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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] | gripper_open | 0.988231 | [
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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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] | 1 | 16.1 | 161 | 8 | 3,600 | 0 |
[
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] | gripper_open | 0.988231 | [
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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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] | 1 | 16.200001 | 162 | 8 | 3,601 | 0 |
[
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] | gripper_open | 0.988231 | [
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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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] | 1 | 16.299999 | 163 | 8 | 3,602 | 0 |
[
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] | move_to_position | 0.00177 | [
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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 | 16.4 | 164 | 8 | 3,603 | 0 |
[
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] | [
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] | move_to_position | 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: retract after place | [
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] | 1 | 16.5 | 165 | 8 | 3,604 | 0 |
[
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] | [
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] | move_to_position | 0.003638 | [
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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 | 16.6 | 166 | 8 | 3,605 | 0 |
[
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] | [
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] | move_to_position | 0.02692 | [
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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 | 16.700001 | 167 | 8 | 3,606 | 0 |
[
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] | [
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] | move_to_position | 0.089003 | [
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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 | 16.799999 | 168 | 8 | 3,607 | 0 |
[
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] | [
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] | move_to_position | 0.171206 | [
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] | [
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] | [
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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 | 16.9 | 169 | 8 | 3,608 | 0 |
[
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] | [
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] | move_to_position | 0.253126 | [
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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 | 17 | 170 | 8 | 3,609 | 0 |
[
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] | [
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] | move_to_position | 0.360662 | [
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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 | 17.1 | 171 | 8 | 3,610 | 0 |
[
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] | [
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] | move_to_position | 0.461478 | [
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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 | 17.200001 | 172 | 8 | 3,611 | 0 |
[
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] | [
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] | move_to_position | 0.566653 | [
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] | [
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] | [
0.0289610605686903,
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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 | 17.299999 | 173 | 8 | 3,612 | 0 |
[
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] | [
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] | move_to_position | 0.672926 | [
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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 | 17.4 | 174 | 8 | 3,613 | 0 |
[
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] | [
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] | move_to_position | 0.769058 | [
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] | [
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] | [
0.0289610605686903,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 17.5 | 175 | 8 | 3,614 | 0 |
[
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] | [
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] | move_to_position | 0.848905 | [
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] | [
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] | [
0.0289610605686903,
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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 | 17.6 | 176 | 8 | 3,615 | 0 |
[
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] | [
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0
] | move_to_position | 0.916306 | [
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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 | 17.700001 | 177 | 8 | 3,616 | 0 |
[
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] | move_to_position | 0.968927 | [
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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 | 17.799999 | 178 | 8 | 3,617 | 0 |
[
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] | [
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] | move_to_position | 0.992643 | [
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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 | 17.9 | 179 | 8 | 3,618 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 18 | 180 | 8 | 3,619 | 0 |
[
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] | [
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] | move_to_position | 0.000048 | [
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] | [
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] | [
-0.26618948578834534,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 18.1 | 181 | 8 | 3,620 | 0 |
[
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] | [
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] | move_to_position | 0.000712 | [
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] | [
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] | [
-0.26618948578834534,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 18.200001 | 182 | 8 | 3,621 | 0 |
[
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] | [
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] | move_to_position | 0.003255 | [
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] | [
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] | [
-0.26618948578834534,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 18.299999 | 183 | 8 | 3,622 | 0 |
