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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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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[
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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[
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] | move_to_position | 0.260469 | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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[
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] | move_to_position | 0.371763 | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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[
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] | move_to_position | 0.501467 | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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[
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] | move_to_position | 0.625526 | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 24 | 240 | 2 | 1,105 | 0 |
[
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] | [
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] | move_to_position | 0.730373 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 24.1 | 241 | 2 | 1,106 | 0 |
[
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] | [
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] | move_to_position | 0.83045 | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 24.200001 | 242 | 2 | 1,107 | 0 |
[
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] | move_to_position | 0.908955 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 24.299999 | 243 | 2 | 1,108 | 0 |
[
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] | [
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] | move_to_position | 0.966751 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 24.4 | 244 | 2 | 1,109 | 0 |
[
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] | [
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] | move_to_position | 0.992879 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 24.5 | 245 | 2 | 1,110 | 0 |
[
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] | [
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] | move_to_position | 0.998373 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 24.6 | 246 | 2 | 1,111 | 0 |
[
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] | [
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1
] | gripper_close | 0 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 1 | 24.700001 | 247 | 2 | 1,112 | 0 |
[
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1
] | gripper_close | 0.011765 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 1 | 24.799999 | 248 | 2 | 1,113 | 0 |
[
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1
] | gripper_close | 0.05098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 1 | 24.9 | 249 | 2 | 1,114 | 0 |
[
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1
] | gripper_close | 0.176471 | [
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] | [
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0.16780608892440796,
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0.028037916868925095,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | gripper_close | 0.85098 | [
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] | gripper_close | 0.85098 | [
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[
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] | gripper_close | 0.85098 | [
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[
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] | gripper_close | 0.85098 | [
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[
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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1
] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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1
] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | gripper_close | 0.85098 | [
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] | gripper_close | 0.85098 | [
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] | [
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[
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 27 | 270 | 2 | 1,135 | 0 |
[
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 27.1 | 271 | 2 | 1,136 | 0 |
[
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] | [
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 27.200001 | 272 | 2 | 1,137 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 27.299999 | 273 | 2 | 1,138 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 27.4 | 274 | 2 | 1,139 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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] | [
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] | [
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0.028037916868925095,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 27.5 | 275 | 2 | 1,140 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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] | [
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] | [
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0.028037916868925095,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 27.6 | 276 | 2 | 1,141 | 0 |
[
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1
] | [
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1
] | move_to_position | 0 | [
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] | [
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0,
0,
0
] | [
0.17421060800552368,
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0.08010495454072952,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
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0.028010664507746696,
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] | 0 | 27.700001 | 277 | 2 | 1,142 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.002603 | [
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1
] | [
-0.17421060800552368,
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0,
0,
0
] | [
0.17421060800552368,
-0.5575217604637146,
0.08010495454072952,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
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0.028217166662216187,
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] | 0 | 27.799999 | 278 | 2 | 1,143 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.020456 | [
