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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[
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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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] | move_to_position | 0.742532 | [
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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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] | move_to_position | 0.831179 | [
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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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] | move_to_position | 0.899868 | [
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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 | 0.952189 | [
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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 | 13.2 | 132 | 12 | 5,205 | 0 |
[
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] | [
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] | move_to_position | 0.985655 | [
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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 | 13.3 | 133 | 12 | 5,206 | 0 |
[
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] | [
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] | move_to_position | 0.998189 | [
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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 | 13.4 | 134 | 12 | 5,207 | 0 |
[
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] | [
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] | 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: descend to red plate_1 | [
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] | 0 | 13.5 | 135 | 12 | 5,208 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.000138 | [
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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 | 13.6 | 136 | 12 | 5,209 | 0 |
[
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] | [
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] | move_to_position | 0.010494 | [
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] | [
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] | [
0.027851562947034836,
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0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 13.7 | 137 | 12 | 5,210 | 0 |
[
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] | [
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] | move_to_position | 0.040603 | [
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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 | 13.8 | 138 | 12 | 5,211 | 0 |
[
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] | [
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1
] | move_to_position | 0.090088 | [
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] | [
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] | [
0.027851562947034836,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 13.9 | 139 | 12 | 5,212 | 0 |
[
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] | [
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1
] | move_to_position | 0.164403 | [
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] | [
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] | [
0.027851562947034836,
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0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 14 | 140 | 12 | 5,213 | 0 |
[
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] | [
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1
] | move_to_position | 0.272961 | [
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] | [
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] | [
0.027851562947034836,
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0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 14.1 | 141 | 12 | 5,214 | 0 |
[
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] | [
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1
] | move_to_position | 0.392154 | [
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] | [
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] | [
0.027851562947034836,
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0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 14.2 | 142 | 12 | 5,215 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.500845 | [
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1
] | [
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0,
0
] | [
0.027851562947034836,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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2.794501304626465,
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] | 0 | 14.3 | 143 | 12 | 5,216 | 0 |
[
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] | [
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1
] | move_to_position | 0.619646 | [
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] | [
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] | [
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 14.4 | 144 | 12 | 5,217 | 0 |
[
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] | [
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] | move_to_position | 0.743991 | [
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] | [
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] | [
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 14.5 | 145 | 12 | 5,218 | 0 |
[
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] | [
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] | move_to_position | 0.84695 | [
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] | [
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] | [
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 14.6 | 146 | 12 | 5,219 | 0 |
[
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] | [
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] | move_to_position | 0.91439 | [
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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: descend to red plate_1 | [
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] | 0 | 14.7 | 147 | 12 | 5,220 | 0 |
[
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] | [
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] | move_to_position | 0.959902 | [
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] | [
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] | [
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0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 14.8 | 148 | 12 | 5,221 | 0 |
[
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] | [
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] | move_to_position | 0.985874 | [
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] | [
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] | [
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0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 14.9 | 149 | 12 | 5,222 | 0 |
[
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] | [
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1
] | move_to_position | 0.998776 | [
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] | [
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] | [
0.027851562947034836,
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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 | 15 | 150 | 12 | 5,223 | 0 |
[
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1
] | [
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] | gripper_open | 0 | [
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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 | 15.1 | 151 | 12 | 5,224 | 0 |
[
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] | gripper_open | 0.211765 | [
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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 | 15.2 | 152 | 12 | 5,225 | 0 |
[
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] | gripper_open | 0.32549 | [
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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 | 15.3 | 153 | 12 | 5,226 | 0 |
[
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] | gripper_open | 0.45098 | [
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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 | 15.4 | 154 | 12 | 5,227 | 0 |
[
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] | gripper_open | 0.572549 | [
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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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] | 1 | 15.5 | 155 | 12 | 5,228 | 0 |
