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 | 0.811765 | [
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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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2.793257236480713,
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] | 0 | 26.1 | 261 | 8 | 3,700 | 0 |
[
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] | [
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1
] | gripper_close | 0.811765 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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0.028022687882184982,
2.793301582336426,
0.06076451390981674,
3.0699188709259033
] | 0 | 26.200001 | 262 | 8 | 3,701 | 0 |
[
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] | [
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1
] | gripper_close | 0.811765 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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2.793229579925537,
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] | 0 | 26.299999 | 263 | 8 | 3,702 | 0 |
[
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] | [
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1
] | gripper_close | 0.811765 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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0.028023866936564445,
2.7932984828948975,
0.060749925673007965,
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] | 0 | 26.4 | 264 | 8 | 3,703 | 0 |
[
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] | [
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1
] | gripper_close | 0.811765 | [
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1
] | [
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] | [
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-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 | [
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0.028025293722748756,
2.7932748794555664,
0.06071356311440468,
3.069908618927002
] | 0 | 26.5 | 265 | 8 | 3,704 | 0 |
[
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1.729317545890808,
-2.6677639484405518,
-1.466758131980896,
2.6803202629089355,
0.8117647171020508
] | [
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1.729324221611023,
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2.6802868843078613,
1
] | gripper_close | 0.811765 | [
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1
] | [
0.22692500054836273,
0.6881386041641235,
0.02808329090476036,
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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 | [
-0.22678349912166595,
-0.6881697773933411,
0.02802102640271187,
2.7932841777801514,
0.06074972450733185,
3.0699076652526855
] | 0 | 26.6 | 266 | 8 | 3,705 | 0 |
[
-2.114790201187134,
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1.7293208837509155,
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2.6802854537963867,
0.8117647171020508
] | [
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1.729324221611023,
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2.6802868843078613,
1
] | gripper_close | 0.811765 | [
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1.7292698621749878,
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-1.4667423963546753,
2.6802377700805664,
1
] | [
0.22692500054836273,
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0.02808329090476036,
2.7932353019714355,
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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 | [
-0.22677621245384216,
-0.6881812214851379,
0.02802000753581524,
2.793269395828247,
0.0607575848698616,
3.0699350833892822
] | 0 | 26.700001 | 267 | 8 | 3,706 | 0 |
[
-2.1148054599761963,
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1.7293094396591187,
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2.6803009510040283,
1
] | [
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1.729324221611023,
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2.6802868843078613,
1
] | move_to_position | 0.000219 | [
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1.7074635028839111,
-2.630033016204834,
-1.4721086025238037,
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1
] | [
0.21913233399391174,
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0,
0,
0
] | [
-0.21913233399391174,
-0.6950534582138062,
0.04367642477154732,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.22680623829364777,
-0.6881812810897827,
0.02804042212665081,
2.793242931365967,
0.06075229123234749,
3.069899797439575
] | 0 | 26.799999 | 268 | 8 | 3,707 | 0 |
[
-2.114825487136841,
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1.7293061017990112,
-2.667722463607788,
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2.6802783012390137,
1
] | [
-2.114834785461426,
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1.729304552078247,
-2.6676809787750244,
-1.466766119003296,
2.6802971363067627,
1
] | move_to_position | 0.00045 | [
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1.7074635028839111,
-2.630033016204834,
-1.4721086025238037,
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1
] | [
0.21913233399391174,
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0,
0,
0
] | [
-0.21913233399391174,
-0.6950534582138062,
0.04367642477154732,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.2267746478319168,
-0.6881691813468933,
0.02801097370684147,
2.793302297592163,
0.060743093490600586,
3.0699446201324463
] | 0 | 26.9 | 269 | 8 | 3,708 | 0 |
[
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2.6804568767547607,
1
] | [
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1.7287100553512573,
-2.666538953781128,
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2.6807353496551514,
1
] | move_to_position | 0.011231 | [
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1
] | [
0.21913233399391174,
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0,
0
] | [
-0.21913233399391174,
-0.6950534582138062,
0.04367642477154732,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.22672834992408752,
