-1.5489200353622437,
3.3355672359466553,
0
] | [
-0.2360306829214096,
0.6864758729934692,
0.08206260204315186,
-3.0455195903778076,
-0.0036726868711411953,
3.086827039718628
] | [
0.2360306829214096,
-0.6864758729934692,
0.08206260204315186,
-3.0455195903778076,
-0.0036726868711411953,
3.086827039718628
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: open gripper | [
0.2360706329345703,
-0.6865217089653015,
0.08202244341373444,
-3.0455260276794434,
-0.0036796166095882654,
3.0868351459503174
] | 1 | 7.2 | 72 | 0 | 72 | 0 |
[
-1.4341968297958374,
-0.8830012083053589,
1.2382038831710815,
-1.8314839601516724,
-1.5489319562911987,
3.3355910778045654,
0.0117647061124444
] | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | gripper_open | 1 | [
-1.4342130422592163,
-0.8831623196601868,
1.238381266593933,
-1.8314567804336548,
-1.5489200353622437,
3.3355672359466553,
0
] | [
-0.2360306829214096,
0.6864758729934692,
0.08206260204315186,
-3.0455195903778076,
-0.0036726868711411953,
3.086827039718628
] | [
0.2360306829214096,
-0.6864758729934692,
0.08206260204315186,
-3.0455195903778076,
-0.0036726868711411953,
3.086827039718628
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: open gripper | [
0.23605622351169586,
-0.6865286231040955,
0.0819898173213005,
-3.045511484146118,
-0.0036631969269365072,
3.0868399143218994
] | 1 | 7.3 | 73 | 0 | 73 | 0 |
[
-1.4341768026351929,
-0.8829789757728577,
1.2382162809371948,
-1.831483006477356,
-1.5489357709884644,
3.335582733154297,
0.0117647061124444
] | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | gripper_open | 1 | [
-1.4342130422592163,
-0.8831623196601868,
1.238381266593933,
-1.8314567804336548,
-1.5489200353622437,
3.3355672359466553,
0
] | [
-0.2360306829214096,
0.6864758729934692,
0.08206260204315186,
-3.0455195903778076,
-0.0036726868711411953,
3.086827039718628
] | [
0.2360306829214096,
-0.6864758729934692,
0.08206260204315186,
-3.0455195903778076,
-0.0036726868711411953,
3.086827039718628
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: open gripper | [
0.23604930937290192,
-0.6865194439888,
0.08200334012508392,
-3.0454938411712646,
-0.003656284883618355,
3.086801290512085
] | 1 | 7.4 | 74 | 0 | 74 | 0 |
[
-1.4341648817062378,
-0.8829737901687622,
1.2382162809371948,
-1.8315383195877075,
-1.548885703086853,
3.335601806640625,
0
] | [
-1.4341728687286377,
-0.8829845190048218,
1.2382140159606934,
-1.8315006494522095,
-1.5489031076431274,
3.335588216781616,
0
] | move_to_position | 0.000402 | [
-1.4341973066329956,
-0.8343096971511841,
1.2907580137252808,
-1.932721495628357,
-1.5489873886108398,
3.3356499671936035,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.03200000151991844,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.03200000151991844,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: descend to chocolate_pie_1 | [
0.23607496917247772,
-0.686507523059845,
0.08199416846036911,
-3.0454723834991455,
-0.0036619650200009346,
3.0868632793426514
] | 1 | 7.5 | 75 | 0 | 75 | 0 |
[
-1.4341648817062378,
-0.8829481601715088,
1.2382005453109741,
-1.831494927406311,
-1.5489200353622437,
3.3355791568756104,
0
] | [
-1.4341768026351929,
-0.8828883171081543,
1.2383724451065063,
-1.8316988945007324,
-1.5489379167556763,
3.335582971572876,
0
] | move_to_position | 0.000144 | [
-1.4341973066329956,
-0.8343096971511841,
1.2907580137252808,
-1.932721495628357,
-1.5489873886108398,
3.3356499671936035,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.03200000151991844,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.03200000151991844,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: descend to chocolate_pie_1 | [
0.23606112599372864,
-0.6865068674087524,
0.08195618540048599,
-3.045438528060913,
-0.003645914141088724,
3.0868606567382812
] | 1 | 7.6 | 76 | 0 | 76 | 0 |
[
-1.434172511100769,
-0.8824102878570557,
1.2388004064559937,
-1.8325845003128052,
-1.5488895177841187,
3.3355791568756104,
0
] | [
-1.4341771602630615,
-0.8819757103919983,
1.2397749423980713,
-1.8339793682098389,
-1.5489411354064941,
3.3355844020843506,
0
] | move_to_position | 0.011068 | [
-1.4341973066329956,
-0.8343096971511841,
1.2907580137252808,
-1.932721495628357,
-1.5489873886108398,
