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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1
] | 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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2.7929937839508057,
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] | 0 | 11.7 | 117 | 7 | 3,100 | 0 |
[
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] | [
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1
] | gripper_close | 0.858823 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.0290044117718935,
2.7930102348327637,
0.06078473478555679,
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] | 0 | 11.8 | 118 | 7 | 3,101 | 0 |
[
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3.3943653106689453,
0.8588235378265381
] | [
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1
] | gripper_close | 0.858823 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.029018720611929893,
2.7929747104644775,
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] | 0 | 11.9 | 119 | 7 | 3,102 | 0 |
[
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] | [
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1
] | gripper_close | 0.858823 | [
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1
] | [
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] | [
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0.029214700683951378,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.02903079427778721,
2.7929465770721436,
0.06079842522740364,
3.069871425628662
] | 0 | 12 | 120 | 7 | 3,103 | 0 |
[
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] | [
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1.4977781772613525,
-2.5370824337005615,
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1
] | gripper_close | 0.858823 | [
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1
] | [
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] | [
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-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 | [
0.2549650967121124,
-0.7332885265350342,
0.029003722593188286,
2.7930068969726562,
0.06076745316386223,
3.0699145793914795
] | 0 | 12.1 | 121 | 7 | 3,104 | 0 |
[
-1.3585785627365112,
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1.4977906942367554,
-2.537090539932251,
-1.7225979566574097,
3.3943772315979004,
0.8588235378265381
] | [
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1.4977781772613525,
-2.5370824337005615,
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3.394357442855835,
1
] | gripper_close | 0.858823 | [
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-2.5369040966033936,
-1.722533106803894,
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1
] | [
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0.029214700683951378,
2.79276180267334,
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] | [
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 | [
0.2549736797809601,
-0.7332805395126343,
0.028985848650336266,
2.7930240631103516,
0.06079529598355293,
3.0699405670166016
] | 0 | 12.2 | 122 | 7 | 3,105 | 0 |
[
-1.3585628271102905,
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1.4977749586105347,
-2.537078619003296,
-1.7225979566574097,
3.3943190574645996,
0.8588235378265381
] | [
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1.4977781772613525,
-2.5370824337005615,
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3.394357442855835,
1
] | gripper_close | 0.858823 | [
-1.3587507009506226,
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1.4975160360336304,
-2.5369040966033936,
-1.722533106803894,
3.394176959991455,
1
] | [
-0.25490278005599976,
0.733417272567749,
0.029214700683951378,
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] | [
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 | [
0.25496605038642883,
-0.733273983001709,
0.02899543195962906,
2.7930309772491455,
0.06077941879630089,
3.069915294647217
] | 0 | 12.3 | 123 | 7 | 3,106 | 0 |
[
-1.3585318326950073,
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1.4977716207504272,
-2.5370819568634033,
-1.7225664854049683,
3.3943653106689453,
0.8588235378265381
] | [
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1.4977781772613525,
-2.5370824337005615,
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3.394357442855835,
1
] | gripper_close | 0.858823 | [
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1.4975160360336304,
-2.5369040966033936,
-1.722533106803894,
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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 | [
0.2549625635147095,
-0.7332766652107239,
0.028971511870622635,
2.7930564880371094,
0.06078479066491127,
3.0699260234832764
] | 0 | 12.4 | 124 | 7 | 3,107 | 0 |
[
-1.3585747480392456,
-0.8509122729301453,
1.4977749586105347,
-2.537109613418579,
-1.722575068473816,
3.3943533897399902,
0.8588235378265381
] | [
-1.358566403388977,
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1.4977781772613525,
-2.5370824337005615,
-1.7225878238677979,
3.394357442855835,
1
] | gripper_close | 0.858823 | [
-1.3587507009506226,
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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 | [
0.2549446225166321,
-0.7332966327667236,
0.028998030349612236,
2.792999505996704,
0.0608019195497036,
3.0698838233947754
] | 0 | 12.5 | 125 | 7 | 3,108 | 0 |
[
-1.3585437536239624,
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1.4977596998214722,
-2.537078619003296,
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3.394350051879883,
1
] | [
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1.4977781772613525,
-2.5370824337005615,
-1.7225878238677979,
3.394357442855835,
1
] | move_to_position | 0.000061 | [
-1.3985095024108887,
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1.4679551124572754,
-2.373739004135132,
-1.7096400260925293,
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1
] | [
-0.22690734267234802,
0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | [
0.22690734267234802,
-0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.25495585799217224,
-0.7332816123962402,
0.02899906411767006,