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0.02818659320473671,
2.7934858798980713,
0.06069325655698776,
3.069796323776245
] | 0 | 27 | 270 | 8 | 3,709 | 0 |
[
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2.68125581741333,
1
] | [
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1.7273732423782349,
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2.681701183319092,
1
] | move_to_position | 0.063005 | [
-2.0985660552978516,
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1
] | [
0.21913233399391174,
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0,
0,
0
] | [
-0.21913233399391174,
-0.6950534582138062,
0.04367642477154732,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.22615690529346466,
-0.6886743307113647,
0.029100947082042694,
2.7934730052948,
0.06062837690114975,
3.069993734359741
] | 0 | 27.1 | 271 | 8 | 3,710 | 0 |
[
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1.7263883352279663,
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2.6824607849121094,
1
] | [
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1.7255743741989136,
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2.6829938888549805,
1
] | move_to_position | 0.141218 | [
-2.0985660552978516,
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1.7074635028839111,
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-1.4721086025238037,
2.69565749168396,
1
] | [
0.21913233399391174,
0.6950534582138062,
0.04367642477154732,
0,
0,
0
] | [
-0.21913233399391174,
-0.6950534582138062,
0.04367642477154732,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.22557513415813446,
-0.6892039179801941,
0.030405858531594276,
2.7935280799865723,
0.060684189200401306,
3.06990909576416
] | 0 | 27.200001 | 272 | 8 | 3,711 | 0 |
[
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1.7243050336837769,
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-1.468026041984558,
2.683933734893799,
1
] | [
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1.7234055995941162,
-2.6572282314300537,
-1.468279480934143,
2.684547185897827,
1
] | move_to_position | 0.23742 | [
-2.0985660552978516,
-0.9873334169387817,
1.7074635028839111,
-2.630033016204834,
-1.4721086025238037,
2.69565749168396,
1
] | [
0.21913233399391174,
0.6950534582138062,
0.04367642477154732,
0,
0,
0
] | [
-0.21913233399391174,
-0.6950534582138062,
0.04367642477154732,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.22483141720294952,
-0.68990558385849,
0.03197988495230675,
2.793473958969116,
0.06070979684591293,
3.069943428039551
] | 0 | 27.299999 | 273 | 8 | 3,712 | 0 |
[
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1.721993327140808,
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-1.468612551689148,
2.6855244636535645,
1
] | [
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1.7210402488708496,
-2.653135299682617,
-1.4688527584075928,
2.68623685836792,
1
] | move_to_position | 0.342558 | [
-2.0985660552978516,
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1.7074635028839111,
-2.630033016204834,
-1.4721086025238037,
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1
] | [
0.21913233399391174,
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0,
0,
0
] | [
-0.21913233399391174,
-0.6950534582138062,
0.04367642477154732,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.22402629256248474,
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0.03363601863384247,
2.793438673019409,
0.060727089643478394,
3.06990909576416
] | 0 | 27.4 | 274 | 8 | 3,713 | 0 |
[
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1.7196062803268433,
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2.687232494354248,
1
] | [
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1.718717336654663,
-2.6491262912750244,
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2.6878914833068848,
1
] | move_to_position | 0.451488 | [
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1.7074635028839111,
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-1.4721086025238037,
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1
] | [
0.21913233399391174,
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0.04367642477154732,
0,
0,
0
] | [
-0.21913233399391174,
-0.6950534582138062,
0.04367642477154732,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.22318144142627716,
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0.0353664793074131,
2.793358087539673,
0.06069992855191231,
3.0699634552001953
] | 0 | 27.5 | 275 | 8 | 3,714 | 0 |
[
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1.7174018621444702,
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2.6888248920440674,
1
] | [
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1.7166378498077393,
-2.6455416679382324,
-1.469916582107544,
2.6893668174743652,
1
] | move_to_position | 0.552745 | [
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1.7074635028839111,
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-1.4721086025238037,
2.69565749168396,
1
] | [
0.21913233399391174,
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0,
0,
0
] | [
-0.21913233399391174,
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0.04367642477154732,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.22250480949878693,
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0.036823779344558716,
2.7933311462402344,
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] | 0 | 27.6 | 276 | 8 | 3,715 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.632295 | [
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] | [
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0,
0
] | [
-0.21913233399391174,
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0.04367642477154732,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.2218647599220276,
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0.0381806381046772,
2.793233871459961,
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] | 0 | 27.700001 | 277 | 8 | 3,716 | 0 |
[
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] | [
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1
] | move_to_position | 0.710244 | [