3.3356499671936035,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.03200000151991844,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.03200000151991844,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: descend to chocolate_pie_1 | [
0.23606261610984802,
-0.6864922046661377,
0.08110415190458298,
-3.0452911853790283,
-0.0036162217147648335,
3.086857318878174
] | 1 | 7.7 | 77 | 0 | 77 | 0 |
[
-1.4341768026351929,
-0.8809409737586975,
1.2409695386886597,
-1.836283802986145,
-1.5489319562911987,
3.335594654083252,
0
] | [
-1.4341779947280884,
-0.8800768256187439,
1.2425068616867065,
-1.8386198282241821,
-1.5489422082901,
3.335587739944458,
0
] | move_to_position | 0.047477 | [
-1.4341973066329956,
-0.8343096971511841,
1.2907580137252808,
-1.932721495628357,
-1.5489873886108398,
3.3356499671936035,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.03200000151991844,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.03200000151991844,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: descend to chocolate_pie_1 | [
0.236052006483078,
-0.6865004301071167,
0.07923657447099686,
-3.0454750061035156,
-0.003634102875366807,
3.0868313312530518
] | 1 | 7.8 | 78 | 0 | 78 | 0 |
[
-1.4341844320297241,
-0.8787845969200134,
1.2442659139633179,
-1.841708779335022,
-1.5489524602890015,
3.3356258869171143,
0
] | [
-1.4341791868209839,
-0.877328097820282,
1.2461975812911987,
-1.845090389251709,
-1.5489428043365479,
3.335592031478882,
0
] | move_to_position | 0.101241 | [
-1.4341973066329956,
-0.8343096971511841,
1.2907580137252808,
-1.932721495628357,
-1.5489873886108398,
3.3356499671936035,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.03200000151991844,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.03200000151991844,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: descend to chocolate_pie_1 | [
0.2360735535621643,
-0.6864427924156189,
0.07651566714048386,
-3.045400381088257,
-0.003629938466474414,
3.086860179901123
] | 1 | 7.9 | 79 | 0 | 79 | 0 |
[
-1.4341930150985718,
-0.875491201877594,
1.248498797416687,
-1.849187970161438,
-1.5489181280136108,
3.3355720043182373,
0
] | [
-1.4341806173324585,
-0.8739213943481445,
1.2504185438156128,
-1.8527450561523438,
-1.5489444732666016,
3.335597276687622,
0
] | move_to_position | 0.175311 | [
-1.4341973066329956,
-0.8343096971511841,
1.2907580137252808,
-1.932721495628357,
-1.5489873886108398,
3.3356499671936035,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.03200000151991844,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.03200000151991844,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: descend to chocolate_pie_1 | [
0.23603813350200653,
-0.6864608526229858,
0.07266465574502945,
-3.0454087257385254,
-0.003573822323232889,
3.0868327617645264
] | 1 | 8 | 80 | 0 | 80 | 0 |
[
-1.4341930150985718,
-0.8719373345375061,
1.2527488470077515,
-1.8570753335952759,
-1.5489648580551147,
3.3355791568756104,
0
] | [
-1.4341824054718018,
-0.869616687297821,
1.2552907466888428,
-1.8619279861450195,
-1.5489487648010254,
3.3356032371520996,
0
] | move_to_position | 0.252951 | [
-1.4341973066329956,
-0.8343096971511841,
1.2907580137252808,
-1.932721495628357,
-1.5489873886108398,
3.3356499671936035,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.03200000151991844,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.03200000151991844,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: descend to chocolate_pie_1 | [
0.23606206476688385,
-0.6865497827529907,
0.06876644492149353,
-3.0455687046051025,
-0.0036750556901097298,
3.0868282318115234
] | 1 | 8.1 | 81 | 0 | 81 | 0 |
[
-1.4341930150985718,
-0.8670321702957153,
1.2581113576889038,
-1.8675061464309692,
-1.5489286184310913,
3.3355443477630615,
0
] | [
-1.4341849088668823,
-0.8638113141059875,
1.2615872621536255,
-1.8740330934524536,
-1.5489548444747925,
3.335611343383789,
0
] | move_to_position | 0.35543 | [
-1.4341973066329956,
-0.8343096971511841,
1.2907580137252808,
-1.932721495628357,
-1.5489873886108398,
3.3356499671936035,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.03200000151991844,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.03200000151991844,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: descend to chocolate_pie_1 | [
0.23609000444412231,
