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 left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | move_to_position | 0.631859 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | move_to_position | 0.740371 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 7.2 | 72 | 4 | 1,802 | 0 |
[
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] | move_to_position | 0.828146 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | move_to_position | 0.897545 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | move_to_position | 0.951532 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 7.5 | 75 | 4 | 1,805 | 0 |
[
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] | [
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] | move_to_position | 0.988878 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 7.6 | 76 | 4 | 1,806 | 0 |
[
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] | [
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] | move_to_position | 0.998505 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 7.7 | 77 | 4 | 1,807 | 0 |
[
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] | [
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] | gripper_close | 0 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 1 | 7.8 | 78 | 4 | 1,808 | 0 |
[
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] | gripper_close | 0.011765 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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[
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] | gripper_close | 0.05098 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 1 | 8 | 80 | 4 | 1,810 | 0 |
[
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] | gripper_close | 0.184314 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 1 | 8.1 | 81 | 4 | 1,811 | 0 |
[
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] | gripper_close | 0.447059 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 1 | 8.2 | 82 | 4 | 1,812 | 0 |
[
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] | gripper_close | 0.568627 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 0 | 8.3 | 83 | 4 | 1,813 | 0 |
[
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] | gripper_close | 0.654902 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 0 | 8.4 | 84 | 4 | 1,814 | 0 |
[
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] | gripper_close | 0.741176 | [
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] | [
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] | 0 | 10 | 100 | 4 | 1,830 | 0 |
[
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] | [
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1
] | gripper_close | 0.827451 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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2.793032646179199,
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] | 0 | 10.1 | 101 | 4 | 1,831 | 0 |
[
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] | [
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1
] | gripper_close | 0.827451 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.031021447852253914,
2.7930009365081787,
0.06086159497499466,
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] | 0 | 10.2 | 102 | 4 | 1,832 | 0 |
[
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] | [
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1
] | gripper_close | 0.827451 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.031025586649775505,
2.7929866313934326,
0.06087830290198326,
3.0697100162506104
] | 0 | 10.3 | 103 | 4 | 1,833 | 0 |
[
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] | [
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1
] | gripper_close | 0.827451 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.031016726046800613,
2.7930259704589844,
0.06087411195039749,
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] | 0 | 10.4 | 104 | 4 | 1,834 | 0 |
[
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] | [
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1
] | gripper_close | 0.827451 | [
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1
] | [
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] | [
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0.0309675894677639,
2.793137311935425,
0.06088244169950485,
3.0696849822998047
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.031007345765829086,
2.7930376529693604,
0.06082291901111603,
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] | 0 | 10.5 | 105 | 4 | 1,835 | 0 |
[
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] | [
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3.232593297958374,
1
] | gripper_close | 0.827451 | [
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1
] | [
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] | [
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0.0309675894677639,
2.793137311935425,
0.06088244169950485,
3.0696849822998047
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
0.13377106189727783,
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0.031017860397696495,
2.7929768562316895,
0.06084902212023735,
3.069676637649536
] | 0 | 10.6 | 106 | 4 | 1,836 | 0 |
[
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2.0768535137176514,
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3.232574701309204,
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] | [
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1
] | gripper_close | 0.827451 | [
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2.07700514793396,
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1
] | [
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] | [
0.13376417756080627,
-0.5841892957687378,
0.0309675894677639,
