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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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.5 | 55 | 10 | 4,300 | 0 |
[
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] | move_to_position | 0.925456 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.6 | 56 | 10 | 4,301 | 0 |
[
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] | move_to_position | 0.941625 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.7 | 57 | 10 | 4,302 | 0 |
[
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] | move_to_position | 0.956257 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.967912 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.977685 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6 | 60 | 10 | 4,305 | 0 |
[
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] | [
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] | move_to_position | 0.985733 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.1 | 61 | 10 | 4,306 | 0 |
[
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] | [
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] | move_to_position | 0.991953 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.2 | 62 | 10 | 4,307 | 0 |
[
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] | move_to_position | 0.996092 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.3 | 63 | 10 | 4,308 | 0 |
[
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] | [
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] | move_to_position | 0.998281 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.4 | 64 | 10 | 4,309 | 0 |
[
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] | move_to_position | 0.999469 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.5 | 65 | 10 | 4,310 | 0 |
[
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] | move_to_position | 0.999746 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.6 | 66 | 10 | 4,311 | 0 |
[
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] | [
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] | gripper_open | 1 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: open gripper | [
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] | 1 | 6.7 | 67 | 10 | 4,312 | 0 |
[
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] | gripper_open | 1 | [
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] | [
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] | 1 | 6.8 | 68 | 10 | 4,313 | 0 |
[
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] | gripper_open | 1 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: open gripper | [
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] | 1 | 6.9 | 69 | 10 | 4,314 | 0 |
[
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] | gripper_open | 1 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: open gripper | [
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] | 1 | 7 | 70 | 10 | 4,315 | 0 |
[
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] | move_to_position | 0 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | move_to_position | 0.000219 | [
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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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] | move_to_position | 0.012581 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.042763 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | move_to_position | 0.094133 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | move_to_position | 0.163621 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.253057 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | move_to_position | 0.379295 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.507967 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.62664 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | move_to_position | 0.721261 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.822282 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.90772 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.965761 | [
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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 | 8.4 | 84 | 10 | 4,329 | 0 |
[
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] | [
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] | move_to_position | 0.993242 | [
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] | [
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] | [
0.25790008902549744,
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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 | 10 | 4,330 | 0 |
[
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] | [
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1
] | 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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[
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1
] | gripper_close | 0.011765 | [
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1
] | [
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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 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | gripper_close | 0.819608 | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | gripper_close | 0.819608 | [
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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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[
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] | gripper_close | 0.819608 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | gripper_close | 0.819608 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | gripper_close | 0.819608 | [
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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 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | gripper_close | 0.819608 | [
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] | gripper_close | 0.819608 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | gripper_close | 0.819608 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | gripper_close | 0.819608 | [
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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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[
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] | gripper_close | 0.819608 | [
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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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[
