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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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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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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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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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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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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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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] | move_to_position | 0.092496 | [
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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 | 0.165608 | [
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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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] | 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 | 0.392515 | [
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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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] | move_to_position | 0.509692 | [
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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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] | move_to_position | 0.623324 | [
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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 | 0.736909 | [
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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 | 16.799999 | 168 | 11 | 4,812 | 0 |
[
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] | [
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] | move_to_position | 0.842195 | [
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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 | 16.9 | 169 | 11 | 4,813 | 0 |
[
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] | [
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] | move_to_position | 0.915556 | [
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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 | 0.961585 | [
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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 | 0.987651 | [
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] | [
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0,
0,
0
] | [
0.040558747947216034,
-0.6801974773406982,
0.0430000014603138,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
0.04086493328213692,
-0.6801825165748596,
0.043814461678266525,
2.798898696899414,
0.0603761225938797,
3.0705158710479736
] | 0 | 17.200001 | 172 | 11 | 4,816 | 0 |
[
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3.0759308338165283,
1
] | [
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1
] | move_to_position | 0.998384 | [
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1.8397995233535767,
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1
] | [
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0,
0,
0
] | [
0.040558747947216034,
-0.6801974773406982,
0.0430000014603138,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
0.04067361727356911,
-0.680300772190094,
0.0431702695786953,
2.798804759979248,
0.06032317504286766,
3.0706429481506348
] | 0 | 17.299999 | 173 | 11 | 4,817 | 0 |
[
-1.6941393613815308,
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1
] | [
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0
] | gripper_open | 0 | [
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] | [
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] | [
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2.7987852096557617,
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3.070690631866455
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
0.04070524126291275,
-0.6802952885627747,
0.043179068714380264,
2.798766851425171,
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3.070706605911255
] | 0 | 17.4 | 174 | 11 | 4,818 | 0 |
[
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] | [
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0
] | gripper_open | 0.180392 | [
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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: release at red plate_1 | [
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0.04309059679508209,
2.79891037940979,
0.060321345925331116,
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] | 0 | 17.5 | 175 | 11 | 4,819 | 0 |
[
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] | [
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0
] | gripper_open | 0.215686 | [
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1.8396142721176147,
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] | [
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] | [
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0.043173838406801224,
2.7987852096557617,
0.06034845858812332,
3.070690631866455
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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-0.680233359336853,
0.04305235296487808,
2.7989449501037598,
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3.070587158203125
] | 0 | 17.6 | 176 | 11 | 4,820 | 0 |
[
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] | [
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0
] | gripper_open | 0.329412 | [
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] | [
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] | [
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0.043173838406801224,
2.7987852096557617,
0.06034845858812332,
3.070690631866455
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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0.04301151633262634,
2.799020290374756,
0.06034642085433006,
3.070590019226074
] | 0 | 17.700001 | 177 | 11 | 4,821 | 0 |
[
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] | [
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0
] | gripper_open | 0.45098 | [
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1.8396142721176147,
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] | [
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] | [
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0.043173838406801224,
2.7987852096557617,
0.06034845858812332,
3.070690631866455
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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0.042972031980752945,
2.7990760803222656,
0.060313306748867035,
3.0705461502075195
] | 0 | 17.799999 | 178 | 11 | 4,822 | 0 |
[
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] | [
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0
] | gripper_open | 0.572549 | [
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1.8396142721176147,
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] | [
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] | [
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0.043173838406801224,
2.7987852096557617,
0.06034845858812332,
3.070690631866455
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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-0.6802093386650085,