2.793137311935425,
0.06088244169950485,
3.0696849822998047
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
0.1337655633687973,
-0.584281861782074,
0.031031876802444458,
2.7929651737213135,
0.060849688947200775,
3.0696792602539062
] | 0 | 10.7 | 107 | 4 | 1,837 | 0 |
[
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2.076841115951538,
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3.2325830459594727,
1
] | [
-1.5285722017288208,
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2.0768444538116455,
-2.8150482177734375,
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3.232593297958374,
1
] | move_to_position | 0 | [
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2.110175132751465,
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-1.6789541244506836,
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1
] | [
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0,
0,
0
] | [
0.1498512625694275,
-0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.13378994166851044,
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0.031017890200018883,
2.793008327484131,
0.060835082083940506,
3.069699287414551
] | 0 | 10.8 | 108 | 4 | 1,838 | 0 |
[
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2.076841115951538,
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3.2325782775878906,
1
] | [
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2.076976776123047,
-2.814866542816162,
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3.23266863822937,
1
] | move_to_position | 0 | [
-1.4918556213378906,
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2.110175132751465,
-2.7085909843444824,
-1.6789541244506836,
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1
] | [
-0.1498512625694275,
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0,
0,
0
] | [
0.1498512625694275,
-0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.1337638646364212,
-0.5842437744140625,
0.031019767746329308,
2.7930307388305664,
0.06085585057735443,
3.069679021835327
] | 0 | 10.9 | 109 | 4 | 1,839 | 0 |
[
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2.077378034591675,
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3.2329702377319336,
1
] | [
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2.077965259552002,
-2.8129544258117676,
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3.2333292961120605,
1
] | move_to_position | 0.009445 | [
-1.4918556213378906,
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2.110175132751465,
-2.7085909843444824,
-1.6789541244506836,
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1
] | [
-0.1498512625694275,
0.5540832281112671,
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0,
0,
0
] | [
0.1498512625694275,
-0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.134033203125,
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0.031589120626449585,
2.7931718826293945,
0.06079937517642975,
3.0696864128112793
] | 0 | 11 | 110 | 4 | 1,840 | 0 |
[
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2.0788700580596924,
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3.234005928039551,
1
] | [
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2.0799031257629395,
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3.2347662448883057,
1
] | move_to_position | 0.042307 | [
-1.4918556213378906,
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2.110175132751465,
-2.7085909843444824,
-1.6789541244506836,
3.2673287391662598,
1
] | [
-0.1498512625694275,
0.5540832281112671,
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0,
0,
0
] | [
0.1498512625694275,
-0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.13465356826782227,
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0.033319223672151566,
2.7929415702819824,
0.060812026262283325,
3.06978440284729
] | 0 | 11.1 | 111 | 4 | 1,841 | 0 |
[
-1.5252574682235718,
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2.081035852432251,
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3.2357122898101807,
1
] | [
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2.082413911819458,
-2.8026204109191895,
-1.6684353351593018,
3.236820697784424,
1
] | move_to_position | 0.092733 | [
-1.4918556213378906,
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2.110175132751465,
-2.7085909843444824,
-1.6789541244506836,
3.2673287391662598,
1
] | [
-0.1498512625694275,
0.5540832281112671,
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0,
0,
0
] | [
0.1498512625694275,
-0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.1354859322309494,
-0.5809950232505798,
0.03588353097438812,
2.7928783893585205,
0.060841578990221024,
3.069654703140259
] | 0 | 11.2 | 112 | 4 | 1,842 | 0 |
[
-1.5226978063583374,
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2.083887815475464,
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3.2381505966186523,
1
] | [
-1.521582841873169,
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2.0850679874420166,
-2.7953639030456543,
-1.669265627861023,
3.239223003387451,
1
] | move_to_position | 0.163924 | [
-1.4918556213378906,
-1.3084629774093628,
2.110175132751465,
-2.7085909843444824,
-1.6789541244506836,
3.2673287391662598,
1
] | [
-0.1498512625694275,
0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | [
0.1498512625694275,
-0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.1367270052433014,
-0.5787376761436462,
0.039259426295757294,
2.7929892539978027,
0.060863081365823746,
3.0696866512298584
] | 0 | 11.3 | 113 | 4 | 1,843 | 0 |
[
-1.5192703008651733,
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2.087333917617798,
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-1.6700066328048706,
3.2413575649261475,
1
] | [
-1.5175915956497192,
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2.089033603668213,
