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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] | 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 | 8.1 | 81 | 5 | 2,201 | 0 |
[
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] | [
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] | move_to_position | 0.843778 | [
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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 | 0.910892 | [
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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 | 0.963301 | [
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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 | 0.99247 | [
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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 | 8.5 | 85 | 5 | 2,205 | 0 |
[
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] | [
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] | move_to_position | 0.998983 | [
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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 | 8.6 | 86 | 5 | 2,206 | 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 | 8.7 | 87 | 5 | 2,207 | 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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] | 1 | 8.8 | 88 | 5 | 2,208 | 0 |
[
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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 | 8.9 | 89 | 5 | 2,209 | 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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[
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] | gripper_close | 0.321568 | [
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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 | 9.1 | 91 | 5 | 2,211 | 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 | 9.2 | 92 | 5 | 2,212 | 0 |
[
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] | gripper_close | 0.552941 | [
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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 | 9.3 | 93 | 5 | 2,213 | 0 |
[
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] | gripper_close | 0.760784 | [
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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 | 9.4 | 94 | 5 | 2,214 | 0 |
[
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] | gripper_close | 0.843137 | [
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] | gripper_close | 0.854902 | [
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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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] | gripper_close | 0.854902 | [
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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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] | gripper_close | 0.854902 | [
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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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] | gripper_close | 0.854902 | [
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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 | 11 | 110 | 5 | 2,230 | 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 left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 0 | 11.1 | 111 | 5 | 2,231 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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1
] | [
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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 | 11.2 | 112 | 5 | 2,232 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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1
] | [
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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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2.794463634490967,
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] | 0 | 11.3 | 113 | 5 | 2,233 | 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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0.029080623760819435,
2.794384717941284,
0.06047898903489113,
3.0701725482940674
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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3.069913148880005
] | 0 | 11.4 | 114 | 5 | 2,234 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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1
] | [
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] | [
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0.029080623760819435,
2.794384717941284,
0.06047898903489113,
3.0701725482940674
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.02900816686451435,
2.794417142868042,
0.06051803380250931,
3.069956064224243
] | 0 | 11.5 | 115 | 5 | 2,235 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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1
] | [
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] | [
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0.029080623760819435,
2.794384717941284,
0.06047898903489113,
3.0701725482940674
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.029001828283071518,
2.7944459915161133,
0.060460034757852554,
3.069951057434082
] | 0 | 11.6 | 116 | 5 | 2,236 | 0 |
[
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1
] | [
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1
] | move_to_position | 0 | [
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1
] | [
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0,
0
] | [
0.31173503398895264,
