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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] | gripper_close | 0.184314 | [
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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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] | 1 | 22.700001 | 227 | 12 | 5,300 | 0 |
[
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] | gripper_close | 0.321569 | [
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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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] | gripper_close | 0.45098 | [
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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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] | 1 | 22.9 | 229 | 12 | 5,302 | 0 |
[
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] | gripper_close | 0.552941 | [
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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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] | gripper_close | 0.639216 | [
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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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] | 0 | 23.1 | 231 | 12 | 5,304 | 0 |
[
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] | gripper_close | 0.737255 | [
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] | [
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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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] | 0 | 23.200001 | 232 | 12 | 5,305 | 0 |
[
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1
] | gripper_close | 0.823529 | [
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] | [
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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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] | 0 | 23.299999 | 233 | 12 | 5,306 | 0 |
[
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] | [
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1
] | gripper_close | 0.854901 | [
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] | [
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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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] | 0 | 23.4 | 234 | 12 | 5,307 | 0 |
[
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] | [
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1
] | gripper_close | 0.854901 | [
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] | [
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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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] | 0 | 23.5 | 235 | 12 | 5,308 | 0 |
[
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] | [
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1
] | gripper_close | 0.854901 | [
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] | [
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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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] | 0 | 23.6 | 236 | 12 | 5,309 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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] | [
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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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] | 0 | 23.700001 | 237 | 12 | 5,310 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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] | [
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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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] | 0 | 23.799999 | 238 | 12 | 5,311 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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] | [
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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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] | 0 | 23.9 | 239 | 12 | 5,312 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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] | [
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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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2.794403076171875,
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] | 0 | 24 | 240 | 12 | 5,313 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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1
] | [
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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 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | gripper_close | 0.854902 | [
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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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] | gripper_close | 0.854902 | [
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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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] | gripper_close | 0.854902 | [
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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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] | gripper_close | 0.854902 | [
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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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] | gripper_close | 0.854902 | [
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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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] | 0 | 24.9 | 249 | 12 | 5,322 | 0 |
[
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] | gripper_close | 0.854902 | [
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] | [
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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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] | 0 | 25 | 250 | 12 | 5,323 | 0 |
[
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] | gripper_close | 0.854902 | [
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] | [
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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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] | 0 | 25.1 | 251 | 12 | 5,324 | 0 |
[
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1
] | gripper_close | 0.854902 | [
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] | [
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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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] | 0 | 25.200001 | 252 | 12 | 5,325 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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] | [
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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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] | 0 | 25.299999 | 253 | 12 | 5,326 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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] | [
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] | [
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0.02412068285048008,
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0.06054537743330002,
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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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] | 0 | 25.4 | 254 | 12 | 5,327 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.000149 | [
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] | [
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0,
0
] | [
-0.17168071866035461,
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.2128177136182785,