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1
] | [
-0.17421060800552368,
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0,
0,
0
] | [
0.17421060800552368,
-0.5575217604637146,
0.08010495454072952,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
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0.029254542663693428,
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] | 0 | 27.9 | 279 | 2 | 1,144 | 0 |
[
-1.511851191520691,
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3.204038381576538,
1
] | [
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-2.2675580978393555,
-1.5695024728775024,
3.204224109649658,
1
] | move_to_position | 0.056472 | [
-1.5005251169204712,
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1
] | [
-0.17421060800552368,
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0,
0,
0
] | [
0.17421060800552368,
-0.5575217604637146,
0.08010495454072952,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.1683485507965088,
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0.0314001627266407,
-3.1383554935455322,
-0.0009023193852044642,
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] | 0 | 28 | 280 | 2 | 1,145 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.109496 | [
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] | [
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0,
0
] | [
0.17421060800552368,
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0.08010495454072952,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
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0.03411347419023514,
-3.138510227203369,
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] | 0 | 28.1 | 281 | 2 | 1,146 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.174719 | [
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] | [
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0,
0
] | [
0.17421060800552368,
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0.08010495454072952,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
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0.037832457572221756,
-3.1384963989257812,
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] | 0 | 28.200001 | 282 | 2 | 1,147 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.253529 | [
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1
] | [
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0,
0
] | [
0.17421060800552368,
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0.08010495454072952,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
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0.042211975902318954,
-3.1385257244110107,
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] | 0 | 28.299999 | 283 | 2 | 1,148 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.370255 | [
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] | [
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0,
0
] | [
0.17421060800552368,
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0.08010495454072952,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.17037461698055267,
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0.04868082329630852,
-3.1385207176208496,
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] | 0 | 28.4 | 284 | 2 | 1,149 | 0 |
[
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] | [
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1
] | move_to_position | 0.508123 | [
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1
] | [
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0,
0
] | [
0.17421060800552368,
-0.5575217604637146,
0.08010495454072952,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.17122597992420197,
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0.05580363795161247,
-3.138603448867798,
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] | 0 | 28.5 | 285 | 2 | 1,150 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.640476 | [
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1
] | [
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0,
0
] | [
0.17421060800552368,
-0.5575217604637146,
0.08010495454072952,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.17204773426055908,
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0.06223302707076073,
-3.1384105682373047,
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] | 0 | 28.6 | 286 | 2 | 1,151 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.743366 | [
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1.8157553672790527,
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1
] | [
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0,
0,
0
] | [
0.17421060800552368,
-0.5575217604637146,
0.08010495454072952,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.17269250750541687,
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0.06772172451019287,
-3.138584613800049,
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] | 0 | 28.700001 | 287 | 2 | 1,152 | 0 |
[
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3.213268756866455,
1
] | [
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1.821151852607727,
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3.213683843612671,
1
] | move_to_position | 0.828396 | [
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1.8157553672790527,
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-1.5693602561950684,
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1
] | [
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0,
0,
0
] | [
0.17421060800552368,
-0.5575217604637146,
0.08010495454072952,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.17318522930145264,
-0.5588405728340149,
0.0720333456993103,
-3.1385836601257324,
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] | 0 | 28.799999 | 288 | 2 | 1,153 | 0 |
[
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3.214160203933716,
1
] | [
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1.8187425136566162,
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3.214447498321533,
1
] | move_to_position | 0.903486 | [
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1.8157553672790527,
-2.1555874347686768,
-1.5693602561950684,
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1
] | [
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0,
0,
0
] | [
0.17421060800552368,
-0.5575217604637146,
0.08010495454072952,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.1735987812280655,
-0.5582681894302368,
0.07555796951055527,
-3.1385231018066406,
-0.0008357692859135568,
