observation.state listlengths 7 7 | action listlengths 7 7 | skill.type large_stringclasses 4
values | skill.progress float32 0 1 | skill.goal_position.joint listlengths 7 7 | skill.goal_position.world_xyzrpy listlengths 6 6 | skill.goal_position.robot_xyzrpy listlengths 6 6 | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 61
values | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | timestamp float32 0 46.1 | frame_index int64 0 461 | episode_index int64 0 24 | index int64 0 10.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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[
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] | move_to_position | 0.888086 | [
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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 | 5.8 | 58 | 11 | 4,702 | 0 |
[
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] | move_to_position | 0.907639 | [
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[
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[
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] | move_to_position | 0.94116 | [
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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 | 0.95506 | [
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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 | 11 | 4,706 | 0 |
[
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] | move_to_position | 0.965337 | [
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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 | 0.97468 | [
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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 | 11 | 4,708 | 0 |
[
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] | [
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] | move_to_position | 0.9822 | [
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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 | 11 | 4,709 | 0 |
[
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] | move_to_position | 0.98804 | [
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] | 1 | 6.6 | 66 | 11 | 4,710 | 0 |
[
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] | move_to_position | 0.992835 | [
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] | 1 | 6.7 | 67 | 11 | 4,711 | 0 |
[
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] | [
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] | move_to_position | 0.996257 | [
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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 | 6.8 | 68 | 11 | 4,712 | 0 |
[
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] | [
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] | move_to_position | 0.998431 | [
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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 | 6.9 | 69 | 11 | 4,713 | 0 |
[
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] | [
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] | move_to_position | 0.999545 | [
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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 | 0.999766 | [
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] | 1 | 7.1 | 71 | 11 | 4,715 | 0 |
[
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] | [
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] | gripper_open | 1 | [
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[
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] | gripper_open | 1 | [
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[
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] | gripper_open | 1 | [
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[
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] | gripper_open | 1 | [
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[
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] | move_to_position | 0.000032 | [
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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 | 7.6 | 76 | 11 | 4,720 | 0 |
[
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] | move_to_position | 0.000149 | [
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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 | 7.7 | 77 | 11 | 4,721 | 0 |
[
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] | [
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] | move_to_position | 0.013551 | [
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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 | 0.046681 | [
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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 | 11 | 4,723 | 0 |
[
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] | [
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] | move_to_position | 0.095393 | [
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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 | 0.163552 | [
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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 | 0.255112 | [
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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 | 0.382615 | [
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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 | 11 | 4,727 | 0 |
[
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] | [
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] | move_to_position | 0.508697 | [
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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 | 11 | 4,728 | 0 |
[
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] | [
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] | move_to_position | 0.638265 | [
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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 | 11 | 4,729 | 0 |
[
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] | [
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] | move_to_position | 0.742228 | [
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] | [
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] | [
0.24859590828418732,