-0.6060486435890198,
0.11905505508184433,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
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0.029031535610556602,
2.794395923614502,
0.06044658645987511,
3.069932460784912
] | 0 | 11.7 | 117 | 5 | 2,237 | 0 |
[
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1
] | [
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1.7615002393722534,
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1
] | move_to_position | 0.00021 | [
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1
] | [
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0,
0,
0
] | [
0.31173503398895264,
-0.6060486435890198,
0.11905505508184433,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2850920855998993,
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0.029044732451438904,
2.794421434402466,
0.06047328561544418,
3.069902181625366
] | 0 | 11.8 | 118 | 5 | 2,238 | 0 |
[
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3.476560354232788,
1
] | [
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1.7613123655319214,
-2.6371805667877197,
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3.477201461791992,
1
] | move_to_position | 0.009789 | [
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-1.763869285583496,
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1
] | [
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0,
0,
0
] | [
0.31173503398895264,
-0.6060486435890198,
0.11905505508184433,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2855300307273865,
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0.030271949246525764,
2.7944955825805664,
0.06037946790456772,
3.0699801445007324
] | 0 | 11.9 | 119 | 5 | 2,239 | 0 |
[
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1
] | [
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1.760648488998413,
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1
] | move_to_position | 0.039814 | [
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1.717073917388916,
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1
] | [
-0.31173503398895264,
0.6060486435890198,
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0,
0,
0
] | [
0.31173503398895264,
-0.6060486435890198,
0.11905505508184433,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.28646320104599,
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0.03335573896765709,
2.794576644897461,
0.06040574610233307,
3.0700814723968506
] | 0 | 12 | 120 | 5 | 2,240 | 0 |
[
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3.4807512760162354,
1
] | [
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1.7592042684555054,
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3.4823451042175293,
1
] | move_to_position | 0.089441 | [
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1.717073917388916,
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1
] | [
-0.31173503398895264,
0.6060486435890198,
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0,
0,
0
] | [
0.31173503398895264,
-0.6060486435890198,
0.11905505508184433,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2878718674182892,
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0.038349587470293045,
2.7943317890167236,
0.060458384454250336,
3.069995880126953
] | 0 | 12.1 | 121 | 5 | 2,241 | 0 |
[
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3.484909772872925,
1
] | [
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1.756626844406128,
-2.600322961807251,
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3.487051010131836,
1
] | move_to_position | 0.166859 | [
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1.717073917388916,
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1
] | [
-0.31173503398895264,
0.6060486435890198,
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0,
0,
0
] | [
0.31173503398895264,
-0.6060486435890198,
0.11905505508184433,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2898861765861511,
-0.6273929476737976,
0.0450744554400444,
2.7944743633270264,
0.06044891104102135,
3.0699069499969482
] | 0 | 12.2 | 122 | 5 | 2,242 | 0 |
[
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3.490537166595459,
1
] | [
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1.7533862590789795,
-2.579409122467041,
-1.7527315616607666,
3.492609739303589,
1
] | move_to_position | 0.2715 | [
-1.218826174736023,
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1.717073917388916,
-2.4358198642730713,
-1.763869285583496,
3.5298571586608887,
1
] | [
-0.31173503398895264,
0.6060486435890198,
0.11905505508184433,
0,
0,
0
] | [
0.31173503398895264,
-0.6060486435890198,
0.11905505508184433,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.29292961955070496,
-0.6245169043540955,
0.05529112368822098,
2.794316530227661,
0.06040526181459427,
3.0699093341827393
] | 0 | 12.3 | 123 | 5 | 2,243 | 0 |
[
-1.2527974843978882,
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1.750663161277771,
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3.4969191551208496,
1
] | [
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1.749026894569397,
-2.5544450283050537,
-1.7547264099121094,
3.4992122650146484,
1
] | move_to_position | 0.388801 | [
-1.218826174736023,
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1.717073917388916,
-2.4358198642730713,
-1.763869285583496,
3.5298571586608887,
1
] | [
-0.31173503398895264,
0.6060486435890198,
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0,
0,
0
] | [
0.31173503398895264,
-0.6060486435890198,
0.11905505508184433,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2961598336696625,