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] | 0 | 28.9 | 289 | 2 | 1,154 | 0 |
[
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1.8174785375595093,
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3.214832305908203,
1
] | [
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1.8167849779129028,
-2.158700942993164,
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3.2150402069091797,
1
] | move_to_position | 0.95819 | [
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1.8157553672790527,
-2.1555874347686768,
-1.5693602561950684,
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1
] | [
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0.08010495454072952,
0,
0,
0
] | [
0.17421060800552368,
-0.5575217604637146,
0.08010495454072952,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.17394977807998657,
-0.557822048664093,
0.07841291278600693,
-3.1385746002197266,
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] | 0 | 29 | 290 | 2 | 1,155 | 0 |
[
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1.8160680532455444,
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3.2152392864227295,
1
] | [
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1.815860629081726,
-2.1559195518493652,
-1.569360613822937,
3.2153141498565674,
1
] | move_to_position | 0.992166 | [
-1.5005251169204712,
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1.8157553672790527,
-2.1555874347686768,
-1.5693602561950684,
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1
] | [
-0.17421060800552368,
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0.08010495454072952,
0,
0,
0
] | [
0.17421060800552368,
-0.5575217604637146,
0.08010495454072952,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.1741160750389099,
-0.5575812458992004,
0.07984138280153275,
-3.1385574340820312,
-0.0007994438637979329,
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] | 0 | 29.1 | 291 | 2 | 1,156 | 0 |
[
-1.5005611181259155,
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1.8159478902816772,
-2.15567946434021,
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3.2153232097625732,
1
] | [
-1.5005251169204712,
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1.8157553672790527,
-2.1555874347686768,
-1.5693602561950684,
3.2153470516204834,
1
] | move_to_position | 0.998113 | [
-1.5005251169204712,
-1.2270269393920898,
1.8157553672790527,
-2.1555874347686768,
-1.5693602561950684,
3.2153470516204834,
1
] | [
-0.17421060800552368,
0.5575217604637146,
0.08010495454072952,
0,
0,
0
] | [
0.17421060800552368,
-0.5575217604637146,
0.08010495454072952,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.1741792857646942,
-0.5574472546577454,
0.07994343340396881,
-3.138251781463623,
-0.0007610566099174321,
-3.141282320022583
] | 0 | 29.200001 | 292 | 2 | 1,157 | 0 |
[
-1.5005186796188354,
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1.8159078359603882,
-2.155623197555542,
-1.5693711042404175,
3.215331554412842,
1
] | [
-1.5005251169204712,
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1.8157553672790527,
-2.1555874347686768,
-1.5693602561950684,
3.2153470516204834,
1
] | move_to_position | 0.000042 | [
-1.8859734535217285,
-1.1233408451080322,
1.6001547574996948,
-2.0431578159332275,
-1.5708540678024292,
2.8299143314361572,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
0.1741812378168106,
-0.5574208498001099,
0.07991179078817368,
-3.138136386871338,
-0.0008002039976418018,
-3.1412832736968994
] | 0 | 29.299999 | 293 | 2 | 1,158 | 0 |
[
-1.5005372762680054,
-1.22678804397583,
1.815954566001892,
-2.1555869579315186,
-1.5692681074142456,
3.21535587310791,
1
] | [
-1.500551700592041,
-1.2268352508544922,
1.815954327583313,
-2.155632257461548,
-1.5693745613098145,
3.215285062789917,
1
] | move_to_position | 0.000033 | [
-1.8859734535217285,
-1.1233408451080322,
1.6001547574996948,
-2.0431578159332275,
-1.5708540678024292,
2.8299143314361572,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
0.17419615387916565,
-0.55742347240448,
0.07991340756416321,
-3.1381378173828125,
-0.0007974175387062132,
-3.141267776489258
] | 0 | 29.4 | 294 | 2 | 1,159 | 0 |
[
-1.5008729696273804,
-1.2268190383911133,
1.815930724143982,
-2.1555721759796143,
-1.569414496421814,
3.214860677719116,
1
] | [
-1.5013434886932373,
-1.226855754852295,
1.8159289360046387,
-2.155552864074707,
-1.5693860054016113,
3.214416742324829,
1
] | move_to_position | 0.000916 | [
-1.8859734535217285,
-1.1233408451080322,
1.6001547574996948,
-2.0431578159332275,
-1.5708540678024292,
2.8299143314361572,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
0.1738644689321518,
-0.5575363636016846,
0.07992491126060486,
-3.138169765472412,
-0.0007843804778531194,
-3.1411519050598145
] | 0 | 29.5 | 295 | 2 | 1,160 | 0 |
[
-1.5025757551193237,
-1.2268190383911133,
1.8159035444259644,
-2.1554434299468994,
-1.569409728050232,
3.213153839111328,
1
] | [
-1.5040169954299927,
-1.2269082069396973,
1.8157436847686768,
-2.1552412509918213,
-1.5693963766098022,
3.211728096008301,
1
] | move_to_position | 0.00455 | [
-1.8859734535217285,
-1.1233408451080322,
1.6001547574996948,
-2.0431578159332275,
-1.5708540678024292,
2.8299143314361572,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
0.1727786362171173,
-0.5578359365463257,
0.07993345707654953,
-3.1379971504211426,
-0.0007286033942364156,
-3.1410481929779053
] | 0 | 29.6 | 296 | 2 | 1,161 | 0 |
[
-1.5059932470321655,
-1.2268738746643066,
1.815531611442566,
-2.1549837589263916,
-1.5694373846054077,
3.209707736968994,
1
] | [
-1.5081512928009033,
-1.2269648313522339,
1.815308690071106,
-2.154694080352783,
-1.5694059133529663,
3.207627296447754,
1
] | move_to_position | 0.012092 | [
-1.8859734535217285,
-1.1233408451080322,
1.6001547574996948,
-2.0431578159332275,
-1.5708540678024292,
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] | [
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0
] | [
-0.06793912500143051,
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0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 29.700001 | 297 | 2 | 1,162 | 0 |
[
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] | [
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1
] | move_to_position | 0.023645 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 29.799999 | 298 | 2 | 1,163 | 0 |
[
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] | [
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] | move_to_position | 0.038521 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 29.9 | 299 | 2 | 1,164 | 0 |