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] | 0 | 25.5 | 255 | 12 | 5,328 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.000286 | [
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] | [
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0,
0
] | [
-0.17168071866035461,
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0.06087496504187584,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.21283495426177979,
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] | 0 | 25.6 | 256 | 12 | 5,329 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.014763 | [
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1.736797571182251,
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1
] | [
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0,
0,
0
] | [
-0.17168071866035461,
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0.06087496504187584,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.21191571652889252,
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0.02478315308690071,
2.794360399246216,
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] | 0 | 25.700001 | 257 | 12 | 5,330 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.057498 | [
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] | [
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0,
0
] | [
-0.17168071866035461,
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0.06087496504187584,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.20973274111747742,
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0.02647094987332821,
2.794420003890991,
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] | 0 | 25.799999 | 258 | 12 | 5,331 | 0 |
[
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] | [
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1
] | move_to_position | 0.12494 | [
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1
] | [
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0,
0,
0
] | [
-0.17168071866035461,
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0.06087496504187584,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
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0.02926650643348694,
2.794107675552368,
0.060558296740055084,
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] | 0 | 25.9 | 259 | 12 | 5,332 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.202416 | [
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] | [
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0,
0
] | [
-0.17168071866035461,
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0.06087496504187584,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.20374922454357147,
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0.03225422278046608,
2.794180393218994,
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] | 0 | 26 | 260 | 12 | 5,333 | 0 |
[
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] | [
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1
] | move_to_position | 0.287713 | [
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1.736797571182251,
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1
] | [
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0,
0
] | [
-0.17168071866035461,
-0.6953703761100769,
0.06087496504187584,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.20026174187660217,
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0.03538123518228531,
2.7941858768463135,
0.06056380644440651,
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] | 0 | 26.1 | 261 | 12 | 5,334 | 0 |
[
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] | [
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1
] | move_to_position | 0.37171 | [
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1.736797571182251,
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1
] | [
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0,
0,
0
] | [
-0.17168071866035461,
-0.6953703761100769,
0.06087496504187584,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.19673575460910797,
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0.03841538727283478,
2.794423818588257,
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] | 0 | 26.200001 | 262 | 12 | 5,335 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.474124 | [
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1.736797571182251,
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1
] | [
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0,
0,
0
] | [
-0.17168071866035461,
-0.6953703761100769,
0.06087496504187584,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.19230999052524567,
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0.04216355085372925,
2.794766426086426,
0.0603526346385479,
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] | 0 | 26.299999 | 263 | 12 | 5,336 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.590784 | [
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1
] | [
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0,
0,
0
] | [
-0.17168071866035461,
-0.6953703761100769,
0.06087496504187584,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.18745386600494385,
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0.04651106894016266,
2.7946996688842773,
0.06034545600414276,
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] | 0 | 26.4 | 264 | 12 | 5,337 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.710227 | [
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1.736797571182251,
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1
] | [
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0.6953703761100769,
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0,
0,
0
] | [
-0.17168071866035461,
-0.6953703761100769,
0.06087496504187584,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.18251773715019226,
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0.05101776495575905,
2.7946410179138184,
0.0603947788476944,
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] | 0 | 26.5 | 265 | 12 | 5,338 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.825361 | [
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1.736797571182251,
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1
] | [
0.17168071866035461,
0.6953703761100769,
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0,
0,
0
] | [
-0.17168071866035461,
-0.6953703761100769,
0.06087496504187584,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.17827005684375763,
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0.05493489280343056,
2.79441499710083,
0.060496505349874496,
3.0700571537017822
] | 0 | 26.6 | 266 | 12 | 5,339 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.909037 | [
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1.736797571182251,
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-1.4951281547546387,
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1
] | [
0.17168071866035461,
0.6953703761100769,
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0,
0,
0
] | [
-0.17168071866035461,
-0.6953703761100769,
0.06087496504187584,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.17483261227607727,
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0.058027125895023346,
2.7944376468658447,
0.060500629246234894,
3.069979429244995
] | 0 | 26.700001 | 267 | 12 | 5,340 | 0 |
[
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1
] | [
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1.7370326519012451,
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1
] | move_to_position | 0.966988 | [
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1.736797571182251,
-2.6147964000701904,
-1.4951281547546387,
2.7601265907287598,
1
] | [
0.17168071866035461,
0.6953703761100769,
0.06087496504187584,
0,
0,
0
] | [
-0.17168071866035461,
-0.6953703761100769,
0.06087496504187584,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.1726304143667221,