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] | [
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0,
0
] | [
-0.21913233399391174,
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0.04367642477154732,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.22127170860767365,
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2.793285608291626,
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] | 0 | 27.799999 | 278 | 8 | 3,717 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.787602 | [
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] | [
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0
] | [
-0.21913233399391174,
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0.04367642477154732,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
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0.04055578634142876,
2.793304204940796,
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] | 0 | 27.9 | 279 | 8 | 3,718 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.861466 | [
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] | [
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0,
0
] | [
-0.21913233399391174,
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0.04367642477154732,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.22015514969825745,
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0.04162798821926117,
2.793308973312378,
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] | 0 | 28 | 280 | 8 | 3,719 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.9244 | [
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1.7074635028839111,
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] | [
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0,
0
] | [
-0.21913233399391174,
-0.6950534582138062,
0.04367642477154732,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.21966886520385742,
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0.04254648834466934,
2.7934014797210693,
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] | 0 | 28.1 | 281 | 8 | 3,720 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.970515 | [
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1.7074635028839111,
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1
] | [
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0,
0
] | [
-0.21913233399391174,
-0.6950534582138062,
0.04367642477154732,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.21939924359321594,
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0.04327831044793129,
2.793349504470825,
0.06074666231870651,
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] | 0 | 28.200001 | 282 | 8 | 3,721 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.993291 | [
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1.7074635028839111,
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1
] | [
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0,
0
] | [
-0.21913233399391174,
-0.6950534582138062,
0.04367642477154732,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.2191869616508484,
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0.043491244316101074,
2.793492555618286,
0.060676030814647675,
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] | 0 | 28.299999 | 283 | 8 | 3,722 | 0 |
[
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1
] | [
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1.7074635028839111,
-2.630033016204834,
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1
] | move_to_position | 0.000011 | [
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1.8474197387695312,
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1
] | [
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0,
0,
0
] | [
-0.08733595162630081,
-0.6780450940132141,
0.04610981047153473,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.21912431716918945,
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0.04347876459360123,
2.793560028076172,
0.06062717363238335,
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] | 0 | 28.4 | 284 | 8 | 3,723 | 0 |
[
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2.6956493854522705,
1
] | [
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1.708138108253479,
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1
] | move_to_position | 0 | [
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1.8474197387695312,
-2.6992950439453125,
-1.5357904434204102,
2.8727896213531494,
1
] | [
0.08733595162630081,
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0,
0,
0
] | [
-0.08733595162630081,
-0.6780450940132141,
0.04610981047153473,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.21906575560569763,
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0.04350375756621361,
2.7935545444488525,
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] | 0 | 28.5 | 285 | 8 | 3,724 | 0 |
[
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2.696906089782715,
1
] | [
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1
] | move_to_position | 0.008775 | [
-1.9108699560165405,
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1.8474197387695312,
-2.6992950439453125,
-1.5357904434204102,
2.8727896213531494,
1
] | [
0.08733595162630081,
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0,
0,
0
] | [
-0.08733595162630081,
-0.6780450940132141,
0.04610981047153473,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.2175317406654358,
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0.04370047524571419,
2.793311834335327,
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] | 0 | 28.6 | 286 | 8 | 3,725 | 0 |
[
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2.700582504272461,
1
] | [
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2.7026538848876953,
1
] | move_to_position | 0.032708 | [
-1.9108699560165405,
-1.0695152282714844,
1.8474197387695312,
-2.6992950439453125,
-1.5357904434204102,
2.8727896213531494,
1
] | [
0.08733595162630081,
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0,
0,
0
] | [
-0.08733595162630081,
-0.6780450940132141,