[
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] | [
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] | move_to_position | 0.059051 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 30 | 300 | 2 | 1,165 | 0 |
[
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] | [
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1
] | move_to_position | 0.085272 | [
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] | [
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] | [
-0.06793912500143051,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 30.1 | 301 | 2 | 1,166 | 0 |
[
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] | [
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] | move_to_position | 0.117101 | [
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] | [
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] | [
-0.06793912500143051,
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0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 30.200001 | 302 | 2 | 1,167 | 0 |
[
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] | [
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1
] | move_to_position | 0.156598 | [
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1.6001547574996948,
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-1.5708540678024292,
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] | [
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] | [
-0.06793912500143051,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 30.299999 | 303 | 2 | 1,168 | 0 |
[
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] | [
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1
] | move_to_position | 0.197996 | [
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-1.5708540678024292,
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] | [
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] | [
-0.06793912500143051,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 30.4 | 304 | 2 | 1,169 | 0 |
[
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] | [
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1
] | move_to_position | 0.243849 | [
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1.6001547574996948,
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-1.5708540678024292,
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] | [
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] | [
-0.06793912500143051,
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0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 30.5 | 305 | 2 | 1,170 | 0 |
[
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] | [
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1
] | move_to_position | 0.298363 | [
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1.6001547574996948,
-2.0431578159332275,
-1.5708540678024292,
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] | [
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] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 30.6 | 306 | 2 | 1,171 | 0 |
[
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] | [
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1
] | move_to_position | 0.353009 | [
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1.6001547574996948,
-2.0431578159332275,
-1.5708540678024292,
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] | [
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0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 30.700001 | 307 | 2 | 1,172 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.413086 | [
-1.8859734535217285,
-1.1233408451080322,
1.6001547574996948,
-2.0431578159332275,
-1.5708540678024292,
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1
] | [
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0.6418188810348511,
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0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 30.799999 | 308 | 2 | 1,173 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.4717 | [
-1.8859734535217285,
-1.1233408451080322,
1.6001547574996948,
-2.0431578159332275,
-1.5708540678024292,
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1
] | [
0.06793912500143051,
0.6418188810348511,
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0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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-3.13822078704834,
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] | 0 | 30.9 | 309 | 2 | 1,174 | 0 |
[
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-2.108560800552368,
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1
] | [
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1
] | move_to_position | 0.525043 | [
-1.8859734535217285,
-1.1233408451080322,
1.6001547574996948,
-2.0431578159332275,
-1.5708540678024292,
2.8299143314361572,
1
] | [
0.06793912500143051,
0.6418188810348511,
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0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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-3.1381776332855225,
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] | 0 | 31 | 310 | 2 | 1,175 | 0 |
[
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1
] | [
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-2.099076747894287,
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1
] | move_to_position | 0.583333 | [
-1.8859734535217285,
-1.1233408451080322,
1.6001547574996948,
-2.0431578159332275,
-1.5708540678024292,
2.8299143314361572,
1
] | [
0.06793912500143051,
0.6418188810348511,
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0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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-3.1381545066833496,
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] | 0 | 31.1 | 311 | 2 | 1,176 | 0 |
[
-1.7657850980758667,
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1
] | [
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-2.0908451080322266,
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2.94010591506958,
1
] | move_to_position | 0.639827 | [
-1.8859734535217285,
-1.1233408451080322,
1.6001547574996948,
-2.0431578159332275,
-1.5708540678024292,
2.8299143314361572,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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0.09395089745521545,
-3.138282299041748,
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] | 0 | 31.200001 | 312 | 2 | 1,177 | 0 |
[
-1.7871836423873901,
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1