-2.783890724182129,
-1.6705687046051025,
3.242995023727417,
1
] | move_to_position | 0.25864 | [
-1.4918556213378906,
-1.3084629774093628,
2.110175132751465,
-2.7085909843444824,
-1.6789541244506836,
3.2673287391662598,
1
] | [
-0.1498512625694275,
0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | [
0.1498512625694275,
-0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.13833628594875336,
-0.5758308172225952,
0.04379722848534584,
2.7929813861846924,
0.0608283132314682,
3.069640874862671
] | 0 | 11.4 | 114 | 4 | 1,844 | 0 |
[
-1.5147823095321655,
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2.091773748397827,
-2.7758419513702393,
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3.2456812858581543,
1
] | [
-1.513152003288269,
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2.0933477878570557,
-2.7710936069488525,
-1.6720178127288818,
3.2471909523010254,
1
] | move_to_position | 0.382231 | [
-1.4918556213378906,
-1.3084629774093628,
2.110175132751465,
-2.7085909843444824,
-1.6789541244506836,
3.2673287391662598,
1
] | [
-0.1498512625694275,
0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | [
0.1498512625694275,
-0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.14028817415237427,
-0.5722672343254089,
0.0491885207593441,
2.792940139770508,
0.06083196401596069,
3.06965970993042
] | 0 | 11.5 | 115 | 4 | 1,845 | 0 |
[
-1.510191798210144,
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2.0961625576019287,
-2.7626121044158936,
-1.6729992628097534,
3.2500174045562744,
1
] | [
-1.5082330703735352,
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2.0979950428009033,
-2.756873846054077,
-1.6736228466033936,
3.251840353012085,
1
] | move_to_position | 0.507484 | [
-1.4918556213378906,
-1.3084629774093628,
2.110175132751465,
-2.7085909843444824,
-1.6789541244506836,
3.2673287391662598,
1
] | [
-0.1498512625694275,
0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | [
0.1498512625694275,
-0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.14243710041046143,
-0.5681917667388916,
0.05514266714453697,
2.7930469512939453,
0.060853760689496994,
3.069692850112915
] | 0 | 11.6 | 116 | 4 | 1,846 | 0 |
[
-1.505623698234558,
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2.1003401279449463,
-2.7493627071380615,
-1.6744688749313354,
3.254274606704712,
1
] | [
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1
] | move_to_position | 0.631912 | [
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1
] | [
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0,
0,
0
] | [
0.1498512625694275,
-0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.1443151831626892,
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0.06054027006030083,
2.7929744720458984,
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] | 0 | 11.7 | 117 | 4 | 1,847 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.733341 | [
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1
] | [
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0,
0,
0
] | [
0.1498512625694275,
-0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.14576205611228943,
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0.0646265372633934,
2.7929184436798096,
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] | 0 | 11.8 | 118 | 4 | 1,848 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.823928 | [
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1
] | [
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0,
0,
0
] | [
0.1498512625694275,
-0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.1473444402217865,
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2.7929556369781494,
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] | 0 | 11.9 | 119 | 4 | 1,849 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.906241 | [
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] | [
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0,
0,
0
] | [
0.1498512625694275,
-0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.14856329560279846,
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0.07239159196615219,
2.7930445671081543,
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] | 0 | 12 | 120 | 4 | 1,850 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.963058 | [
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2.110175132751465,
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1
] | [
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0,
0,
0
] | [
0.1498512625694275,
-0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.1494353711605072,
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0.07471999526023865,
2.792935609817505,
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] | 0 | 12.1 | 121 | 4 | 1,851 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.992224 | [
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2.110175132751465,
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1
] | [
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0,
0,
0
] | [
0.1498512625694275,
-0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.1497577726840973,
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0.07587774842977524,
2.79276704788208,
0.0608631856739521,
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] | 0 | 12.2 | 122 | 4 | 1,852 | 0 |
[
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1
] | [
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2.110175132751465,
-2.7085909843444824,
-1.6789541244506836,
3.2673287391662598,
1
] | move_to_position | 0.998022 | [
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2.110175132751465,
-2.7085909843444824,
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1
] | [
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0,
0,
0
] | [