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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 | 8.6 | 86 | 11 | 4,730 | 0 |
[
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] | [
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] | move_to_position | 0.825636 | [
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] | [
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] | [
0.24859590828418732,
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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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] | 1 | 8.7 | 87 | 11 | 4,731 | 0 |
[
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] | [
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] | move_to_position | 0.903069 | [
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] | [
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] | [
0.24859590828418732,
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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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] | 1 | 8.8 | 88 | 11 | 4,732 | 0 |
[
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] | [
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] | move_to_position | 0.962797 | [
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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 | 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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] | 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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] | 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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0.028098663315176964,
2.7988171577453613,
0.060266923159360886,
3.070183753967285
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.02797875739634037,
2.798945188522339,
0.060327865183353424,
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] | 0 | 11.9 | 119 | 11 | 4,763 | 0 |
[
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] | [
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1
] | gripper_close | 0.819608 | [
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] | [
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] | [
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0.028098663315176964,
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0.060266923159360886,
3.070183753967285
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.0279996395111084,
2.7989184856414795,
0.06027766689658165,
3.070263147354126
] | 0 | 12 | 120 | 11 | 4,764 | 0 |
[
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] | [
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1
] | gripper_close | 0.819608 | [
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1
] | [
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] | [
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0.028098663315176964,
2.7988171577453613,
0.060266923159360886,
3.070183753967285
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.028003936633467674,
2.798916816711426,
0.06030266731977463,
3.070277690887451
] | 0 | 12.1 | 121 | 11 | 4,765 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.000213 | [
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1.488466739654541,
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1
] | [
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0,
0,
0
] | [
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-0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.24859806895256042,
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0.027967419475317,
2.798983097076416,
0.060308925807476044,
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] | 0 | 12.2 | 122 | 11 | 4,766 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.00004 | [
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1.488466739654541,
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1
] | [
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0,
0,
0
] | [
0.20203669369220734,
-0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2485836148262024,
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0.028026489540934563,
2.7989084720611572,
0.06031171232461929,
3.0703227519989014
] | 0 | 12.3 | 123 | 11 | 4,767 | 0 |
[
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1
] | [
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1.5020420551300049,
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1
] | move_to_position | 0.014569 | [
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1.488466739654541,
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1
] | [
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0,
0,
0
] | [
0.20203669369220734,
-0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.24779462814331055,
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0.02873203717172146,
2.799330234527588,
0.06033318117260933,
3.070387601852417
] | 0 | 12.4 | 124 | 11 | 4,768 | 0 |
[
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1.502264380455017,
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1
] | [
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1.5019422769546509,
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3.3801980018615723,
1
] | move_to_position | 0.0534 | [
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1.488466739654541,
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-1.6952320337295532,
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1
] | [
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0,
0,
0
] | [
0.20203669369220734,
-0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.24576735496520996,
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0.030773881822824478,
2.7994680404663086,
0.060412973165512085,
3.0706608295440674
] | 0 | 12.5 | 125 | 11 | 4,769 | 0 |
[
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1.5019534826278687,
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3.3776211738586426,
1
] | [
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1.5017262697219849,
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3.375551223754883,
1
] | move_to_position | 0.115922 | [
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1.488466739654541,
-2.45849609375,
-1.6952320337295532,
3.318355083465576,
1
] | [