] | [
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1.6886897087097168,
-2.083545684814453,
-1.5704655647277832,
2.920442581176758,
1
] | move_to_position | 0.699648 | [
-1.8859734535217285,
-1.1233408451080322,
1.6001547574996948,
-2.0431578159332275,
-1.5708540678024292,
2.8299143314361572,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
0.00048388936556875706,
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0.09503291547298431,
-3.138207197189331,
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] | 0 | 31.299999 | 313 | 2 | 1,178 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.750846 | [
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] | [
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] | [
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.4 | 314 | 2 | 1,179 | 0 |
[
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] | [
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] | move_to_position | 0.798928 | [
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] | [
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0
] | [
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0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.5 | 315 | 2 | 1,180 | 0 |
[
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] | [
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1
] | move_to_position | 0.840713 | [
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] | [
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0
] | [
-0.06793912500143051,
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.6 | 316 | 2 | 1,181 | 0 |
[
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] | [
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1
] | move_to_position | 0.878484 | [
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] | [
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0
] | [
-0.06793912500143051,
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.700001 | 317 | 2 | 1,182 | 0 |
[
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] | [
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1
] | move_to_position | 0.910631 | [
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] | [
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0
] | [
-0.06793912500143051,
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0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.799999 | 318 | 2 | 1,183 | 0 |
[
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] | [
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1
] | move_to_position | 0.938886 | [
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] | [
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0
] | [
-0.06793912500143051,
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0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.9 | 319 | 2 | 1,184 | 0 |
[
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] | [
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1
] | move_to_position | 0.962729 | [
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1.6001547574996948,
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] | [
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0
] | [
-0.06793912500143051,
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0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 32 | 320 | 2 | 1,185 | 0 |
[
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] | [
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1
] | move_to_position | 0.979447 | [
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1
] | [
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0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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-3.1380770206451416,
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] | 0 | 32.099998 | 321 | 2 | 1,186 | 0 |
[
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] | [
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1
] | move_to_position | 0.990533 | [
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1.6001547574996948,
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-1.5708540678024292,
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] | [
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0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 32.200001 | 322 | 2 | 1,187 | 0 |
[
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] | [
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1
] | move_to_position | 0.996815 | [
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1.6001547574996948,
-2.0431578159332275,
-1.5708540678024292,
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1
] | [
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0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 32.299999 | 323 | 2 | 1,188 | 0 |
[
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] | [
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1
] | move_to_position | 0.998916 | [
-1.8859734535217285,
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1.6001547574996948,
-2.0431578159332275,
-1.5708540678024292,
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] | [
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0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.06772798299789429,
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] | 0 | 32.400002 | 324 | 2 | 1,189 | 0 |
[
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1
] | [
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1.6001547574996948,
-2.0431578159332275,
-1.5708540678024292,
2.8299143314361572,
1
] | move_to_position | 0.999425 | [
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-1.1233408451080322,
1.6001547574996948,
-2.0431578159332275,
-1.5708540678024292,
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1
] | [
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0.6418188810348511,
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0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.06776886433362961,
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0.10087227821350098,
-3.138031482696533,
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] | 0 | 32.5 | 325 | 2 | 1,190 | 0 |
[
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1
] | [
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1.6001547574996948,
-2.0431578159332275,
-1.5708540678024292,
2.8299143314361572,
1
] | move_to_position | 0.000017 | [
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1
] | [
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0,