-0.6212494969367981,
0.06633442640304565,
2.79445743560791,
0.06045644357800484,
3.0698556900024414
] | 0 | 12.4 | 124 | 5 | 2,244 | 0 |
[
-1.246097445487976,
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1.7458375692367554,
-2.5386321544647217,
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3.5033822059631348,
1
] | [
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1.7439215183258057,
-2.5305593013763428,
-1.7566063404083252,
3.5054662227630615,
1
] | move_to_position | 0.509208 | [
-1.218826174736023,
-1.1468696594238281,
1.717073917388916,
-2.4358198642730713,
-1.763869285583496,
3.5298571586608887,
1
] | [
-0.31173503398895264,
0.6060486435890198,
0.11905505508184433,
0,
0,
0
] | [
0.31173503398895264,
-0.6060486435890198,
0.11905505508184433,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2992059886455536,
-0.6182185411453247,
0.07665545493364334,
2.7944908142089844,
0.06052234396338463,
3.069913387298584
] | 0 | 12.5 | 125 | 5 | 2,245 | 0 |
[
-1.2398232221603394,
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1.7400931119918823,
-2.5152499675750732,
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3.509401798248291,
1
] | [
-1.2372071743011475,
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1.7375320196151733,
-2.505380630493164,
-1.7585569620132446,
3.5119898319244385,
1
] | move_to_position | 0.622043 | [
-1.218826174736023,
-1.1468696594238281,
1.717073917388916,
-2.4358198642730713,
-1.763869285583496,
3.5298571586608887,
1
] | [
-0.31173503398895264,
0.6060486435890198,
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0,
0,
0
] | [
0.31173503398895264,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.30247384309768677,
-0.6151875853538513,
0.08758849650621414,
2.7944185733795166,
0.06051896885037422,
3.0699291229248047
] | 0 | 12.6 | 126 | 5 | 2,246 | 0 |
[
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3.516003370285034,
1
] | [
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-2.480496406555176,
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3.5184051990509033,
1
] | move_to_position | 0.743827 | [
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1.717073917388916,
-2.4358198642730713,
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1
] | [
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0,
0,
0
] | [
0.31173503398895264,
-0.6060486435890198,
0.11905505508184433,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.305675208568573,
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0.09825467318296432,
2.7944304943084717,
0.0604669414460659,
3.0699894428253174
] | 0 | 12.7 | 127 | 5 | 2,247 | 0 |
[
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1.7272061109542847,
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3.5215976238250732,
1
] | [
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-2.461900234222412,
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1
] | move_to_position | 0.847946 | [
-1.218826174736023,
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1.717073917388916,
-2.4358198642730713,
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1
] | [
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0,
0,
0
] | [
0.31173503398895264,
-0.6060486435890198,
0.11905505508184433,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.3080200254917145,
-0.6096994280815125,
0.10640037059783936,
2.7944324016571045,
0.0604853630065918,
3.069892406463623
] | 0 | 12.8 | 128 | 5 | 2,248 | 0 |
[
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3.525153875350952,
1
] | [
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1.7216651439666748,
-2.448995590209961,
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1
] | move_to_position | 0.912087 | [
-1.218826174736023,
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1.717073917388916,
-2.4358198642730713,
-1.763869285583496,
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1
] | [
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0,
0,
0
] | [
0.31173503398895264,
-0.6060486435890198,
0.11905505508184433,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.3097093999385834,
-0.6078916192054749,
0.11223696917295456,
2.7944910526275635,
0.060505978763103485,
3.069896697998047
] | 0 | 12.9 | 129 | 5 | 2,249 | 0 |
[
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-2.4437334537506104,
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3.5278537273406982,
1
] | [
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1.718888759613037,
-2.4407403469085693,
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3.528610944747925,
1
] | move_to_position | 0.962751 | [
-1.218826174736023,
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1.717073917388916,
-2.4358198642730713,
-1.763869285583496,
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1
] | [
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0,
0,
0
] | [
0.31173503398895264,
-0.6060486435890198,
0.11905505508184433,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.3109647333621979,
-0.6067107319831848,
0.1163979321718216,
2.7944726943969727,
0.06042935699224472,
3.0699477195739746
] | 0 | 13 | 130 | 5 | 2,250 | 0 |
[
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1.7178701162338257,
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1
] | [
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1.7172960042953491,
-2.43641996383667,
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3.529705047607422,
1
] | move_to_position | 0.989893 | [
-1.218826174736023,