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0.7458959817886353,
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0,
0,
0
] | [
0.20203669369220734,
-0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.24256421625614166,
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0.034240324050188065,
2.798888683319092,
0.060317423194646835,
3.0703747272491455
] | 0 | 12.6 | 126 | 11 | 4,770 | 0 |
[
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1.5015586614608765,
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3.3723361492156982,
1
] | [
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1.5013190507888794,
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3.3702526092529297,
1
] | move_to_position | 0.193575 | [
-1.438489556312561,
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1.488466739654541,
-2.45849609375,
-1.6952320337295532,
3.318355083465576,
1
] | [
-0.20203669369220734,
0.7458959817886353,
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0,
0,
0
] | [
0.20203669369220734,
-0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.238778218626976,
-0.736038327217102,
0.03806931525468826,
2.7989718914031982,
0.060367174446582794,
3.070399284362793
] | 0 | 12.7 | 127 | 11 | 4,771 | 0 |
[
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1.5009149312973022,
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3.366701364517212,
1
] | [
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1.5005948543548584,
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3.3644309043884277,
1
] | move_to_position | 0.277461 | [
-1.438489556312561,
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1.488466739654541,
-2.45849609375,
-1.6952320337295532,
3.318355083465576,
1
] | [
-0.20203669369220734,
0.7458959817886353,
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0,
0,
0
] | [
0.20203669369220734,
-0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2348930537700653,
-0.7371143698692322,
0.04210171848535538,
2.798893451690674,
0.0602581687271595,
3.070324182510376
] | 0 | 12.8 | 128 | 11 | 4,772 | 0 |
[
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1.4998716115951538,
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3.360912799835205,
1
] | [
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1.4995156526565552,
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3.358701705932617,
1
] | move_to_position | 0.363717 | [
-1.438489556312561,
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1.488466739654541,
-2.45849609375,
-1.6952320337295532,
3.318355083465576,
1
] | [
-0.20203669369220734,
0.7458959817886353,
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0,
0,
0
] | [
0.20203669369220734,
-0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.23062588274478912,
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0.046409063041210175,
2.7989773750305176,
0.06029774621129036,
3.0702497959136963
] | 0 | 12.9 | 129 | 11 | 4,773 | 0 |
[
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1.4983643293380737,
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3.3537046909332275,
1
] | [
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1.4977830648422241,
-2.4973158836364746,
-1.7061738967895508,
3.3511383533477783,
1
] | move_to_position | 0.470763 | [
-1.438489556312561,
-0.9250703454017639,
1.488466739654541,
-2.45849609375,
-1.6952320337295532,
3.318355083465576,
1
] | [
-0.20203669369220734,
0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | [
0.20203669369220734,
-0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2255464792251587,
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0.051762305200099945,
2.7988667488098145,
0.06024009734392166,
3.0703279972076416
] | 0 | 13 | 130 | 11 | 4,774 | 0 |
[
-1.4100979566574097,
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1.4963525533676147,
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-1.7042869329452515,
3.3454980850219727,
1
] | [
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1.4955909252166748,
-2.487269163131714,
-1.7032866477966309,
3.342451333999634,
1
] | move_to_position | 0.593118 | [
-1.438489556312561,
-0.9250703454017639,
1.488466739654541,
-2.45849609375,
-1.6952320337295532,
3.318355083465576,
1
] | [
-0.20203669369220734,
0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | [
0.20203669369220734,
-0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.21979807317256927,
-0.7414027452468872,
0.05772176384925842,
2.7987279891967773,
0.06025875732302666,
3.070314407348633
] | 0 | 13.1 | 131 | 11 | 4,775 | 0 |
[
-1.419028639793396,
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1.494137167930603,
-2.480860471725464,
-1.7014940977096558,
3.3369619846343994,
1
] | [
-1.4216457605361938,
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1.4934636354446411,
-2.4779438972473145,
-1.700628638267517,
3.334468126296997,
1
] | move_to_position | 0.720701 | [
-1.438489556312561,
-0.9250703454017639,
1.488466739654541,
-2.45849609375,
-1.6952320337295532,
3.318355083465576,
1
] | [
-0.20203669369220734,
0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | [
0.20203669369220734,
-0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.21434657275676727,
-0.7428455352783203,
0.06330402195453644,
2.7987146377563477,
0.06027533486485481,
3.070314407348633
] | 0 | 13.2 | 132 | 11 | 4,776 | 0 |
[
-1.426428198814392,
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1.4921759366989136,
-2.4724996089935303,
-1.6990917921066284,
3.3299190998077393,
1
] | [
-1.4296772480010986,
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1.491343379020691,
-2.4688193798065186,
-1.6980618238449097,
3.3267807960510254,
1
] | move_to_position | 0.826643 | [
-1.438489556312561,
-0.9250703454017639,
1.488466739654541,
-2.45849609375,
-1.6952320337295532,
3.318355083465576,
1
] | [
-0.20203669369220734,
0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | [
0.20203669369220734,
-0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2092294692993164,
-0.7441192269325256,
0.06851033866405487,
2.798703193664551,
0.0602690763771534,
3.0702574253082275
] | 0 | 13.3 | 133 | 11 | 4,777 | 0 |
[
-1.4327186346054077,
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1.4905027151107788,
-2.4653055667877197,