0.1498512625694275,
-0.5540832281112671,
0.07597849518060684,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.14977605640888214,
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0.07598738372325897,
2.7929131984710693,
0.06082961708307266,
3.06954288482666
] | 0 | 12.3 | 123 | 4 | 1,853 | 0 |
[
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1
] | [
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2.110175132751465,
-2.7085909843444824,
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3.2673287391662598,
1
] | move_to_position | 0.000037 | [
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1.9299979209899902,
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1
] | [
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0,
0,
0
] | [
0.030991921201348305,
-0.6447968482971191,
0.07680395245552063,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.14981456100940704,
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0.07592414319515228,
2.7930736541748047,
0.06090405955910683,
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] | 0 | 12.4 | 124 | 4 | 1,854 | 0 |
[
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3.2673354148864746,
1
] | [
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3.267017364501953,
1
] | move_to_position | 0 | [
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1.9299979209899902,
-2.6667110919952393,
-1.6019341945648193,
3.0526785850524902,
1
] | [
-0.030991921201348305,
0.6447968482971191,
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0,
0,
0
] | [
0.030991921201348305,
-0.6447968482971191,
0.07680395245552063,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.14977097511291504,
-0.5541198253631592,
0.0758761391043663,
2.793177366256714,
0.06090863049030304,
3.0696024894714355
] | 0 | 12.5 | 125 | 4 | 1,855 | 0 |
[
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2.1095330715179443,
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3.265801429748535,
1
] | [
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-2.7085564136505127,
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3.2643964290618896,
1
] | move_to_position | 0.005862 | [
-1.7195197343826294,
-1.1853777170181274,
1.9299979209899902,
-2.6667110919952393,
-1.6019341945648193,
3.0526785850524902,
1
] | [
-0.030991921201348305,
0.6447968482971191,
0.07680395245552063,
0,
0,
0
] | [
0.030991921201348305,
-0.6447968482971191,
0.07680395245552063,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.14890600740909576,
-0.554707407951355,
0.07589448243379593,
2.793177604675293,
0.060837969183921814,
3.069584846496582
] | 0 | 12.6 | 126 | 4 | 1,856 | 0 |
[
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3.261908531188965,
1
] | [
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2.106390953063965,
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3.25894832611084,
1
] | move_to_position | 0.020955 | [
-1.7195197343826294,
-1.1853777170181274,
1.9299979209899902,
-2.6667110919952393,
-1.6019341945648193,
3.0526785850524902,
1
] | [
-0.030991921201348305,
0.6447968482971191,
0.07680395245552063,
0,
0,
0
] | [
0.030991921201348305,
-0.6447968482971191,
0.07680395245552063,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.14668242633342743,
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0.07586696743965149,
2.7933084964752197,
0.06096133217215538,
3.069662570953369
] | 0 | 12.7 | 127 | 4 | 1,857 | 0 |
[
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3.2545976638793945,
1
] | [
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-2.708193063735962,
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3.251448392868042,
1
] | move_to_position | 0.050658 | [
-1.7195197343826294,
-1.1853777170181274,
1.9299979209899902,
-2.6667110919952393,
-1.6019341945648193,
3.0526785850524902,
1
] | [
-0.030991921201348305,
0.6447968482971191,
0.07680395245552063,
0,
0,
0
] | [
0.030991921201348305,
-0.6447968482971191,
0.07680395245552063,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.1428481489419937,
-0.5592130422592163,
0.07588943839073181,
2.793318510055542,
0.06092679128050804,
3.069643259048462
] | 0 | 12.8 | 128 | 4 | 1,858 | 0 |
[
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2.0981404781341553,
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3.2442758083343506,
1
] | [
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2.094602346420288,
-2.7076234817504883,
-1.6688767671585083,
3.238560438156128,
1
] | move_to_position | 0.093672 | [
-1.7195197343826294,
-1.1853777170181274,
1.9299979209899902,
-2.6667110919952393,
-1.6019341945648193,
3.0526785850524902,
1
] | [
-0.030991921201348305,
0.6447968482971191,
0.07680395245552063,
0,
0,
0
] | [
0.030991921201348305,
-0.6447968482971191,
0.07680395245552063,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.13811315596103668,
-0.5630648732185364,
0.07603301107883453,
2.7930290699005127,
0.06090022251009941,
3.0695955753326416
] | 0 | 12.9 | 129 | 4 | 1,859 | 0 |
[
-1.5314854383468628,
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2.089336633682251,
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3.229807138442993,
1
] | [
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2.085186004638672,
-2.7066099643707275,
-1.6633524894714355,
3.2229275703430176,
1
] | move_to_position | 0.154508 | [
-1.7195197343826294,
-1.1853777170181274,
1.9299979209899902,
-2.6667110919952393,
-1.6019341945648193,
3.0526785850524902,
1
] | [
-0.030991921201348305,
0.6447968482971191,
0.07680395245552063,
0,
0,
0
] | [
0.030991921201348305,
-0.6447968482971191,
0.07680395245552063,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.130408376455307,
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0.07613782584667206,
2.7928590774536133,
0.06085791066288948,