2.7930030822753906,
0.06077418848872185,
3.069873094558716
] | 0 | 12.6 | 126 | 7 | 3,109 | 0 |
[
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1.4977635145187378,
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3.3943569660186768,
1
] | [
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1.4977738857269287,
-2.536839485168457,
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3.3941574096679688,
1
] | move_to_position | 0.000123 | [
-1.3985095024108887,
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1.4679551124572754,
-2.373739004135132,
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1
] | [
-0.22690734267234802,
0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | [
0.22690734267234802,
-0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.25494080781936646,
-0.7332819104194641,
0.029027052223682404,
2.793003559112549,
0.060808707028627396,
3.0699329376220703
] | 0 | 12.7 | 127 | 7 | 3,110 | 0 |
[
-1.3590062856674194,
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1.497787356376648,
-2.535637140274048,
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3.393770933151245,
1
] | [
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1.4977190494537354,
-2.5337038040161133,
-1.7222884893417358,
3.393258571624756,
1
] | move_to_position | 0.009486 | [
-1.3985095024108887,
-0.9899991154670715,
1.4679551124572754,
-2.373739004135132,
-1.7096400260925293,
3.3560664653778076,
1
] | [
-0.22690734267234802,
0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | [
0.22690734267234802,
-0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2545020580291748,
-0.7332612872123718,
0.030222347006201744,
2.7931246757507324,
0.060874197632074356,
3.070053815841675
] | 0 | 12.8 | 128 | 7 | 3,111 | 0 |
[
-1.3601640462875366,
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1.4977353811264038,
-2.5309088230133057,
-1.7219113111495972,
3.3926470279693604,
1
] | [
-1.3610745668411255,
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1.4975098371505737,
-2.5276107788085938,
-1.7217767238616943,
3.3917953968048096,
1
] | move_to_position | 0.040226 | [
-1.3985095024108887,
-0.9899991154670715,
1.4679551124572754,
-2.373739004135132,
-1.7096400260925293,
3.3560664653778076,
1
] | [
-0.22690734267234802,
0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | [
0.22690734267234802,
-0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2536827027797699,
-0.733145534992218,
0.03355076164007187,
2.7930753231048584,
0.06079883128404617,
3.0702223777770996
] | 0 | 12.9 | 129 | 7 | 3,112 | 0 |
[
-1.3621829748153687,
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1.49730384349823,
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3.390638589859009,
1
] | [
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1.4971017837524414,
-2.5195131301879883,
-1.7211099863052368,
3.389889717102051,
1
] | move_to_position | 0.093616 | [
-1.3985095024108887,
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1.4679551124572754,
-2.373739004135132,
-1.7096400260925293,
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1
] | [
-0.22690734267234802,
0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | [
0.22690734267234802,
-0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.25201424956321716,
-0.7331592440605164,
0.03910386934876442,
2.7927658557891846,
0.060767002403736115,
3.0700337886810303
] | 0 | 13 | 130 | 7 | 3,113 | 0 |
[
-1.365012526512146,
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1.496620535850525,
-2.5122668743133545,
-1.7204879522323608,
3.388162136077881,
1
] | [
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1.4961775541305542,
-2.5067801475524902,
-1.7200756072998047,
3.3868472576141357,
1
] | move_to_position | 0.15977 | [
-1.3985095024108887,
-0.9899991154670715,
1.4679551124572754,
-2.373739004135132,
-1.7096400260925293,
3.3560664653778076,
1
] | [
-0.22690734267234802,
0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | [
0.22690734267234802,
-0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.24992449581623077,
-0.7330673933029175,
0.045443445444107056,
2.7931764125823975,
0.06084075942635536,
3.0698959827423096
] | 0 | 13.1 | 131 | 7 | 3,114 | 0 |
[
-1.369043231010437,
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1.494857668876648,
-2.495880365371704,
-1.7191885709762573,
3.3842086791992188,
1
] | [
-1.3708044290542603,
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1.494053840637207,
-2.4890024662017822,
-1.7186391353607178,
3.382594585418701,
1
] | move_to_position | 0.262045 | [
-1.3985095024108887,
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1.4679551124572754,
-2.373739004135132,
-1.7096400260925293,
3.3560664653778076,
1
] | [
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0,
0,
0
] | [
0.22690734267234802,
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0.12133937329053879,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2470739185810089,
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0.054867278784513474,
2.7933175563812256,
0.060848161578178406,
3.0699374675750732
] | 0 | 13.2 | 132 | 7 | 3,115 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.381791 | [
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1
] | [
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0,
0,
0
] | [
0.22690734267234802,
-0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2434513419866562,
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0.0668865218758583,
2.7933316230773926,
0.06085991859436035,
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] | 0 | 13.3 | 133 | 7 | 3,116 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.510823 | [
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1.4679551124572754,
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1
] | [
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0,
0,
0
] | [
0.22690734267234802,
-0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2397996485233307,
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0.07889840751886368,
2.793031930923462,
0.06080308556556702,
3.0699028968811035
