observation.state listlengths 7 7 | action listlengths 7 7 | skill.type large_stringclasses 4
values | skill.progress float32 0 1 | skill.goal_position.joint listlengths 7 7 | skill.goal_position.world_xyzrpy listlengths 6 6 | skill.goal_position.robot_xyzrpy listlengths 6 6 | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 61
values | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | timestamp float32 0 46.1 | frame_index int64 0 461 | episode_index int64 0 24 | index int64 0 10.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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1
] | [
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1.513091802597046,
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1
] | move_to_position | 0 | [
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] | [
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0
] | [
0.26692724227905273,
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0.06412462145090103,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.24225418269634247,
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0.027984563261270523,
2.795128583908081,
0.06101164594292641,
3.06939959526062
] | 0 | 12.1 | 121 | 3 | 1,400 | 0 |
[
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1
] | [
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1.5136280059814453,
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1
] | move_to_position | 0.012335 | [
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] | [
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] | [
0.26692724227905273,
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0.06412462145090103,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.24274694919586182,
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0.02863430604338646,
2.795154571533203,
0.060942426323890686,
3.069489002227783
] | 0 | 12.2 | 122 | 3 | 1,401 | 0 |
[
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1
] | [
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1.5147764682769775,
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1
] | move_to_position | 0.055332 | [
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1.5282210111618042,
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1
] | [
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] | [
0.26692724227905273,
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0.06412462145090103,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.24397821724414825,
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0.030322087928652763,
2.7952969074249268,
0.061055272817611694,
3.0695667266845703
] | 0 | 12.3 | 123 | 3 | 1,402 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.119293 | [
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1
] | [
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0,
0
] | [
0.26692724227905273,
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0.06412462145090103,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.24549898505210876,
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0.03280547261238098,
2.795149803161621,
0.0610339418053627,
3.069384813308716
] | 0 | 12.4 | 124 | 3 | 1,403 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.199368 | [
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1
] | [
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0,
0
] | [
0.26692724227905273,
-0.7115969061851501,
0.06412462145090103,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.24756121635437012,
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0.035705819725990295,
2.795208215713501,
0.0610693097114563,
3.069418430328369
] | 0 | 12.5 | 125 | 3 | 1,404 | 0 |
[
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1
] | [
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1.519364356994629,
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3.390263795852661,
1
] | move_to_position | 0.282484 | [
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1.5282210111618042,
-2.48398494720459,
-1.729838252067566,
3.4184277057647705,
1
] | [
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0.7115969061851501,
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0,
0,
0
] | [
0.26692724227905273,
-0.7115969061851501,
0.06412462145090103,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.24961119890213013,
-0.7269856929779053,
0.038780804723501205,
2.795149326324463,
0.06102712079882622,
3.069416046142578
] | 0 | 12.6 | 126 | 3 | 1,405 | 0 |
[
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1.520260214805603,
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3.392537832260132,
1
] | [
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1.5208280086517334,
-2.521543502807617,
-1.7220629453659058,
3.394170045852661,
1
] | move_to_position | 0.371398 | [
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1.5282210111618042,
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3.4184277057647705,
1
] | [
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0,
0,
0
] | [
0.26692724227905273,
-0.7115969061851501,
0.06412462145090103,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2517049014568329,
-0.7252063155174255,
0.041789617389440536,
2.7950997352600098,
0.06101037189364433,
3.0694453716278076
] | 0 | 12.7 | 127 | 3 | 1,406 | 0 |
[
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1.521708369255066,
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3.3965914249420166,
1
] | [
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1.5224080085754395,
-2.5146074295043945,
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3.3987038135528564,
1
] | move_to_position | 0.469871 | [
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1.5282210111618042,
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1
] | [
-0.26692724227905273,
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0,
0,
0
] | [
0.26692724227905273,
-0.7115969061851501,
0.06412462145090103,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2544143497943878,
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0.045716334134340286,
2.7952091693878174,
0.060999877750873566,
3.069377899169922
] | 0 | 12.8 | 128 | 3 | 1,407 | 0 |
[
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1.5232962369918823,
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3.4014365673065186,
1
] | [
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1.524111032485962,
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3.403830051422119,
1
] | move_to_position | 0.587931 | [
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1.5282210111618042,
-2.48398494720459,
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3.4184277057647705,
1
] | [
-0.26692724227905273,
0.7115969061851501,
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0,
0,
0
] | [
0.26692724227905273,
-0.7115969061851501,
0.06412462145090103,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2573617398738861,
-0.7202486395835876,
0.05007359758019447,
2.79512095451355,
0.06097601726651192,
3.0693795680999756
] | 0 | 12.9 | 129 | 3 | 1,408 | 0 |
[
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1.5249470472335815,
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-1.726028323173523,
