observation.state listlengths 7 7 | action listlengths 7 7 | skill.type large_stringclasses 4
values | skill.progress float32 0 1 | skill.goal_position.joint listlengths 7 7 | skill.goal_position.world_xyzrpy listlengths 6 6 | skill.goal_position.robot_xyzrpy listlengths 6 6 | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 61
values | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | timestamp float32 0 46.1 | frame_index int64 0 461 | episode_index int64 0 24 | index int64 0 10.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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[
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 24.799999 | 248 | 6 | 2,801 | 0 |
[
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] | move_to_position | 0.038322 | [
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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 | 0.089889 | [
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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 | 0.166474 | [
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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 | 0.269123 | [
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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 | 25.200001 | 252 | 6 | 2,805 | 0 |
[
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] | [
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] | move_to_position | 0.390277 | [
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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 | 25.299999 | 253 | 6 | 2,806 | 0 |
[
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] | [
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] | move_to_position | 0.501491 | [
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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 | 25.4 | 254 | 6 | 2,807 | 0 |
[
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] | [
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] | move_to_position | 0.62641 | [
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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 | 25.5 | 255 | 6 | 2,808 | 0 |
[
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] | [
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] | move_to_position | 0.748839 | [
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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 | 25.6 | 256 | 6 | 2,809 | 0 |
[
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] | [
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] | move_to_position | 0.843403 | [
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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 | 25.700001 | 257 | 6 | 2,810 | 0 |
[
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] | move_to_position | 0.914885 | [
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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 | 25.799999 | 258 | 6 | 2,811 | 0 |
[
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] | [
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] | move_to_position | 0.962484 | [
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] | [
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] | [
0.15383513271808624,
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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 | 25.9 | 259 | 6 | 2,812 | 0 |
[
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] | [
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] | move_to_position | 0.991903 | [
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] | [
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] | [
0.15383513271808624,
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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 | 26 | 260 | 6 | 2,813 | 0 |
[
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0
] | [
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] | move_to_position | 0.99901 | [
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] | [
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] | [
0.15383513271808624,
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0.02800000086426735,
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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 | 26.1 | 261 | 6 | 2,814 | 0 |
[
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] | [
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1
] | gripper_close | 0 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 1 | 26.200001 | 262 | 6 | 2,815 | 0 |
[
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1
] | gripper_close | 0.011765 | [
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] | [
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] | gripper_close | 0.05098 | [
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] | gripper_close | 0.180392 | [
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] | gripper_close | 0.45098 | [
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] | gripper_close | 0.568627 | [
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[
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] | gripper_close | 0.654902 | [
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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 | 0.737255 | [
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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 | 0.792157 | [
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[
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] | gripper_close | 0.811765 | [
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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 | 0.811765 | [
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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 | 0.811765 | [
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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 | 0.811764 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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1