-1.6971114873886108,
3.3238766193389893,
1
] | [
-1.4344309568405151,
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1.4900481700897217,
-2.4632716178894043,
-1.6965361833572388,
3.322234869003296,
1
] | move_to_position | 0.916487 | [
-1.438489556312561,
-0.9250703454017639,
1.488466739654541,
-2.45849609375,
-1.6952320337295532,
3.318355083465576,
1
] | [
-0.20203669369220734,
0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | [
0.20203669369220734,
-0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.20524822175502777,
-0.7450374960899353,
0.07236893475055695,
2.7990429401397705,
0.0603199377655983,
3.0702755451202393
] | 0 | 13.4 | 134 | 11 | 4,778 | 0 |
[
-1.436315894126892,
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1.489484190940857,
-2.4610559940338135,
-1.6959251165390015,
3.3204565048217773,
1
] | [
-1.4373220205307007,
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1.4891000986099243,
-2.459869861602783,
-1.6956071853637695,
3.3194711208343506,
1
] | move_to_position | 0.968113 | [
-1.438489556312561,
-0.9250703454017639,
1.488466739654541,
-2.45849609375,
-1.6952320337295532,
3.318355083465576,
1
] | [
-0.20203669369220734,
0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | [
0.20203669369220734,
-0.7458959817886353,
0.07569684833288193,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2031504362821579,
-0.7455148696899414,
0.07446225732564926,
2.799191474914551,
0.06040621176362038,
3.070328950881958
] | 0 | 13.5 | 135 | 11 | 4,779 | 0 |
[
-1.4380301237106323,
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1.4889148473739624,
-2.459012746810913,
-1.6954420804977417,
3.3187859058380127,
1
] | [
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1
] | move_to_position | 0.992948 | [
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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: retract with chocolate pie_1 | [
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] | 0 | 13.6 | 136 | 11 | 4,780 | 0 |
[
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] | [
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] | move_to_position | 0.997367 | [
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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 | 13.7 | 137 | 11 | 4,781 | 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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] | 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 | 11 | 4,782 | 0 |
[
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] | [
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1
] | move_to_position | 0 | [
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1.7791905403137207,
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] | [
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] | [
0.0762413889169693,
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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 | 13.9 | 139 | 11 | 4,783 | 0 |
[
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] | [
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1
] | move_to_position | 0.005205 | [
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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 | 140 | 11 | 4,784 | 0 |
[
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] | [
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1
] | move_to_position | 0.020974 | [
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1.7791905403137207,
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] | [
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] | [
0.0762413889169693,
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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 | 14.1 | 141 | 11 | 4,785 | 0 |
[
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] | [
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1
] | move_to_position | 0.049235 | [
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1.7791905403137207,
-2.5043179988861084,
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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 | 14.2 | 142 | 11 | 4,786 | 0 |
[
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] | [
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1
] | move_to_position | 0.090425 | [
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1.7791905403137207,
-2.5043179988861084,
-1.6304959058761597,
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] | [
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] | [
0.0762413889169693,
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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 | 11 | 4,787 | 0 |
[
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] | [
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1
] | move_to_position | 0.153706 | [
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1.7791905403137207,
-2.5043179988861084,
-1.6304959058761597,
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] | [
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] | [
0.0762413889169693,
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0.12257526069879532,
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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 | 14.4 | 144 | 11 | 4,788 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.226003 | [
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-1.1871107816696167,
1.7791905403137207,
-2.5043179988861084,
-1.6304959058761597,
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] | [
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0
] | [
0.0762413889169693,
-0.6734679937362671,
0.12257526069879532,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.5 | 145 | 11 | 4,789 | 0 |
[
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] | [
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1
] | move_to_position | 0.310232 | [
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-1.1871107816696167,
1.7791905403137207,
-2.5043179988861084,
-1.6304959058761597,
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] | [
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0.6734679937362671,
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0,
0
] | [
0.0762413889169693,