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0.05984118580818176,
2.7945852279663086,
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3.070006847381592
] | 0 | 26.799999 | 268 | 12 | 5,341 | 0 |
[
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1
] | [
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2.7599596977233887,
1
] | move_to_position | 0.993805 | [
-2.0303432941436768,
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1.736797571182251,
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-1.4951281547546387,
2.7601265907287598,
1
] | [
0.17168071866035461,
0.6953703761100769,
0.06087496504187584,
0,
0,
0
] | [
-0.17168071866035461,
-0.6953703761100769,
0.06087496504187584,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.17181235551834106,
-0.6952986121177673,
0.060620591044425964,
2.7945477962493896,
0.060432903468608856,
3.070023775100708
] | 0 | 26.9 | 269 | 12 | 5,342 | 0 |
[
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2.760075330734253,
1
] | [
-2.0303432941436768,
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1.736797571182251,
-2.6147964000701904,
-1.4951281547546387,
2.7601265907287598,
1
] | move_to_position | 0.997282 | [
-2.0303432941436768,
-1.0362931489944458,
1.736797571182251,
-2.6147964000701904,
-1.4951281547546387,
2.7601265907287598,
1
] | [
0.17168071866035461,
0.6953703761100769,
0.06087496504187584,
0,
0,
0
] | [
-0.17168071866035461,
-0.6953703761100769,
0.06087496504187584,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.17175503075122833,
-0.6952957510948181,
0.060636136680841446,
2.794703960418701,
0.0603756383061409,
3.0698797702789307
] | 0 | 27 | 270 | 12 | 5,343 | 0 |
[
-2.0305073261260986,
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2.7601237297058105,
1
] | [
-2.0303432941436768,
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1.736797571182251,
-2.6147964000701904,
-1.4951281547546387,
2.7601265907287598,
1
] | move_to_position | 0 | [
-1.8761364221572876,
-1.2272647619247437,
1.8401468992233276,
-2.5339512825012207,
-1.5474417209625244,
2.9054551124572754,
1
] | [
0.06093408539891243,
0.6609258055686951,
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0,
0,
0
] | [
-0.06093408539891243,
-0.6609258055686951,
0.12314558774232864,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.17171815037727356,
-0.6952956318855286,
0.0606580413877964,
2.7947170734405518,
0.060381632298231125,
3.0698952674865723
] | 0 | 27.1 | 271 | 12 | 5,344 | 0 |
[
-2.0304715633392334,
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2.76017165184021,
1
] | [
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1.7371926307678223,
-2.614760160446167,
-1.4953333139419556,
2.760472297668457,
1
] | move_to_position | 0.000303 | [
-1.8761364221572876,
-1.2272647619247437,
1.8401468992233276,
-2.5339512825012207,
-1.5474417209625244,
2.9054551124572754,
1
] | [
0.06093408539891243,
0.6609258055686951,
0.12314558774232864,
0,
0,
0
] | [
-0.06093408539891243,
-0.6609258055686951,
0.12314558774232864,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.17168407142162323,
-0.6952962875366211,
0.06075300648808479,
2.7946267127990723,
0.060439664870500565,
3.0697946548461914
] | 0 | 27.200001 | 272 | 12 | 5,345 | 0 |
[
-2.029245615005493,
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1.7380889654159546,
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2.7612552642822266,
1
] | [
-2.0283708572387695,
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1.7395199537277222,
-2.61428165435791,
-1.4959858655929565,
2.7622532844543457,
1
] | move_to_position | 0.009356 | [
-1.8761364221572876,
-1.2272647619247437,
1.8401468992233276,
-2.5339512825012207,
-1.5474417209625244,
2.9054551124572754,
1
] | [
0.06093408539891243,
0.6609258055686951,
0.12314558774232864,
0,
0,
0
] | [
-0.06093408539891243,
-0.6609258055686951,
0.12314558774232864,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.17041164636611938,
-0.694948136806488,
0.06168748810887337,
2.794243812561035,
0.06071126461029053,
3.0698773860931396
] | 0 | 27.299999 | 273 | 12 | 5,346 | 0 |
[
-2.0261590480804443,
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1.74189031124115,
-2.613588571548462,
-1.4967039823532104,
2.7642834186553955,
1
] | [
-2.024578332901001,
-1.0452985763549805,
1.7437664270401,
-2.6130530834198,
-1.4972059726715088,
2.7657947540283203,
1
] | move_to_position | 0.032319 | [
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] | [
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] | [
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0,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 27.4 | 274 | 12 | 5,347 | 0 |
[
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] | [
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1
] | move_to_position | 0.07187 | [
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] | [
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] | [
-0.06093408539891243,
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0,
0,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 27.5 | 275 | 12 | 5,348 | 0 |
[
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] | [
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1
] | move_to_position | 0.128718 | [
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] | [
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] | [
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0,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 27.6 | 276 | 12 | 5,349 | 0 |
[
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] | [
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] | move_to_position | 0.212605 | [
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] | [
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] | [
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0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 27.700001 | 277 | 12 | 5,350 | 0 |
[
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] | [
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1
] | move_to_position | 0.307373 | [
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] | [
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] | [
-0.06093408539891243,
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0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 27.799999 | 278 | 12 | 5,351 | 0 |
[
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] | [
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1
] | move_to_position | 0.420556 | [
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1.8401468992233276,
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] | [
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] | [
-0.06093408539891243,
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 27.9 | 279 | 12 | 5,352 | 0 |
[
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] | [
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1
] | move_to_position | 0.525784 | [
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1.8401468992233276,
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] | [
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] | [
-0.06093408539891243,
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0,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 28 | 280 | 12 | 5,353 | 0 |
[
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] | [
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1
] | move_to_position | 0.633659 | [
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1.8401468992233276,
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] | [
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0
] | [
-0.06093408539891243,
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0.12314558774232864,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 28.1 | 281 | 12 | 5,354 | 0 |
[
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] | [