0
] | [
-0.09543830901384354,
-0.6694541573524475,
0.04699999839067459,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
-0.06781771034002304,
-0.6417385339736938,
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-3.1380865573883057,
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] | 0 | 32.599998 | 326 | 2 | 1,191 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.000275 | [
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-0.9961910247802734,
1.5535863637924194,
-2.12363862991333,
-1.5711594820022583,
2.8033454418182373,
1
] | [
0.09543830901384354,
0.6694541573524475,
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0,
0,
0
] | [
-0.09543830901384354,
-0.6694541573524475,
0.04699999839067459,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
-0.06783472746610641,
-0.6417429447174072,
0.10083300620317459,
-3.138005256652832,
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] | 0 | 32.700001 | 327 | 2 | 1,192 | 0 |
[
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-2.044193983078003,
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2.8296093940734863,
1
] | [
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-2.045267343521118,
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1
] | move_to_position | 0.013177 | [
-1.9124786853790283,
-0.9961910247802734,
1.5535863637924194,
-2.12363862991333,
-1.5711594820022583,
2.8033454418182373,
1
] | [
0.09543830901384354,
0.6694541573524475,
0.04699999839067459,
0,
0,
0
] | [
-0.09543830901384354,
-0.6694541573524475,
0.04699999839067459,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
-0.06839986145496368,
-0.6421805024147034,
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-3.137824535369873,
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] | 0 | 32.799999 | 328 | 2 | 1,193 | 0 |
[
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1
] | [
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1.5982056856155396,
-2.0492024421691895,
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1
] | move_to_position | 0.047037 | [
-1.9124786853790283,
-0.9961910247802734,
1.5535863637924194,
-2.12363862991333,
-1.5711594820022583,
2.8033454418182373,
1
] | [
0.09543830901384354,
0.6694541573524475,
0.04699999839067459,
0,
0,
0
] | [
-0.09543830901384354,
-0.6694541573524475,
0.04699999839067459,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
-0.06950212270021439,
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0.09785604476928711,
-3.1381120681762695,
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] | 0 | 32.900002 | 329 | 2 | 1,194 | 0 |
[
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1
] | [
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1.596004605293274,
-2.054584264755249,
-1.570900797843933,
2.8263723850250244,
1
] | move_to_position | 0.096697 | [
-1.9124786853790283,
-0.9961910247802734,
1.5535863637924194,
-2.12363862991333,
-1.5711594820022583,
2.8033454418182373,
1
] | [
0.09543830901384354,
0.6694541573524475,
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0
] | [
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0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
-0.07084425538778305,
-0.6447170972824097,
0.09498713910579681,
-3.1380856037139893,
-0.0007901836652308702,
-3.141171455383301
] | 0 | 33 | 330 | 2 | 1,195 | 0 |
[
-1.890602946281433,
-1.1021854877471924,
1.5942753553390503,
-2.0582382678985596,
-1.5708998441696167,
2.8251891136169434,
1
] | [
-1.891450047492981,
-1.0982158184051514,
1.5929415225982666,
-2.0609524250030518,
-1.5709201097488403,
2.824324607849121,
1
] | move_to_position | 0.169431 | [
-1.9124786853790283,
-0.9961910247802734,
1.5535863637924194,
-2.12363862991333,
-1.5711594820022583,
2.8033454418182373,
1
] | [
0.09543830901384354,
0.6694541573524475,
0.04699999839067459,
0,
0,
0
] | [
-0.09543830901384354,
-0.6694541573524475,
0.04699999839067459,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
-0.07297360897064209,
-0.6468914747238159,
0.09079105406999588,
-3.1380059719085693,
-0.0007905328529886901,
-3.141127586364746
] | 0 | 33.099998 | 331 | 2 | 1,196 | 0 |
[
-1.8929013013839722,
-1.0916415452957153,
1.5906323194503784,
-2.0652263164520264,
-1.570959448814392,
2.822932481765747,
1
] | [
-1.8942357301712036,
-1.0851342678070068,
1.5883857011795044,
-2.0694801807403564,
-1.570950984954834,
2.8215460777282715,
1
] | move_to_position | 0.252941 | [
-1.9124786853790283,
-0.9961910247802734,
1.5535863637924194,
-2.12363862991333,
-1.5711594820022583,
2.8033454418182373,
1
] | [
0.09543830901384354,
0.6694541573524475,
0.04699999839067459,
0,
0,
0
] | [
-0.09543830901384354,
-0.6694541573524475,
0.04699999839067459,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
-0.07544544339179993,
-0.6493903994560242,
0.08619603514671326,
-3.1380615234375,
-0.0007741395966149867,
-3.14121675491333
] | 0 | 33.200001 | 332 | 2 | 1,197 | 0 |
[
-1.8960322141647339,
-1.0765302181243896,
1.5853232145309448,
-2.075106382369995,
-1.5709608793258667,
2.819725751876831,
1
] | [
-1.8979778289794922,
-1.0674420595169067,
1.5820950269699097,
-2.0808846950531006,
-1.5709927082061768,
2.8178133964538574,
1
] | move_to_position | 0.372161 | [
-1.9124786853790283,
-0.9961910247802734,
1.5535863637924194,
-2.12363862991333,
-1.5711594820022583,
2.8033454418182373,
1
] | [
0.09543830901384354,
0.6694541573524475,
0.04699999839067459,
0,
0,
0
] | [
-0.09543830901384354,
-0.6694541573524475,
0.04699999839067459,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
-0.07886011153459549,
-0.6529707908630371,
0.07941979169845581,
-3.138047456741333,
-0.0007726866169832647,
-3.1411242485046387
] | 0 | 33.299999 | 333 | 2 | 1,198 | 0 |
[
-1.899680495262146,
-1.0594481229782104,
1.5792139768600464,
-2.085989236831665,
-1.5709728002548218,
2.816134452819824,
1
] | [
-1.9012243747711182,
-1.0520073175430298,
1.5765100717544556,
-2.0907368659973145,
-1.5710290670394897,
2.814574718475342,
1
] | move_to_position | 0.506314 | [
-1.9124786853790283,
-0.9961910247802734,
1.5535863637924194,
-2.12363862991333,
-1.5711594820022583,
2.8033454418182373,
1
] | [
0.09543830901384354,
0.6694541573524475,
0.04699999839067459,
0,
0,
0
] | [
-0.09543830901384354,
-0.6694541573524475,
0.04699999839067459,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
-0.08252260088920593,
-0.6566250324249268,
0.0722857117652893,
-3.1380605697631836,
-0.0007888705004006624,
-3.1411259174346924
] | 0 | 33.400002 | 334 | 2 | 1,199 | 0 |
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