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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[
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] | move_to_position | 0.000598 | [
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[
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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: approach above chocolate pie_1 | [
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] | 1 | 2.2 | 22 | 7 | 3,005 | 0 |
[
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] | move_to_position | 0.009919 | [
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] | 1 | 2.3 | 23 | 7 | 3,006 | 0 |
[
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] | move_to_position | 0.014566 | [
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] | 1 | 2.4 | 24 | 7 | 3,007 | 0 |
[
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] | 1 | 2.5 | 25 | 7 | 3,008 | 0 |
[
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] | move_to_position | 0.026561 | [
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[
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] | move_to_position | 0.035126 | [
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] | 1 | 2.7 | 27 | 7 | 3,010 | 0 |
[
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] | 1 | 2.8 | 28 | 7 | 3,011 | 0 |
[
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] | move_to_position | 0.056218 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 2.9 | 29 | 7 | 3,012 | 0 |
[
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] | [
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] | move_to_position | 0.06922 | [
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] | [
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] | 1 | 3 | 30 | 7 | 3,013 | 0 |
[
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] | [
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] | move_to_position | 0.08301 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.1 | 31 | 7 | 3,014 | 0 |
[
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] | [
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] | move_to_position | 0.099001 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.2 | 32 | 7 | 3,015 | 0 |
[
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] | [
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] | move_to_position | 0.115651 | [
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] | [
0.22626562416553497,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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2.7925760746002197,
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] | 1 | 3.3 | 33 | 7 | 3,016 | 0 |
[
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] | [
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] | move_to_position | 0.135081 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.4 | 34 | 7 | 3,017 | 0 |
[
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] | [
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] | move_to_position | 0.154396 | [
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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: approach above chocolate pie_1 | [
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] | 1 | 3.5 | 35 | 7 | 3,018 | 0 |
[
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] | [
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] | move_to_position | 0.176521 | [
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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: approach above chocolate pie_1 | [
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] | 1 | 3.6 | 36 | 7 | 3,019 | 0 |
[
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] | [
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] | move_to_position | 0.19926 | [
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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: approach above chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.221902 | [
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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: approach above chocolate pie_1 | [
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] | 1 | 3.8 | 38 | 7 | 3,021 | 0 |
[
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] | [
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] | move_to_position | 0.246176 | [
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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: approach above chocolate pie_1 | [
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] | 1 | 3.9 | 39 | 7 | 3,022 | 0 |
[
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] | [
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] | move_to_position | 0.2741 | [
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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: approach above chocolate pie_1 | [
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] | 1 | 4 | 40 | 7 | 3,023 | 0 |
[
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] | [
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] | move_to_position | 0.301007 | [
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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: approach above chocolate pie_1 | [
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] | 1 | 4.1 | 41 | 7 | 3,024 | 0 |
[
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] | [
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] | move_to_position | 0.33024 | [
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] | [
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] | [
0.22626562416553497,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.2 | 42 | 7 | 3,025 | 0 |
[
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] | [
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] | move_to_position | 0.358831 | [
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1.476078987121582,
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] | [
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] | [
0.22626562416553497,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.3 | 43 | 7 | 3,026 | 0 |
[
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] | [
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] | move_to_position | 0.388765 | [
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1.476078987121582,
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] | [
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] | [
0.22626562416553497,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.4 | 44 | 7 | 3,027 | 0 |
[
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] | [
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] | move_to_position | 0.418677 | [
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1.476078987121582,
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] | [
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] | [
0.22626562416553497,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.5 | 45 | 7 | 3,028 | 0 |
[
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] | [
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] | move_to_position | 0.449187 | [
-1.4033135175704956,
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1.476078987121582,
-2.4975411891937256,
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] | [
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] | [
0.22626562416553497,
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0.05080759525299072,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.6 | 46 | 7 | 3,029 | 0 |
[
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] | [
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0
] | move_to_position | 0.481705 | [
-1.4033135175704956,
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1.476078987121582,
-2.4975411891937256,
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] | [
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] | [
0.22626562416553497,
-0.7475001215934753,
0.05080759525299072,
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0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.7 | 47 | 7 | 3,030 | 0 |
[
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] | [
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0