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1
] | move_to_position | 0.746762 | [
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1.8401468992233276,
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-1.5474417209625244,
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] | [
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0
] | [
-0.06093408539891243,
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0.12314558774232864,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 28.200001 | 282 | 12 | 5,355 | 0 |
[
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] | [
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1
] | move_to_position | 0.836615 | [
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-1.2272647619247437,
1.8401468992233276,
-2.5339512825012207,
-1.5474417209625244,
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] | [
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0
] | [
-0.06093408539891243,
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0.12314558774232864,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 28.299999 | 283 | 12 | 5,356 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.904095 | [
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-1.2272647619247437,
1.8401468992233276,
-2.5339512825012207,
-1.5474417209625244,
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] | [
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0
] | [
-0.06093408539891243,
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0.12314558774232864,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 28.4 | 284 | 12 | 5,357 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.949912 | [
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-1.2272647619247437,
1.8401468992233276,
-2.5339512825012207,
-1.5474417209625244,
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1
] | [
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0
] | [
-0.06093408539891243,
-0.6609258055686951,
0.12314558774232864,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 28.5 | 285 | 12 | 5,358 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.979957 | [
-1.8761364221572876,
-1.2272647619247437,
1.8401468992233276,
-2.5339512825012207,
-1.5474417209625244,
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1
] | [
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0,
0
] | [
-0.06093408539891243,
-0.6609258055686951,
0.12314558774232864,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.0628996193408966,
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0.12202683091163635,
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] | 0 | 28.6 | 286 | 12 | 5,359 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.995675 | [
-1.8761364221572876,
-1.2272647619247437,
1.8401468992233276,
-2.5339512825012207,
-1.5474417209625244,
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1
] | [
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0,
0
] | [
-0.06093408539891243,
-0.6609258055686951,
0.12314558774232864,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.06122838705778122,
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0.12307947874069214,
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] | 0 | 28.700001 | 287 | 12 | 5,360 | 0 |
[
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-2.534085512161255,
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1
] | [
-1.8761364221572876,
-1.2272647619247437,
1.8401468992233276,
-2.5339512825012207,
-1.5474417209625244,
2.9054551124572754,
1
] | move_to_position | 0 | [
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-1.0705296993255615,
1.874210238456726,
-2.7234108448028564,
-1.529435634613037,
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1
] | [
0.09543830901384354,
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0,
0,
0
] | [
-0.09543830901384354,
-0.6694541573524475,
0.039000000804662704,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
-0.06100545451045036,
-0.6610377430915833,
0.12318053096532822,
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] | 0 | 28.799999 | 288 | 12 | 5,361 | 0 |
[
-1.8762339353561401,
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-2.5340731143951416,
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1
] | [
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1.8400931358337402,
-2.5344502925872803,
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1
] | move_to_position | 0.00041 | [
-1.929244875907898,
-1.0705296993255615,
1.874210238456726,
-2.7234108448028564,
-1.529435634613037,
2.855553150177002,
1
] | [
0.09543830901384354,
0.6694541573524475,
0.039000000804662704,
0,
0,
0
] | [
-0.09543830901384354,
-0.6694541573524475,
0.039000000804662704,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
-0.0610165074467659,
-0.6610410809516907,
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2.7946112155914307,
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] | 0 | 28.9 | 289 | 12 | 5,362 | 0 |
[
-1.8768070936203003,
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-2.5361692905426025,
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1
] | [
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1.8413628339767456,
-2.5382070541381836,
-1.546999216079712,
2.9042816162109375,
1
] | move_to_position | 0.011007 | [
-1.929244875907898,
-1.0705296993255615,
1.874210238456726,
-2.7234108448028564,
-1.529435634613037,
2.855553150177002,
1
] | [
0.09543830901384354,
0.6694541573524475,
0.039000000804662704,
0,
0,
0
] | [
-0.09543830901384354,
-0.6694541573524475,
0.039000000804662704,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
-0.06148594990372658,
-0.66100013256073,
0.12171359360218048,
2.794832229614258,
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] | 0 | 29 | 290 | 12 | 5,363 | 0 |
[
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] | move_to_position | 0.04161 | [
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[
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[
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] | move_to_position | 0.165873 | [
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[
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] | move_to_position | 0.265504 | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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[
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] | move_to_position | 0.390076 | [
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[
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] | move_to_position | 0.502559 | [
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[
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] | move_to_position | 0.618595 | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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[
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[
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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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 | 0.998646 | [
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[
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] | [
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] | gripper_open | 0 | [
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[
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] | gripper_open | 0.145098 | [
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] | [
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[
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] | gripper_open | 0.286274 | [
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[
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] | gripper_open | 0.415686 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 0 | 30.700001 | 307 | 12 | 5,380 | 0 |
[
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] | [