[
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] | [
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] | gripper_open | 0.694118 | [
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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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] | 1 | 15.6 | 156 | 12 | 5,229 | 0 |
[
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] | gripper_open | 0.815686 | [
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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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] | 1 | 15.7 | 157 | 12 | 5,230 | 0 |
[
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] | gripper_open | 0.941176 | [
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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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] | 1 | 15.8 | 158 | 12 | 5,231 | 0 |
[
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] | [
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0
] | gripper_open | 0.988234 | [
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] | [
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] | 1 | 15.9 | 159 | 12 | 5,232 | 0 |
[
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] | gripper_open | 0.988234 | [
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] | 1 | 16 | 160 | 12 | 5,233 | 0 |
[
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] | gripper_open | 0.988234 | [
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] | 1 | 16.1 | 161 | 12 | 5,234 | 0 |
[
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] | move_to_position | 0 | [
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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 | 16.200001 | 162 | 12 | 5,235 | 0 |
[
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] | move_to_position | 0.000209 | [
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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 | 16.299999 | 163 | 12 | 5,236 | 0 |
[
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] | move_to_position | 0.011156 | [
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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 | 16.4 | 164 | 12 | 5,237 | 0 |
[
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] | move_to_position | 0.039567 | [
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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 | 16.5 | 165 | 12 | 5,238 | 0 |
[
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] | [
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] | move_to_position | 0.091752 | [
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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 | 16.6 | 166 | 12 | 5,239 | 0 |
[
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] | [
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] | move_to_position | 0.16222 | [
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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 | 16.700001 | 167 | 12 | 5,240 | 0 |
[
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] | [
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] | move_to_position | 0.266159 | [
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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 | 16.799999 | 168 | 12 | 5,241 | 0 |
[
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] | [
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] | move_to_position | 0.389709 | [
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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 | 16.9 | 169 | 12 | 5,242 | 0 |
[
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] | [
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] | move_to_position | 0.508418 | [
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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 | 17 | 170 | 12 | 5,243 | 0 |
[
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] | [
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] | move_to_position | 0.619612 | [
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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 | 17.1 | 171 | 12 | 5,244 | 0 |
[
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] | [
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] | move_to_position | 0.737759 | [
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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 | [
0.026376353576779366,
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] | 1 | 17.200001 | 172 | 12 | 5,245 | 0 |
[
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] | [
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] | move_to_position | 0.837162 | [
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] | [
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] | [
0.025943100452423096,
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0.09612587094306946,
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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 | 17.299999 | 173 | 12 | 5,246 | 0 |
[
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] | [
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] | move_to_position | 0.91783 | [
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] | [
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] | [
0.025943100452423096,
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0.09612587094306946,
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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 | 17.4 | 174 | 12 | 5,247 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.964515 | [
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] | [
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] | [
0.025943100452423096,
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0.09612587094306946,
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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 | 17.5 | 175 | 12 | 5,248 | 0 |
[
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] | move_to_position | 0.98997 | [
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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 | 17.6 | 176 | 12 | 5,249 | 0 |
[
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] | move_to_position | 0.998451 | [
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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 | 17.700001 | 177 | 12 | 5,250 | 0 |
[
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] | move_to_position | 0 | [
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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 | 17.799999 | 178 | 12 | 5,251 | 0 |
[
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] | move_to_position | 0 | [
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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 | 17.9 | 179 | 12 | 5,252 | 0 |
[
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] | move_to_position | 0.0014 | [
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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 | 18 | 180 | 12 | 5,253 | 0 |
[
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] | move_to_position | 0.006804 | [
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] | [
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] | [
-0.18571364879608154,
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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 | 18.1 | 181 | 12 | 5,254 | 0 |
[
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] | [
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] | move_to_position | 0.016682 | [
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] | [
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] | [
-0.18571364879608154,
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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 | 18.200001 | 182 | 12 | 5,255 | 0 |
[
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] | [
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] | move_to_position | 0.03233 | [
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] | [
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] | [
-0.18571364879608154,
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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 | 18.299999 | 183 | 12 | 5,256 | 0 |
[
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] | [
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] | move_to_position | 0.054616 | [
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] | [