] | 0 | 13.4 | 134 | 7 | 3,117 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.62463 | [
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] | [
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0,
0
] | [
0.22690734267234802,
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0.12133937329053879,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.23664475977420807,
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0.0890173465013504,
2.7930803298950195,
0.06083196774125099,
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] | 0 | 13.5 | 135 | 7 | 3,118 | 0 |
[
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] | [
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1
] | move_to_position | 0.724748 | [
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] | [
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0,
0
] | [
0.22690734267234802,
-0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.23389960825443268,
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0.098252072930336,
2.7930104732513428,
0.060783401131629944,
3.06990122795105
] | 0 | 13.6 | 136 | 7 | 3,119 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.826715 | [
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1
] | [
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0,
0
] | [
0.22690734267234802,
-0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2312108725309372,
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0.10718408226966858,
2.7928390502929688,
0.06075148656964302,
3.069814443588257
] | 0 | 13.7 | 137 | 7 | 3,120 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.911531 | [
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1.4679551124572754,
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1
] | [
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0,
0,
0
] | [
0.22690734267234802,
-0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.22895362973213196,
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0.11460361629724503,
2.7929606437683105,
0.06079942733049393,
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] | 0 | 13.8 | 138 | 7 | 3,121 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.96826 | [
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1.4679551124572754,
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1
] | [
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0,
0,
0
] | [
0.22690734267234802,
-0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.22756655514240265,
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0.11904896050691605,
2.7931294441223145,
0.060898520052433014,
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] | 0 | 13.9 | 139 | 7 | 3,122 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.993461 | [
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1.4679551124572754,
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1
] | [
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0,
0,
0
] | [
0.22690734267234802,
-0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2270810902118683,
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0.12088528275489807,
2.793123722076416,
0.060824379324913025,
3.069894790649414
] | 0 | 14 | 140 | 7 | 3,123 | 0 |
[
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1.468197226524353,
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1
] | [
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1.4679551124572754,
-2.373739004135132,
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3.3560664653778076,
1
] | move_to_position | 0.99821 | [
-1.3985095024108887,
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1.4679551124572754,
-2.373739004135132,
-1.7096400260925293,
3.3560664653778076,
1
] | [
-0.22690734267234802,
0.7320975661277771,
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0,
0,
0
] | [
0.22690734267234802,
-0.7320975661277771,
0.12133937329053879,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2270294427871704,
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0.12104174494743347,
2.793391466140747,
0.06091126427054405,
3.070084810256958
] | 0 | 14.1 | 141 | 7 | 3,124 | 0 |
[
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1.4681485891342163,
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3.3560683727264404,
1
] | [
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1.4679551124572754,
-2.373739004135132,
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3.3560664653778076,
1
] | move_to_position | 0 | [
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1.805266261100769,
-2.4931929111480713,
-1.5910154581069946,
3.0231518745422363,
1
] | [
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0,
0,
0
] | [
0.00990368239581585,
-0.667839765548706,
0.13818198442459106,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.22694101929664612,
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0.12106922268867493,
2.7933809757232666,
0.060874998569488525,
3.06994891166687
] | 0 | 14.2 | 142 | 7 | 3,125 | 0 |
[
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3.356044292449951,
1
] | [
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1.4683027267456055,
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3.356024742126465,
1
] | move_to_position | 0.000032 | [
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1.805266261100769,
-2.4931929111480713,
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3.0231518745422363,
1
] | [
-0.00990368239581585,
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0,
0,
0
] | [
0.00990368239581585,
-0.667839765548706,
0.13818198442459106,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.22691889107227325,
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0.12106729298830032,
2.7933764457702637,
0.060874100774526596,
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] | 0 | 14.3 | 143 | 7 | 3,126 | 0 |
[
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1
] | [
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1.46975839138031,
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3.355300188064575,
1
] | move_to_position | 0.00112 | [
-1.7503983974456787,
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1.805266261100769,