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1.717073917388916,
-2.4358198642730713,
-1.763869285583496,
3.5298571586608887,
1
] | [
-0.31173503398895264,
0.6060486435890198,
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0,
0,
0
] | [
0.31173503398895264,
-0.6060486435890198,
0.11905505508184433,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.31155863404273987,
-0.6062071323394775,
0.11852014064788818,
2.794346332550049,
0.06045416370034218,
3.069901943206787
] | 0 | 13.1 | 131 | 5 | 2,251 | 0 |
[
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1.717202067375183,
-2.4358742237091064,
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3.529747486114502,
1
] | [
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1.717073917388916,
-2.4358198642730713,
-1.763869285583496,
3.5298571586608887,
1
] | move_to_position | 0.99893 | [
-1.218826174736023,
-1.1468696594238281,
1.717073917388916,
-2.4358198642730713,
-1.763869285583496,
3.5298571586608887,
1
] | [
-0.31173503398895264,
0.6060486435890198,
0.11905505508184433,
0,
0,
0
] | [
0.31173503398895264,
-0.6060486435890198,
0.11905505508184433,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.3116116225719452,
-0.6060325503349304,
0.1188787892460823,
2.794660806655884,
0.060637522488832474,
3.0698177814483643
] | 0 | 13.2 | 132 | 5 | 2,252 | 0 |
[
-1.219004511833191,
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1.7171987295150757,
-2.435858964920044,
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3.52982759475708,
1
] | [
-1.218826174736023,
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1.717073917388916,
-2.4358198642730713,
-1.763869285583496,
3.5298571586608887,
1
] | move_to_position | 0.000107 | [
-1.6412460803985596,
-1.1997994184494019,
1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
3.1261696815490723,
1
] | [
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0.6640647053718567,
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0,
0,
0
] | [
0.07261494547128677,
-0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.31164777278900146,
-0.6060364842414856,
0.11889874190092087,
2.794623613357544,
0.06058766320347786,
3.069802761077881
] | 0 | 13.3 | 133 | 5 | 2,253 | 0 |
[
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-2.435842752456665,
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3.529855251312256,
1
] | [
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1.7172991037368774,
-2.4359166622161865,
-1.7638570070266724,
3.5297443866729736,
1
] | move_to_position | 0.000046 | [
-1.6412460803985596,
-1.1997994184494019,
1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
3.1261696815490723,
1
] | [
-0.07261494547128677,
0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | [
0.07261494547128677,
-0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.311637282371521,
-0.6060068607330322,
0.11884581297636032,
2.794736623764038,
0.060603223741054535,
3.0698070526123047
] | 0 | 13.4 | 134 | 5 | 2,254 | 0 |
[
-1.2194570302963257,
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1.717537760734558,
-2.4360949993133545,
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3.5293281078338623,
1
] | [
-1.2202270030975342,
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1.718124270439148,
-2.436509132385254,
-1.7635607719421387,
3.528648853302002,
1
] | move_to_position | 0.001303 | [
-1.6412460803985596,
-1.1997994184494019,
1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
3.1261696815490723,
1
] | [
-0.07261494547128677,
0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | [
0.07261494547128677,
-0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.3111901879310608,
-0.606116533279419,
0.11882955580949783,
2.7946901321411133,
0.060648784041404724,
3.0697600841522217
] | 0 | 13.5 | 135 | 5 | 2,255 | 0 |
[
-1.221298098564148,
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1.7188876867294312,
-2.4370405673980713,
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3.5275914669036865,
1
] | [
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1.7195639610290527,
-2.43752121925354,
-1.7629740238189697,
3.52663516998291,
1
] | move_to_position | 0.006097 | [
-1.6412460803985596,
-1.1997994184494019,
1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
3.1261696815490723,
1
] | [
-0.07261494547128677,
0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | [
0.07261494547128677,
-0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.3098881244659424,
-0.6063759326934814,
0.11892524361610413,
2.794512987136841,
0.06061399728059769,
3.0697288513183594
] | 0 | 13.6 | 136 | 5 | 2,256 | 0 |
[
-1.224357008934021,
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1.7209948301315308,
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3.524554967880249,
1
] | [
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1.722350835800171,
-2.43949818611145,
-1.761720061302185,
3.5224521160125732,
1
] | move_to_position | 0.014089 | [
-1.6412460803985596,
-1.1997994184494019,
1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
3.1261696815490723,
1
] | [
-0.07261494547128677,
0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | [
0.07261494547128677,
-0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.3079344630241394,
-0.6067943572998047,
0.11895263195037842,
2.794438600540161,
0.060620829463005066,
3.0697898864746094
] | 0 | 13.7 | 137 | 5 | 2,257 | 0 |
[
-1.2294596433639526,
-1.150720477104187,
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-2.4408071041107178,
-1.760898470878601,
3.5196282863616943,
1
] | [