] | gripper_close | 0.811765 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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1
] | gripper_close | 0.811765 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 27.6 | 276 | 6 | 2,829 | 0 |
[
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1
] | gripper_close | 0.811764 | [
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1
] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 27.700001 | 277 | 6 | 2,830 | 0 |
[
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1
] | gripper_close | 0.811764 | [
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] | [
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] | gripper_close | 0.811764 | [
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] | gripper_close | 0.811765 | [
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] | gripper_close | 0.811765 | [
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] | gripper_close | 0.811765 | [
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] | gripper_close | 0.811765 | [
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[
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] | gripper_close | 0.811765 | [
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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 | 0.811765 | [
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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 | 0.811765 | [
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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 | 0.811765 | [
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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 | 28.799999 | 288 | 6 | 2,841 | 0 |
[
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] | gripper_close | 0.811765 | [
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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 | 28.9 | 289 | 6 | 2,842 | 0 |
[
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] | [
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1
] | gripper_close | 0.811764 | [
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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 | 29 | 290 | 6 | 2,843 | 0 |
[
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] | [
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1
] | gripper_close | 0.811765 | [
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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 | 29.1 | 291 | 6 | 2,844 | 0 |
[
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] | [
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1
] | move_to_position | 0.000017 | [
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] | [
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] | [
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0,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
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] | 0 | 29.200001 | 292 | 6 | 2,845 | 0 |
[
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] | [
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1
] | move_to_position | 0.00016 | [
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] | [
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] | [
0.18816199898719788,
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.15383416414260864,
-0.571275532245636,
0.0280775036662817,
2.7937393188476562,
0.06099652871489525,
3.0702104568481445
] | 0 | 29.299999 | 293 | 6 | 2,846 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.011249 | [
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1
] | [
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0,
0,
0
] | [
0.18816199898719788,
-0.5548872351646423,
0.11985955387353897,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.15442898869514465,
-0.5708537697792053,
0.0292611476033926,
2.794194221496582,
0.06093406304717064,
3.0703608989715576
] | 0 | 29.4 | 294 | 6 | 2,847 | 0 |
[
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3.2745447158813477,
1
] | [
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1
] | move_to_position | 0.041742 | [
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2.0222315788269043,
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1
] | [
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0,
0,
0
] | [
0.18816199898719788,
-0.5548872351646423,
0.11985955387353897,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.15538129210472107,
-0.5704544186592102,
0.032216690480709076,
2.7937450408935547,
0.06092304363846779,
3.070225954055786
] | 0 | 29.5 | 295 | 6 | 2,848 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.089221 | [
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2.0222315788269043,
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1
] | [
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0,
0,
0
] | [
0.18816199898719788,
-0.5548872351646423,
0.11985955387353897,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.15736377239227295,
-0.5696136355400085,
0.03730998560786247,
2.793755054473877,
0.06094874441623688,
3.0703766345977783
] | 0 | 29.6 | 296 | 6 | 2,849 | 0 |
[
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1
] | [
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2.085352659225464,
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3.2856380939483643,
1
] | move_to_position | 0.166899 | [
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2.0222315788269043,
-2.5617146492004395,
-1.7040989398956299,
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1
] | [
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0,
0,
0
] | [
0.18816199898719788,
-0.5548872351646423,
0.11985955387353897,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.1599588841199875,
-0.5684352517127991,
0.04433271661400795,
2.793731689453125,
0.060918472707271576,
3.0702900886535645
] | 0 | 29.700001 | 297 | 6 | 2,850 | 0 |
[
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1
] | [
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3.292501926422119,
1
] | move_to_position | 0.268306 | [