-2.4931929111480713,
-1.5910154581069946,
3.0231518745422363,
1
] | [
-0.00990368239581585,
0.667839765548706,
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0,
0,
0
] | [
0.00990368239581585,
-0.667839765548706,
0.13818198442459106,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.22658196091651917,
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0.12116630375385284,
2.7932229042053223,
0.060883138328790665,
3.0699846744537354
] | 0 | 14.4 | 144 | 7 | 3,127 | 0 |
[
-1.4002031087875366,
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3.3544762134552,
1
] | [
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1.4731848239898682,
-2.37599515914917,
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3.353358268737793,
1
] | move_to_position | 0.006641 | [
-1.7503983974456787,
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1.805266261100769,
-2.4931929111480713,
-1.5910154581069946,
3.0231518745422363,
1
] | [
-0.00990368239581585,
0.667839765548706,
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0,
0,
0
] | [
0.00990368239581585,
-0.667839765548706,
0.13818198442459106,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2253681868314743,
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0.12121488898992538,
2.7932825088500977,
0.06082721799612045,
3.069892406463623
] | 0 | 14.5 | 145 | 7 | 3,128 | 0 |
[
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-2.3771936893463135,
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3.351780414581299,
1
] | [
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1.4780253171920776,
-2.3781216144561768,
-1.7077524662017822,
3.35041880607605,
1
] | move_to_position | 0.016881 | [
-1.7503983974456787,
-1.2345880270004272,
1.805266261100769,
-2.4931929111480713,
-1.5910154581069946,
3.0231518745422363,
1
] | [
-0.00990368239581585,
0.667839765548706,
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0,
0,
0
] | [
0.00990368239581585,
-0.667839765548706,
0.13818198442459106,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.22342264652252197,
-0.7308032512664795,
0.1213410273194313,
2.7932958602905273,
0.06086311116814613,
3.069953680038452
] | 0 | 14.6 | 146 | 7 | 3,129 | 0 |
[
-1.4068135023117065,
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1.4817317724227905,
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3.3480052947998047,
1
] | [
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1.4859354496002197,
-2.3815383911132812,
-1.7060363292694092,
3.3453567028045654,
1
] | move_to_position | 0.030664 | [
-1.7503983974456787,
-1.2345880270004272,
1.805266261100769,
-2.4931929111480713,
-1.5910154581069946,
3.0231518745422363,
1
] | [
-0.00990368239581585,
0.667839765548706,
0.13818198442459106,
0,
0,
0
] | [
0.00990368239581585,
-0.667839765548706,
0.13818198442459106,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.22012202441692352,
-0.7298747301101685,
0.1216103658080101,
2.793294906616211,
0.06088942289352417,
3.0699751377105713
] | 0 | 14.7 | 147 | 7 | 3,130 | 0 |
[
-1.4133390188217163,
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1.4913629293441772,
-2.3837854862213135,
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3.3417398929595947,
1
] | [
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1.4957419633865356,
-2.385706663131714,
-1.7038118839263916,
3.3388307094573975,
1
] | move_to_position | 0.053314 | [
-1.7503983974456787,
-1.2345880270004272,
1.805266261100769,
-2.4931929111480713,
-1.5910154581069946,
3.0231518745422363,
1
] | [
-0.00990368239581585,
0.667839765548706,
0.13818198442459106,
0,
0,
0
] | [
0.00990368239581585,
-0.667839765548706,
0.13818198442459106,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.21530994772911072,
-0.7285242080688477,
0.12196173518896103,
2.7933990955352783,
0.060862231999635696,
3.0700457096099854
] | 0 | 14.8 | 148 | 7 | 3,131 | 0 |
[
-1.421857237815857,
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1.5037916898727417,
-2.3890955448150635,
-1.7020186185836792,
3.3336236476898193,
1
] | [
-1.4252794981002808,
-1.0163955688476562,
1.5088069438934326,
-2.391303300857544,
-1.7009375095367432,
3.3303635120391846,
1
] | move_to_position | 0.082613 | [
-1.7503983974456787,
-1.2345880270004272,
1.805266261100769,
-2.4931929111480713,
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1
] | [
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0,
0
] | [
0.00990368239581585,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.9 | 149 | 7 | 3,132 | 0 |
[
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] | [
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1
] | move_to_position | 0.118631 | [
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] | [
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] | [
0.00990368239581585,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15 | 150 | 7 | 3,133 | 0 |
[
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] | [
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1
] | move_to_position | 0.162395 | [
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1.805266261100769,
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] | [
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] | [
0.00990368239581585,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.1 | 151 | 7 | 3,134 | 0 |
[
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] | [
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1
] | move_to_position | 0.212333 | [
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1.805266261100769,
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] | [
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] | [
0.00990368239581585,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.2 | 152 | 7 | 3,135 | 0 |
[
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] | [
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1
] | move_to_position | 0.268026 | [
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1.805266261100769,
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] | [
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] | [
0.00990368239581585,