0.04298844933509827,
2.7990775108337402,
0.06031966954469681,
3.0705580711364746
] | 1 | 17.9 | 179 | 11 | 4,823 | 0 |
[
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3.0757408142089844,
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] | [
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0
] | gripper_open | 0.694117 | [
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1.8396142721176147,
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] | [
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] | [
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0.043173838406801224,
2.7987852096557617,
0.06034845858812332,
3.070690631866455
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
0.04057697206735611,
-0.6802293062210083,
0.043021999299526215,
2.798985719680786,
0.060324087738990784,
3.0706045627593994
] | 1 | 18 | 180 | 11 | 4,824 | 0 |
[
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3.075779676437378,
0.18431372940540314
] | [
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0
] | gripper_open | 0.815686 | [
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1.8396142721176147,
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0
] | [
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] | [
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0.043173838406801224,
2.7987852096557617,
0.06034845858812332,
3.070690631866455
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
0.040578894317150116,
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0.042988698929548264,
2.7990610599517822,
0.060306720435619354,
3.0705716609954834
] | 1 | 18.1 | 181 | 11 | 4,825 | 0 |
[
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3.0758113861083984,
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] | [
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0
] | gripper_open | 0.941176 | [
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1.8396142721176147,
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0
] | [
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] | [
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-0.6802990436553955,
0.043173838406801224,
2.7987852096557617,
0.06034845858812332,
3.070690631866455
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
0.04058068245649338,
-0.6802014112472534,
0.04298583045601845,
2.799078941345215,
0.06035207211971283,
3.0706052780151367
] | 1 | 18.200001 | 182 | 11 | 4,826 | 0 |
[
-1.694322943687439,
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1.8398126363754272,
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3.075807571411133,
0.0117647061124444
] | [
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1.8397995233535767,
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3.0758039951324463,
0
] | gripper_open | 0.988231 | [
-1.6941393613815308,
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1.8396142721176147,
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0
] | [
-0.04068109020590782,
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] | [
0.04068109020590782,
-0.6802990436553955,
0.043173838406801224,
2.7987852096557617,
0.06034845858812332,
3.070690631866455
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
0.04055468365550041,
-0.6802148818969727,
0.042995136231184006,
2.7990543842315674,
0.060320958495140076,
3.070565700531006
] | 1 | 18.299999 | 183 | 11 | 4,827 | 0 |
[
-1.6943315267562866,
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1.8397854566574097,
-2.694103956222534,
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3.0758004188537598,
0.0117647061124444
] | [
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1.8397995233535767,
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3.0758039951324463,
0
] | gripper_open | 0.988231 | [
-1.6941393613815308,
-1.0610162019729614,
1.8396142721176147,
-2.694035768508911,
-1.6103743314743042,
3.0758557319641113,
0
] | [
-0.04068109020590782,
0.6802990436553955,
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] | [
0.04068109020590782,
-0.6802990436553955,
0.043173838406801224,
2.7987852096557617,
0.06034845858812332,
3.070690631866455
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
0.040599606931209564,
-0.6802262663841248,
0.04301144927740097,
2.799008369445801,
0.06033194437623024,
3.070599317550659
] | 1 | 18.4 | 184 | 11 | 4,828 | 0 |
[
-1.6943196058273315,
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1.8397821187973022,
-2.6941425800323486,
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3.0758230686187744,
0.0117647061124444
] | [
-1.6943304538726807,
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3.0758039951324463,
0
] | gripper_open | 0.988231 | [
-1.6941393613815308,
-1.0610162019729614,
1.8396142721176147,
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-1.6103743314743042,
3.0758557319641113,
0
] | [
-0.04068109020590782,
0.6802990436553955,
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3.070690631866455
] | [
0.04068109020590782,
-0.6802990436553955,
0.043173838406801224,
2.7987852096557617,
0.06034845858812332,
3.070690631866455
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
0.04058411344885826,
-0.6802119612693787,
0.042996037751436234,
2.799039125442505,
0.060319844633340836,
3.0705819129943848
] | 1 | 18.5 | 185 | 11 | 4,829 | 0 |
[
-1.6943658590316772,
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1.8398250341415405,
-2.694126844406128,
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3.075807571411133,
0
] | [
-1.6943304538726807,
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1.8397995233535767,
-2.6941232681274414,
-1.6103688478469849,
3.0758039951324463,
0
] | move_to_position | 0 | [
-1.6232227087020874,
-1.1813026666641235,
1.8022578954696655,
-2.5326693058013916,
-1.6340948343276978,
3.1428275108337402,
0
] | [
-0.08281977474689484,
0.6682270169258118,
0.11225339770317078,
0,
0,
0
] | [
0.08281977474689484,
-0.6682270169258118,
0.11225339770317078,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
0.040575120598077774,
-0.6802084445953369,
0.04299487546086311,
2.799072027206421,
0.06030857563018799,
3.070551872253418
] | 1 | 18.6 | 186 | 11 | 4,830 | 0 |
[
-1.6943262815475464,
-1.0608770847320557,
1.839821696281433,
-2.6940839290618896,
-1.6103891134262085,
3.0757758617401123,
0
] | [
-1.694096326828003,
-1.061375379562378,
1.839777946472168,
-2.693516492843628,
-1.610533595085144,
3.0760281085968018,
0
] | move_to_position | 0.000096 | [
-1.6232227087020874,
-1.1813026666641235,
1.8022578954696655,
-2.5326693058013916,
-1.6340948343276978,
3.1428275108337402,
0
] | [
-0.08281977474689484,
0.6682270169258118,
0.11225339770317078,
0,
0,
0
] | [
0.08281977474689484,
-0.6682270169258118,
0.11225339770317078,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
0.040598150342702866,
-0.6801671385765076,
0.043012820184230804,
2.7992072105407715,
0.06035688892006874,
3.0705597400665283
] | 1 | 18.700001 | 187 | 11 | 4,831 | 0 |
[
-1.693482756614685,
-1.062598466873169,
1.8397420644760132,
-2.6921226978302,
-1.6107672452926636,
3.076619863510132,
0
] | [
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] | move_to_position | 0.012619 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 18.799999 | 188 | 11 | 4,832 | 0 |
[