3.4065613746643066,
1
] | [
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1.5255227088928223,
-2.499861240386963,
-1.7265936136245728,
3.40828013420105,
1
] | move_to_position | 0.711971 | [
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1.5282210111618042,
-2.48398494720459,
-1.729838252067566,
3.4184277057647705,
1
] | [
-0.26692724227905273,
0.7115969061851501,
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0,
0,
0
] | [
0.26692724227905273,
-0.7115969061851501,
0.06412462145090103,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.26042482256889343,
-0.7175283432006836,
0.054532039910554886,
2.795116424560547,
0.06097816675901413,
3.069401979446411
] | 0 | 13 | 130 | 3 | 1,409 | 0 |
[
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1.5263694524765015,
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3.4110193252563477,
1
] | [
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1.526801586151123,
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3.4125661849975586,
1
] | move_to_position | 0.820505 | [
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1
] | [
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0,
0,
0
] | [
0.26692724227905273,
-0.7115969061851501,
0.06412462145090103,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2629871070384979,
-0.7151598930358887,
0.05830075591802597,
2.7951548099517822,
0.061032216995954514,
3.06937313079834
] | 0 | 13.1 | 131 | 3 | 1,410 | 0 |
[
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3.41479229927063,
1
] | [
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1.5276663303375244,
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3.415853261947632,
1
] | move_to_position | 0.911606 | [
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-0.9286511540412903,
1.5282210111618042,
-2.48398494720459,
-1.729838252067566,
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1
] | [
-0.26692724227905273,
0.7115969061851501,
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0,
0,
0
] | [
0.26692724227905273,
-0.7115969061851501,
0.06412462145090103,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.26514968276023865,
-0.713224470615387,
0.06147245690226555,
2.7951083183288574,
0.06098570302128792,
3.069398880004883
] | 0 | 13.2 | 132 | 3 | 1,411 | 0 |
[
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1.5277665853500366,
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3.4171011447906494,
1
] | [
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1.528057336807251,
-2.485194444656372,
-1.7295950651168823,
3.4176647663116455,
1
] | move_to_position | 0.968657 | [
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-0.9286511540412903,
1.5282210111618042,
-2.48398494720459,
-1.729838252067566,
3.4184277057647705,
1
] | [
-0.26692724227905273,
0.7115969061851501,
0.06412462145090103,
0,
0,
0
] | [
0.26692724227905273,
-0.7115969061851501,
0.06412462145090103,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.26640602946281433,
-0.7122041583061218,
0.06338142603635788,
2.7948875427246094,
0.0609116405248642,
3.0694077014923096
] | 0 | 13.3 | 133 | 3 | 1,412 | 0 |
[
-1.3346456289291382,
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1.5280379056930542,
-2.4843690395355225,
-1.7297581434249878,
3.4181361198425293,
1
] | [
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1.528199315071106,
-2.484145164489746,
-1.7298059463500977,
3.4183266162872314,
1
] | move_to_position | 0.993182 | [
-1.3343156576156616,
-0.9286511540412903,
1.5282210111618042,
-2.48398494720459,
-1.729838252067566,
3.4184277057647705,
1
] | [
-0.26692724227905273,
0.7115969061851501,
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0,
0,
0
] | [
0.26692724227905273,
-0.7115969061851501,
0.06412462145090103,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2668038308620453,
-0.7117488980293274,
0.06396925449371338,
2.7950985431671143,
0.060994770377874374,
3.0693743228912354
] | 0 | 13.4 | 134 | 3 | 1,413 | 0 |
[
-1.334546446800232,
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1.5281895399093628,
-2.4840500354766846,
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3.418384313583374,
1
] | [
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1.5282210111618042,
-2.48398494720459,
-1.729838252067566,
3.4184277057647705,
1
] | move_to_position | 0.996473 | [
-1.3343156576156616,
-0.9286511540412903,
1.5282210111618042,
-2.48398494720459,
-1.729838252067566,
3.4184277057647705,
1
] | [
-0.26692724227905273,
0.7115969061851501,
0.06412462145090103,
0,
0,
0
] | [
0.26692724227905273,
-0.7115969061851501,
0.06412462145090103,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.26679956912994385,
-0.7116432785987854,
0.0639193132519722,
2.7953264713287354,
0.061073124408721924,
3.0692238807678223
] | 0 | 13.5 | 135 | 3 | 1,414 | 0 |
[
-1.334457278251648,
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1.528201937675476,
-2.4839932918548584,
-1.7298544645309448,
3.418416738510132,
1
] | [
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1.5282210111618042,
-2.48398494720459,
-1.729838252067566,
3.4184277057647705,
1
] | move_to_position | 0 | [
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1.8390852212905884,
-2.6160061359405518,
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2.9871346950531006,
1
] | [
0.014305256307125092,
0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2668406367301941,
-0.7116214036941528,
0.06393487751483917,
2.7953433990478516,
0.06109749898314476,
3.0692696571350098
] | 0 | 13.6 | 136 | 3 | 1,415 | 0 |
[
-1.3344491720199585,
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1.5281895399093628,
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3.4184513092041016,
1
] | [
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1.528275728225708,
-2.484041690826416,
-1.7297921180725098,
3.4184012413024902,
1
] | move_to_position | 0 | [
-1.7895219326019287,
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] | [
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] | [
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0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 13.7 | 137 | 3 | 1,416 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.000603 | [
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] | [
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] | [
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 13.8 | 138 | 3 | 1,417 | 0 |
[
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] | [
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1
] | move_to_position | 0.003838 | [
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] | [
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] | [
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0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 13.9 | 139 | 3 | 1,418 | 0 |
[
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] | [
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1
] | move_to_position | 0.008852 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14 | 140 | 3 | 1,419 | 0 |
[
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] | [