-0.6734679937362671,
0.12257526069879532,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.6 | 146 | 11 | 4,790 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.405744 | [
-1.6340430974960327,
-1.1871107816696167,
1.7791905403137207,
-2.5043179988861084,
-1.6304959058761597,
3.132627487182617,
1
] | [
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0.6734679937362671,
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0,
0
] | [
0.0762413889169693,
-0.6734679937362671,
0.12257526069879532,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.7 | 147 | 11 | 4,791 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.502442 | [
-1.6340430974960327,
-1.1871107816696167,
1.7791905403137207,
-2.5043179988861084,
-1.6304959058761597,
3.132627487182617,
1
] | [
-0.0762413889169693,
0.6734679937362671,
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0,
0
] | [
0.0762413889169693,
-0.6734679937362671,
0.12257526069879532,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.8 | 148 | 11 | 4,792 | 0 |
[
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1
] | [
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-2.4991414546966553,
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1
] | move_to_position | 0.603948 | [
-1.6340430974960327,
-1.1871107816696167,
1.7791905403137207,
-2.5043179988861084,
-1.6304959058761597,
3.132627487182617,
1
] | [
-0.0762413889169693,
0.6734679937362671,
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0,
0
] | [
0.0762413889169693,
-0.6734679937362671,
0.12257526069879532,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 14.9 | 149 | 11 | 4,793 | 0 |
[
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1
] | [
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-2.5020482540130615,
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1
] | move_to_position | 0.6946 | [
-1.6340430974960327,
-1.1871107816696167,
1.7791905403137207,
-2.5043179988861084,
-1.6304959058761597,
3.132627487182617,
1
] | [
-0.0762413889169693,
0.6734679937362671,
0.12257526069879532,
0,
0,
0
] | [
0.0762413889169693,
-0.6734679937362671,
0.12257526069879532,
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 | 150 | 11 | 4,794 | 0 |
[
-1.5831841230392456,
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1
] | [
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1.731837511062622,
-2.503657341003418,
-1.6449006795883179,
3.1730873584747314,
1
] | move_to_position | 0.774034 | [
-1.6340430974960327,
-1.1871107816696167,
1.7791905403137207,
-2.5043179988861084,
-1.6304959058761597,
3.132627487182617,
1
] | [
-0.0762413889169693,
0.6734679937362671,
0.12257526069879532,
0,
0,
0
] | [
0.0762413889169693,
-0.6734679937362671,
0.12257526069879532,
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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-0.6891775131225586,
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0.060315169394016266,
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] | 0 | 15.1 | 151 | 11 | 4,795 | 0 |
[
-1.6005157232284546,
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3.164306163787842,
1
] | [
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-2.504326105117798,
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3.158362865447998,
1
] | move_to_position | 0.852325 | [
-1.6340430974960327,
-1.1871107816696167,
1.7791905403137207,
-2.5043179988861084,
-1.6304959058761597,
3.132627487182617,
1
] | [
-0.0762413889169693,
0.6734679937362671,
0.12257526069879532,
0,
0,
0
] | [
0.0762413889169693,
-0.6734679937362671,
0.12257526069879532,
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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0.1161147803068161,
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0.06032392755150795,
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] | 0 | 15.2 | 152 | 11 | 4,796 | 0 |
[
-1.614345908164978,
-1.1648091077804565,
1.7580355405807495,
-2.5044143199920654,
-1.6371692419052124,
3.151244878768921,
1
] | [
-1.6187031269073486,
-1.1699336767196655,
1.7631313800811768,
-2.5044643878936768,
-1.6356701850891113,
3.1471140384674072,
1
] | move_to_position | 0.913855 | [
-1.6340430974960327,
-1.1871107816696167,
1.7791905403137207,
-2.5043179988861084,
-1.6304959058761597,
3.132627487182617,
1
] | [
-0.0762413889169693,
0.6734679937362671,
0.12257526069879532,
0,
0,
0
] | [
0.0762413889169693,
-0.6734679937362671,
0.12257526069879532,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.08652538061141968,
-0.6794737577438354,
0.11876785755157471,
2.7990310192108154,
0.06036536023020744,
3.070448875427246
] | 0 | 15.3 | 153 | 11 | 4,797 | 0 |
[
-1.6233280897140503,
-1.1753827333450317,
1.7683080434799194,
-2.5044620037078857,
-1.6341108083724976,
3.1427526473999023,
1
] | [
-1.6261136531829834,
-1.1785106658935547,
1.7714325189590454,
-2.5044379234313965,
-1.6331787109375,
3.1401100158691406,
1
] | move_to_position | 0.954243 | [
-1.6340430974960327,
-1.1871107816696167,
1.7791905403137207,
-2.5043179988861084,
-1.6304959058761597,
3.132627487182617,
1
] | [
-0.0762413889169693,
0.6734679937362671,
0.12257526069879532,
0,
0,
0
] | [
0.0762413889169693,
-0.6734679937362671,
0.12257526069879532,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.08175870031118393,
-0.6764578819274902,
0.12050681561231613,
2.7992658615112305,
0.06035928055644035,
3.070559024810791
] | 0 | 15.4 | 154 | 11 | 4,798 | 0 |
[
-1.6288951635360718,
-1.1817246675491333,
1.7744783163070679,
-2.504446268081665,
-1.632222056388855,
3.137432336807251,
1
] | [
-1.6308289766311646,
-1.1837598085403442,
1.7763088941574097,
-2.5043880939483643,
-1.631587266921997,
3.135657787322998,
1
] | move_to_position | 0.978862 | [
-1.6340430974960327,
-1.1871107816696167,
1.7791905403137207,
-2.5043179988861084,
-1.6304959058761597,
3.132627487182617,
1
] | [
-0.0762413889169693,
0.6734679937362671,
0.12257526069879532,
0,
0,
0
] | [
0.0762413889169693,
-0.6734679937362671,
0.12257526069879532,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.07862938940525055,
-0.6746252179145813,
0.12163376808166504,
2.799300193786621,
0.060388967394828796,
3.070500373840332
] | 0 | 15.5 | 155 | 11 | 4,799 | 0 |
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