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1.7261171340942383,
-2.442218542098999,
-1.7598596811294556,
3.516348361968994,
1
] | move_to_position | 0.027074 | [
-1.6412460803985596,
-1.1997994184494019,
1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
3.1261696815490723,
1
] | [
-0.07261494547128677,
0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | [
0.07261494547128677,
-0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.3048114478588104,
-0.6075876951217651,
0.11882980912923813,
2.7945210933685303,
0.06062859296798706,
3.0697317123413086
] | 0 | 13.8 | 138 | 5 | 2,258 | 0 |
[
-1.2360643148422241,
-1.15290105342865,
1.7278980016708374,
-2.443542242050171,
-1.7589038610458374,
3.51326060295105,
1
] | [
-1.2401577234268188,
-1.1542563438415527,
1.7302219867706299,
-2.445242166519165,
-1.7576662302017212,
3.5092244148254395,
1
] | move_to_position | 0.043751 | [
-1.6412460803985596,
-1.1997994184494019,
1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
3.1261696815490723,
1
] | [
-0.07261494547128677,
0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | [
0.07261494547128677,
-0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.30070969462394714,
-0.6086321473121643,
0.1187824159860611,
2.794593334197998,
0.06059224531054497,
3.0697782039642334
] | 0 | 13.9 | 139 | 5 | 2,259 | 0 |
[
-1.2450841665267944,
-1.1558135747909546,
1.7328356504440308,
-2.447237253189087,
-1.7561997175216675,
3.5045151710510254,
1
] | [
-1.2491379976272583,
-1.1570582389831543,
1.7350627183914185,
-2.4488518238067627,
-1.7549740076065063,
3.5005106925964355,
1
] | move_to_position | 0.066459 | [
-1.6412460803985596,
-1.1997994184494019,
1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
3.1261696815490723,
1
] | [
-0.07261494547128677,
0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | [
0.07261494547128677,
-0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.29521244764328003,
-0.6100598573684692,
0.11877024918794632,
2.7945950031280518,
0.060568708926439285,
3.0697579383850098
] | 0 | 14 | 140 | 5 | 2,260 | 0 |
[
-1.2570909261703491,
-1.1596368551254272,
1.7395647764205933,
-2.452183485031128,
-1.7525485754013062,
3.492630958557129,
1
] | [
-1.2619379758834839,
-1.161208987236023,
1.7422140836715698,
-2.4541380405426025,
-1.7511570453643799,
3.4880783557891846,
1
] | move_to_position | 0.096936 | [
-1.6412460803985596,
-1.1997994184494019,
1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
3.1261696815490723,
1
] | [
-0.07261494547128677,
0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | [
0.07261494547128677,
-0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2883259654045105,
-0.6117042303085327,
0.11864672601222992,
2.794739007949829,
0.060594670474529266,
3.0698893070220947
] | 0 | 14.1 | 141 | 5 | 2,261 | 0 |
[
-1.2715262174606323,
-1.1642844676971436,
1.747543215751648,
-2.45804762840271,
-1.7482565641403198,
3.478792905807495,
1
] | [
-1.2778602838516235,
-1.1662348508834839,
1.7508834600448608,
-2.460588216781616,
-1.746390700340271,
3.472625255584717,
1
] | move_to_position | 0.132916 | [
-1.6412460803985596,
-1.1997994184494019,
1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
3.1261696815490723,
1
] | [
-0.07261494547128677,
0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | [
0.07261494547128677,
-0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.27940165996551514,
-0.6137648820877075,
0.1185615137219429,
2.7947380542755127,
0.06057335063815117,
3.0697591304779053
] | 0 | 14.2 | 142 | 5 | 2,262 | 0 |
[
-1.28781259059906,
-1.1691893339157104,
1.7560280561447144,
-2.4644668102264404,
-1.743386149406433,
3.462902784347534,
1
] | [
-1.2964917421340942,
-1.1716315746307373,
1.7602406740188599,
-2.4677000045776367,
-1.7407515048980713,
3.4545841217041016,
1
] | move_to_position | 0.173476 | [
-1.6412460803985596,
-1.1997994184494019,
1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
3.1261696815490723,
1
] | [
-0.07261494547128677,
0.6640647053718567,
0.11673304438591003,
0,
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0
] | [
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0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2696012258529663,
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] | 0 | 14.3 | 143 | 5 | 2,263 | 0 |
[
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] | [
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1
] | move_to_position | 0.220868 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.4 | 144 | 5 | 2,264 | 0 |
[
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] | [
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] | move_to_position | 0.270658 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.5 | 145 | 5 | 2,265 | 0 |
[
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] | [
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1
] | move_to_position | 0.327044 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.6 | 146 | 5 | 2,266 | 0 |
[
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] | [
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] | move_to_position | 0.389081 | [
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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 | 0.447944 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.8 | 148 | 5 | 2,268 | 0 |
[
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] | [
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] | move_to_position | 0.509491 | [
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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 | 0.568489 | [