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] | gripper_close | 0.819608 | [
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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 | 11.2 | 112 | 10 | 4,357 | 0 |
[
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] | gripper_close | 0.819608 | [
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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 | 11.3 | 113 | 10 | 4,358 | 0 |
[
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] | gripper_close | 0.819608 | [
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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 | 11.4 | 114 | 10 | 4,359 | 0 |
[
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] | gripper_close | 0.819608 | [
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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 | 11.5 | 115 | 10 | 4,360 | 0 |
[
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] | [
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] | move_to_position | 0.000286 | [
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] | [
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] | [
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0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
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] | 0 | 11.6 | 116 | 10 | 4,361 | 0 |
[
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] | [
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1
] | move_to_position | 0 | [
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] | [
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] | [
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0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
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] | 0 | 11.7 | 117 | 10 | 4,362 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.009089 | [
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] | [
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] | [
0.2574257254600525,
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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: retract with chocolate pie_1 | [
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] | 0 | 11.8 | 118 | 10 | 4,363 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.057511 | [
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1
] | [
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0,
0,
0
] | [
0.2574257254600525,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2579841911792755,
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] | 0 | 11.9 | 119 | 10 | 4,364 | 0 |
[
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] | [
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1
] | move_to_position | 0.128024 | [
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] | [
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0,
0
] | [
0.2574257254600525,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
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2.7973275184631348,
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] | 0 | 12 | 120 | 10 | 4,365 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.232775 | [
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1
] | [
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0,
0
] | [
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0.044551391154527664,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
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2.797118902206421,
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] | 0 | 12.1 | 121 | 10 | 4,366 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.339269 | [
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1
] | [
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0,
0
] | [
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
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2.7971954345703125,
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] | 0 | 12.2 | 122 | 10 | 4,367 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.440352 | [
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1
] | [
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0,
0
] | [
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-0.663826048374176,
0.044551391154527664,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.25770044326782227,
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0.036068376153707504,
2.7971386909484863,
0.06022469326853752,
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] | 0 | 12.3 | 123 | 10 | 4,368 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.531829 | [
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1
] | [
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0,
0
] | [
0.2574257254600525,
-0.663826048374176,
0.044551391154527664,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
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0.037373773753643036,
2.797213554382324,
0.060276105999946594,
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] | 0 | 12.4 | 124 | 10 | 4,369 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.603751 | [
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1
] | [
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0,
0,
0
] | [
0.2574257254600525,
-0.663826048374176,
0.044551391154527664,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
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0.03861342743039131,
2.797100305557251,
0.06025872007012367,
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] | 0 | 12.5 | 125 | 10 | 4,370 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.684631 | [
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1
] | [
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0,
0,
0
] | [
0.2574257254600525,
-0.663826048374176,
0.044551391154527664,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2575715482234955,
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0.03990185260772705,
2.797114849090576,
0.060260314494371414,
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] | 0 | 12.6 | 126 | 10 | 4,371 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.770593 | [
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1.7006456851959229,
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1
] | [
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0,
0,
0
] | [
0.2574257254600525,
-0.663826048374176,
0.044551391154527664,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2575255334377289,