-0.6866353154182434,
0.06335495412349701,
-3.0456295013427734,
-0.00365074397996068,
3.0868940353393555
] | 1 | 8.2 | 82 | 0 | 82 | 0 |
[
-1.4341806173324585,
-0.8604175448417664,
1.2651728391647339,
-1.8810826539993286,
-1.5489596128463745,
3.3356378078460693,
0
] | [
-1.4341872930526733,
-0.8580150604248047,
1.2677586078643799,
-1.886003851890564,
-1.5489610433578491,
3.3356194496154785,
0
] | move_to_position | 0.489831 | [
-1.4341973066329956,
-0.8343096971511841,
1.2907580137252808,
-1.932721495628357,
-1.5489873886108398,
3.3356499671936035,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.03200000151991844,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.03200000151991844,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: descend to chocolate_pie_1 | [
0.23608215153217316,
-0.6866666078567505,
0.05659222975373268,
-3.0455503463745117,
-0.0036483409348875284,
3.0868496894836426
] | 1 | 8.3 | 83 | 0 | 83 | 0 |
[
-1.4341686964035034,
-0.8536694645881653,
1.272231936454773,
-1.894687294960022,
-1.5489801168441772,
3.3356029987335205,
0
] | [
-1.4341901540756226,
-0.8512430787086487,
1.2748714685440063,
-1.8998925685882568,
-1.5489683151245117,
3.3356285095214844,
0
] | move_to_position | 0.624834 | [
-1.4341973066329956,
-0.8343096971511841,
1.2907580137252808,
-1.932721495628357,
-1.5489873886108398,
3.3356499671936035,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.03200000151991844,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.03200000151991844,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: descend to chocolate_pie_1 | [
0.23609164357185364,
-0.6866113543510437,
0.05016043782234192,
-3.0453970432281494,
-0.00364212179556489,
3.086829423904419
] | 1 | 8.4 | 84 | 0 | 84 | 0 |
[
-1.4341648817062378,
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1.2782520055770874,
-1.906434178352356,
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3.335634231567383,
0
] | [
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1.2807387113571167,
-1.9114346504211426,
-1.5489745140075684,
3.3356361389160156,
0
] | move_to_position | 0.740497 | [
-1.4341973066329956,
-0.8343096971511841,
1.2907580137252808,
-1.932721495628357,
-1.5489873886108398,
3.3356499671936035,
0
] | [
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0.686509370803833,
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0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.03200000151991844,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: descend to chocolate_pie_1 | [
0.23610824346542358,
-0.6865451335906982,
0.044143304228782654,
-3.045506715774536,
-0.003659510286524892,
3.0868492126464844
] | 1 | 8.5 | 85 | 0 | 85 | 0 |
[
-1.4341930150985718,
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1.2831252813339233,
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0
] | [
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1.2843416929244995,
-1.9186352491378784,
-1.5489784479141235,
3.3356409072875977,
0
] | move_to_position | 0.83612 | [
-1.4341973066329956,
-0.8343096971511841,
1.2907580137252808,
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-1.5489873886108398,
3.3356499671936035,
0
] | [
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0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.03200000151991844,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: descend to chocolate_pie_1 | [
0.23608052730560303,
-0.6864936351776123,
0.03969665244221687,
-3.0455732345581055,
-0.0036471630446612835,
3.0868148803710938
] | 1 | 8.6 | 86 | 0 | 86 | 0 |
[
-1.4341768026351929,
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1.2863863706588745,
-1.9228602647781372,
-1.549014925956726,
3.3356425762176514,
0
] | [
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1.2873969078063965,
-1.9250288009643555,
-1.5489821434020996,
3.3356451988220215,
0
] | move_to_position | 0.902236 | [
-1.4341973066329956,
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1.2907580137252808,
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-1.5489873886108398,
3.3356499671936035,
0
] | [
-0.23606722056865692,
0.686509370803833,
0.03200000151991844,
0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.03200000151991844,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: descend to chocolate_pie_1 | [
