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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] | move_to_position | 0.387671 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 7.7 | 77 | 9 | 3,900 | 0 |
[
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] | move_to_position | 0.511956 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 7.8 | 78 | 9 | 3,901 | 0 |
[
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] | move_to_position | 0.617133 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 7.9 | 79 | 9 | 3,902 | 0 |
[
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] | [
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] | move_to_position | 0.735919 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 8 | 80 | 9 | 3,903 | 0 |
[
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] | move_to_position | 0.836289 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 8.1 | 81 | 9 | 3,904 | 0 |
[
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] | move_to_position | 0.917942 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 8.2 | 82 | 9 | 3,905 | 0 |
[
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] | [
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] | move_to_position | 0.967016 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 8.3 | 83 | 9 | 3,906 | 0 |
[
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] | [
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] | move_to_position | 0.991334 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 8.4 | 84 | 9 | 3,907 | 0 |
[
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] | [
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] | move_to_position | 0.999212 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 8.5 | 85 | 9 | 3,908 | 0 |
[
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] | [
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] | gripper_close | 0 | [
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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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] | 1 | 8.6 | 86 | 9 | 3,909 | 0 |
[
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] | gripper_close | 0.011765 | [
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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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] | 1 | 8.7 | 87 | 9 | 3,910 | 0 |
[
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] | gripper_close | 0.05098 | [
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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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] | 1 | 8.8 | 88 | 9 | 3,911 | 0 |
[
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] | gripper_close | 0.184314 | [
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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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] | 1 | 8.9 | 89 | 9 | 3,912 | 0 |
[
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] | gripper_close | 0.321569 | [
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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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] | 1 | 9 | 90 | 9 | 3,913 | 0 |
[
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] | gripper_close | 0.564706 | [
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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 | 9.1 | 91 | 9 | 3,914 | 0 |
[
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] | gripper_close | 0.658823 | [
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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 | 10.7 | 107 | 9 | 3,930 | 0 |
[
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] | [
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1
] | gripper_close | 0.835294 | [
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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 | 10.8 | 108 | 9 | 3,931 | 0 |
[
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] | [
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1
] | gripper_close | 0.835294 | [
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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 | 10.9 | 109 | 9 | 3,932 | 0 |
[
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] | [
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1
] | gripper_close | 0.835294 | [
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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 | 11 | 110 | 9 | 3,933 | 0 |
[
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] | [
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1
] | gripper_close | 0.835294 | [
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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 | 11.1 | 111 | 9 | 3,934 | 0 |
[
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] | [
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1
] | gripper_close | 0.835294 | [
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] | [
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] | [
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2.7950241565704346,
0.060488104820251465,
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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 | 11.2 | 112 | 9 | 3,935 | 0 |
[
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] | [
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1
] | gripper_close | 0.835294 | [
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1
] | [
