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: retract after place | [
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[
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] | move_to_position | 0.008745 | [
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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 | 17.200001 | 172 | 4 | 1,902 | 0 |
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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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[
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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 | 17.5 | 175 | 4 | 1,905 | 0 |
[
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] | move_to_position | 0.258965 | [
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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 | 17.6 | 176 | 4 | 1,906 | 0 |
[
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] | move_to_position | 0.372524 | [
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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 | 17.700001 | 177 | 4 | 1,907 | 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 | 17.799999 | 178 | 4 | 1,908 | 0 |
[
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] | [
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] | move_to_position | 0.639692 | [
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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 | 17.9 | 179 | 4 | 1,909 | 0 |
[
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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 | 18 | 180 | 4 | 1,910 | 0 |
[
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] | move_to_position | 0.823187 | [
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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 | 18.1 | 181 | 4 | 1,911 | 0 |
[
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] | [
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] | move_to_position | 0.89891 | [
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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 | 18.200001 | 182 | 4 | 1,912 | 0 |
[
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] | [
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] | move_to_position | 0.955558 | [
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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 | 18.299999 | 183 | 4 | 1,913 | 0 |
[
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] | [
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] | move_to_position | 0.991283 | [
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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 | 18.4 | 184 | 4 | 1,914 | 0 |
[
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] | [
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] | move_to_position | 0.998702 | [
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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 | 18.5 | 185 | 4 | 1,915 | 0 |
[
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] | [
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] | move_to_position | 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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[
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] | move_to_position | 0.000031 | [
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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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[
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] | move_to_position | 0.001159 | [
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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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[
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] | move_to_position | 0.005164 | [
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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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[
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] | move_to_position | 0.012418 | [
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] | [
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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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[
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] | move_to_position | 0.022492 | [
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] | [
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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 | 19.1 | 191 | 4 | 1,921 | 0 |
[
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] | move_to_position | 0.037679 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 19.200001 | 192 | 4 | 1,922 | 0 |
[
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] | move_to_position | 0.055852 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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[
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] | move_to_position | 0.082322 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 19.4 | 194 | 4 | 1,924 | 0 |
[
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] | move_to_position | 0.115289 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 19.5 | 195 | 4 | 1,925 | 0 |
[
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] | move_to_position | 0.154579 | [
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] | [
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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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[
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] | move_to_position | 0.195447 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 19.700001 | 197 | 4 | 1,927 | 0 |
[
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] | move_to_position | 0.241365 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 19.799999 | 198 | 4 | 1,928 | 0 |
[
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] | [
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] | move_to_position | 0.293055 | [
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] | [
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] | [
-0.19738058745861053,
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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 | 19.9 | 199 | 4 | 1,929 | 0 |
[
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] | [
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] | move_to_position | 0.346418 | [
-2.087284803390503,
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] | [
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] | [
-0.19738058745861053,
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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 | 20 | 200 | 4 | 1,930 | 0 |
[
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] | [
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] | move_to_position | 0.406162 | [
-2.087284803390503,
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] | [
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] | [
-0.19738058745861053,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
-0.04882415756583214,
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] | 1 | 20.1 | 201 | 4 | 1,931 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.461172 | [
-2.087284803390503,
-1.1346359252929688,
1.7555147409439087,
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] | [
0.19738058745861053,
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] | [
-0.19738058745861053,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
-0.06323672831058502,
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] | 1 | 20.200001 | 202 | 4 | 1,932 | 0 |
[
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] | [
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] | move_to_position | 0.518791 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 20.299999 | 203 | 4 | 1,933 | 0 |
[
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] | move_to_position | 0.573548 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 20.4 | 204 | 4 | 1,934 | 0 |
[
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] | move_to_position | 0.63407 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 20.5 | 205 | 4 | 1,935 | 0 |
[
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] | [