0.23608341813087463,
-0.6864663362503052,
0.036584436893463135,
-3.0455734729766846,
-0.0036819186061620712,
3.0868780612945557
] | 1 | 8.7 | 87 | 0 | 87 | 0 |
[
-1.4341806173324585,
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1.2885969877243042,
-1.9277435541152954,
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0
] | [
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1.2892473936080933,
-1.929121732711792,
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3.3356478214263916,
0
] | move_to_position | 0.950484 | [
-1.4341973066329956,
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1.2907580137252808,
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3.3356499671936035,
0
] | [
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0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.03200000151991844,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: descend to chocolate_pie_1 | [
0.23608392477035522,
-0.6864702105522156,
0.03418207913637161,
-3.045534372329712,
-0.00367772881872952,
3.086864948272705
] | 1 | 8.8 | 88 | 0 | 88 | 0 |
[
-1.4341806173324585,
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0
] | [
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1.2903889417648315,
-1.9317997694015503,
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3.3356494903564453,
0
] | move_to_position | 0.983236 | [
-1.4341973066329956,
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1.2907580137252808,
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0
] | [
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0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.03200000151991844,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: descend to chocolate_pie_1 | [
0.23607607185840607,
-0.6865043640136719,
0.03268876299262047,
-3.0455358028411865,
-0.003648534882813692,
3.086845636367798
] | 1 | 8.9 | 89 | 0 | 89 | 0 |
[
-1.4341968297958374,
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1.2905486822128296,
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0
] | [
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1.2907570600509644,
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-1.5489873886108398,
3.3356499671936035,
0
] | move_to_position | 0.997404 | [
-1.4341973066329956,
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1.2907580137252808,
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3.3356499671936035,
0
] | [
-0.23606722056865692,
0.686509370803833,
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0,
0,
0
] | [
0.23606722056865692,
-0.686509370803833,
0.03200000151991844,
0,
0,
0
] | 0 | pick chocolate_pie_1 and place it on red_plate_1: descend to chocolate_pie_1 | [
0.23609647154808044,
-0.6865684986114502,
0.032184142619371414,
-3.0457212924957275,
-0.0037156357429921627,
3.0868356227874756
] | 1 | 9 | 90 | 0 | 90 | 0 |
[
-1.4341806173324585,
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1.2905420064926147,
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0
] | [
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1.2907580137252808,
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3.3356499671936035,
1
] | gripper_close | 0 | [
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1.2905420064926147,
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] | [
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0.6865834593772888,
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] | [
0.23607724905014038,
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0.0321820005774498,
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3.0868237018585205
] | 1 | pick chocolate_pie_1 and place it on red_plate_1: grasp chocolate_pie_1 | [
0.23609928786754608,
-0.6865965127944946,
0.032198090106248856,
-3.04579758644104,
-0.003707058262079954,
3.0868899822235107
] | 1 | 9.1 | 91 | 0 | 91 | 0 |
[
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] | [
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1.2907580137252808,
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3.3356499671936035,
1
] | gripper_close | 0.05098 | [
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1.2905420064926147,