-1.4137219190597534,
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2.0222315788269043,
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-1.7040989398956299,
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1
] | [
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0,
0,
0
] | [
0.18816199898719788,
-0.5548872351646423,
0.11985955387353897,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.16378438472747803,
-0.5665243268013,
0.054635174572467804,
2.7937469482421875,
0.06098717451095581,
3.0703482627868652
] | 0 | 29.799999 | 298 | 6 | 2,851 | 0 |
[
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2.0751497745513916,
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3.2975454330444336,
1
] | [
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2.071305513381958,
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3.301392078399658,
1
] | move_to_position | 0.378238 | [
-1.4137219190597534,
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2.0222315788269043,
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-1.7040989398956299,
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1
] | [
-0.18816199898719788,
0.5548872351646423,
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0,
0,
0
] | [
0.18816199898719788,
-0.5548872351646423,
0.11985955387353897,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.16757331788539886,
-0.5647554397583008,
0.06471869349479675,
2.7937369346618652,
0.0609765499830246,
3.0703673362731934
] | 0 | 29.9 | 299 | 6 | 2,852 | 0 |
[
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2.066218137741089,
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3.3061764240264893,
1
] | [
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2.0628724098205566,
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3.3091909885406494,
1
] | move_to_position | 0.501581 | [
-1.4137219190597534,
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2.0222315788269043,
-2.5617146492004395,
-1.7040989398956299,
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1
] | [
-0.18816199898719788,
0.5548872351646423,
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0,
0,
0
] | [
0.18816199898719788,
-0.5548872351646423,
0.11985955387353897,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.17184112966060638,
-0.5629099607467651,
0.07608933001756668,
2.793626308441162,
0.06096162274479866,
3.0703375339508057
] | 0 | 30 | 300 | 6 | 2,853 | 0 |
[
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2.0560920238494873,
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3.3151464462280273,
1
] | [
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2.052689790725708,
-2.648587465286255,
-1.6964025497436523,
3.3181076049804688,
1
] | move_to_position | 0.63158 | [
-1.4137219190597534,
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2.0222315788269043,
-2.5617146492004395,
-1.7040989398956299,
3.341102361679077,
1
] | [
-0.18816199898719788,
0.5548872351646423,
0.11985955387353897,
0,
0,
0
] | [
0.18816199898719788,
-0.5548872351646423,
0.11985955387353897,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.17610463500022888,
-0.560850977897644,
0.08746475726366043,
2.793743133544922,
0.06100577116012573,
3.0703542232513428
] | 0 | 30.1 | 301 | 6 | 2,854 | 0 |
[
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2.046849012374878,
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3.323061227798462,
1
] | [
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2.0434517860412598,
-2.619259834289551,
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3.325854778289795,
1
] | move_to_position | 0.744794 | [
-1.4137219190597534,
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2.0222315788269043,
-2.5617146492004395,
-1.7040989398956299,
3.341102361679077,
1
] | [
-0.18816199898719788,
0.5548872351646423,
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0,
0,
0
] | [
0.18816199898719788,
-0.5548872351646423,
0.11985955387353897,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.1800016313791275,
-0.5588212013244629,
0.09799278527498245,
2.793750762939453,
0.06094495952129364,
3.0703368186950684
] | 0 | 30.200001 | 302 | 6 | 2,855 | 0 |
[
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2.0386364459991455,
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3.329576015472412,
1
] | [
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2.0355007648468018,
-2.5963807106018066,
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3.331908941268921,
1
] | move_to_position | 0.837678 | [
-1.4137219190597534,
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2.0222315788269043,
-2.5617146492004395,
-1.7040989398956299,
3.341102361679077,
1
] | [
-0.18816199898719788,
0.5548872351646423,
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0,
0,
0
] | [
0.18816199898719788,
-0.5548872351646423,
0.11985955387353897,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.1830993890762329,
-0.5572401881217957,
0.10629475116729736,
2.7936973571777344,
0.060991089791059494,
3.0704305171966553
] | 0 | 30.299999 | 303 | 6 | 2,856 | 0 |
[
-1.420017123222351,
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2.0309526920318604,
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3.3351173400878906,
1
] | [
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2.028611898422241,
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3.3367340564727783,
1
] | move_to_position | 0.915349 | [
-1.4137219190597534,
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2.0222315788269043,
-2.5617146492004395,
-1.7040989398956299,
3.341102361679077,
1
] | [
-0.18816199898719788,
0.5548872351646423,
0.11985955387353897,
0,
0,
0
] | [
0.18816199898719788,
-0.5548872351646423,
0.11985955387353897,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.18566793203353882,
-0.5560960173606873,
0.11312789469957352,
2.7936577796936035,
0.060936544090509415,
3.070373773574829
] | 0 | 30.4 | 304 | 6 | 2,857 | 0 |
[
-1.4161309003829956,
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2.025648355484009,