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] | move_to_position | 0.689954 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 20.6 | 206 | 4 | 1,936 | 0 |
[
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] | [
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] | move_to_position | 0.745219 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 20.700001 | 207 | 4 | 1,937 | 0 |
[
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] | [
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] | move_to_position | 0.792774 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 20.799999 | 208 | 4 | 1,938 | 0 |
[
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] | [
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] | move_to_position | 0.833706 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 20.9 | 209 | 4 | 1,939 | 0 |
[
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] | [
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] | move_to_position | 0.874265 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21 | 210 | 4 | 1,940 | 0 |
[
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] | [
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] | move_to_position | 0.907572 | [
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] | [
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] | [
-0.19738058745861053,
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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 | 21.1 | 211 | 4 | 1,941 | 0 |
[
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] | [
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] | move_to_position | 0.938221 | [
-2.087284803390503,
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] | [
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] | [
-0.19738058745861053,
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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 | 21.200001 | 212 | 4 | 1,942 | 0 |
[
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] | [
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] | move_to_position | 0.959613 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21.299999 | 213 | 4 | 1,943 | 0 |
[
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] | [
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] | move_to_position | 0.976316 | [
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] | [
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] | [
-0.19738058745861053,
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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 | 21.4 | 214 | 4 | 1,944 | 0 |
[
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] | [
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] | move_to_position | 0.987464 | [
-2.087284803390503,
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] | [
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] | [
-0.19738058745861053,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
-0.19481125473976135,
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] | 1 | 21.5 | 215 | 4 | 1,945 | 0 |
[
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] | [
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] | move_to_position | 0.994534 | [
-2.087284803390503,
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] | [
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] | [
-0.19738058745861053,
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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 | 4 | 1,946 | 0 |
[
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] | [
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0
] | move_to_position | 0.998221 | [
-2.087284803390503,
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] | [
0.19738058745861053,
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] | [
-0.19738058745861053,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
-0.19706904888153076,
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] | 1 | 21.700001 | 217 | 4 | 1,947 | 0 |
[
-2.0870234966278076,
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] | [
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0
] | move_to_position | 0.99928 | [
-2.087284803390503,
-1.1346359252929688,
1.7555147409439087,
-2.5320825576782227,
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] | [
0.19738058745861053,
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] | [
-0.19738058745861053,
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0.10482336580753326,
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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 | [
-0.1971738189458847,
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] | 1 | 21.799999 | 218 | 4 | 1,948 | 0 |
[
-2.0870473384857178,
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0
] | [
-2.087284803390503,
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0
] | gripper_open | 1 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: open gripper | [
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] | 1 | 21.9 | 219 | 4 | 1,949 | 0 |
[
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] | gripper_open | 1 | [
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[
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] | gripper_open | 1 | [
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] | 1 | 22.1 | 221 | 4 | 1,951 | 0 |
[
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] | gripper_open | 1 | [
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[
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] | move_to_position | 0.000047 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 22.299999 | 223 | 4 | 1,953 | 0 |
[
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] | move_to_position | 0.000034 | [
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] | [
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] | [
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 22.4 | 224 | 4 | 1,954 | 0 |
[
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] | [
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] | move_to_position | 0.010729 | [
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] | [
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] | [
-0.22059926390647888,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 22.5 | 225 | 4 | 1,955 | 0 |
[
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] | [
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] | move_to_position | 0.042512 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 22.6 | 226 | 4 | 1,956 | 0 |
[
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] | [
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] | move_to_position | 0.090304 | [
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] | [
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] | [
-0.22059926390647888,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 22.700001 | 227 | 4 | 1,957 | 0 |
[
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] | [
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] | move_to_position | 0.161362 | [
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] | [
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] | [
-0.22059926390647888,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 22.799999 | 228 | 4 | 1,958 | 0 |
[
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] | [
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] | move_to_position | 0.263067 | [
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] | [
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] | [
-0.22059926390647888,
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0.02500000037252903,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 22.9 | 229 | 4 | 1,959 | 0 |
[
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] | [
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] | move_to_position | 0.385228 | [
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] | [
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] | [
-0.22059926390647888,
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0.02500000037252903,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 23 | 230 | 4 | 1,960 | 0 |
[
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] | [
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] | move_to_position | 0.51126 | [