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] | [
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0.03197328373789787,
2.7950241565704346,
0.060488104820251465,
3.0698740482330322
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.03200451284646988,
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] | 0 | 11.3 | 113 | 9 | 3,936 | 0 |
[
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] | [
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1
] | gripper_close | 0.835294 | [
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1
] | [
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] | [
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0.03197328373789787,
2.7950241565704346,
0.060488104820251465,
3.0698740482330322
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.031997937709093094,
2.7949423789978027,
0.06043771654367447,
3.069937229156494
] | 0 | 11.4 | 114 | 9 | 3,937 | 0 |
[
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] | [
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1
] | gripper_close | 0.835294 | [
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1
] | [
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] | [
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0.03197328373789787,
2.7950241565704346,
0.060488104820251465,
3.0698740482330322
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.03200870007276535,
2.7949330806732178,
0.06045978143811226,
3.069883346557617
] | 0 | 11.5 | 115 | 9 | 3,938 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.000032 | [
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1
] | [
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0,
0,
0
] | [
0.27910706400871277,
-0.6029568910598755,
0.1360464245080948,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.27686774730682373,
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0.03201794624328613,
2.794915199279785,
0.0604352168738842,
3.0699384212493896
] | 0 | 11.6 | 116 | 9 | 3,939 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.000396 | [
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1
] | [
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0,
0,
0
] | [
0.27910706400871277,
-0.6029568910598755,
0.1360464245080948,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.27683913707733154,
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0.032140493392944336,
2.7948358058929443,
0.0604599304497242,
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] | 0 | 11.7 | 117 | 9 | 3,940 | 0 |
[
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1
] | [
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1.7978423833847046,
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3.4679346084594727,
1
] | move_to_position | 0.011664 | [
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1
] | [
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0,
0,
0
] | [
0.27910706400871277,
-0.6029568910598755,
0.1360464245080948,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.27695369720458984,
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0.03380568325519562,
2.794726848602295,
0.06028898432850838,
3.0699357986450195
] | 0 | 11.8 | 118 | 9 | 3,941 | 0 |
[
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1
] | [
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1.7975560426712036,
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3.4684197902679443,
1
] | move_to_position | 0.04277 | [
-1.269563913345337,
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1.758640170097351,
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1
] | [
-0.27910706400871277,
0.6029568910598755,
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0,
0,
0
] | [
0.27910706400871277,
-0.6029568910598755,
0.1360464245080948,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.27702197432518005,
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0.037085290998220444,
2.7946653366088867,
0.060358475893735886,
3.0699539184570312
] | 0 | 11.9 | 119 | 9 | 3,942 | 0 |
[
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3.4688096046447754,
1
] | [
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1.796789526939392,
-2.6258420944213867,
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3.469243288040161,
1
] | move_to_position | 0.089874 | [
-1.269563913345337,
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1.758640170097351,
-2.425384283065796,
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3.4806442260742188,
1
] | [
-0.27910706400871277,
0.6029568910598755,
0.1360464245080948,
0,
0,
0
] | [
0.27910706400871277,
-0.6029568910598755,
0.1360464245080948,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.27715328335762024,
-0.6207090020179749,
0.042812466621398926,
2.794799566268921,
0.060386039316654205,
3.069973945617676
] | 0 | 12 | 120 | 9 | 3,943 | 0 |
[
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3.4697813987731934,
1
] | [
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1.7953777313232422,
-2.608104944229126,
-1.7455670833587646,
3.470278263092041,
1
] | move_to_position | 0.16532 | [
-1.269563913345337,
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1.758640170097351,
-2.425384283065796,
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3.4806442260742188,
1
] | [
-0.27910706400871277,
0.6029568910598755,
0.1360464245080948,
0,
0,
0
] | [
0.27910706400871277,
-0.6029568910598755,
0.1360464245080948,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.27734094858169556,
-0.6191353797912598,
0.05118122696876526,
2.794938564300537,
0.0604613721370697,