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0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.3 | 153 | 7 | 3,136 | 0 |
[
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] | [
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1
] | move_to_position | 0.327305 | [
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1.805266261100769,
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] | [
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] | [
0.00990368239581585,
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0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.4 | 154 | 7 | 3,137 | 0 |
[
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] | [
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1
] | move_to_position | 0.393488 | [
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1.805266261100769,
-2.4931929111480713,
-1.5910154581069946,
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] | [
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] | [
0.00990368239581585,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.5 | 155 | 7 | 3,138 | 0 |
[
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] | [
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1
] | move_to_position | 0.458151 | [
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-1.2345880270004272,
1.805266261100769,
-2.4931929111480713,
-1.5910154581069946,
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] | [
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] | [
0.00990368239581585,
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0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.6 | 156 | 7 | 3,139 | 0 |
[
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] | [
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1
] | move_to_position | 0.523796 | [
-1.7503983974456787,
-1.2345880270004272,
1.805266261100769,
-2.4931929111480713,
-1.5910154581069946,
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] | [
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0
] | [
0.00990368239581585,
-0.667839765548706,
0.13818198442459106,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.7 | 157 | 7 | 3,140 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.586167 | [
-1.7503983974456787,
-1.2345880270004272,
1.805266261100769,
-2.4931929111480713,
-1.5910154581069946,
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] | [
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0,
0
] | [
0.00990368239581585,
-0.667839765548706,
0.13818198442459106,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.8 | 158 | 7 | 3,141 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.648586 | [
-1.7503983974456787,
-1.2345880270004272,
1.805266261100769,
-2.4931929111480713,
-1.5910154581069946,
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1
] | [
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0,
0
] | [
0.00990368239581585,
-0.667839765548706,
0.13818198442459106,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.9 | 159 | 7 | 3,142 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.712422 | [
-1.7503983974456787,
-1.2345880270004272,
1.805266261100769,
-2.4931929111480713,
-1.5910154581069946,
3.0231518745422363,
1
] | [
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0.667839765548706,
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0,
0
] | [
0.00990368239581585,
-0.667839765548706,
0.13818198442459106,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16 | 160 | 7 | 3,143 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.771078 | [
-1.7503983974456787,
-1.2345880270004272,
1.805266261100769,
-2.4931929111480713,
-1.5910154581069946,
3.0231518745422363,
1
] | [
-0.00990368239581585,
0.667839765548706,
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0,
0
] | [
0.00990368239581585,
-0.667839765548706,
0.13818198442459106,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16.1 | 161 | 7 | 3,144 | 0 |
[
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1
] | [
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3.084077835083008,
1
] | move_to_position | 0.823024 | [
-1.7503983974456787,
-1.2345880270004272,
1.805266261100769,
-2.4931929111480713,
-1.5910154581069946,
3.0231518745422363,
1
] | [
-0.00990368239581585,
0.667839765548706,
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0,
0,
0
] | [
0.00990368239581585,
-0.667839765548706,
0.13818198442459106,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16.200001 | 162 | 7 | 3,145 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.865435 | [
-1.7503983974456787,
-1.2345880270004272,
1.805266261100769,
-2.4931929111480713,
-1.5910154581069946,
3.0231518745422363,
1
] | [
-0.00990368239581585,
0.667839765548706,
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0,
0,
0
] | [
0.00990368239581585,
-0.667839765548706,
0.13818198442459106,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16.299999 | 163 | 7 | 3,146 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.905517 | [
-1.7503983974456787,
-1.2345880270004272,
1.805266261100769,
-2.4931929111480713,
-1.5910154581069946,
3.0231518745422363,
1
] | [
-0.00990368239581585,
0.667839765548706,
0.13818198442459106,
0,
0,
0
] | [
0.00990368239581585,
-0.667839765548706,
0.13818198442459106,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.029904253780841827,
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0.13655591011047363,
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0.06089822202920914,
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] | 0 | 16.4 | 164 | 7 | 3,147 | 0 |
[
-1.7248324155807495,
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-2.4907310009002686,
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3.0471155643463135,
1
] | [
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1.7938605546951294,
-2.491166591644287,
-1.5983983278274536,
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1
] | move_to_position | 0.938731 | [
-1.7503983974456787,
-1.2345880270004272,
1.805266261100769,
-2.4931929111480713,
-1.5910154581069946,
3.0231518745422363,
1
] | [
-0.00990368239581585,
0.667839765548706,
0.13818198442459106,