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0.041215237230062485,
2.797105550765991,
0.06026479974389076,
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] | 0 | 12.7 | 127 | 10 | 4,372 | 0 |
[
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1
] | [
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3.420539617538452,
1
] | move_to_position | 0.849669 | [
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1.7006456851959229,
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1
] | [
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0,
0,
0
] | [
0.2574257254600525,
-0.663826048374176,
0.044551391154527664,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2575007677078247,
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0.042460352182388306,
2.7970728874206543,
0.06021831929683685,
3.069993734359741
] | 0 | 12.8 | 128 | 10 | 4,373 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.919717 | [
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1.7006456851959229,
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1
] | [
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0,
0,
0
] | [
0.2574257254600525,
-0.663826048374176,
0.044551391154527664,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2574577033519745,
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0.04345213249325752,
2.7970948219299316,
0.06025581434369087,
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] | 0 | 12.9 | 129 | 10 | 4,374 | 0 |
[
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3.4208309650421143,
1
] | [
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1.7002792358398438,
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1
] | move_to_position | 0.968966 | [
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1.7006456851959229,
-2.592233896255493,
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3.4209470748901367,
1
] | [
-0.2574257254600525,
0.663826048374176,
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0,
0,
0
] | [
0.2574257254600525,
-0.663826048374176,
0.044551391154527664,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2574161887168884,
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0.044231731444597244,
2.7970130443573,
0.060240473598241806,
3.0699474811553955
] | 0 | 13 | 130 | 10 | 4,375 | 0 |
[
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1.7004092931747437,
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3.4209303855895996,
1
] | [
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1.7006456851959229,
-2.592233896255493,
-1.7291944026947021,
3.4209470748901367,
1
] | move_to_position | 0.993259 | [
-1.3316906690597534,
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1.7006456851959229,
-2.592233896255493,
-1.7291944026947021,
3.4209470748901367,
1
] | [
-0.2574257254600525,
0.663826048374176,
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0,
0,
0
] | [
0.2574257254600525,
-0.663826048374176,
0.044551391154527664,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.25744757056236267,
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0.044516682624816895,
2.7970564365386963,
0.06023968383669853,
3.0699703693389893
] | 0 | 13.1 | 131 | 10 | 4,376 | 0 |
[
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3.420942544937134,
1
] | [
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1.7006456851959229,
-2.592233896255493,
-1.7291944026947021,
3.4209470748901367,
1
] | move_to_position | 0 | [
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1.8480262756347656,
-2.6698153018951416,
-1.6212419271469116,
3.1065564155578613,
1
] | [
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0,
0,
0
] | [
0.06003229692578316,
-0.6727701425552368,
0.05689385533332825,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.25745856761932373,
-0.6638878583908081,
0.04450223594903946,
2.7970948219299316,
0.060261815786361694,
3.070009469985962
] | 0 | 13.2 | 132 | 10 | 4,377 | 0 |
[
-1.331673502922058,
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1.7004059553146362,
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3.4209818840026855,
1
] | [
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1.700495719909668,
-2.592374563217163,
-1.7291957139968872,
3.4208695888519287,
1
] | move_to_position | 0 | [
-1.6621416807174683,
-1.0939345359802246,
1.8480262756347656,
-2.6698153018951416,
-1.6212419271469116,
3.1065564155578613,
1
] | [
-0.06003229692578316,
0.6727701425552368,
0.05689385533332825,
0,
0,
0
] | [
0.06003229692578316,
-0.6727701425552368,
0.05689385533332825,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2574402391910553,
-0.663885235786438,
0.04447567090392113,
2.7971456050872803,
0.06031142920255661,
3.070007801055908
] | 0 | 13.3 | 133 | 10 | 4,378 | 0 |
[
-1.3321770429611206,
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1.7010987997055054,
-2.5926759243011475,
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3.42040753364563,
1
] | [
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1.70183527469635,
-2.5931899547576904,
-1.7287558317184448,
3.4194576740264893,
1
] | move_to_position | 0.001962 | [
-1.6621416807174683,
-1.0939345359802246,
1.8480262756347656,
-2.6698153018951416,
-1.6212419271469116,
3.1065564155578613,
1
] | [
-0.06003229692578316,
0.6727701425552368,
0.05689385533332825,
0,
0,
0
] | [
0.06003229692578316,
-0.6727701425552368,
0.05689385533332825,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.25691041350364685,
-0.6638221740722656,
0.04455037787556648,
2.797023296356201,
0.060313913971185684,
3.0700089931488037
] | 0 | 13.4 | 134 | 10 | 4,379 | 0 |
[
-1.3344095945358276,
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1.703060507774353,
-2.5938332080841064,
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3.4182417392730713,
1
] | [
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1.704628586769104,
-2.5947887897491455,
-1.7277565002441406,
3.4162962436676025,
1
] | move_to_position | 0.009838 | [
-1.6621416807174683,
-1.0939345359802246,
1.8480262756347656,
-2.6698153018951416,
-1.6212419271469116,
3.1065564155578613,
1
] | [
-0.06003229692578316,
0.6727701425552368,
0.05689385533332825,
0,
0,
0
] | [
0.06003229692578316,
-0.6727701425552368,
0.05689385533332825,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2553146183490753,
-0.6638864874839783,
0.044789768755435944,
2.7967851161956787,
0.060232967138290405,
3.070075511932373
] | 0 | 13.5 | 135 | 10 | 4,380 | 0 |
[
-1.3388713598251343,
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1.706546664237976,