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] | [
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] | [
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0.0321820005774498,
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3.0868237018585205
] | 1 | pick chocolate_pie_1 and place it on red_plate_1: grasp chocolate_pie_1 | [
0.23609645664691925,
-0.6865594387054443,
0.03215382993221283,
-3.0457606315612793,
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3.086820125579834
] | 1 | 9.2 | 92 | 0 | 92 | 0 |
[
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1.290749430656433,
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3.335670232772827,
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] | [
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1.2907580137252808,
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3.3356499671936035,
1
] | gripper_close | 0.180392 | [
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-0.8344840407371521,
1.2905420064926147,
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-1.5490230321884155,
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1
] | [
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] | [
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0.0321820005774498,
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3.0868237018585205
] | 1 | pick chocolate_pie_1 and place it on red_plate_1: grasp chocolate_pie_1 | [
0.23610301315784454,
-0.6865202784538269,
0.03205903619527817,
-3.0456113815307617,
-0.0037136946339160204,
3.0868821144104004
] | 1 | 9.3 | 93 | 0 | 93 | 0 |
[
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1.2907460927963257,
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3.335663080215454,
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] | [
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1.2907580137252808,
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3.3356499671936035,
1
] | gripper_close | 0.313725 | [
-1.4341806173324585,
-0.8344840407371521,
1.2905420064926147,
-1.9326382875442505,
-1.5490230321884155,
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1
] | [
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] | [
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0.0321820005774498,
-3.0457539558410645,
-0.0036949121858924627,
3.0868237018585205
] | 1 | pick chocolate_pie_1 and place it on red_plate_1: grasp chocolate_pie_1 | [
0.23607812821865082,
-0.68650221824646,
0.031997114419937134,
-3.045518398284912,
-0.003632577834650874,
3.086851119995117
] | 1 | 9.4 | 94 | 0 | 94 | 0 |
[
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1.2907131910324097,
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3.335658311843872,
0.4431372582912445
] | [
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1.2907580137252808,
-1.932721495628357,
-1.5489873886108398,
3.3356499671936035,
1
] | gripper_close | 0.443137 | [
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1.2905420064926147,
-1.9326382875442505,
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1
] | [
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0.6865834593772888,
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] | [
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0.0321820005774498,
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-0.0036949121858924627,
3.0868237018585205
] | 1 | pick chocolate_pie_1 and place it on red_plate_1: grasp chocolate_pie_1 | [
0.23606382310390472,
-0.6865652799606323,
0.03208089992403984,
-3.0456902980804443,
-0.003752154530957341,
3.086796283721924
] | 1 | 9.5 | 95 | 0 | 95 | 0 |
[
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1.2907379865646362,
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3.3356547355651855,
0.5529412031173706
] | [
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1.2907580137252808,
-1.932721495628357,
-1.5489873886108398,
3.3356499671936035,
1
] | gripper_close | 0.552941 | [
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1.2905420064926147,
-1.9326382875442505,
-1.5490230321884155,
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1
] | [
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0.6865834593772888,
0.0321820005774498,