0,
0,
0
] | [
0.00990368239581585,
-0.667839765548706,
0.13818198442459106,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.02299339696764946,
-0.6717153787612915,
0.13718187808990479,
2.793252944946289,
0.06093078479170799,
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] | 0 | 16.5 | 165 | 7 | 3,148 | 0 |
[
-1.7352641820907593,
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3.037444829940796,
1
] | [
-1.738633155822754,
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-2.4920859336853027,
-1.5950872898101807,
3.0342001914978027,
1
] | move_to_position | 0.963663 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16.6 | 166 | 7 | 3,149 | 0 |
[
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] | [
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] | move_to_position | 0.982199 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16.700001 | 167 | 7 | 3,150 | 0 |
[
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] | [
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] | move_to_position | 0.992599 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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[
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] | [
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] | move_to_position | 0.998004 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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[
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] | [
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] | move_to_position | 0.999361 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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[
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] | [
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] | move_to_position | 0.000103 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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] | [
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] | move_to_position | 0.000006 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 17.200001 | 172 | 7 | 3,155 | 0 |
[
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] | [
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] | move_to_position | 0.01033 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 17.299999 | 173 | 7 | 3,156 | 0 |
[
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] | [
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] | move_to_position | 0.03757 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 17.4 | 174 | 7 | 3,157 | 0 |
[
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] | [
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1
] | move_to_position | 0.086625 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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] | [
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1
] | move_to_position | 0.164157 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 17.6 | 176 | 7 | 3,159 | 0 |
[
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] | [
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1
] | move_to_position | 0.270964 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 17.700001 | 177 | 7 | 3,160 | 0 |
[
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] | [
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1
] | move_to_position | 0.388333 | [
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1
] | [
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] | [
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0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 17.799999 | 178 | 7 | 3,161 | 0 |
[
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] | [
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1
] | move_to_position | 0.497328 | [
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] | [
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] | [
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0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 17.9 | 179 | 7 | 3,162 | 0 |
[
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] | [
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1
] | move_to_position | 0.623471 | [
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1.8413763046264648,
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] | [
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] | [
0.02807430550456047,
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0.04399999976158142,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 18 | 180 | 7 | 3,163 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.745871 | [
-1.7151246070861816,
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1.8413763046264648,
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1
] | [
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] | [
0.02807430550456047,
-0.6820584535598755,
0.04399999976158142,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 18.1 | 181 | 7 | 3,164 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.840765 | [
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1.8413763046264648,
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1
] | [
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0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.04399999976158142,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 18.200001 | 182 | 7 | 3,165 | 0 |
[
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1
] | [
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3.0541296005249023,
1
] | move_to_position | 0.911822 | [
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1.8413763046264648,
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1
] | [
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0,
0,
0
] | [
0.02807430550456047,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
0.02666962519288063,
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0.051818929612636566,
2.793283462524414,
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] | 0 | 18.299999 | 183 | 7 | 3,166 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.95876 | [
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1