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1
] | move_to_position | 0.018088 | [
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1.8390852212905884,
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] | [
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] | [
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0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.1 | 141 | 3 | 1,420 | 0 |
[
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] | [
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] | move_to_position | 0.02906 | [
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1.8390852212905884,
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] | [
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] | [
-0.014305256307125092,
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0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.2 | 142 | 3 | 1,421 | 0 |
[
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] | [
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1
] | move_to_position | 0.044273 | [
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1.8390852212905884,
-2.6160061359405518,
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] | [
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] | [
-0.014305256307125092,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.3 | 143 | 3 | 1,422 | 0 |
[
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] | [
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1
] | move_to_position | 0.063739 | [
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1.8390852212905884,
-2.6160061359405518,
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] | [
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] | [
-0.014305256307125092,
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0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.4 | 144 | 3 | 1,423 | 0 |
[
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] | [
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1
] | move_to_position | 0.090399 | [
-1.7895219326019287,
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1.8390852212905884,
-2.6160061359405518,
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] | [
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] | [
-0.014305256307125092,
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0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.5 | 145 | 3 | 1,424 | 0 |
[
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] | [
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1
] | move_to_position | 0.118711 | [
-1.7895219326019287,
-1.1441758871078491,
1.8390852212905884,
-2.6160061359405518,
-1.5784363746643066,
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1
] | [
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] | [
-0.014305256307125092,
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0,
0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.6 | 146 | 3 | 1,425 | 0 |
[
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] | [
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1
] | move_to_position | 0.156604 | [
-1.7895219326019287,
-1.1441758871078491,
1.8390852212905884,
-2.6160061359405518,
-1.5784363746643066,
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1
] | [
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0.6748452186584473,
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] | [
-0.014305256307125092,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.7 | 147 | 3 | 1,426 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.195166 | [
-1.7895219326019287,
-1.1441758871078491,
1.8390852212905884,
-2.6160061359405518,
-1.5784363746643066,
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1
] | [
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0.6748452186584473,
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0,
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] | [
-0.014305256307125092,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.8 | 148 | 3 | 1,427 | 0 |
[
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] | [
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1
] | move_to_position | 0.235076 | [
-1.7895219326019287,
-1.1441758871078491,
1.8390852212905884,
-2.6160061359405518,
-1.5784363746643066,
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1
] | [
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0.6748452186584473,
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0,
0
] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.9 | 149 | 3 | 1,428 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.281225 | [
-1.7895219326019287,
-1.1441758871078491,
1.8390852212905884,
-2.6160061359405518,
-1.5784363746643066,
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1
] | [
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0.6748452186584473,
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0,
0
] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15 | 150 | 3 | 1,429 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.330436 | [
-1.7895219326019287,
-1.1441758871078491,
1.8390852212905884,
-2.6160061359405518,
-1.5784363746643066,
2.9871346950531006,
1
] | [
0.014305256307125092,
0.6748452186584473,
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0,
0,
0
] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.1 | 151 | 3 | 1,430 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.380646 | [
-1.7895219326019287,
-1.1441758871078491,
1.8390852212905884,
-2.6160061359405518,
-1.5784363746643066,
2.9871346950531006,
1
] | [
0.014305256307125092,
0.6748452186584473,
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0,
0
] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.1616189032793045,
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] | 0 | 15.2 | 152 | 3 | 1,431 | 0 |
[
-1.5108054876327515,
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1
] | [
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1
] | move_to_position | 0.433174 | [
-1.7895219326019287,
-1.1441758871078491,
1.8390852212905884,
-2.6160061359405518,
-1.5784363746643066,
2.9871346950531006,
1
] | [
0.014305256307125092,
0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.14696477353572845,
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0.06108271703124046,
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] | 0 | 15.3 | 153 | 3 | 1,432 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.48476 | [
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] | [
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0
] | [
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.4 | 154 | 3 | 1,433 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.536782 | [
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1.8390852212905884,
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] | [
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] | [
-0.014305256307125092,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.5 | 155 | 3 | 1,434 | 0 |
[
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] | [
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1
] | move_to_position | 0.587377 | [
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] | [