0.04610981047153473,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.21414074301719666,
-0.6941368579864502,
0.04354467988014221,
2.7935781478881836,
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] | 0 | 28.700001 | 287 | 8 | 3,726 | 0 |
[
-2.0866591930389404,
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1
] | [
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2.7097220420837402,
1
] | move_to_position | 0.073347 | [
-1.9108699560165405,
-1.0695152282714844,
1.8474197387695312,
-2.6992950439453125,
-1.5357904434204102,
2.8727896213531494,
1
] | [
0.08733595162630081,
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0,
0,
0
] | [
-0.08733595162630081,
-0.6780450940132141,
0.04610981047153473,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.20850607752799988,
-0.6934319138526917,
0.04372125864028931,
2.793462038040161,
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3.069958209991455
] | 0 | 28.799999 | 288 | 8 | 3,727 | 0 |
[
-2.0776526927948,
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2.7155184745788574,
1
] | [
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1.735122799873352,
-2.644165277481079,
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2.721189260482788,
1
] | move_to_position | 0.125452 | [
-1.9108699560165405,
-1.0695152282714844,
1.8474197387695312,
-2.6992950439453125,
-1.5357904434204102,
2.8727896213531494,
1
] | [
0.08733595162630081,
0.6780450940132141,
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0,
0,
0
] | [
-0.08733595162630081,
-0.6780450940132141,
0.04610981047153473,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.20152750611305237,
-0.6927124261856079,
0.04390722140669823,
2.7933943271636963,
0.06069367378950119,
3.0698678493499756
] | 0 | 28.9 | 289 | 8 | 3,728 | 0 |
[
-2.063218832015991,
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1.7427524328231812,
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2.7292356491088867,
1
] | [
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1.7488986253738403,
-2.651160955429077,
-1.486299991607666,
2.735793352127075,
1
] | move_to_position | 0.207299 | [
-1.9108699560165405,
-1.0695152282714844,
1.8474197387695312,
-2.6992950439453125,
-1.5357904434204102,
2.8727896213531494,
1
] | [
0.08733595162630081,
0.6780450940132141,
0.04610981047153473,
0,
0,
0
] | [
-0.08733595162630081,
-0.6780450940132141,
0.04610981047153473,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.19105611741542816,
-0.6915256381034851,
0.04403167963027954,
2.7936723232269287,
0.06060844287276268,
3.069864273071289
] | 0 | 29 | 290 | 8 | 3,729 | 0 |
[
-2.046186685562134,
-1.015972375869751,
1.7576736211776733,
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2.745255708694458,
1
] | [
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1.7660512924194336,
-2.6598517894744873,
-1.492924690246582,
2.754380941390991,
1
] | move_to_position | 0.302402 | [
-1.9108699560165405,
-1.0695152282714844,
1.8474197387695312,
-2.6992950439453125,
-1.5357904434204102,
2.8727896213531494,
1
] | [
0.08733595162630081,
0.6780450940132141,
0.04610981047153473,
0,
0,
0
] | [
-0.08733595162630081,
-0.6780450940132141,
0.04610981047153473,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.17689454555511475,
-0.6898424029350281,
0.04434177279472351,
2.7936344146728516,
0.0606115460395813,
3.069944143295288
] | 0 | 29.1 | 291 | 8 | 3,730 | 0 |
[
-2.026118040084839,
-1.026098370552063,
1.7749284505844116,
-2.6643354892730713,
-1.4964860677719116,
2.764274835586548,
1
] | [
-2.015761137008667,
-1.0309476852416992,
1.7833209037780762,
-2.6685495376586914,
-1.4999409914016724,
2.7740094661712646,
1
] | move_to_position | 0.413886 | [
-1.9108699560165405,
-1.0695152282714844,
1.8474197387695312,
-2.6992950439453125,
-1.5357904434204102,
2.8727896213531494,
1
] | [
0.08733595162630081,
0.6780450940132141,
0.04610981047153473,
0,
0,
0
] | [
-0.08733595162630081,
-0.6780450940132141,
0.04610981047153473,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.16229702532291412,
-0.6878373026847839,
0.04467497393488884,
2.7934908866882324,
0.06068098917603493,
3.0698559284210205
] | 0 | 29.200001 | 292 | 8 | 3,731 | 0 |
[
-2.0049169063568115,
-1.035957932472229,
1.7917641401290894,
-2.672802686691284,
-1.50363290309906,
2.7842376232147217,
1
] | [
-1.998843789100647,
-1.0385358333587646,
1.7962265014648438,
-2.674973726272583,
-1.5056754350662231,
2.789975166320801,
1
] | move_to_position | 0.528303 | [
-1.9108699560165405,
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1
] | [
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] | [
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0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 29.299999 | 293 | 8 | 3,732 | 0 |
[
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] | move_to_position | 0.629353 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 29.4 | 294 | 8 | 3,733 | 0 |
[
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] | [
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] | move_to_position | 0.737919 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 29.5 | 295 | 8 | 3,734 | 0 |
[
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] | move_to_position | 0.827459 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 29.6 | 296 | 8 | 3,735 | 0 |
[
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] | [
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] | move_to_position | 0.901903 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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[
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] | [
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] | move_to_position | 0.95071 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 29.799999 | 298 | 8 | 3,737 | 0 |
[
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] | [
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] | move_to_position | 0.979187 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 29.9 | 299 | 8 | 3,738 | 0 |
[
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] | [