] | [
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0,
0,
0
] | [
0.02807430550456047,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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0.047248244285583496,
2.793226957321167,
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3.0701444149017334
] | 0 | 18.4 | 184 | 7 | 3,167 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.989636 | [
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] | [
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0,
0
] | [
0.02807430550456047,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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0.044707100838422775,
2.793274402618408,
0.06086217612028122,
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] | 0 | 18.5 | 185 | 7 | 3,168 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.999054 | [
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1.8413763046264648,
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] | [
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0,
0
] | [
0.02807430550456047,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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0.04408441111445427,
2.793320417404175,
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] | 0 | 18.6 | 186 | 7 | 3,169 | 0 |
[
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1
] | [
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0
] | gripper_open | 0 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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2.7932517528533936,
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] | 0 | 18.700001 | 187 | 7 | 3,170 | 0 |
[
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] | [
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0
] | gripper_open | 0.160784 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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] | 0 | 18.799999 | 188 | 7 | 3,171 | 0 |
[
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] | [
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0
] | gripper_open | 0.270588 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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2.793275833129883,
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] | 0 | 18.9 | 189 | 7 | 3,172 | 0 |
[
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] | [
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0
] | gripper_open | 0.403921 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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0.04399499297142029,
2.793398141860962,
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] | 0 | 19 | 190 | 7 | 3,173 | 0 |
[
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] | [
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0
] | gripper_open | 0.529412 | [
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0
] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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0.04400273784995079,
2.7933847904205322,
0.06084173917770386,
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] | 1 | 19.1 | 191 | 7 | 3,174 | 0 |
[
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] | [
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0
] | gripper_open | 0.654902 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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2.793386697769165,
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] | 1 | 19.200001 | 192 | 7 | 3,175 | 0 |
[
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] | [
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0
] | gripper_open | 0.77647 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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2.7933762073516846,
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] | 1 | 19.299999 | 193 | 7 | 3,176 | 0 |
[
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] | [
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0
] | gripper_open | 0.898039 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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0.04400739073753357,
2.79337215423584,
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] | 1 | 19.4 | 194 | 7 | 3,177 | 0 |
[
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3.0562775135040283,
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] | [
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0
] | gripper_open | 0.988233 | [
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0
] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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2.793403387069702,
0.0608491376042366,
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] | 1 | 19.5 | 195 | 7 | 3,178 | 0 |
[
-1.7151092290878296,
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3.056243419647217,
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] | [
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0
] | gripper_open | 0.988233 | [
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0
] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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0.04402150586247444,
2.79335618019104,
0.060873087495565414,
3.070134162902832
] | 1 | 19.6 | 196 | 7 | 3,179 | 0 |
[
-1.7151139974594116,
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3.0562245845794678,
0.0117647061124444
] | [
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0
] | gripper_open | 0.988233 | [
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0
] | [
-0.02797575667500496,
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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-0.6820557117462158,
0.043994463980197906,
2.7933828830718994,
0.06090623885393143,
3.070122480392456
] | 1 | 19.700001 | 197 | 7 | 3,180 | 0 |
[
-1.7151211500167847,
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3.0562775135040283,
0
] | [
-1.7151246070861816,
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1.8413763046264648,
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0
] | move_to_position | 0.000077 | [