3.069979190826416
] | 0 | 12.1 | 121 | 9 | 3,944 | 0 |
[
-1.2793959379196167,
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1.793892741203308,
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3.4711251258850098,
1
] | [
-1.2789238691329956,
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1.7929750680923462,
-2.5848236083984375,
-1.7459484338760376,
3.471632480621338,
1
] | move_to_position | 0.272154 | [
-1.269563913345337,
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1.758640170097351,
-2.425384283065796,
-1.7485109567642212,
3.4806442260742188,
1
] | [
-0.27910706400871277,
0.6029568910598755,
0.1360464245080948,
0,
0,
0
] | [
0.27910706400871277,
-0.6029568910598755,
0.1360464245080948,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.27755096554756165,
-0.6169742941856384,
0.06220059096813202,
2.7951231002807617,
0.06049824506044388,
3.0699727535247803
] | 0 | 12.2 | 122 | 9 | 3,945 | 0 |
[
-1.2778242826461792,
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1.7907689809799194,
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3.4726438522338867,
1
] | [
-1.2773525714874268,
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1.78947913646698,
-2.558579206466675,
-1.7463759183883667,
3.473147392272949,
1
] | move_to_position | 0.38694 | [
-1.269563913345337,
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1.758640170097351,
-2.425384283065796,
-1.7485109567642212,
3.4806442260742188,
1
] | [
-0.27910706400871277,
0.6029568910598755,
0.1360464245080948,
0,
0,
0
] | [
0.27910706400871277,
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0.1360464245080948,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2778257727622986,
-0.6145576238632202,
0.07502143830060959,
2.7949447631835938,
0.06041359528899193,
3.069946527481079
] | 0 | 12.3 | 123 | 9 | 3,946 | 0 |
[
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1
] | [
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1.7840611934661865,
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1
] | move_to_position | 0.498776 | [
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1
] | [
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0,
0,
0
] | [
0.27910706400871277,
-0.6029568910598755,
0.1360464245080948,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2780552804470062,
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0.08667066693305969,
2.7950427532196045,
0.060471683740615845,
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] | 0 | 12.4 | 124 | 9 | 3,947 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.628947 | [
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1.758640170097351,
-2.425384283065796,
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1
] | [
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0,
0,
0
] | [
0.27910706400871277,
-0.6029568910598755,
0.1360464245080948,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2783665060997009,
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0.09925936162471771,
2.7950310707092285,
0.060456693172454834,
3.0699338912963867
] | 0 | 12.5 | 125 | 9 | 3,948 | 0 |
[
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1
] | [
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1.7721649408340454,
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1
] | move_to_position | 0.741327 | [
-1.269563913345337,
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1.758640170097351,
-2.425384283065796,
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1
] | [
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0,
0,
0
] | [
0.27910706400871277,
-0.6029568910598755,
0.1360464245080948,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.27862292528152466,
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0.11166993528604507,
2.7949140071868896,
0.06046660616993904,
3.0699331760406494
] | 0 | 12.6 | 126 | 9 | 3,949 | 0 |
[
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1
] | [
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1.7673441171646118,
-2.454663038253784,
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1
] | move_to_position | 0.84553 | [
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1.758640170097351,
-2.425384283065796,
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1
] | [
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0,
0,
0
] | [
0.27910706400871277,
-0.6029568910598755,
0.1360464245080948,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2787807881832123,
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0.12116258591413498,
2.7948625087738037,
0.06040160357952118,
3.069912910461426
] | 0 | 12.7 | 127 | 9 | 3,950 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.914882 | [
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-2.425384283065796,
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1
] | [
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0,
0,
0
] | [
0.27910706400871277,
-0.6029568910598755,
0.1360464245080948,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.27887821197509766,
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0.1284947544336319,
2.7950477600097656,
0.06042439863085747,
3.0698719024658203
] | 0 | 12.8 | 128 | 9 | 3,951 | 0 |
[
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3.480175495147705,
1
] | [
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1.7600654363632202,
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1
] | move_to_position | 0.966938 | [
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1.758640170097351,
-2.425384283065796,