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] | [
-0.18571364879608154,
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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 | 18.4 | 184 | 12 | 5,257 | 0 |
[
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] | [
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] | move_to_position | 0.084234 | [
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] | [
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] | [
-0.18571364879608154,
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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 | 18.5 | 185 | 12 | 5,258 | 0 |
[
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] | [
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] | move_to_position | 0.123029 | [
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] | [
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] | [
-0.18571364879608154,
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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 | 18.6 | 186 | 12 | 5,259 | 0 |
[
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] | [
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] | move_to_position | 0.167246 | [
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] | [
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] | [
-0.18571364879608154,
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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 | 18.700001 | 187 | 12 | 5,260 | 0 |
[
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] | [
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] | move_to_position | 0.218887 | [
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] | [
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] | [
-0.18571364879608154,
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0.12024812400341034,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
-0.025077667087316513,
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] | 1 | 18.799999 | 188 | 12 | 5,261 | 0 |
[
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] | [
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] | move_to_position | 0.272022 | [
-2.052887439727783,
-1.1183576583862305,
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-2.4770781993865967,
-1.487361192703247,
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] | [
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] | [
-0.18571364879608154,
-0.6925925612449646,
0.12024812400341034,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
-0.03655442222952843,
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] | 1 | 18.9 | 189 | 12 | 5,262 | 0 |
[
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] | [
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] | move_to_position | 0.335135 | [
-2.052887439727783,
-1.1183576583862305,
1.6827892065048218,
-2.4770781993865967,
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] | [
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] | [
-0.18571364879608154,
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0.12024812400341034,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
-0.050361111760139465,
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] | 1 | 19 | 190 | 12 | 5,263 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.398651 | [
-2.052887439727783,
-1.1183576583862305,
1.6827892065048218,
-2.4770781993865967,
-1.487361192703247,
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0
] | [
0.18571364879608154,
0.6925925612449646,
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] | [
-0.18571364879608154,
-0.6925925612449646,
0.12024812400341034,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
-0.06415071338415146,
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0.06046988442540169,
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] | 1 | 19.1 | 191 | 12 | 5,264 | 0 |
[
-1.9044088125228882,
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0
] | [
-1.9151339530944824,
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0
] | move_to_position | 0.467091 | [
-2.052887439727783,
-1.1183576583862305,
1.6827892065048218,
-2.4770781993865967,
-1.487361192703247,
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] | [
0.18571364879608154,
0.6925925612449646,
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] | [
-0.18571364879608154,
-0.6925925612449646,
0.12024812400341034,
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0,
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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 | 19.200001 | 192 | 12 | 5,265 | 0 |
[
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] | move_to_position | 0.536813 | [
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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 | 19.299999 | 193 | 12 | 5,266 | 0 |
[
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] | move_to_position | 0.600811 | [
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] | [
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] | [
-0.18571364879608154,
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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 | 19.4 | 194 | 12 | 5,267 | 0 |
[
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] | [
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] | move_to_position | 0.663447 | [
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] | [
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] | [
-0.18571364879608154,
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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 | 19.5 | 195 | 12 | 5,268 | 0 |
[
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] | [
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] | move_to_position | 0.726696 | [
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] | [
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] | [
-0.18571364879608154,
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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 | 19.6 | 196 | 12 | 5,269 | 0 |
[
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] | [
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] | move_to_position | 0.787326 | [
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] | [
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] | [
-0.18571364879608154,
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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 | 19.700001 | 197 | 12 | 5,270 | 0 |
[
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] | [
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] | move_to_position | 0.839802 | [
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] | [
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] | [
-0.18571364879608154,
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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 | 19.799999 | 198 | 12 | 5,271 | 0 |
[
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] | [
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] | move_to_position | 0.880718 | [
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] | [
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] | [
-0.18571364879608154,
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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 | 19.9 | 199 | 12 | 5,272 | 0 |
[
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] | [
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] | move_to_position | 0.917524 | [
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] | [
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] | [
-0.18571364879608154,
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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 | 200 | 12 | 5,273 | 0 |
[
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] | [
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] | move_to_position | 0.946942 | [
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] | [
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] | [
-0.18571364879608154,
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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 | 20.1 | 201 | 12 | 5,274 | 0 |
[
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] | [
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] | move_to_position | 0.970683 | [
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] | [
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] | [
-0.18571364879608154,
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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 | 12 | 5,275 | 0 |