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1
] | [
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1
] | move_to_position | 0.024601 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 13.6 | 136 | 10 | 4,381 | 0 |
[
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] | [
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] | move_to_position | 0.046683 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 13.7 | 137 | 10 | 4,382 | 0 |
[
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] | [
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] | move_to_position | 0.076864 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 13.8 | 138 | 10 | 4,383 | 0 |
[
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] | [
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] | move_to_position | 0.116508 | [
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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 | 0.166678 | [
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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 | 0.22754 | [
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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 | 0.290521 | [
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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 | 0.359795 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.3 | 143 | 10 | 4,388 | 0 |
[
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] | [
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] | move_to_position | 0.435443 | [
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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 | 0.511815 | [
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1.8480262756347656,
-2.6698153018951416,
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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 | 0.5906 | [
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1.8480262756347656,
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.6 | 146 | 10 | 4,391 | 0 |
[
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] | [
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1
] | move_to_position | 0.660854 | [
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1.8480262756347656,
-2.6698153018951416,
-1.6212419271469116,
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] | [
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] | [
0.06003229692578316,
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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 | 14.7 | 147 | 10 | 4,392 | 0 |
[
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] | [
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1
] | move_to_position | 0.729549 | [
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1.8480262756347656,
-2.6698153018951416,
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] | [
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] | [
0.06003229692578316,
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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 | 14.8 | 148 | 10 | 4,393 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.790915 | [
-1.6621416807174683,
-1.0939345359802246,
1.8480262756347656,
-2.6698153018951416,
-1.6212419271469116,
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] | [
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] | [
0.06003229692578316,
-0.6727701425552368,
0.05689385533332825,
0,
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 | 14.9 | 149 | 10 | 4,394 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.851895 | [
-1.6621416807174683,
-1.0939345359802246,
1.8480262756347656,
-2.6698153018951416,
-1.6212419271469116,
3.1065564155578613,
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] | [
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] | [
0.06003229692578316,
-0.6727701425552368,
0.05689385533332825,
0,
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 | 150 | 10 | 4,395 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.898227 | [
-1.6621416807174683,
-1.0939345359802246,
1.8480262756347656,
-2.6698153018951416,
-1.6212419271469116,
3.1065564155578613,
1
] | [
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0.6727701425552368,
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0
] | [
0.06003229692578316,
-0.6727701425552368,
0.05689385533332825,
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 | 15.1 | 151 | 10 | 4,396 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.934519 | [
-1.6621416807174683,
-1.0939345359802246,
1.8480262756347656,
-2.6698153018951416,
-1.6212419271469116,
3.1065564155578613,
1
] | [
-0.06003229692578316,
0.6727701425552368,
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0,
0
] | [
0.06003229692578316,
-0.6727701425552368,
0.05689385533332825,
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 | 15.2 | 152 | 10 | 4,397 | 0 |
[
-1.6489499807357788,
-1.0920765399932861,
1.846474051475525,
-2.6693646907806396,
-1.6257623434066772,
3.1189699172973633,
1
] | [
-1.6525590419769287,
-1.0926520824432373,
1.8469650745391846,
-2.669539451599121,
-1.6245055198669434,
3.115579128265381,
1
] | move_to_position | 0.96294 | [
-1.6621416807174683,
-1.0939345359802246,
1.8480262756347656,
-2.6698153018951416,
-1.6212419271469116,
3.1065564155578613,
1
] | [
-0.06003229692578316,
0.6727701425552368,
0.05689385533332825,
0,
0,
0
] | [
0.06003229692578316,
-0.6727701425552368,
0.05689385533332825,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.06716551631689072,
-0.6722869873046875,
0.05642234906554222,
2.7971715927124023,
0.06030432879924774,
3.0700435638427734
] | 0 | 15.3 | 153 | 10 | 4,398 | 0 |
[
-1.655441164970398,
-1.0930657386779785,
1.8472808599472046,
-2.6695988178253174,
-1.6235002279281616,
3.1128408908843994,
1
] | [
-1.6579171419143677,
-1.0933902263641357,
1.8475972414016724,
-2.66971492767334,
-1.6226818561553955,
3.1105332374572754,
1
] | move_to_position | 0.981242 | [
-1.6621416807174683,
-1.0939345359802246,
1.8480262756347656,
-2.6698153018951416,
-1.6212419271469116,
3.1065564155578613,
1
] | [
-0.06003229692578316,
0.6727701425552368,
0.05689385533332825,
0,
0,
0
] | [
0.06003229692578316,
-0.6727701425552368,
0.05689385533332825,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.06332013756036758,
-0.6725961565971375,
0.05672230198979378,
2.7970168590545654,
0.06026098132133484,
3.070028305053711
] | 0 | 15.4 | 154 | 10 | 4,399 | 0 |
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