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1
] | [
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0,
0,
0
] | [
0.27910706400871277,
-0.6029568910598755,
0.1360464245080948,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2789556682109833,
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0.13301914930343628,
2.794999122619629,
0.06045185402035713,
3.0698115825653076
] | 0 | 12.9 | 129 | 9 | 3,952 | 0 |
[
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-2.4272067546844482,
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3.480581760406494,
1
] | [
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1
] | move_to_position | 0.992427 | [
-1.269563913345337,
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1.758640170097351,
-2.425384283065796,
-1.7485109567642212,
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1
] | [
-0.27910706400871277,
0.6029568910598755,
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0,
0,
0
] | [
0.27910706400871277,
-0.6029568910598755,
0.1360464245080948,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2790641188621521,
-0.603069543838501,
0.13559158146381378,
2.7949371337890625,
0.06037985906004906,
3.0698492527008057
] | 0 | 13 | 130 | 9 | 3,953 | 0 |
[
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1.758844256401062,
-2.4254448413848877,
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3.480658769607544,
1
] | [
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1.758640170097351,
-2.425384283065796,
-1.7485109567642212,
3.4806442260742188,
1
] | move_to_position | 0 | [
-1.683817982673645,
-1.2577375173568726,
1.9072039127349854,
-2.568046808242798,
-1.6137702465057373,
3.0860419273376465,
1
] | [
-0.051456257700920105,
0.6372650861740112,
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0,
0,
0
] | [
0.051456257700920105,
-0.6372650861740112,
0.11544715613126755,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2790686786174774,
-0.602887749671936,
0.13589230179786682,
2.7951853275299072,
0.0605386421084404,
3.0698933601379395
] | 0 | 13.1 | 131 | 9 | 3,954 | 0 |
[
-1.2695668935775757,
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1.7588862180709839,
-2.425428628921509,
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3.4806244373321533,
1
] | [
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1.7590030431747437,
-2.4255902767181396,
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3.4804491996765137,
1
] | move_to_position | 0.000024 | [
-1.683817982673645,
-1.2577375173568726,
1.9072039127349854,
-2.568046808242798,
-1.6137702465057373,
3.0860419273376465,
1
] | [
-0.051456257700920105,
0.6372650861740112,
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0,
0,
0
] | [
0.051456257700920105,
-0.6372650861740112,
0.11544715613126755,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2790549397468567,
-0.6028717756271362,
0.13588909804821014,
2.7951903343200684,
0.06056743487715721,
3.069894313812256
] | 0 | 13.2 | 132 | 9 | 3,955 | 0 |
[
-1.2702258825302124,
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1.759403109550476,
-2.4259026050567627,
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3.4799370765686035,
1
] | [
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1.7599663734436035,
-2.426288366317749,
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3.4793312549591064,
1
] | move_to_position | 0.001906 | [
-1.683817982673645,
-1.2577375173568726,
1.9072039127349854,
-2.568046808242798,
-1.6137702465057373,
3.0860419273376465,
1
] | [
-0.051456257700920105,
0.6372650861740112,
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0,
0,
0
] | [
0.051456257700920105,
-0.6372650861740112,
0.11544715613126755,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2785280644893646,
-0.6029515862464905,
0.1359395682811737,
2.794996738433838,
0.06044032797217369,
3.0699708461761475
] | 0 | 13.3 | 133 | 9 | 3,956 | 0 |
[
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1.7609361410140991,
-2.4270622730255127,
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3.4780962467193604,
1
] | [
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1.7621690034866333,
-2.4278905391693115,
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3.4766018390655518,
1
] | move_to_position | 0.007058 | [
-1.683817982673645,
-1.2577375173568726,
1.9072039127349854,
-2.568046808242798,
-1.6137702465057373,
3.0860419273376465,
1
] | [
-0.051456257700920105,
0.6372650861740112,
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0,
0,
0
] | [
0.051456257700920105,
-0.6372650861740112,
0.11544715613126755,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.27731582522392273,
-0.603070855140686,
0.13589166104793549,
2.7948710918426514,
0.06036857143044472,
3.070103883743286
] | 0 | 13.4 | 134 | 9 | 3,957 | 0 |
[
-1.2762688398361206,
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1.7640212774276733,
-2.429265260696411,
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3.4741177558898926,
1
] | [
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1.7653924226760864,
-2.4302728176116943,
-1.7459248304367065,
3.472338914871216,
1
] | move_to_position | 0.018083 | [
-1.683817982673645,
-1.2577375173568726,
1.9072039127349854,
-2.568046808242798,
-1.6137702465057373,
3.0860419273376465,
1
] | [
-0.051456257700920105,
0.6372650861740112,
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0,
0,
0
] | [
0.051456257700920105,
-0.6372650861740112,
0.11544715613126755,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2749055325984955,