] | move_to_position | 0.51208 | [
-1.4033135175704956,
-0.8749748468399048,
1.476078987121582,
-2.4975411891937256,
-1.7083250284194946,
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] | [
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] | [
0.22626562416553497,
-0.7475001215934753,
0.05080759525299072,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.8 | 48 | 7 | 3,031 | 0 |
[
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] | [
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0
] | move_to_position | 0.543855 | [
-1.4033135175704956,
-0.8749748468399048,
1.476078987121582,
-2.4975411891937256,
-1.7083250284194946,
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0
] | [
-0.22626562416553497,
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] | [
0.22626562416553497,
-0.7475001215934753,
0.05080759525299072,
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0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.9 | 49 | 7 | 3,032 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.574376 | [
-1.4033135175704956,
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1.476078987121582,
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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: approach above chocolate pie_1 | [
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] | 1 | 5 | 50 | 7 | 3,033 | 0 |
[
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] | [
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] | move_to_position | 0.606934 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.1 | 51 | 7 | 3,034 | 0 |
[
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] | move_to_position | 0.638668 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.2 | 52 | 7 | 3,035 | 0 |
[
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] | [
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] | move_to_position | 0.667656 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.3 | 53 | 7 | 3,036 | 0 |
[
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] | [
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] | move_to_position | 0.697682 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.724594 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.753799 | [
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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: approach above chocolate pie_1 | [
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] | 1 | 5.6 | 56 | 7 | 3,039 | 0 |
[
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] | [
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] | move_to_position | 0.780441 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.806263 | [
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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: approach above chocolate pie_1 | [
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] | 1 | 5.8 | 58 | 7 | 3,041 | 0 |
[
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] | [
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] | move_to_position | 0.829434 | [
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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: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.851388 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6 | 60 | 7 | 3,043 | 0 |
[
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] | [
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] | move_to_position | 0.872121 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.892249 | [
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] | [
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] | [
0.22626562416553497,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.2 | 62 | 7 | 3,045 | 0 |
[
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] | [
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] | move_to_position | 0.909648 | [
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1.476078987121582,
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] | [
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] | [
0.22626562416553497,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.3 | 63 | 7 | 3,046 | 0 |
[
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] | [
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] | move_to_position | 0.925524 | [
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1.476078987121582,
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] | [
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] | [
0.22626562416553497,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.4 | 64 | 7 | 3,047 | 0 |
[
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] | [
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] | move_to_position | 0.939813 | [
-1.4033135175704956,
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1.476078987121582,
-2.4975411891937256,
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] | [
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] | [
0.22626562416553497,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.5 | 65 | 7 | 3,048 | 0 |
[
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] | [
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0
] | move_to_position | 0.952448 | [
-1.4033135175704956,
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1.476078987121582,
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] | [
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] | [
0.22626562416553497,
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0.05080759525299072,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.6 | 66 | 7 | 3,049 | 0 |
[
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] | [
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0
] | move_to_position | 0.962654 | [
-1.4033135175704956,
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1.476078987121582,
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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: approach above chocolate pie_1 | [
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] | 1 | 6.7 | 67 | 7 | 3,050 | 0 |
[
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] | [
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] | move_to_position | 0.972361 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.8 | 68 | 7 | 3,051 | 0 |
[
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] | move_to_position | 0.979834 | [
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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: approach above chocolate pie_1 | [
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] | 1 | 6.9 | 69 | 7 | 3,052 | 0 |
[
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] | [
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] | move_to_position | 0.986567 | [
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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: approach above chocolate pie_1 | [
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] | 1 | 7 | 70 | 7 | 3,053 | 0 |
[
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] | [
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] | move_to_position | 0.99147 | [
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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: approach above chocolate pie_1 | [
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] | 1 | 7.1 | 71 | 7 | 3,054 | 0 |
[
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] | [
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] | move_to_position | 0.995038 | [
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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: approach above chocolate pie_1 | [
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] | 1 | 7.2 | 72 | 7 | 3,055 | 0 |
[
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] | move_to_position | 0.997567 | [
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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: approach above chocolate pie_1 | [
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] | 1 | 7.3 | 73 | 7 | 3,056 | 0 |
[
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] | [
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] | move_to_position | 0.999004 | [