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] | move_to_position | 0.995399 | [
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] | [
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] | [
-0.08733595162630081,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 30 | 300 | 8 | 3,739 | 0 |
[
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] | [
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1
] | move_to_position | 0.000528 | [
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] | [
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] | [
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0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 30.1 | 301 | 8 | 3,740 | 0 |
[
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] | [
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1
] | move_to_position | 0.001456 | [
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] | [
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] | [
-0.09534529596567154,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 30.200001 | 302 | 8 | 3,741 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.007117 | [
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] | [
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] | [
-0.09534529596567154,
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0.04399999976158142,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 30.299999 | 303 | 8 | 3,742 | 0 |
[
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] | [
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1
] | move_to_position | 0.049345 | [
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] | [
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] | [
-0.09534529596567154,
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0,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 30.4 | 304 | 8 | 3,743 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.117852 | [
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] | [
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] | [
-0.09534529596567154,
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0.04399999976158142,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 30.5 | 305 | 8 | 3,744 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.201536 | [
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] | [
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] | [
-0.09534529596567154,
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0.04399999976158142,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 30.6 | 306 | 8 | 3,745 | 0 |
[
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] | [
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1
] | move_to_position | 0.301645 | [
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-2.707393169403076,
-1.530499815940857,
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] | [
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] | [
-0.09534529596567154,
-0.6741181015968323,
0.04399999976158142,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 30.700001 | 307 | 8 | 3,746 | 0 |
[
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] | [
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1
] | move_to_position | 0.41175 | [
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1.8578208684921265,
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1
] | [
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0
] | [
-0.09534529596567154,
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0.04399999976158142,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 30.799999 | 308 | 8 | 3,747 | 0 |
[
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1
] | [
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1.8532859086990356,
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1
] | move_to_position | 0.519726 | [
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1.8578208684921265,
-2.707393169403076,
-1.530499815940857,
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1
] | [
0.09534529596567154,
0.6741181015968323,
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0,
0
] | [
-0.09534529596567154,
-0.6741181015968323,
0.04399999976158142,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
-0.0916903018951416,
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] | 0 | 30.9 | 309 | 8 | 3,748 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.6313 | [
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] | [
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] | [
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 31 | 310 | 8 | 3,749 | 0 |
[
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] | [
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1
] | move_to_position | 0.738723 | [
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] | [
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] | [
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 31.1 | 311 | 8 | 3,750 | 0 |
[
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] | [
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1
] | move_to_position | 0.832744 | [
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] | [
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] | [
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0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 31.200001 | 312 | 8 | 3,751 | 0 |
[
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] | [
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] | move_to_position | 0.906128 | [
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] | [
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] | [
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0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 31.299999 | 313 | 8 | 3,752 | 0 |
[
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] | [
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] | move_to_position | 0.959152 | [
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] | [
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] | [
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0,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 31.4 | 314 | 8 | 3,753 | 0 |