-0.603412926197052,
0.13558435440063477,
2.7950072288513184,
0.060462236404418945,
3.069953203201294
] | 0 | 13.5 | 135 | 9 | 3,958 | 0 |
[
-1.2816680669784546,
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1.7678688764572144,
-2.4321515560150146,
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3.4688127040863037,
1
] | [
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1.7696945667266846,
-2.4335110187530518,
-1.744047999382019,
3.4662952423095703,
1
] | move_to_position | 0.032467 | [
-1.683817982673645,
-1.2577375173568726,
1.9072039127349854,
-2.568046808242798,
-1.6137702465057373,
3.0860419273376465,
1
] | [
-0.051456257700920105,
0.6372650861740112,
0.11544715613126755,
0,
0,
0
] | [
0.051456257700920105,
-0.6372650861740112,
0.11544715613126755,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.27138182520866394,
-0.6039288640022278,
0.135304793715477,
2.7949576377868652,
0.060480520129203796,
3.070021152496338
] | 0 | 13.6 | 136 | 9 | 3,959 | 0 |
[
-1.2891629934310913,
-1.2143582105636597,
1.7729181051254272,
-2.4359800815582275,
-1.7425860166549683,
3.461582899093628,
1
] | [
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-1.2154583930969238,
1.7752034664154053,
-2.4377384185791016,
-1.7414592504501343,
3.458097219467163,
1
] | move_to_position | 0.052083 | [
-1.683817982673645,
-1.2577375173568726,
1.9072039127349854,
-2.568046808242798,
-1.6137702465057373,
3.0860419273376465,
1
] | [
-0.051456257700920105,
0.6372650861740112,
0.11544715613126755,
0,
0,
0
] | [
0.051456257700920105,
-0.6372650861740112,
0.11544715613126755,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.26672762632369995,
-0.6046977639198303,
0.13474789261817932,
2.7952444553375244,
0.06051631644368172,
3.0699663162231445
] | 0 | 13.7 | 137 | 9 | 3,960 | 0 |
[
-1.2987555265426636,
-1.2172482013702393,
1.778973937034607,
-2.440683603286743,
-1.739597201347351,
3.4524412155151367,
1
] | [
-1.3044462203979492,
-1.2190427780151367,
1.782690405845642,
-2.4435067176818848,
-1.7378885746002197,
3.446854591369629,
1
] | move_to_position | 0.076832 | [
-1.683817982673645,
-1.2577375173568726,
1.9072039127349854,
-2.568046808242798,
-1.6137702465057373,
3.0860419273376465,
1
] | [
-0.051456257700920105,
0.6372650861740112,
0.11544715613126755,
0,
0,
0
] | [
0.051456257700920105,
-0.6372650861740112,
0.11544715613126755,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.26106834411621094,
-0.6056573390960693,
0.13431000709533691,
2.795161008834839,
0.06042531505227089,
3.069878101348877
] | 0 | 13.8 | 138 | 9 | 3,961 | 0 |
[
-1.31218421459198,
-1.221459150314331,
1.787819743156433,
-2.4474332332611084,
-1.735510230064392,
3.4393551349639893,
1
] | [
-1.3195445537567139,
-1.2237820625305176,
1.7925317287445068,
-2.451056718826294,
-1.733268141746521,
3.4322738647460938,
1
] | move_to_position | 0.111879 | [
-1.683817982673645,
-1.2577375173568726,
1.9072039127349854,
-2.568046808242798,
-1.6137702465057373,
3.0860419273376465,
1
] | [
-0.051456257700920105,
0.6372650861740112,
0.11544715613126755,
0,
0,
0
] | [
0.051456257700920105,
-0.6372650861740112,
0.11544715613126755,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.25286197662353516,
-0.6068593859672546,
0.1335373967885971,
2.7951698303222656,
0.06047612801194191,
3.069998025894165
] | 0 | 13.9 | 139 | 9 | 3,962 | 0 |
[
-1.3290170431137085,
-1.226676344871521,
1.7984856367111206,
-2.45569109916687,
-1.730361819267273,
3.423121213912964,
1
] | [
-1.3364745378494263,
-1.2288004159927368,
1.8031049966812134,
-2.4592766761779785,
-1.7280536890029907,
3.415947198867798,
1
] | move_to_position | 0.155303 | [
-1.683817982673645,
-1.2577375173568726,
1.9072039127349854,
-2.568046808242798,
-1.6137702465057373,
3.0860419273376465,
1
] | [
-0.051456257700920105,
0.6372650861740112,
0.11544715613126755,
0,
0,
0
] | [
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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 | 140 | 9 | 3,963 | 0 |
[
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] | [
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] | move_to_position | 0.20357 | [
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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 | 0.255484 | [
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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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1
] | move_to_position | 0.314535 | [
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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 | 0.378468 | [
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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 | 0.443728 | [
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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 | 0.507452 | [
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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 | 0.570624 | [
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-2.568046808242798,
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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 | 0.634556 | [
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-2.568046808242798,
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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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1
] | move_to_position | 0.695123 | [
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1.9072039127349854,
-2.568046808242798,
-1.6137702465057373,
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] | [