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] | [
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-0.6865834593772888,
0.0321820005774498,
-3.0457539558410645,
-0.0036949121858924627,
3.0868237018585205
] | 1 | pick chocolate_pie_1 and place it on red_plate_1: grasp chocolate_pie_1 | [
0.23616549372673035,
-0.6864888072013855,
0.032020919024944305,
-3.04551100730896,
-0.003797347890213132,
3.086918830871582
] | 0 | 9.6 | 96 | 0 | 96 | 0 |
[
-1.4341686964035034,
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1.2907565832138062,
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3.3356425762176514,
0.6274510025978088
] | [
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1.2907580137252808,
-1.932721495628357,
-1.5489873886108398,
3.3356499671936035,
1
] | gripper_close | 0.627451 | [
-1.4341806173324585,
-0.8344840407371521,
1.2905420064926147,
-1.9326382875442505,
-1.5490230321884155,
3.335638999938965,
1
] | [
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0.6865834593772888,
0.0321820005774498,
-3.0457539558410645,
-0.0036949121858924627,
3.0868237018585205
] | [
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-0.6865834593772888,
0.0321820005774498,
-3.0457539558410645,
-0.0036949121858924627,
3.0868237018585205
] | 1 | pick chocolate_pie_1 and place it on red_plate_1: grasp chocolate_pie_1 | [
0.23607158660888672,
-0.6865465044975281,
0.0320514515042305,
-3.045650005340576,
-0.003657370340079069,
3.0868093967437744
] | 0 | 9.7 | 97 | 0 | 97 | 0 |
[
-1.4341734647750854,
-0.8343952894210815,
1.2907050848007202,
-1.9328385591506958,
-1.5490964651107788,
3.3356666564941406,
0.6980392336845398
] | [
-1.4341973066329956,
-0.8343096971511841,
1.2907580137252808,
-1.932721495628357,
-1.5489873886108398,
3.3356499671936035,
1
] | gripper_close | 0.698039 | [
-1.4341806173324585,
-0.8344840407371521,
1.2905420064926147,
-1.9326382875442505,
-1.5490230321884155,
3.335638999938965,
1
] | [
-0.23607724905014038,
0.6865834593772888,
0.0321820005774498,
-3.0457539558410645,
-0.0036949121858924627,
3.0868237018585205
] | [
0.23607724905014038,
-0.6865834593772888,
0.0321820005774498,
-3.0457539558410645,
-0.0036949121858924627,
3.0868237018585205
] | 1 | pick chocolate_pie_1 and place it on red_plate_1: grasp chocolate_pie_1 | [
0.2360505908727646,
-0.6865772604942322,
0.032086338847875595,
-3.0457544326782227,
-0.0036325640976428986,
3.0868515968322754
] | 0 | 9.8 | 98 | 0 | 98 | 0 |
[
-1.4342325925827026,
-0.8343999981880188,
1.2906688451766968,
-1.9327956438064575,
-1.549012541770935,
3.3357014656066895,
0.772549033164978
] | [
-1.4341973066329956,
-0.8343096971511841,
1.2907580137252808,
-1.932721495628357,
-1.5489873886108398,
3.3356499671936035,
1
] | gripper_close | 0.772549 | [
-1.4341806173324585,
-0.8344840407371521,
1.2905420064926147,
-1.9326382875442505,
-1.5490230321884155,
3.335638999938965,
1
] | [
-0.23607724905014038,
0.6865834593772888,
0.0321820005774498,
-3.0457539558410645,
-0.0036949121858924627,
3.0868237018585205
] | [
0.23607724905014038,
-0.6865834593772888,
0.0321820005774498,
-3.0457539558410645,
-0.0036949121858924627,
3.0868237018585205
] | 1 | pick chocolate_pie_1 and place it on red_plate_1: grasp chocolate_pie_1 | [
0.2360830157995224,
-0.6865839958190918,
0.03211718425154686,
-3.045781373977661,
-0.003739126492291689,
3.086761474609375
] | 0 | 9.9 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
A LeRobot-format UR7e real-robot dataset for the CaP task 'Distribute chocolate pies to each plate.' The dataset contains 100 forward episodes selected from successful visual judge TRUE trials. Observations include synchronized RealSense topview and wrist camera videos, robot state, and controller-desired actions recorded at 10 FPS.
- Homepage: https://huggingface.co/datasets/CoRL2026-CSI/UR7e_CaP_DistributeChocopie_100epi
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "ur7e",
"total_episodes": 100,
"total_frames": 42451,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:100"
},
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},
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},
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}
}
}
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