[
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] | [
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] | move_to_position | 0.985775 | [
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] | [
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] | [
-0.18571364879608154,
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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 | 12 | 5,276 | 0 |
[
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] | [
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] | move_to_position | 0.995369 | [
-2.052887439727783,
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] | [
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] | [
-0.18571364879608154,
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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 | 20.4 | 204 | 12 | 5,277 | 0 |
[
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] | [
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] | move_to_position | 0.998826 | [
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] | [
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] | [
-0.18571364879608154,
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0.12024812400341034,
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0,
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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 | 20.5 | 205 | 12 | 5,278 | 0 |
[
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] | [
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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 | 20.6 | 206 | 12 | 5,279 | 0 |
[
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] | gripper_open | 1 | [
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] | [
0.18551132082939148,
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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 | 20.700001 | 207 | 12 | 5,280 | 0 |
[
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0
] | gripper_open | 1 | [
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] | [
0.18551132082939148,
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] | [
-0.18551132082939148,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: open gripper | [
-0.18572309613227844,
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] | 1 | 20.799999 | 208 | 12 | 5,281 | 0 |
[
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] | gripper_open | 1 | [
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[
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[
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] | move_to_position | 0.000057 | [
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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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] | 1 | 21.1 | 211 | 12 | 5,284 | 0 |
[
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] | move_to_position | 0.009459 | [
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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 | 0.040856 | [
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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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] | [
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] | move_to_position | 0.086908 | [
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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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] | [
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] | move_to_position | 0.162579 | [
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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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] | [
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] | move_to_position | 0.270508 | [
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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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] | 1 | 21.6 | 216 | 12 | 5,289 | 0 |
[
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] | [
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] | move_to_position | 0.383879 | [
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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: descend to chocolate pie_2 | [
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[
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] | [
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] | move_to_position | 0.500686 | [
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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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] | [
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] | move_to_position | 0.627824 | [
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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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] | 1 | 21.9 | 219 | 12 | 5,292 | 0 |
[
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] | [
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] | move_to_position | 0.743167 | [
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] | [
-0.21285368502140045,
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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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] | 1 | 22 | 220 | 12 | 5,293 | 0 |
[
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] | [
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] | move_to_position | 0.844321 | [
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] | [
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] | [
-0.21285368502140045,
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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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] | 1 | 22.1 | 221 | 12 | 5,294 | 0 |
[
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] | [
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] | move_to_position | 0.914186 | [
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] | [
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] | [
-0.21285368502140045,
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0.024000000208616257,
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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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] | 1 | 22.200001 | 222 | 12 | 5,295 | 0 |
[
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] | [
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] | move_to_position | 0.960071 | [
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] | [
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] | [
-0.21285368502140045,
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0.024000000208616257,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
-0.21191911399364471,
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] | 1 | 22.299999 | 223 | 12 | 5,296 | 0 |
[
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] | [
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] | move_to_position | 0.98899 | [
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] | [
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] | [
-0.21285368502140045,
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0.024000000208616257,
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0,
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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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] | 1 | 22.4 | 224 | 12 | 5,297 | 0 |
[
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0
] | [
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1
] | gripper_close | 0 | [
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1
] | [
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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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2.6996898651123047,
1
] | gripper_close | 0.05098 | [
-2.094050168991089,
-0.968573808670044,
1.7404993772506714,
-2.681248903274536,
-1.473831057548523,
2.6997928619384766,
1
] | [
0.2127295732498169,
0.6894883513450623,
0.02412068285048008,
2.7942984104156494,
0.06054537743330002,
3.0701425075531006
] | [
-0.2127295732498169,
-0.6894883513450623,
0.02412068285048008,
2.7942984104156494,
0.06054537743330002,
3.0701425075531006
] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
-0.21276189386844635,
-0.6894105076789856,
0.02405477873980999,
2.7943944931030273,
0.06052091345191002,
3.070131778717041
] | 1 | 22.6 | 226 | 12 | 5,299 | 0 |
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