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] | [
0.051456257700920105,
-0.6372650861740112,
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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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1
] | move_to_position | 0.755067 | [
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1.9072039127349854,
-2.568046808242798,
-1.6137702465057373,
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] | [
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] | [
0.051456257700920105,
-0.6372650861740112,
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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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1
] | move_to_position | 0.809936 | [
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1.9072039127349854,
-2.568046808242798,
-1.6137702465057373,
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] | [
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] | [
0.051456257700920105,
-0.6372650861740112,
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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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1
] | move_to_position | 0.854333 | [
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1.9072039127349854,
-2.568046808242798,
-1.6137702465057373,
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] | [
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] | [
0.051456257700920105,
-0.6372650861740112,
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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 | 15.2 | 152 | 9 | 3,975 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.894685 | [
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1.9072039127349854,
-2.568046808242798,
-1.6137702465057373,
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] | [
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] | [
0.051456257700920105,
-0.6372650861740112,
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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 | 15.3 | 153 | 9 | 3,976 | 0 |
[
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] | [
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1
] | move_to_position | 0.9291 | [
-1.683817982673645,
-1.2577375173568726,
1.9072039127349854,
-2.568046808242798,
-1.6137702465057373,
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] | [
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] | [
0.051456257700920105,
-0.6372650861740112,
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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 | 15.4 | 154 | 9 | 3,977 | 0 |
[
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] | [
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1
] | move_to_position | 0.955977 | [
-1.683817982673645,
-1.2577375173568726,
1.9072039127349854,
-2.568046808242798,
-1.6137702465057373,
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] | [
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] | [
0.051456257700920105,
-0.6372650861740112,
0.11544715613126755,
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 | 15.5 | 155 | 9 | 3,978 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.976204 | [
-1.683817982673645,
-1.2577375173568726,
1.9072039127349854,
-2.568046808242798,
-1.6137702465057373,
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1
] | [
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0
] | [
0.051456257700920105,
-0.6372650861740112,
0.11544715613126755,
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 | 15.6 | 156 | 9 | 3,979 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.98855 | [
-1.683817982673645,
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1.9072039127349854,
-2.568046808242798,
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1
] | [
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0,
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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: approach above red plate_1 | [
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] | 0 | 15.7 | 157 | 9 | 3,980 | 0 |
[
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] | [
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] | move_to_position | 0.995993 | [
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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 | 0.99914 | [
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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 | [
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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 | 0.000021 | [
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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 | 0.010839 | [
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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 | 0.041153 | [
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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 | 0.092794 | [
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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 | 0.164281 | [
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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 | 16.5 | 165 | 9 | 3,988 | 0 |
[
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] | [
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1
] | move_to_position | 0.257147 | [
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] | [
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] | [
0.027814451605081558,