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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: approach above chocolate pie_1 | [
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] | 1 | 7.4 | 74 | 7 | 3,057 | 0 |
[
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] | [
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] | move_to_position | 0.999548 | [
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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: approach above chocolate pie_1 | [
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] | 1 | 7.5 | 75 | 7 | 3,058 | 0 |
[
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] | [
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] | move_to_position | 0.999783 | [
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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: approach above chocolate pie_1 | [
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] | 1 | 7.6 | 76 | 7 | 3,059 | 0 |
[
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] | [
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] | gripper_open | 1 | [
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] | [
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[
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] | gripper_open | 1 | [
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] | [
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] | 1 | 7.8 | 78 | 7 | 3,061 | 0 |
[
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] | gripper_open | 1 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: open gripper | [
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] | 1 | 7.9 | 79 | 7 | 3,062 | 0 |
[
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] | gripper_open | 1 | [
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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: open gripper | [
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] | 1 | 8 | 80 | 7 | 3,063 | 0 |
[
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] | [
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] | move_to_position | 0.000196 | [
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] | [
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] | [
0.25494182109832764,
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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 | [
0.22627507150173187,
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] | 1 | 8.1 | 81 | 7 | 3,064 | 0 |
[
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] | [
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0
] | move_to_position | 0.003359 | [
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] | [
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] | [
0.25494182109832764,
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0.028999999165534973,
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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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] | 1 | 8.2 | 82 | 7 | 3,065 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.036054 | [
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] | [
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] | [
0.25494182109832764,
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0.028999999165534973,
0,
0,
0
] | 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 | 8.3 | 83 | 7 | 3,066 | 0 |
[
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] | move_to_position | 0.09412 | [
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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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[
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] | move_to_position | 0.172786 | [
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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 | 0.260227 | [
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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 | 0.356006 | [
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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 | 0.447284 | [
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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 | 0.531044 | [
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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 | 0.601646 | [
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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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] | [
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] | move_to_position | 0.677847 | [
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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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[
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] | move_to_position | 0.761002 | [
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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 | 0.845067 | [
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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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[
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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 | 0.968593 | [
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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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] | gripper_close | 0 | [
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] | [
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[
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] | gripper_close | 0.011765 | [
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] | [
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[
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] | gripper_close | 0.05098 | [
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] | [
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[
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] | gripper_close | 0.184314 | [
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] | [
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[
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] | gripper_close | 0.321568 | [
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] | gripper_close | 0.858823 | [
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] | gripper_close | 0.858823 | [
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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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] | gripper_close | 0.858823 | [
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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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] | gripper_close | 0.858823 | [
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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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] | gripper_close | 0.858823 | [
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] | [
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0.029214700683951378,
2.79276180267334,
0.060698945075273514,
3.0699195861816406
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
0.2549455165863037,
-0.7332798838615417,
0.02899356186389923,
2.793022632598877,
0.06080061197280884,
3.069887638092041
] | 0 | 11.5 | 115 | 7 | 3,098 | 0 |
[
-1.3585675954818726,
-0.8509637117385864,
1.4977716207504272,
-2.5370752811431885,
-1.722582221031189,
3.3943963050842285,
0.8588235378265381
] | [
-1.358566403388977,
-0.8508983254432678,
1.4977781772613525,
-2.5370824337005615,
-1.7225878238677979,
3.394357442855835,
1
] | gripper_close | 0.858823 | [
-1.3587507009506226,
-0.8510729074478149,
1.4975160360336304,
-2.5369040966033936,
-1.722533106803894,
3.394176959991455,
1
] | [
-0.25490278005599976,
0.733417272567749,
0.029214700683951378,
2.79276180267334,
0.060698945075273514,
3.0699195861816406
] | [
0.25490278005599976,
-0.733417272567749,
0.029214700683951378,
2.79276180267334,
0.060698945075273514,
3.0699195861816406
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
0.25496238470077515,
-0.7332766652107239,
0.0290177371352911,
2.7929940223693848,
0.06079261377453804,
3.069932222366333
] | 0 | 11.6 | 116 | 7 | 3,099 | 0 |
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