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-1.7032636404037476,
3.338808298110962,
1
] | [
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2.0241963863372803,
-2.566800832748413,
-1.7036489248275757,
3.339751958847046,
1
] | move_to_position | 0.967242 | [
-1.4137219190597534,
-1.3576313257217407,
2.0222315788269043,
-2.5617146492004395,
-1.7040989398956299,
3.341102361679077,
1
] | [
-0.18816199898719788,
0.5548872351646423,
0.11985955387353897,
0,
0,
0
] | [
0.18816199898719788,
-0.5548872351646423,
0.11985955387353897,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.18729202449321747,
-0.5553314685821533,
0.11747244000434875,
2.793733596801758,
0.060967814177274704,
3.0703444480895996
] | 0 | 30.5 | 305 | 6 | 2,858 | 0 |
[
-1.4141658544540405,
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2.0228707790374756,
-2.5633490085601807,
-1.703917384147644,
3.3406448364257812,
1
] | [
-1.4138939380645752,
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2.022469997406006,
-2.5623316764831543,
-1.7040443420410156,
3.3409385681152344,
1
] | move_to_position | 0.993803 | [
-1.4137219190597534,
-1.3576313257217407,
2.0222315788269043,
-2.5617146492004395,
-1.7040989398956299,
3.341102361679077,
1
] | [
-0.18816199898719788,
0.5548872351646423,
0.11985955387353897,
0,
0,
0
] | [
0.18816199898719788,
-0.5548872351646423,
0.11985955387353897,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.18807926774024963,
-0.554947555065155,
0.1195104643702507,
2.793766975402832,
0.06094038486480713,
3.0704238414764404
] | 0 | 30.6 | 306 | 6 | 2,859 | 0 |
[
-1.4138859510421753,
-1.3574700355529785,
2.0223991870880127,
-2.561795473098755,
-1.7040585279464722,
3.3410444259643555,
1
] | [
-1.4137219190597534,
-1.3576313257217407,
2.0222315788269043,
-2.5617146492004395,
-1.7040989398956299,
3.341102361679077,
1
] | move_to_position | 0.999112 | [
-1.4137219190597534,
-1.3576313257217407,
2.0222315788269043,
-2.5617146492004395,
-1.7040989398956299,
3.341102361679077,
1
] | [
-0.18816199898719788,
0.5548872351646423,
0.11985955387353897,
0,
0,
0
] | [
0.18816199898719788,
-0.5548872351646423,
0.11985955387353897,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.18808214366436005,
-0.5548669695854187,
0.11973848938941956,
2.7939674854278564,
0.06104874983429909,
3.0702877044677734
] | 0 | 30.700001 | 307 | 6 | 2,860 | 0 |
[
-1.413889765739441,
-1.3574856519699097,
2.0224030017852783,
-2.561774969100952,
-1.7040632963180542,
3.3411078453063965,
1
] | [
-1.4137219190597534,
-1.3576313257217407,
2.0222315788269043,
-2.5617146492004395,
-1.7040989398956299,
3.341102361679077,
1
] | move_to_position | 0 | [
-1.8527907133102417,
-1.149172067642212,
1.8222870826721191,
-2.595456600189209,
-1.5559619665145874,
2.926806926727295,
1
] | [
0.052286528050899506,
0.6778157949447632,
0.09202320873737335,
0,
0,
0
] | [
-0.052286528050899506,
-0.6778157949447632,
0.09202320873737335,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
0.18809570372104645,
-0.5548494458198547,
0.11972245573997498,
2.794024705886841,
0.061069339513778687,
3.0702247619628906
] | 0 | 30.799999 | 308 | 6 | 2,861 | 0 |
[
-1.413889765739441,
-1.3574495315551758,
2.0223939418792725,
-2.5617239475250244,
-1.7040871381759644,
3.3411200046539307,
1
] | [
-1.414029836654663,
-1.357468605041504,
2.022362470626831,
-2.5617992877960205,
-1.7041035890579224,
3.3410191535949707,
1
] | move_to_position | 0 | [
-1.8527907133102417,
-1.149172067642212,
1.8222870826721191,
-2.595456600189209,
-1.5559619665145874,
2.926806926727295,
1
] | [
0.052286528050899506,
0.6778157949447632,
0.09202320873737335,
0,
0,
0
] | [
-0.052286528050899506,
-0.6778157949447632,
0.09202320873737335,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
0.18807876110076904,
-0.5548504590988159,
0.11971049755811691,
2.794053792953491,
0.061092860996723175,
3.070213556289673
] | 0 | 30.9 | 309 | 6 | 2,862 | 0 |
[
-1.414448618888855,
-1.3574459552764893,
2.022413492202759,
-2.5619237422943115,
-1.7040265798568726,
3.340632915496826,
1
] | [
-1.414970874786377,
-1.3573858737945557,
2.022315263748169,
-2.562110662460327,
-1.7038264274597168,
3.3401730060577393,
1
] | move_to_position | 0.000964 | [
-1.8527907133102417,
-1.149172067642212,
1.8222870826721191,
-2.595456600189209,
-1.5559619665145874,
2.926806926727295,
1
] | [
0.052286528050899506,
0.6778157949447632,
0.09202320873737335,
0,
0,
0
] | [
-0.052286528050899506,
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
0.1876666247844696,
-0.5550828576087952,
0.11976247280836105,
2.7938218116760254,
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] | 0 | 31 | 310 | 6 | 2,863 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.004241 | [
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] | [
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0
] | [
-0.052286528050899506,
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.1 | 311 | 6 | 2,864 | 0 |
[
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] | [
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1
] | move_to_position | 0.010307 | [
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] | [
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] | [
-0.052286528050899506,
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0,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.200001 | 312 | 6 | 2,865 | 0 |
[
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] | [
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1
] | move_to_position | 0.020201 | [
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] | [
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] | [
-0.052286528050899506,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.299999 | 313 | 6 | 2,866 | 0 |
[
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] | [
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] | move_to_position | 0.032039 | [
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] | [
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] | [
-0.052286528050899506,