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] | [
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] | [
-0.22059926390647888,
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0.02500000037252903,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 23.1 | 231 | 4 | 1,961 | 0 |
[
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] | [
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] | move_to_position | 0.6261 | [
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] | [
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] | [
-0.22059926390647888,
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0.02500000037252903,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 23.200001 | 232 | 4 | 1,962 | 0 |
[
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] | [
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] | move_to_position | 0.733498 | [
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] | [
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] | [
-0.22059926390647888,
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0.02500000037252903,
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0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 23.299999 | 233 | 4 | 1,963 | 0 |
[
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] | [
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] | move_to_position | 0.829192 | [
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] | [
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0
] | [
-0.22059926390647888,
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0.02500000037252903,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 23.4 | 234 | 4 | 1,964 | 0 |
[
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] | [
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] | move_to_position | 0.913682 | [
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1.7378120422363281,
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] | [
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0
] | [
-0.22059926390647888,
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0.02500000037252903,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
-0.2189439982175827,
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] | 1 | 23.5 | 235 | 4 | 1,965 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.969365 | [
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1.7378120422363281,
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] | [
0.22059926390647888,
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0
] | [
-0.22059926390647888,
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0.02500000037252903,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 23.6 | 236 | 4 | 1,966 | 0 |
[
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] | move_to_position | 0.993526 | [
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] | [
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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[
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] | move_to_position | 0.998664 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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[
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] | gripper_close | 0 | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.05098 | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.180392 | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.317647 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.45098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.560784 | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.647059 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.745098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 24.700001 | 247 | 4 | 1,977 | 0 |
[
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1
] | gripper_close | 0.831372 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 24.799999 | 248 | 4 | 1,978 | 0 |
[
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1
] | gripper_close | 0.854902 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 24.9 | 249 | 4 | 1,979 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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] | [
0.220546692609787,
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] | [
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2.793203830718994,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 25 | 250 | 4 | 1,980 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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] | [
0.220546692609787,
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] | [
-0.220546692609787,
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0.025005990639328957,
2.793203830718994,
0.06083932891488075,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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2.793178081512451,
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] | 0 | 25.1 | 251 | 4 | 1,981 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.854902 | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | gripper_close | 0.854902 | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.854902 | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.854902 | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.854902 | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.854902 | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.854902 | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.854902 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.854902 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.854902 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.854902 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 26.299999 | 263 | 4 | 1,993 | 0 |
[
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] | gripper_close | 0.854902 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 26.4 | 264 | 4 | 1,994 | 0 |
[
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] | gripper_close | 0.854902 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 26.5 | 265 | 4 | 1,995 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 26.6 | 266 | 4 | 1,996 | 0 |
[
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] | gripper_close | 0.854902 | [
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] | [
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2.793203830718994,
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3.069471836090088
] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
-0.2206013947725296,
-0.6879991292953491,
0.0249636173248291,
2.7931602001190186,
0.060825031250715256,
3.0694377422332764
] | 0 | 26.700001 | 267 | 4 | 1,997 | 0 |
[
-2.106288194656372,
-0.9685652852058411,
1.7378181219100952,
-2.6787164211273193,
-1.4697593450546265,
2.688814163208008,
0.8549019694328308
] | [
-2.1062824726104736,
-0.9685742855072021,
1.7378120422363281,
-2.678691864013672,
-1.4697587490081787,
2.688814401626587,
1
] | gripper_close | 0.854902 | [
-2.1062514781951904,
-0.96871417760849,
1.7380298376083374,
-2.6786224842071533,
-1.469756007194519,
2.688832998275757,
1
] | [
0.220546692609787,
0.6879395842552185,
0.025005990639328957,
2.793203830718994,
0.06083932891488075,
3.069471836090088
] | [
-0.220546692609787,
-0.6879395842552185,
0.025005990639328957,
2.793203830718994,
0.06083932891488075,
3.069471836090088
] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
-0.22062790393829346,
-0.6879909038543701,
0.024982046335935593,
2.7931392192840576,
0.06087480112910271,
3.0693962574005127
] | 0 | 26.799999 | 268 | 4 | 1,998 | 0 |
[
-2.106306791305542,
-0.9685617089271545,
1.737799048423767,
-2.678705930709839,
-1.4697593450546265,
2.6888532638549805,
1
] | [
-2.1062824726104736,
-0.9685742855072021,
1.7378120422363281,
-2.678691864013672,
-1.4697587490081787,
2.688814401626587,
1
] | move_to_position | 0 | [
-2.1502180099487305,
-1.0846757888793945,
1.6947979927062988,
-2.515068292617798,
-1.454949140548706,
2.6470274925231934,
1
] | [
0.2454676628112793,
0.6766794919967651,
0.0982489213347435,
0,
0,
0
] | [
-0.2454676628112793,
-0.6766794919967651,
0.0982489213347435,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.22062182426452637,
-0.6879937648773193,
0.02499057911336422,
2.7931466102600098,
0.06090286001563072,
3.0694427490234375
] | 0 | 26.9 | 269 | 4 | 1,999 | 0 |
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