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] | [
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.6 | 156 | 3 | 1,435 | 0 |
[
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] | [
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1
] | move_to_position | 0.643021 | [
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1.8390852212905884,
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] | [
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] | [
-0.014305256307125092,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.7 | 157 | 3 | 1,436 | 0 |
[
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] | [
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1
] | move_to_position | 0.691769 | [
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] | [
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] | [
-0.014305256307125092,
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0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.8 | 158 | 3 | 1,437 | 0 |
[
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] | [
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1
] | move_to_position | 0.740129 | [
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1.8390852212905884,
-2.6160061359405518,
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] | [
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0
] | [
-0.014305256307125092,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.9 | 159 | 3 | 1,438 | 0 |
[
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] | [
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1
] | move_to_position | 0.78398 | [
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1.8390852212905884,
-2.6160061359405518,
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] | [
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] | [
-0.014305256307125092,
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0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16 | 160 | 3 | 1,439 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.824537 | [
-1.7895219326019287,
-1.1441758871078491,
1.8390852212905884,
-2.6160061359405518,
-1.5784363746643066,
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1
] | [
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] | [
-0.014305256307125092,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16.1 | 161 | 3 | 1,440 | 0 |
[
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] | [
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1
] | move_to_position | 0.862692 | [
-1.7895219326019287,
-1.1441758871078491,
1.8390852212905884,
-2.6160061359405518,
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] | [
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] | [
-0.014305256307125092,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16.200001 | 162 | 3 | 1,441 | 0 |
[
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] | [
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1
] | move_to_position | 0.89562 | [
-1.7895219326019287,
-1.1441758871078491,
1.8390852212905884,
-2.6160061359405518,
-1.5784363746643066,
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1
] | [
0.014305256307125092,
0.6748452186584473,
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0,
0
] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16.299999 | 163 | 3 | 1,442 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.923228 | [
-1.7895219326019287,
-1.1441758871078491,
1.8390852212905884,
-2.6160061359405518,
-1.5784363746643066,
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1
] | [
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0.6748452186584473,
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0,
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] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16.4 | 164 | 3 | 1,443 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.945804 | [
-1.7895219326019287,
-1.1441758871078491,
1.8390852212905884,
-2.6160061359405518,
-1.5784363746643066,
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1
] | [
0.014305256307125092,
0.6748452186584473,
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0,
0
] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16.5 | 165 | 3 | 1,444 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.964225 | [
-1.7895219326019287,
-1.1441758871078491,
1.8390852212905884,
-2.6160061359405518,
-1.5784363746643066,
2.9871346950531006,
1
] | [
0.014305256307125092,
0.6748452186584473,
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0,
0
] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
-0.0040591079741716385,
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] | 0 | 16.6 | 166 | 3 | 1,445 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.97806 | [
-1.7895219326019287,
-1.1441758871078491,
1.8390852212905884,
-2.6160061359405518,
-1.5784363746643066,
2.9871346950531006,
1
] | [
0.014305256307125092,
0.6748452186584473,
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0,
0
] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16.700001 | 167 | 3 | 1,446 | 0 |
[
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1
] | [
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-2.615983247756958,
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1
] | move_to_position | 0.98816 | [
-1.7895219326019287,
-1.1441758871078491,
1.8390852212905884,
-2.6160061359405518,
-1.5784363746643066,
2.9871346950531006,
1
] | [
0.014305256307125092,
0.6748452186584473,
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0,
0,
0
] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
-0.011229551397264004,
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] | 0 | 16.799999 | 168 | 3 | 1,447 | 0 |
[
-1.7870219945907593,
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1
] | [
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-2.6159958839416504,
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2.9886229038238525,
1
] | move_to_position | 0.995211 | [
-1.7895219326019287,
-1.1441758871078491,
1.8390852212905884,
-2.6160061359405518,
-1.5784363746643066,
2.9871346950531006,
1
] | [
0.014305256307125092,
0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
-0.013219255022704601,
-0.6750456690788269,
0.0841684341430664,
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0.06111253425478935,
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] | 0 | 16.9 | 169 | 3 | 1,448 | 0 |
[
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1
] | [
-1.7892189025878906,
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-2.616004228591919,
-1.5785408020019531,
2.987419366836548,
1
] | move_to_position | 0.998684 | [
-1.7895219326019287,
-1.1441758871078491,
1.8390852212905884,
-2.6160061359405518,
-1.5784363746643066,
2.9871346950531006,
1
] | [
0.014305256307125092,
0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
-0.014099331572651863,
-0.6749190092086792,
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0.06113249436020851,
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] | 0 | 17 | 170 | 3 | 1,449 | 0 |
[
-1.789284110069275,
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2.9872493743896484,