[
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] | [
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1
] | move_to_position | 0.985143 | [
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] | [
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] | [
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0,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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[
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] | [
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] | gripper_open | 0 | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 0 | 31.6 | 316 | 8 | 3,755 | 0 |
[
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] | gripper_open | 0.219608 | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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[
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] | gripper_open | 0.333333 | [
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] | 0 | 31.799999 | 318 | 8 | 3,757 | 0 |
[
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] | gripper_open | 0.458823 | [
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[
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] | gripper_open | 0.580392 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 1 | 32 | 320 | 8 | 3,759 | 0 |
[
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] | gripper_open | 0.701961 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 1 | 32.099998 | 321 | 8 | 3,760 | 0 |
[
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] | gripper_open | 0.823529 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 1 | 32.200001 | 322 | 8 | 3,761 | 0 |
[
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] | gripper_open | 0.945098 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 1 | 32.299999 | 323 | 8 | 3,762 | 0 |
[
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] | gripper_open | 0.988235 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 1 | 32.400002 | 324 | 8 | 3,763 | 0 |
[
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] | gripper_open | 0.988235 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 1 | 32.5 | 325 | 8 | 3,764 | 0 |
[
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] | move_to_position | 0.000111 | [
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] | 1 | 32.700001 | 327 | 8 | 3,766 | 0 |
[
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] | move_to_position | 0.000105 | [
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] | 1 | 32.799999 | 328 | 8 | 3,767 | 0 |
[
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] | move_to_position | 0.012104 | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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[
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] | move_to_position | 0.03974 | [
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] | 1 | 33 | 330 | 8 | 3,769 | 0 |
[
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] | move_to_position | 0.089773 | [
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] | 1 | 33.099998 | 331 | 8 | 3,770 | 0 |
[
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] | move_to_position | 0.162428 | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 33.200001 | 332 | 8 | 3,771 | 0 |
[
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[
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] | move_to_position | 0.387315 | [
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] | 1 | 33.400002 | 334 | 8 | 3,773 | 0 |
[
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] | move_to_position | 0.50719 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 33.5 | 335 | 8 | 3,774 | 0 |
[
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] | move_to_position | 0.61926 | [
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] | 1 | 33.599998 | 336 | 8 | 3,775 | 0 |
[
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] | move_to_position | 0.740585 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 33.700001 | 337 | 8 | 3,776 | 0 |
[
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] | [
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] | move_to_position | 0.841451 | [
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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: retract after place | [
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] | 1 | 33.799999 | 338 | 8 | 3,777 | 0 |
[
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] | [
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] | move_to_position | 0.912103 | [
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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: retract after place | [
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] | 1 | 33.900002 | 339 | 8 | 3,778 | 0 |
[
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] | [
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] | move_to_position | 0.95822 | [
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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: retract after place | [
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] | 1 | 34 | 340 | 8 | 3,779 | 0 |
[
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] | [
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] | move_to_position | 0.987069 | [
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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: retract after place | [
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] | 1 | 34.099998 | 341 | 8 | 3,780 | 0 |
[
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] | [
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] | move_to_position | 0.998722 | [
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0
] | 0 | return to home after task completion | [
-0.05466949939727783,
-0.5606411695480347,
0.19290806353092194,
2.7932372093200684,
0.06071407347917557,
3.069857358932495
] | 1 | 36 | 360 | 8 | 3,799 | 0 |
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