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] | move_to_position | 0.044532 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 18.9 | 189 | 11 | 4,833 | 0 |
[
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] | move_to_position | 0.093654 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 19 | 190 | 11 | 4,834 | 0 |
[
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] | [
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] | move_to_position | 0.165194 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 19.1 | 191 | 11 | 4,835 | 0 |
[
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] | move_to_position | 0.260446 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 19.200001 | 192 | 11 | 4,836 | 0 |
[
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] | [
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] | move_to_position | 0.387732 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 19.299999 | 193 | 11 | 4,837 | 0 |
[
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] | [
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] | move_to_position | 0.516608 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 19.4 | 194 | 11 | 4,838 | 0 |
[
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] | [
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] | move_to_position | 0.625681 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 19.5 | 195 | 11 | 4,839 | 0 |
[
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] | [
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] | move_to_position | 0.731593 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 19.6 | 196 | 11 | 4,840 | 0 |
[
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] | [
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] | move_to_position | 0.834103 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 19.700001 | 197 | 11 | 4,841 | 0 |
[
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] | [
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] | move_to_position | 0.916647 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 19.799999 | 198 | 11 | 4,842 | 0 |
[
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] | [
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] | move_to_position | 0.969746 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 19.9 | 199 | 11 | 4,843 | 0 |
[
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] | [
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] | move_to_position | 0.994495 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20 | 200 | 11 | 4,844 | 0 |
[
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] | [
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] | move_to_position | 0.99839 | [
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] | [
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] | [
0.08281977474689484,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.1 | 201 | 11 | 4,845 | 0 |
[
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] | [
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] | move_to_position | 0.000031 | [
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] | [
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] | [
0.30052247643470764,
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0.052928294986486435,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 20.200001 | 202 | 11 | 4,846 | 0 |
[
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] | [
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0
] | move_to_position | 0.000001 | [
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] | [
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] | [
0.30052247643470764,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 20.299999 | 203 | 11 | 4,847 | 0 |
[
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] | [
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0
] | move_to_position | 0.001762 | [
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] | [
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] | [
0.30052247643470764,
-0.6012057065963745,
0.052928294986486435,
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0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 20.4 | 204 | 11 | 4,848 | 0 |
[
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[
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[
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[
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[
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[
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] | move_to_position | 0.10652 | [
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[
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] | move_to_position | 0.144957 | [
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[
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] | move_to_position | 0.191822 | [
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[
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[
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[
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[
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[
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] | move_to_position | 0.488459 | [
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[
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] | [
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] | move_to_position | 0.549291 | [
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] | [
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] | [
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] | 1 | 21.799999 | 218 | 11 | 4,862 | 0 |
[
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] | [
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] | move_to_position | 0.611339 | [
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] | [
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] | [
0.30052247643470764,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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[
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] | [
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] | move_to_position | 0.674495 | [
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] | [
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] | [
0.30052247643470764,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22 | 220 | 11 | 4,864 | 0 |
[
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] | [
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] | move_to_position | 0.731643 | [
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] | [
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] | [
0.30052247643470764,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.1 | 221 | 11 | 4,865 | 0 |
[
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] | move_to_position | 0.786961 | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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[
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] | move_to_position | 0.836424 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.299999 | 223 | 11 | 4,867 | 0 |
[
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] | [
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] | move_to_position | 0.876999 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.4 | 224 | 11 | 4,868 | 0 |