3.069622755050659
] | 0 | 13 | 130 | 4 | 1,860 | 0 |
[
-1.551526427268982,
-1.2846875190734863,
2.077833890914917,
-2.705622434616089,
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3.210933208465576,
1
] | [
-1.5598843097686768,
-1.2810741662979126,
2.0727531909942627,
-2.704848289489746,
-1.6563087701797485,
3.2030375003814697,
1
] | move_to_position | 0.234208 | [
-1.7195197343826294,
-1.1853777170181274,
1.9299979209899902,
-2.6667110919952393,
-1.6019341945648193,
3.0526785850524902,
1
] | [
-0.030991921201348305,
0.6447968482971191,
0.07680395245552063,
0,
0,
0
] | [
0.030991921201348305,
-0.6447968482971191,
0.07680395245552063,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.120016910135746,
-0.577004075050354,
0.07615536451339722,
2.7929437160491943,
0.06084181368350983,
3.069587230682373
] | 0 | 13.1 | 131 | 4 | 1,861 | 0 |
[
-1.5729154348373413,
-1.2751811742782593,
2.0644657611846924,
-2.703420877456665,
-1.6518830060958862,
3.190643548965454,
1
] | [
-1.5839602947235107,
-1.269972801208496,
2.057025194168091,
-2.7020177841186523,
-1.6482114791870117,
3.180283784866333,
1
] | move_to_position | 0.321265 | [
-1.7195197343826294,
-1.1853777170181274,
1.9299979209899902,
-2.6667110919952393,
-1.6019341945648193,
3.0526785850524902,
1
] | [
-0.030991921201348305,
0.6447968482971191,
0.07680395245552063,
0,
0,
0
] | [
0.030991921201348305,
-0.6447968482971191,
0.07680395245552063,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.10945811867713928,
-0.5849241614341736,
0.07621864974498749,
2.7930426597595215,
0.06085044890642166,
3.069573402404785
] | 0 | 13.2 | 132 | 4 | 1,862 | 0 |
[
-1.5947250127792358,
-1.264525055885315,
2.049105405807495,
-2.700327157974243,
-1.6445430517196655,
3.1701319217681885,
1
] | [
-1.6033357381820679,
-1.2598583698272705,
2.0423338413238525,
-2.69877290725708,
-1.6416531801223755,
3.162003517150879,
1
] | move_to_position | 0.412874 | [
-1.7195197343826294,
-1.1853777170181274,
1.9299979209899902,
-2.6667110919952393,
-1.6019341945648193,
3.0526785850524902,
1
] | [
-0.030991921201348305,
0.6447968482971191,
0.07680395245552063,
0,
0,
0
] | [
0.030991921201348305,
-0.6447968482971191,
0.07680395245552063,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.09855322539806366,
-0.5933105945587158,
0.07629647105932236,
2.793134927749634,
0.06087565794587135,
3.069523572921753
] | 0 | 13.3 | 133 | 4 | 1,863 | 0 |
[
-1.6170977354049683,
-1.2521588802337646,
2.0310323238372803,
-2.6960394382476807,
-1.6369518041610718,
3.149043560028076,
1
] | [
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1
] | move_to_position | 0.511477 | [
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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 | 13.4 | 134 | 4 | 1,864 | 0 |
[
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] | [
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] | move_to_position | 0.616107 | [
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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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[
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] | [
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] | move_to_position | 0.714003 | [
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] | [
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] | [
0.030991921201348305,
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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 | 13.6 | 136 | 4 | 1,866 | 0 |
[
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] | [
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] | move_to_position | 0.794541 | [
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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 | 13.7 | 137 | 4 | 1,867 | 0 |
[
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] | [
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1
] | move_to_position | 0.864314 | [
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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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[
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] | [
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] | move_to_position | 0.918296 | [
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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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[
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] | [
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1
] | move_to_position | 0.96242 | [
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] | [
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] | [
0.030991921201348305,
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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 | 4 | 1,870 | 0 |
[
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] | [
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1
] | move_to_position | 0.987387 | [
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] | [
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] | [
0.030991921201348305,
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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 | 4 | 1,871 | 0 |
[
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] | [
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1
] | move_to_position | 0.998168 | [
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] | [
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] | [
0.030991921201348305,
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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 | 4 | 1,872 | 0 |
[
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1
] | [
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1