1
] | [
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1
] | move_to_position | 0.999614 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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[
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] | move_to_position | 0.000215 | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | move_to_position | 0.000409 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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] | move_to_position | 0.015032 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | move_to_position | 0.052872 | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | move_to_position | 0.115147 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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] | move_to_position | 0.18721 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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] | move_to_position | 0.262801 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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] | move_to_position | 0.360956 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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] | [
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] | move_to_position | 0.484474 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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] | move_to_position | 0.609778 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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] | move_to_position | 0.737381 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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] | move_to_position | 0.840526 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 18.299999 | 183 | 3 | 1,462 | 0 |
[
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] | [
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] | move_to_position | 0.918392 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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1
] | [
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1
] | move_to_position | 0.96346 | [
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] | [
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] | [
0.028037171810865402,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 18.5 | 185 | 3 | 1,464 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.989997 | [
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] | [
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] | [
0.028037171810865402,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 18.6 | 186 | 3 | 1,465 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.998102 | [
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] | [
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] | [
0.028037171810865402,
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0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 18.700001 | 187 | 3 | 1,466 | 0 |
[
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1
] | [
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] | gripper_open | 0 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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] | 0 | 18.799999 | 188 | 3 | 1,467 | 0 |
[
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] | gripper_open | 0.215686 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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] | 0 | 18.9 | 189 | 3 | 1,468 | 0 |
[
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] | gripper_open | 0.333333 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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] | 0 | 19 | 190 | 3 | 1,469 | 0 |
[
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] | [
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0
] | gripper_open | 0.454902 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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] | 0 | 19.1 | 191 | 3 | 1,470 | 0 |
[
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] | [
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] | gripper_open | 0.57647 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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] | 1 | 19.200001 | 192 | 3 | 1,471 | 0 |
[
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] | [
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0
] | gripper_open | 0.698039 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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] | 1 | 19.299999 | 193 | 3 | 1,472 | 0 |
[
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] | [
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0
] | gripper_open | 0.819608 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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0.06108522042632103,
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] | 1 | 19.4 | 194 | 3 | 1,473 | 0 |
[
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] | [
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0
] | gripper_open | 0.945097 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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0.04298902675509453,
2.795389175415039,
0.06111549213528633,
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] | 1 | 19.5 | 195 | 3 | 1,474 | 0 |
[
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] | [
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0
] | gripper_open | 0.988232 | [
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] | [
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] | [
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3.0693390369415283
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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0.04298248142004013,
2.7953946590423584,
0.06103822588920593,
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] | 1 | 19.6 | 196 | 3 | 1,475 | 0 |
[
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] | [
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0
] | gripper_open | 0.988231 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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0.04295919090509415,
2.7954277992248535,
0.06106901913881302,
3.069481372833252
] | 1 | 19.700001 | 197 | 3 | 1,476 | 0 |
[
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] | [
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0
] | gripper_open | 0.988232 | [
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0
] | [
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] | [
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3.0693390369415283
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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0.04294321686029434,
2.7954764366149902,
0.06106692552566528,
3.0694851875305176
] | 1 | 19.799999 | 198 | 3 | 1,477 | 0 |
[
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0
] | [
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0
] | move_to_position | 0 | [
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] | [
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0,
0,
0
] | [