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0,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.4 | 314 | 6 | 2,867 | 0 |
[
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] | [
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] | move_to_position | 0.049925 | [
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] | [
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] | [
-0.052286528050899506,
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0.09202320873737335,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.5 | 315 | 6 | 2,868 | 0 |
[
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] | [
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1
] | move_to_position | 0.071099 | [
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-1.149172067642212,
1.8222870826721191,
-2.595456600189209,
-1.5559619665145874,
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] | [
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] | [
-0.052286528050899506,
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0.09202320873737335,
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0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.6 | 316 | 6 | 2,869 | 0 |
[
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] | [
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1
] | move_to_position | 0.100818 | [
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-1.149172067642212,
1.8222870826721191,
-2.595456600189209,
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] | [
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] | [
-0.052286528050899506,
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0.09202320873737335,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.700001 | 317 | 6 | 2,870 | 0 |
[
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] | [
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1
] | move_to_position | 0.132632 | [
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-1.149172067642212,
1.8222870826721191,
-2.595456600189209,
-1.5559619665145874,
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] | [
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0
] | [
-0.052286528050899506,
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0.09202320873737335,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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-0.571557343006134,
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] | 0 | 31.799999 | 318 | 6 | 2,871 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.170736 | [
-1.8527907133102417,
-1.149172067642212,
1.8222870826721191,
-2.595456600189209,
-1.5559619665145874,
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1
] | [
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0.6778157949447632,
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0
] | [
-0.052286528050899506,
-0.6778157949447632,
0.09202320873737335,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.9 | 319 | 6 | 2,872 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.210997 | [
-1.8527907133102417,
-1.149172067642212,
1.8222870826721191,
-2.595456600189209,
-1.5559619665145874,
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1
] | [
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0.6778157949447632,
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0
] | [
-0.052286528050899506,
-0.6778157949447632,
0.09202320873737335,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 32 | 320 | 6 | 2,873 | 0 |
[
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3.218325138092041,
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] | [
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1
] | move_to_position | 0.260592 | [
-1.8527907133102417,
-1.149172067642212,
1.8222870826721191,
-2.595456600189209,
-1.5559619665145874,
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1
] | [
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0.6778157949447632,
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0
] | [
-0.052286528050899506,
-0.6778157949447632,
0.09202320873737335,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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-0.5873608589172363,
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] | 0 | 32.099998 | 321 | 6 | 2,874 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.308749 | [
-1.8527907133102417,
-1.149172067642212,
1.8222870826721191,
-2.595456600189209,
-1.5559619665145874,
2.926806926727295,
1
] | [
0.052286528050899506,
0.6778157949447632,
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0,
0,
0
] | [
-0.052286528050899506,
-0.6778157949447632,
0.09202320873737335,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
0.11280367523431778,
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] | 0 | 32.200001 | 322 | 6 | 2,875 | 0 |
[
-1.5922907590866089,
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3.171760320663452,
1
] | [
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-2.6032865047454834,
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1
] | move_to_position | 0.363351 | [
-1.8527907133102417,
-1.149172067642212,
1.8222870826721191,
-2.595456600189209,
-1.5559619665145874,
2.926806926727295,
1
] | [
0.052286528050899506,
0.6778157949447632,
0.09202320873737335,
0,
0,
0
] | [
-0.052286528050899506,
-0.6778157949447632,
0.09202320873737335,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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-0.6000211834907532,
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] | 0 | 32.299999 | 323 | 6 | 2,876 | 0 |
[
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-2.6051042079925537,
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3.1490890979766846,
1
] | [
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1.982961654663086,
-2.606266975402832,
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3.1388778686523438,
1
] | move_to_position | 0.414473 | [
-1.8527907133102417,
-1.149172067642212,
1.8222870826721191,
-2.595456600189209,
-1.5559619665145874,