] | move_to_position | 0 | [
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] | [
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] | [
0.027814451605081558,
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0,
0
] | 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 | 14.3 | 143 | 4 | 1,873 | 0 |
[
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1
] | [
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1
] | move_to_position | 0 | [
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] | [
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] | [
0.027814451605081558,
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0,
0
] | 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 | 14.4 | 144 | 4 | 1,874 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.014338 | [
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1.8740860223770142,
-2.7117810249328613,
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] | [
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] | [
0.027814451605081558,
-0.6711353063583374,
0.04600000008940697,
0,
0,
0
] | 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 | 14.5 | 145 | 4 | 1,875 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.04768 | [
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1.8740860223770142,
-2.7117810249328613,
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] | [
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0
] | [
0.027814451605081558,
-0.6711353063583374,
0.04600000008940697,
0,
0,
0
] | 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 | 14.6 | 146 | 4 | 1,876 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.105796 | [
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-1.0843899250030518,
1.8740860223770142,
-2.7117810249328613,
-1.60250985622406,
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] | [
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0
] | [
0.027814451605081558,
-0.6711353063583374,
0.04600000008940697,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
0.030664509162306786,
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] | 0 | 14.7 | 147 | 4 | 1,877 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.178312 | [
-1.7182875871658325,
-1.0843899250030518,
1.8740860223770142,
-2.7117810249328613,
-1.60250985622406,
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1
] | [
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0,
0,
0
] | [
0.027814451605081558,
-0.6711353063583374,
0.04600000008940697,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
0.030446168035268784,
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2.7930026054382324,
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] | 0 | 14.8 | 148 | 4 | 1,878 | 0 |
[
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1
] | [
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-2.6812832355499268,
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1
] | move_to_position | 0.261658 | [
-1.7182875871658325,
-1.0843899250030518,
1.8740860223770142,
-2.7117810249328613,
-1.60250985622406,
3.053757667541504,
1
] | [
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0,
0,
0
] | [
0.027814451605081558,
-0.6711353063583374,
0.04600000008940697,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
0.030147816985845566,
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] | 0 | 14.9 | 149 | 4 | 1,879 | 0 |
[
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1
] | [
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1.9082306623458862,
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3.0531628131866455,
1
] | move_to_position | 0.36495 | [
-1.7182875871658325,
-1.0843899250030518,
1.8740860223770142,
-2.7117810249328613,
-1.60250985622406,
3.053757667541504,
1
] | [
-0.027814451605081558,
0.6711353063583374,
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0,
0,
0
] | [
0.027814451605081558,
-0.6711353063583374,
0.04600000008940697,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
0.029770417138934135,
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0.06505204737186432,
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0.06088653951883316,
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] | 0 | 15 | 150 | 4 | 1,880 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.493131 | [
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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: descend to red plate_1 | [
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] | 0 | 15.1 | 151 | 4 | 1,881 | 0 |
[
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] | [
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1
] | move_to_position | 0.624879 | [
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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: descend to red plate_1 | [
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] | 0 | 15.2 | 152 | 4 | 1,882 | 0 |
[
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] | [
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1
] | move_to_position | 0.74667 | [
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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: descend to red plate_1 | [
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] | 0 | 15.3 | 153 | 4 | 1,883 | 0 |
[
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] | [
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1
] | move_to_position | 0.840812 | [
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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: descend to red plate_1 | [
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] | 0 | 15.4 | 154 | 4 | 1,884 | 0 |
[
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] | [