0.038942135870456696,
-0.6617878079414368,
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0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
0.028081858530640602,
-0.6805006861686707,
0.04298287630081177,
2.7953813076019287,
0.061022039502859116,
3.0694563388824463
] | 1 | 19.9 | 199 | 3 | 1,478 | 0 |
[
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0
] | [
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0
] | move_to_position | 0 | [
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] | [
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0,
0,
0
] | [
0.038942135870456696,
-0.6617878079414368,
0.06799758225679398,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
0.0280730240046978,
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0.04296712204813957,
2.795431137084961,
0.06101974472403526,
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] | 1 | 20 | 200 | 3 | 1,479 | 0 |
[
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0
] | [
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1.8463107347488403,
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3.0572357177734375,
0
] | move_to_position | 0.010346 | [
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] | [
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0,
0,
0
] | [
0.038942135870456696,
-0.6617878079414368,
0.06799758225679398,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
0.028197800740599632,
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0.043304167687892914,
2.795560121536255,
0.0611109621822834,
3.069288730621338
] | 1 | 20.1 | 201 | 3 | 1,480 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.053001 | [
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] | [
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0,
0,
0
] | [
0.038942135870456696,
-0.6617878079414368,
0.06799758225679398,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
0.028787832707166672,
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0.044546183198690414,
2.795422315597534,
0.06116325035691261,
3.0693883895874023
] | 1 | 20.200001 | 202 | 3 | 1,481 | 0 |
[
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0
] | [
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1.8512884378433228,
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3.058852195739746,
0
] | move_to_position | 0.116971 | [
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0
] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.299999 | 203 | 3 | 1,482 | 0 |
[
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] | [
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] | move_to_position | 0.197459 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.4 | 204 | 3 | 1,483 | 0 |
[
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] | move_to_position | 0.282308 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.5 | 205 | 3 | 1,484 | 0 |
[
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] | [
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] | move_to_position | 0.372254 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.6 | 206 | 3 | 1,485 | 0 |
[
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] | [
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] | move_to_position | 0.47782 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.700001 | 207 | 3 | 1,486 | 0 |
[
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] | [
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] | move_to_position | 0.596518 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.799999 | 208 | 3 | 1,487 | 0 |
[
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] | [
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] | move_to_position | 0.714852 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.9 | 209 | 3 | 1,488 | 0 |
[
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] | [
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] | move_to_position | 0.827738 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 21 | 210 | 3 | 1,489 | 0 |
[
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] | [
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] | move_to_position | 0.912683 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 21.1 | 211 | 3 | 1,490 | 0 |
[
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] | [
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] | move_to_position | 0.969755 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 21.200001 | 212 | 3 | 1,491 | 0 |
[
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] | [
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] | move_to_position | 0.992359 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 21.299999 | 213 | 3 | 1,492 | 0 |
[
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] | [
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] | move_to_position | 0.996594 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 21.4 | 214 | 3 | 1,493 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
0.2770023047924042,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21.5 | 215 | 3 | 1,494 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
0.2770023047924042,
-0.5760282874107361,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21.6 | 216 | 3 | 1,495 | 0 |
[
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] | [
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] | move_to_position | 0.001157 | [
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] | [
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] | [
0.2770023047924042,
-0.5760282874107361,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21.700001 | 217 | 3 | 1,496 | 0 |
[
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] | [
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] | move_to_position | 0.005363 | [
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] | [
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] | [
0.2770023047924042,
-0.5760282874107361,
0.1025068461894989,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21.799999 | 218 | 3 | 1,497 | 0 |
[
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] | [
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0
] | move_to_position | 0.012176 | [
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1.8666774034500122,
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] | [
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0
] | [
0.2770023047924042,
-0.5760282874107361,
0.1025068461894989,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21.9 | 219 | 3 | 1,498 | 0 |
[
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] | [
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0
] | move_to_position | 0.023465 | [
-1.2585363388061523,
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] | [
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0,
0
] | [
0.2770023047924042,
-0.5760282874107361,
0.1025068461894989,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
0.04597732797265053,
-0.6591272950172424,
0.06891507655382156,
2.795565366744995,
0.06108740717172623,
3.0694985389709473
] | 1 | 22 | 220 | 3 | 1,499 | 0 |
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