2.926806926727295,
1
] | [
0.052286528050899506,
0.6778157949447632,
0.09202320873737335,
0,
0,
0
] | [
-0.052286528050899506,
-0.6778157949447632,
0.09202320873737335,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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-0.6067684292793274,
0.10809994488954544,
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] | 0 | 32.400002 | 324 | 6 | 2,877 | 0 |
[
-1.6417301893234253,
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-2.607409715652466,
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3.125180244445801,
1
] | [
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-2.6079747676849365,
-1.6250159740447998,
3.115630865097046,
1
] | move_to_position | 0.469913 | [
-1.8527907133102417,
-1.149172067642212,
1.8222870826721191,
-2.595456600189209,
-1.5559619665145874,
2.926806926727295,
1
] | [
0.052286528050899506,
0.6778157949447632,
0.09202320873737335,
0,
0,
0
] | [
-0.052286528050899506,
-0.6778157949447632,
0.09202320873737335,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
0.074330635368824,
-0.6130514144897461,
0.10660900920629501,
2.794111728668213,
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] | 0 | 32.5 | 325 | 6 | 2,878 | 0 |
[
-1.6646679639816284,
-1.2759805917739868,
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-2.608614683151245,
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3.103511333465576,
1
] | [
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-2.6089272499084473,
-1.6172504425048828,
3.094228744506836,
1
] | move_to_position | 0.521693 | [
-1.8527907133102417,
-1.149172067642212,
1.8222870826721191,
-2.595456600189209,
-1.5559619665145874,
2.926806926727295,
1
] | [
0.052286528050899506,
0.6778157949447632,
0.09202320873737335,
0,
0,
0
] | [
-0.052286528050899506,
-0.6778157949447632,
0.09202320873737335,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
0.06073566526174545,
-0.6201308369636536,
0.10500703752040863,
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0.06104205176234245,
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] | 0 | 32.599998 | 326 | 6 | 2,879 | 0 |
[
-1.689935564994812,
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3.079746961593628,
1
] | [
-1.6992355585098267,
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1.9472333192825317,
-2.6095423698425293,
-1.6087919473648071,
3.0710232257843018,
1
] | move_to_position | 0.580039 | [
-1.8527907133102417,
-1.149172067642212,
1.8222870826721191,
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1
] | [
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] | [
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0,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 32.700001 | 327 | 6 | 2,880 | 0 |
[
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] | [
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] | move_to_position | 0.633802 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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[
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] | move_to_position | 0.688515 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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[
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] | [
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] | move_to_position | 0.737543 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 33 | 330 | 6 | 2,883 | 0 |
[
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] | [
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] | move_to_position | 0.782218 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 33.099998 | 331 | 6 | 2,884 | 0 |
[
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] | [
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] | move_to_position | 0.827803 | [
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] | [
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] | [
-0.052286528050899506,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 33.200001 | 332 | 6 | 2,885 | 0 |
[
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] | [
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1
] | move_to_position | 0.867469 | [
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] | [
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] | [
-0.052286528050899506,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 33.299999 | 333 | 6 | 2,886 | 0 |
[
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] | [
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] | move_to_position | 0.901908 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 33.400002 | 334 | 6 | 2,887 | 0 |
[
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] | [
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1
] | move_to_position | 0.929502 | [
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] | [
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] | [
-0.052286528050899506,
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0.09202320873737335,
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0,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 33.5 | 335 | 6 | 2,888 | 0 |
[
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] | [
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1
] | move_to_position | 0.949679 | [
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] | [
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] | [
-0.052286528050899506,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 33.599998 | 336 | 6 | 2,889 | 0 |
[
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] | [
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1
] | move_to_position | 0.965877 | [
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-1.149172067642212,
1.8222870826721191,
-2.595456600189209,
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] | [
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] | [
-0.052286528050899506,
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0.09202320873737335,