[
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] | move_to_position | 0.007349 | [
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] | [
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] | [
-0.26618948578834534,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 18.4 | 184 | 8 | 3,623 | 0 |
[
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] | [
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] | move_to_position | 0.014519 | [
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] | [
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] | [
-0.26618948578834534,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 18.5 | 185 | 8 | 3,624 | 0 |
[
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] | [
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] | move_to_position | 0.024102 | [
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] | [
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] | [
-0.26618948578834534,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 18.6 | 186 | 8 | 3,625 | 0 |
[
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] | [
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] | move_to_position | 0.037377 | [
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] | [
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] | [
-0.26618948578834534,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 18.700001 | 187 | 8 | 3,626 | 0 |
[
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] | [
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] | move_to_position | 0.053246 | [
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] | [
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] | [
-0.26618948578834534,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 18.799999 | 188 | 8 | 3,627 | 0 |
[
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] | [
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] | move_to_position | 0.075116 | [
-2.1860921382904053,
-1.1000624895095825,
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] | [
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] | [
-0.26618948578834534,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 18.9 | 189 | 8 | 3,628 | 0 |
[
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] | [
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] | move_to_position | 0.100303 | [
-2.1860921382904053,
-1.1000624895095825,
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] | [
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] | [
-0.26618948578834534,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 19 | 190 | 8 | 3,629 | 0 |
[
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0
] | [
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] | move_to_position | 0.130819 | [
-2.1860921382904053,
-1.1000624895095825,
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-2.486173629760742,
-1.4430999755859375,
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] | [
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] | [
-0.26618948578834534,
-0.6680334806442261,
0.10879715532064438,
0,
0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
-0.012895249761641026,
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] | 1 | 19.1 | 191 | 8 | 3,630 | 0 |
[
-1.8033641576766968,
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] | [
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0
] | move_to_position | 0.163409 | [
-2.1860921382904053,
-1.1000624895095825,
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-2.486173629760742,
-1.4430999755859375,
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] | [
0.26618948578834534,
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] | [
-0.26618948578834534,
-0.6680334806442261,
0.10879715532064438,
0,
0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
-0.02372465841472149,
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] | 1 | 19.200001 | 192 | 8 | 3,631 | 0 |
[
-1.8215817213058472,
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0
] | [
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0
] | move_to_position | 0.197842 | [
-2.1860921382904053,
-1.1000624895095825,
1.6856189966201782,
-2.486173629760742,
-1.4430999755859375,
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] | [
0.26618948578834534,
0.6680334806442261,
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] | [
-0.26618948578834534,
-0.6680334806442261,
0.10879715532064438,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
-0.034600671380758286,
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] | 1 | 19.299999 | 193 | 8 | 3,632 | 0 |
[
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] | move_to_position | 0.238145 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 19.4 | 194 | 8 | 3,633 | 0 |
[
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] | [
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] | move_to_position | 0.281686 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 19.5 | 195 | 8 | 3,634 | 0 |
[
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] | move_to_position | 0.328567 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 19.6 | 196 | 8 | 3,635 | 0 |
[
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] | [
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] | move_to_position | 0.374791 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 19.700001 | 197 | 8 | 3,636 | 0 |
[
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] | [
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] | move_to_position | 0.423817 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 19.799999 | 198 | 8 | 3,637 | 0 |
[
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] | [
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] | move_to_position | 0.470524 | [
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] | [
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] | [
-0.26618948578834534,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 19.9 | 199 | 8 | 3,638 | 0 |
[
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] | [
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] | move_to_position | 0.521517 | [
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] | [
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] | [
-0.26618948578834534,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 20 | 200 | 8 | 3,639 | 0 |
[
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] | [
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] | move_to_position | 0.574602 | [
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] | [
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] | [
-0.26618948578834534,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 20.1 | 201 | 8 | 3,640 | 0 |
[
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] | [
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] | move_to_position | 0.624001 | [
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] | [
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] | [
-0.26618948578834534,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 20.200001 | 202 | 8 | 3,641 | 0 |