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1.8187717199325562,
-2.5360686779022217,
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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 | 15 | 150 | 5 | 2,270 | 0 |
[
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] | [
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1
] | move_to_position | 0.625734 | [
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1.8187717199325562,
-2.5360686779022217,
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] | [
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] | [
0.07261494547128677,
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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 | 15.1 | 151 | 5 | 2,271 | 0 |
[
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] | [
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1
] | move_to_position | 0.686724 | [
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-1.1997994184494019,
1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
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] | [
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] | [
0.07261494547128677,
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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 | 15.2 | 152 | 5 | 2,272 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.743898 | [
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1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
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] | [
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] | [
0.07261494547128677,
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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 | 15.3 | 153 | 5 | 2,273 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.794047 | [
-1.6412460803985596,
-1.1997994184494019,
1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
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] | [
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] | [
0.07261494547128677,
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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 | 15.4 | 154 | 5 | 2,274 | 0 |
[
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] | [
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1
] | move_to_position | 0.83926 | [
-1.6412460803985596,
-1.1997994184494019,
1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
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] | [
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] | [
0.07261494547128677,
-0.6640647053718567,
0.11673304438591003,
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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 | 15.5 | 155 | 5 | 2,275 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.877593 | [
-1.6412460803985596,
-1.1997994184494019,
1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
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1
] | [
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0.6640647053718567,
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0
] | [
0.07261494547128677,
-0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.6 | 156 | 5 | 2,276 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.913031 | [
-1.6412460803985596,
-1.1997994184494019,
1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
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1
] | [
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0.6640647053718567,
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0
] | [
0.07261494547128677,
-0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.7 | 157 | 5 | 2,277 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.941502 | [
-1.6412460803985596,
-1.1997994184494019,
1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
3.1261696815490723,
1
] | [
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0.6640647053718567,
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0
] | [
0.07261494547128677,
-0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.8 | 158 | 5 | 2,278 | 0 |
[
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1
] | [
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3.1380844116210938,
1
] | move_to_position | 0.964414 | [
-1.6412460803985596,
-1.1997994184494019,
1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
3.1261696815490723,
1
] | [
-0.07261494547128677,
0.6640647053718567,
0.11673304438591003,
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0,
0
] | [
0.07261494547128677,
-0.6640647053718567,
0.11673304438591003,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.08062651753425598,
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] | 0 | 15.9 | 159 | 5 | 2,279 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.980051 | [
-1.6412460803985596,
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1.8187717199325562,
-2.5360686779022217,
-1.628445029258728,
3.1261696815490723,
1
] | [
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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 | 16 | 160 | 5 | 2,280 | 0 |
[
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] | [
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] | move_to_position | 0.990437 | [
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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 | 0.99629 | [
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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 | 0.999108 | [