-1.6437149047851562,
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1.8104743957519531,
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3.123403787612915,
0
] | [
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0,
0,
0
] | [
0.07016947120428085,
-0.6786653995513916,
0.08083155751228333,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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0.04401325806975365,
2.7933595180511475,
0.06087518110871315,
3.0701053142547607
] | 1 | 19.799999 | 198 | 7 | 3,181 | 0 |
[
-1.7151211500167847,
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] | [
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0
] | move_to_position | 0.000301 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 19.9 | 199 | 7 | 3,182 | 0 |
[
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] | [
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] | move_to_position | 0.014414 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20 | 200 | 7 | 3,183 | 0 |
[
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] | [
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] | move_to_position | 0.052678 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.1 | 201 | 7 | 3,184 | 0 |
[
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] | [
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] | move_to_position | 0.112194 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.200001 | 202 | 7 | 3,185 | 0 |
[
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] | [
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] | move_to_position | 0.186962 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.299999 | 203 | 7 | 3,186 | 0 |
[
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] | [
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] | move_to_position | 0.264611 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.4 | 204 | 7 | 3,187 | 0 |
[
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] | [
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] | move_to_position | 0.361673 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.5 | 205 | 7 | 3,188 | 0 |
[
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] | [
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] | move_to_position | 0.489331 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.6 | 206 | 7 | 3,189 | 0 |
[
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] | [
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] | move_to_position | 0.610041 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.700001 | 207 | 7 | 3,190 | 0 |
[
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] | [
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] | move_to_position | 0.736562 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.799999 | 208 | 7 | 3,191 | 0 |
[
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] | [
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] | move_to_position | 0.842023 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.9 | 209 | 7 | 3,192 | 0 |
[
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] | [
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] | move_to_position | 0.91399 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 21 | 210 | 7 | 3,193 | 0 |
[
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] | [
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0
] | move_to_position | 0.961038 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 21.1 | 211 | 7 | 3,194 | 0 |
[
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] | [
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] | move_to_position | 0.988483 | [
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] | [
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] | [
0.07016947120428085,
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0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 21.200001 | 212 | 7 | 3,195 | 0 |
[
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] | [
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] | move_to_position | 0.996935 | [
-1.6437149047851562,
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0
] | [
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0
] | [
0.07016947120428085,
-0.6786653995513916,
0.08083155751228333,
0,
0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
0.07004335522651672,
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] | 1 | 21.299999 | 213 | 7 | 3,196 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000012 | [
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] | [
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0
] | [
0.2881830632686615,
-0.5821587443351746,
0.11087146401405334,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
0.07002332806587219,
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] | 1 | 21.4 | 214 | 7 | 3,197 | 0 |
[
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0
] | [
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0
] | move_to_position | 0 | [
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0
] | [
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0,
0
] | [
0.2881830632686615,
-0.5821587443351746,
0.11087146401405334,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21.5 | 215 | 7 | 3,198 | 0 |
[
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1.8108795881271362,
-2.609687089920044,
-1.6280187368392944,
3.1238691806793213,
0
] | [
-1.6428990364074707,
-1.119608998298645,
1.8113224506378174,
-2.6096580028533936,
-1.6282007694244385,
3.1243340969085693,
0
] | move_to_position | 0.0014 | [
-1.2429301738739014,
-1.2017295360565186,
1.8265618085861206,
-2.4954333305358887,
-1.7572475671768188,
3.5061428546905518,
0
] | [
-0.2881830632686615,
0.5821587443351746,
0.11087146401405334,
0,
0,
0
] | [
0.2881830632686615,
-0.5821587443351746,
0.11087146401405334,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
0.07056553661823273,
-0.6783660054206848,
0.08074694871902466,
2.793623924255371,
0.060869067907333374,
3.0700981616973877
] | 1 | 21.6 | 216 | 7 | 3,199 | 0 |
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