[
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] | [
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] | move_to_position | 0.673914 | [
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] | [
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] | [
-0.26618948578834534,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 20.299999 | 203 | 8 | 3,642 | 0 |
[
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] | [
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] | move_to_position | 0.716187 | [
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] | [
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] | [
-0.26618948578834534,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 20.4 | 204 | 8 | 3,643 | 0 |
[
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] | [
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] | move_to_position | 0.758936 | [
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] | [
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] | [
-0.26618948578834534,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 20.5 | 205 | 8 | 3,644 | 0 |
[
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] | [
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] | move_to_position | 0.801168 | [
-2.1860921382904053,
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1.6856189966201782,
-2.486173629760742,
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] | [
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] | [
-0.26618948578834534,
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0.10879715532064438,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
-0.21240009367465973,
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] | 1 | 20.6 | 206 | 8 | 3,645 | 0 |
[
-2.123783826828003,
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0
] | [
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0
] | move_to_position | 0.838827 | [
-2.1860921382904053,
-1.1000624895095825,
1.6856189966201782,
-2.486173629760742,
-1.4430999755859375,
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] | [
0.26618948578834534,
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] | [
-0.26618948578834534,
-0.6680334806442261,
0.10879715532064438,
0,
0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
-0.22358669340610504,
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] | 1 | 20.700001 | 207 | 8 | 3,646 | 0 |
[
-2.1371419429779053,
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0
] | [
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0
] | move_to_position | 0.872505 | [
-2.1860921382904053,
-1.1000624895095825,
1.6856189966201782,
-2.486173629760742,
-1.4430999755859375,
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] | [
0.26618948578834534,
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] | [
-0.26618948578834534,
-0.6680334806442261,
0.10879715532064438,
0,
0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
-0.2325802743434906,
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] | 1 | 20.799999 | 208 | 8 | 3,647 | 0 |
[
-2.149066209793091,
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0
] | [
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0
] | move_to_position | 0.902519 | [
-2.1860921382904053,
-1.1000624895095825,
1.6856189966201782,
-2.486173629760742,
-1.4430999755859375,
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] | [
0.26618948578834534,
0.6680334806442261,
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] | [
-0.26618948578834534,
-0.6680334806442261,
0.10879715532064438,
0,
0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
-0.24078910052776337,
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] | 1 | 20.9 | 209 | 8 | 3,648 | 0 |
[
-2.1586906909942627,
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0
] | [
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0
] | move_to_position | 0.926831 | [
-2.1860921382904053,
-1.1000624895095825,
1.6856189966201782,
-2.486173629760742,
-1.4430999755859375,
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] | [
0.26618948578834534,
0.6680334806442261,
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] | [
-0.26618948578834534,
-0.6680334806442261,
0.10879715532064438,
0,
0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21 | 210 | 8 | 3,649 | 0 |
[
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] | [
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] | move_to_position | 0.946217 | [
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] | [
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] | [
-0.26618948578834534,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21.1 | 211 | 8 | 3,650 | 0 |
[
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] | [
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] | move_to_position | 0.963521 | [
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] | [
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] | [
-0.26618948578834534,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21.200001 | 212 | 8 | 3,651 | 0 |
[
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] | [
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] | move_to_position | 0.976516 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21.299999 | 213 | 8 | 3,652 | 0 |
[
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] | [
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] | move_to_position | 0.987323 | [
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] | [
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] | [
-0.26618948578834534,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21.4 | 214 | 8 | 3,653 | 0 |
[
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] | [
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] | move_to_position | 0.994407 | [
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] | [
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] | [
-0.26618948578834534,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21.5 | 215 | 8 | 3,654 | 0 |
[
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] | [
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] | move_to_position | 0.998363 | [
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] | [
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] | [
-0.26618948578834534,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21.6 | 216 | 8 | 3,655 | 0 |
[
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] | [
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] | move_to_position | 0.999403 | [
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] | [
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] | [
-0.26618948578834534,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21.700001 | 217 | 8 | 3,656 | 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 | 21.9 | 219 | 8 | 3,658 | 0 |
[
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] | gripper_open | 1 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: open gripper | [
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] | 1 | 22 | 220 | 8 | 3,659 | 0 |