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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 | 16.6 | 166 | 9 | 3,989 | 0 |
[
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] | [
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1
] | move_to_position | 0.386065 | [
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] | [
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] | [
0.027814451605081558,
-0.6711353063583374,
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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 | 16.700001 | 167 | 9 | 3,990 | 0 |
[
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] | [
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1
] | move_to_position | 0.513367 | [
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] | [
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] | [
0.027814451605081558,
-0.6711353063583374,
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0,
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 | 16.799999 | 168 | 9 | 3,991 | 0 |
[
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] | [
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1
] | move_to_position | 0.626352 | [
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] | [
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] | [
0.027814451605081558,
-0.6711353063583374,
0.04699999839067459,
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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 | 16.9 | 169 | 9 | 3,992 | 0 |
[
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] | [
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1
] | move_to_position | 0.736575 | [
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] | [
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] | [
0.027814451605081558,
-0.6711353063583374,
0.04699999839067459,
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 | 17 | 170 | 9 | 3,993 | 0 |
[
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] | [
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1
] | move_to_position | 0.835115 | [
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1.8718739748001099,
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] | [
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0,
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] | [
0.027814451605081558,
-0.6711353063583374,
0.04699999839067459,
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 | 17.1 | 171 | 9 | 3,994 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.919742 | [
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1.8718739748001099,
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] | [
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0,
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] | [
0.027814451605081558,
-0.6711353063583374,
0.04699999839067459,
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 | 17.200001 | 172 | 9 | 3,995 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.968022 | [
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1.8718739748001099,
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3.0534284114837646,
1
] | [
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0,
0
] | [
0.027814451605081558,
-0.6711353063583374,
0.04699999839067459,
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 | 17.299999 | 173 | 9 | 3,996 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.992636 | [
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1
] | [
-0.027814451605081558,
0.6711353063583374,
0.04699999839067459,
0,
0,
0
] | [
0.027814451605081558,
-0.6711353063583374,
0.04699999839067459,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
0.028067173436284065,
-0.6709264516830444,
0.0473722442984581,
2.7950432300567627,
0.060525767505168915,
3.0702106952667236
] | 0 | 17.4 | 174 | 9 | 3,997 | 0 |
[
-1.71817147731781,
-1.086243748664856,
1.8721297979354858,
-2.705573320388794,
-1.6021560430526733,
3.0534591674804688,
1
] | [
-1.718407392501831,
-1.0860956907272339,
1.8718739748001099,
-2.705700635910034,
-1.602182149887085,
3.0534284114837646,
1
] | move_to_position | 0.998243 | [
-1.718407392501831,
-1.0860956907272339,
1.8718739748001099,
-2.705700635910034,
-1.602182149887085,
3.0534284114837646,
1
] | [
-0.027814451605081558,
0.6711353063583374,
0.04699999839067459,
0,
0,
0
] | [
0.027814451605081558,
-0.6711353063583374,
0.04699999839067459,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
0.027949916198849678,
-0.6709946990013123,
0.046953584998846054,
2.7953338623046875,
0.06054415553808212,
3.070206642150879
] | 0 | 17.5 | 175 | 9 | 3,998 | 0 |
[
-1.7182868719100952,
-1.0862317085266113,
1.8721174001693726,
-2.7056686878204346,
-1.6022156476974487,
3.0534539222717285,
1
] | [
-1.718407392501831,
-1.0860956907272339,
1.8718739748001099,
-2.705700635910034,
-1.602182149887085,
3.0534284114837646,
0
] | gripper_open | 0 | [
-1.7182868719100952,
-1.0862317085266113,
1.8721174001693726,
-2.7056686878204346,
-1.6022156476974487,
3.0534539222717285,
0
] | [
-0.02793016843497753,
0.6710148453712463,
0.04698717221617699,
2.7952489852905273,
0.06049586832523346,
3.070180654525757
] | [
0.02793016843497753,
-0.6710148453712463,
0.04698717221617699,
2.7952489852905273,
0.06049586832523346,
3.070180654525757
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
0.027898717671632767,
-0.6710312366485596,
0.047013167291879654,
2.795212984085083,
0.06054485961794853,
3.0701377391815186
] | 0 | 17.6 | 176 | 9 | 3,999 | 0 |
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