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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 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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] | [
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] | move_to_position | 0.000102 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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] | [
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] | move_to_position | 0.010536 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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] | [
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] | move_to_position | 0.04046 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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] | [
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] | move_to_position | 0.090244 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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] | [
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1
] | move_to_position | 0.158611 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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] | [
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1
] | move_to_position | 0.264186 | [
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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 | 17 | 170 | 5 | 2,290 | 0 |
[
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] | [
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1
] | move_to_position | 0.387915 | [
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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 | 17.1 | 171 | 5 | 2,291 | 0 |
[
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] | [
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1
] | move_to_position | 0.506652 | [
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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 | 17.200001 | 172 | 5 | 2,292 | 0 |
[
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] | [
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1
] | move_to_position | 0.617113 | [
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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 | 17.299999 | 173 | 5 | 2,293 | 0 |
[
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] | [
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1
] | move_to_position | 0.731347 | [
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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 | 17.4 | 174 | 5 | 2,294 | 0 |
[
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] | [
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1
] | move_to_position | 0.838915 | [
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] | [
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] | [
0.034072309732437134,
-0.6709837317466736,
0.04399999976158142,
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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 | 17.5 | 175 | 5 | 2,295 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.915457 | [
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1.8727233409881592,
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] | [
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] | [
0.034072309732437134,
-0.6709837317466736,
0.04399999976158142,
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 | 17.6 | 176 | 5 | 2,296 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.965864 | [
-1.7075459957122803,
-1.0802127122879028,
1.8727233409881592,
-2.7125582695007324,
-1.605938196182251,
3.0637173652648926,
1
] | [
-0.034072309732437134,
0.6709837317466736,
0.04399999976158142,
0,
0,
0
] | [
0.034072309732437134,
-0.6709837317466736,
0.04399999976158142,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
0.03515644371509552,
-0.6707653999328613,
0.046125806868076324,
2.7945713996887207,
0.06057924032211304,
3.0699353218078613
] | 0 | 17.700001 | 177 | 5 | 2,297 | 0 |
[
-1.7069834470748901,
-1.081577181816101,
1.8724406957626343,
-2.7110755443573,
-1.6061772108078003,
3.064295530319214,
1
] | [
-1.707242727279663,
-1.0809009075164795,
1.8726367950439453,
-2.7117998600006104,
-1.6060413122177124,
3.06400203704834,
1
] | move_to_position | 0.990793 | [
-1.7075459957122803,
-1.0802127122879028,
1.8727233409881592,
-2.7125582695007324,
-1.605938196182251,
3.0637173652648926,
1
] | [
-0.034072309732437134,
0.6709837317466736,
0.04399999976158142,
0,
0,
0
] | [
0.034072309732437134,
-0.6709837317466736,
0.04399999976158142,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
0.03433114290237427,
-0.6709694862365723,
0.044627584517002106,
2.794515609741211,
0.06057628244161606,
3.0698797702789307
] | 0 | 17.799999 | 178 | 5 | 2,298 | 0 |
[
-1.7073124647140503,
-1.080386757850647,
1.8725064992904663,
-2.7123773097991943,
-1.605972170829773,
3.063838005065918,
1
] | [
-1.7075458765029907,
-1.0802128314971924,
1.8727233409881592,
-2.7125580310821533,
-1.6059383153915405,
3.0637176036834717,
1
] | move_to_position | 0.998224 | [
-1.7075459957122803,
-1.0802127122879028,
1.8727233409881592,
-2.7125582695007324,
-1.605938196182251,
3.0637173652648926,
1
] | [
-0.034072309732437134,
0.6709837317466736,
0.04399999976158142,
0,
0,
0
] | [
0.034072309732437134,
-0.6709837317466736,
0.04399999976158142,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
0.03420647978782654,
-0.6710694432258606,
0.044172197580337524,
2.794466972351074,
0.060556698590517044,
3.0700862407684326
] | 0 | 17.9 | 179 | 5 | 2,299 | 0 |
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