[
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] | gripper_open | 1 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: open gripper | [
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] | 1 | 22.1 | 221 | 8 | 3,660 | 0 |
[
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] | [
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] | move_to_position | 0.000083 | [
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] | [
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0
] | [
-0.2267732173204422,
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0.02800000086426735,
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0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
-0.2661958932876587,
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] | 1 | 22.200001 | 222 | 8 | 3,661 | 0 |
[
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] | [
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0
] | move_to_position | 0.000217 | [
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] | [
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0,
0
] | [
-0.2267732173204422,
-0.6881552338600159,
0.02800000086426735,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
-0.266196608543396,
-0.6680660843849182,
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] | 1 | 22.299999 | 223 | 8 | 3,662 | 0 |
[
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] | [
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0
] | move_to_position | 0.009457 | [
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] | [
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0,
0
] | [
-0.2267732173204422,
-0.6881552338600159,
0.02800000086426735,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
-0.2657592296600342,
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] | 1 | 22.4 | 224 | 8 | 3,663 | 0 |
[
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] | [
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0
] | move_to_position | 0.03845 | [
-2.1148104667663574,
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] | [
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0,
0
] | [
-0.2267732173204422,
-0.6881552338600159,
0.02800000086426735,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
-0.26441478729248047,
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] | 1 | 22.5 | 225 | 8 | 3,664 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.089229 | [
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-0.9699569940567017,
1.729324221611023,
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] | [
0.2267732173204422,
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0,
0
] | [
-0.2267732173204422,
-0.6881552338600159,
0.02800000086426735,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
-0.26224973797798157,
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] | 1 | 22.6 | 226 | 8 | 3,665 | 0 |
[
-2.174636125564575,
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0
] | [
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1.6983952522277832,
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0
] | move_to_position | 0.162306 | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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[
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[
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[
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[
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[
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[
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[
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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 | 0.184314 | [
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[
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] | gripper_close | 0.321569 | [
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[
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] | gripper_close | 0.45098 | [
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] | [
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[
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] | gripper_close | 0.556863 | [
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] | gripper_close | 0.811765 | [
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] | gripper_close | 0.811765 | [
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[
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] | gripper_close | 0.811765 | [
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[
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] | gripper_close | 0.811765 | [
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[
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] | gripper_close | 0.811765 | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.811765 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.811765 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.811765 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.811765 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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2.793269157409668,
0.06076892092823982,
3.0699243545532227
] | 0 | 25.799999 | 258 | 8 | 3,697 | 0 |
[
-2.1148126125335693,
-0.9699748158454895,
1.729357123374939,
-2.667710542678833,
-1.4667195081710815,
2.6803009510040283,
0.8117647171020508
] | [
-2.1148104667663574,
-0.9699569940567017,
1.729324221611023,
-2.6677446365356445,
-1.4667484760284424,
2.6802868843078613,
1
] | gripper_close | 0.811765 | [
-2.114985704421997,
-0.9700314998626709,
1.7292698621749878,
-2.6676647663116455,
-1.4667423963546753,
2.6802377700805664,
1
] | [
0.22692500054836273,
0.6881386041641235,
0.02808329090476036,
2.7932353019714355,
0.06078368052840233,
3.069765567779541
] | [
-0.22692500054836273,
-0.6881386041641235,
0.02808329090476036,
2.7932353019714355,
0.06078368052840233,
3.069765567779541
] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
-0.2267698049545288,
-0.6881722211837769,
0.028023915365338326,
2.7932827472686768,
0.06074872985482216,
3.0699403285980225
] | 0 | 25.9 | 259 | 8 | 3,698 | 0 |
[
-2.114790201187134,
-0.9699784517288208,
1.7293232679367065,
-2.6677329540252686,
-1.4667547941207886,
2.680304527282715,
0.8117647171020508
] | [
-2.1148104667663574,
-0.9699569940567017,
1.729324221611023,
-2.6677446365356445,
-1.4667484760284424,
2.6802868843078613,
1
] | gripper_close | 0.811765 | [
-2.114985704421997,
-0.9700314998626709,
1.7292698621749878,
-2.6676647663116455,
-1.4667423963546753,
2.6802377700805664,
1
] | [
0.22692500054836273,
0.6881386041641235,
0.02808329090476036,
2.7932353019714355,
0.06078368052840233,
3.069765567779541
] | [
-0.22692500054836273,
-0.6881386041641235,
0.02808329090476036,
2.7932353019714355,
0.06078368052840233,
3.069765567779541
] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
-0.22679859399795532,
-0.6881571412086487,
0.028028087690472603,
2.7932937145233154,
0.060729991644620895,
3.069894552230835
] | 0 | 26 | 260 | 8 | 3,699 | 0 |
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