[
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] | [
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] | move_to_position | 0.912828 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.5 | 225 | 11 | 4,869 | 0 |
[
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] | move_to_position | 0.941949 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.6 | 226 | 11 | 4,870 | 0 |
[
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] | [
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] | move_to_position | 0.966076 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.700001 | 227 | 11 | 4,871 | 0 |
[
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] | [
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] | move_to_position | 0.982809 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.799999 | 228 | 11 | 4,872 | 0 |
[
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] | [
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] | move_to_position | 0.993027 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.9 | 229 | 11 | 4,873 | 0 |
[
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] | [
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] | move_to_position | 0.998181 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 23 | 230 | 11 | 4,874 | 0 |
[
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] | [
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] | move_to_position | 0.999309 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 23.1 | 231 | 11 | 4,875 | 0 |
[
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] | [
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] | gripper_open | 1 | [
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] | [
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] | 1 | 23.200001 | 232 | 11 | 4,876 | 0 |
[
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] | gripper_open | 1 | [
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] | [
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] | 1 | 23.299999 | 233 | 11 | 4,877 | 0 |
[
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] | gripper_open | 1 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: open gripper | [
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] | 1 | 23.4 | 234 | 11 | 4,878 | 0 |
[
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] | gripper_open | 1 | [
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] | [
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] | [
0.30038708448410034,
-0.6012267470359802,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: open gripper | [
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] | 1 | 23.5 | 235 | 11 | 4,879 | 0 |
[
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] | [
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0
] | move_to_position | 0 | [
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0
] | [
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0
] | [
0.2764243483543396,
-0.6086432933807373,
0.03200000151991844,
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0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
0.3005409240722656,
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0.06029113382101059,
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] | 1 | 23.6 | 236 | 11 | 4,880 | 0 |
[
-1.2347806692123413,
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] | [
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0
] | move_to_position | 0.000368 | [
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1.8343721628189087,
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0
] | [
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0,
0
] | [
0.2764243483543396,
-0.6086432933807373,
0.03200000151991844,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
0.30054187774658203,
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] | 1 | 23.700001 | 237 | 11 | 4,881 | 0 |
[
-1.235249400138855,
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0
] | [
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0
] | move_to_position | 0.013107 | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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[
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] | move_to_position | 0.058337 | [
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[
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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[
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] | move_to_position | 0.209103 | [
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[
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] | move_to_position | 0.296475 | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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[
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] | move_to_position | 0.38138 | [
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[
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[
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[
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] | move_to_position | 0.702914 | [
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[
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] | move_to_position | 0.812128 | [
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[
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[
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] | move_to_position | 0.965886 | [
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[
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[
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] | move_to_position | 0.995728 | [
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[
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] | [
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] | gripper_close | 0 | [
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] | [
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[
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] | gripper_close | 0.011765 | [
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] | [
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[
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1
] | gripper_close | 0.05098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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1.8343952894210815,
-2.662146806716919,
-1.7447723150253296,
3.4732272624969482,
0.18039216101169586
] | [
-1.2776541709899902,
-1.0437886714935303,
1.8343721628189087,
-2.6621387004852295,
-1.744774341583252,
3.473174571990967,
1
] | gripper_close | 0.180392 | [
-1.2774633169174194,
-1.0439777374267578,
1.8342293500900269,
-2.6621029376983643,
-1.7447961568832397,
3.4732272624969482,
1
] | [
-0.27656781673431396,
0.6086755990982056,
0.03220248222351074,
2.7990543842315674,
0.060275666415691376,
3.0706074237823486
] | [
0.27656781673431396,
-0.6086755990982056,
0.03220248222351074,
2.7990543842315674,
0.060275666415691376,
3.0706074237823486
] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
0.2764281630516052,
-0.608664333820343,
0.03205662965774536,
2.799271583557129,
0.060340117663145065,
3.0704267024993896
] | 1 | 25.5 | 255 | 11 | 4,899 | 0 |
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