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] | move_to_position | 0.903224 | [
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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: descend to red plate_1 | [
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] | 0 | 15.5 | 155 | 4 | 1,885 | 0 |
[
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] | [
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1
] | move_to_position | 0.951963 | [
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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: descend to red plate_1 | [
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] | 0 | 15.6 | 156 | 4 | 1,886 | 0 |
[
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] | [
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] | move_to_position | 0.982982 | [
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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: descend to red plate_1 | [
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] | 0 | 15.7 | 157 | 4 | 1,887 | 0 |
[
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] | [
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1
] | move_to_position | 0.997657 | [
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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 | 15.8 | 158 | 4 | 1,888 | 0 |
[
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] | [
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] | gripper_open | 0 | [
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[
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] | gripper_open | 0.203922 | [
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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 | 16 | 160 | 4 | 1,890 | 0 |
[
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] | gripper_open | 0.317647 | [
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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 | 16.1 | 161 | 4 | 1,891 | 0 |
[
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] | gripper_open | 0.443137 | [
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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 | 16.200001 | 162 | 4 | 1,892 | 0 |
[
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] | gripper_open | 0.564706 | [
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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 | 16.299999 | 163 | 4 | 1,893 | 0 |
[
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] | [
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] | gripper_open | 0.686274 | [
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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 | 16.4 | 164 | 4 | 1,894 | 0 |
[
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] | gripper_open | 0.807843 | [
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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 | 16.5 | 165 | 4 | 1,895 | 0 |
[
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] | gripper_open | 0.929411 | [
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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 | 16.6 | 166 | 4 | 1,896 | 0 |
[
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-2.7117810249328613,
-1.60250985622406,
3.053757667541504,
0
] | gripper_open | 0.988233 | [
-1.7182949781417847,
-1.0844416618347168,
1.8742855787277222,
-2.71177077293396,
-1.6025351285934448,
3.053762435913086,
0
] | [
-0.027799610048532486,
0.6710236072540283,
0.04591648653149605,
2.7931606769561768,
0.060926176607608795,
3.0696120262145996
] | [
0.027799610048532486,
-0.6710236072540283,
0.04591648653149605,
2.7931606769561768,
0.060926176607608795,
3.0696120262145996
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
0.027811219915747643,
-0.671116054058075,
0.04595502093434334,
2.7930150032043457,
0.06084030121564865,
3.0696351528167725
] | 1 | 16.700001 | 167 | 4 | 1,897 | 0 |
[
-1.7183102369308472,
-1.0843626260757446,
1.8741101026535034,
-2.7117912769317627,
-1.602507472038269,
3.053753614425659,
0.0117647061124444
] | [
-1.7182875871658325,
-1.0843899250030518,
1.8740860223770142,
-2.7117810249328613,
-1.60250985622406,
3.053757667541504,
0
] | gripper_open | 0.988234 | [
-1.7182949781417847,
-1.0844416618347168,
1.8742855787277222,
-2.71177077293396,
-1.6025351285934448,
3.053762435913086,
0
] | [
-0.027799610048532486,
0.6710236072540283,
0.04591648653149605,
2.7931606769561768,
0.060926176607608795,
3.0696120262145996
] | [
0.027799610048532486,
-0.6710236072540283,
0.04591648653149605,
2.7931606769561768,
0.060926176607608795,
3.0696120262145996
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
0.027816008776426315,
-0.6711222529411316,
0.04597536846995354,
2.7929813861846924,
0.060838546603918076,
3.0696299076080322
] | 1 | 16.799999 | 168 | 4 | 1,898 | 0 |
[
-1.7182797193527222,
-1.0843815803527832,
1.8740628957748413,
-2.711789846420288,
-1.602495551109314,
3.053753614425659,
0.0117647061124444
] | [
-1.7182875871658325,
-1.0843899250030518,
1.8740860223770142,
-2.7117810249328613,
-1.60250985622406,
3.053757667541504,
0
] | gripper_open | 0.988233 | [
-1.7182949781417847,
-1.0844416618347168,
1.8742855787277222,
-2.71177077293396,
-1.6025351285934448,
3.053762435913086,
0
] | [
-0.027799610048532486,
0.6710236072540283,
0.04591648653149605,
2.7931606769561768,
0.060926176607608795,
3.0696120262145996
] | [
0.027799610048532486,
-0.6710236072540283,
0.04591648653149605,
2.7931606769561768,
0.060926176607608795,
3.0696120262145996
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
0.027813948690891266,
-0.6711194515228271,
0.04596211388707161,
2.7929980754852295,
0.06086176633834839,
3.069607973098755
] | 1 | 16.9 | 169 | 4 | 1,899 | 0 |
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