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0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 33.700001 | 337 | 6 | 2,890 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.97891 | [
-1.8527907133102417,
-1.149172067642212,
1.8222870826721191,
-2.595456600189209,
-1.5559619665145874,
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] | [
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] | [
-0.052286528050899506,
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0.09202320873737335,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 33.799999 | 338 | 6 | 2,891 | 0 |
[
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] | [
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1
] | move_to_position | 0.987998 | [
-1.8527907133102417,
-1.149172067642212,
1.8222870826721191,
-2.595456600189209,
-1.5559619665145874,
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] | [
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0.6778157949447632,
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0
] | [
-0.052286528050899506,
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0.09202320873737335,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 33.900002 | 339 | 6 | 2,892 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.994599 | [
-1.8527907133102417,
-1.149172067642212,
1.8222870826721191,
-2.595456600189209,
-1.5559619665145874,
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1
] | [
0.052286528050899506,
0.6778157949447632,
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0
] | [
-0.052286528050899506,
-0.6778157949447632,
0.09202320873737335,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 34 | 340 | 6 | 2,893 | 0 |
[
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1
] | [
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-2.5955464839935303,
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1
] | move_to_position | 0.99841 | [
-1.8527907133102417,
-1.149172067642212,
1.8222870826721191,
-2.595456600189209,
-1.5559619665145874,
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1
] | [
0.052286528050899506,
0.6778157949447632,
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0,
0
] | [
-0.052286528050899506,
-0.6778157949447632,
0.09202320873737335,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.05199997499585152,
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] | 0 | 34.099998 | 341 | 6 | 2,894 | 0 |
[
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1
] | [
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-2.595456600189209,
-1.5559619665145874,
2.926806926727295,
1
] | move_to_position | 0 | [
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1
] | [
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0,
0
] | [
-0.09522124379873276,
-0.6803387999534607,
0.04500000178813934,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
-0.05212075263261795,
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] | 0 | 34.200001 | 342 | 6 | 2,895 | 0 |
[
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1
] | [
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1.8226065635681152,
-2.5958995819091797,
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2.9266858100891113,
1
] | move_to_position | 0 | [
-1.9221585988998413,
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1.8379802703857422,
-2.6967928409576416,
-1.5321775674819946,
2.861534833908081,
1
] | [
0.09522124379873276,
0.6803387999534607,
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0,
0,
0
] | [
-0.09522124379873276,
-0.6803387999534607,
0.04500000178813934,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
-0.05210830271244049,
-0.6777399778366089,
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] | 0 | 34.299999 | 343 | 6 | 2,896 | 0 |
[
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1
] | [
-1.8543366193771362,
-1.1474696397781372,
1.8232725858688354,
-2.59830641746521,
-1.555282473564148,
2.925227642059326,
1
] | move_to_position | 0.012959 | [
-1.9221585988998413,
-1.061931848526001,
1.8379802703857422,
-2.6967928409576416,
-1.5321775674819946,
2.861534833908081,
1
] | [
0.09522124379873276,
0.6803387999534607,
0.04500000178813934,
0,
0,
0
] | [
-0.09522124379873276,
-0.6803387999534607,
0.04500000178813934,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
-0.05293630063533783,
-0.6777935028076172,
0.09120586514472961,
2.793924570083618,
0.06092312932014465,
3.0702908039093018
] | 0 | 34.400002 | 344 | 6 | 2,897 | 0 |
[
-1.8560885190963745,
-1.1455355882644653,
1.823931097984314,
-2.6007754802703857,
-1.554686427116394,
2.923691749572754,
1
] | [
-1.8577723503112793,
-1.1435991525650024,
1.8246288299560547,
-2.603473424911499,
-1.554117202758789,
2.9220035076141357,
1
] | move_to_position | 0.049566 | [
-1.9221585988998413,
-1.061931848526001,
1.8379802703857422,
-2.6967928409576416,
-1.5321775674819946,
2.861534833908081,
1
] | [
0.09522124379873276,
0.6803387999534607,
0.04500000178813934,
0,
0,
0
] | [
-0.09522124379873276,
-0.6803387999534607,
0.04500000178813934,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
-0.05463774874806404,
-0.6778725981712341,
0.08938499540090561,
2.7938013076782227,
0.06094798818230629,
3.070316791534424
] | 0 | 34.5 | 345 | 6 | 2,898 | 0 |
[
-1.8601168394088745,
-1.1408997774124146,
1.8254274129867554,
-2.6069867610931396,
-1.5533212423324585,
2.9198217391967773,
1
] | [
-1.8616105318069458,
-1.13916015625,
1.8259927034378052,
-2.6091792583465576,
-1.552829384803772,
2.9184012413024902,
1
] | move_to_position | 0.107859 | [
-1.9221585988998413,
-1.061931848526001,
1.8379802703857422,
-2.6967928409576416,
-1.5321775674819946,
2.861534833908081,
1
] | [
0.09522124379873276,
0.6803387999534607,
0.04500000178813934,
0,
0,
0
] | [
-0.09522124379873276,
-0.6803387999534607,
0.04500000178813934,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
-0.05706580728292465,
-0.678014874458313,
0.08676904439926147,
2.793729782104492,
0.06103547662496567,
3.070324182510376
] | 0 | 34.599998 | 346 | 6 | 2,899 | 0 |
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