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] | gripper_open | 0.537255 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 1 | 30.799999 | 308 | 12 | 5,381 | 0 |
[
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] | [
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] | gripper_open | 0.658823 | [
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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: release at red plate_2 | [
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] | 1 | 30.9 | 309 | 12 | 5,382 | 0 |
[
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] | [
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0
] | gripper_open | 0.784314 | [
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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: release at red plate_2 | [
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] | 1 | 31 | 310 | 12 | 5,383 | 0 |
[
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] | [
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] | gripper_open | 0.905882 | [
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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: release at red plate_2 | [
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2.7944657802581787,
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] | 1 | 31.1 | 311 | 12 | 5,384 | 0 |
[
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] | [
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0
] | gripper_open | 0.988232 | [
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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: release at red plate_2 | [
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2.7944717407226562,
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] | 1 | 31.200001 | 312 | 12 | 5,385 | 0 |
[
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] | [
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0
] | gripper_open | 0.988232 | [
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] | [
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] | [
-0.0953015461564064,
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0.03904148191213608,
2.794447660446167,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
-0.0954483225941658,
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0.038967497646808624,
2.7945058345794678,
0.06030314415693283,
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] | 1 | 31.299999 | 313 | 12 | 5,386 | 0 |
[
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] | [
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0
] | gripper_open | 0.988232 | [
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] | [
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] | [
-0.0953015461564064,
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0.03904148191213608,
2.794447660446167,
0.060327090322971344,
3.07008957862854
] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
-0.09545274823904037,
-0.669468343257904,
0.03898695483803749,
2.7944767475128174,
0.06032845377922058,
3.0699219703674316
] | 1 | 31.4 | 314 | 12 | 5,387 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000027 | [
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1.9900949001312256,
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] | [
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0,
0,
0
] | [
-0.08897411078214645,
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0.06951384991407394,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09544703364372253,
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0.0389794260263443,
2.7944982051849365,
0.060314178466796875,
3.0699172019958496
] | 1 | 31.5 | 315 | 12 | 5,388 | 0 |
[
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0
] | [
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1.8745372295379639,
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0
] | move_to_position | 0.000166 | [
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1.9900949001312256,
-2.7004783153533936,
-1.5228543281555176,
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0
] | [
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0,
0,
0
] | [
-0.08897411078214645,
-0.6241966485977173,
0.06951384991407394,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.0954527035355568,
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0.038952264934778214,
2.7945432662963867,
0.060314130038022995,
3.0698797702789307
] | 1 | 31.6 | 316 | 12 | 5,389 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.011039 | [
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1.9900949001312256,
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-1.5228543281555176,
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0
] | [
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0,
0,
0
] | [
-0.08897411078214645,
-0.6241966485977173,
0.06951384991407394,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09521737694740295,
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0.03915860131382942,
2.794926881790161,
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] | 1 | 31.700001 | 317 | 12 | 5,390 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.042609 | [
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1.9900949001312256,
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-1.5228543281555176,
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0
] | [
0.08897411078214645,
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0,
0,
0
] | [
-0.08897411078214645,
-0.6241966485977173,
0.06951384991407394,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09508924186229706,
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0.04035377502441406,
2.79465651512146,
0.06022105738520622,
3.069901704788208
] | 1 | 31.799999 | 318 | 12 | 5,391 | 0 |
[
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0
] | [
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1.8895394802093506,
-2.7218871116638184,
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2.8535826206207275,
0
] | move_to_position | 0.098095 | [
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1.9900949001312256,
-2.7004783153533936,
-1.5228543281555176,
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0
] | [
0.08897411078214645,
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0,
0,
0
] | [
-0.08897411078214645,
-0.6241966485977173,
0.06951384991407394,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09475982189178467,
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0.04226094111800194,
2.794442892074585,
0.06028018891811371,
3.0698513984680176
] | 1 | 31.9 | 319 | 12 | 5,392 | 0 |
[
-1.932153582572937,
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0
] | [
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-2.720405101776123,
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2.8522231578826904,
0
] | move_to_position | 0.167867 | [
-1.9478281736373901,
-1.208577036857605,
1.9900949001312256,
-2.7004783153533936,
-1.5228543281555176,
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0
] | [
0.08897411078214645,
0.6241966485977173,
0.06951384991407394,
0,
0,
0
] | [
-0.08897411078214645,
-0.6241966485977173,
0.06951384991407394,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09429273009300232,
-0.661191999912262,
0.04448419809341431,
2.7945401668548584,
0.06028953194618225,
3.0698442459106445
] | 1 | 32 | 320 | 12 | 5,393 | 0 |
[
-1.933791995048523,
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2.851318359375,
0
] | [
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1.911946415901184,
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0
] | move_to_position | 0.258486 | [
-1.9478281736373901,
-1.208577036857605,
1.9900949001312256,
-2.7004783153533936,
-1.5228543281555176,
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0
] | [
0.08897411078214645,
0.6241966485977173,
0.06951384991407394,
0,
0,
0
] | [
-0.08897411078214645,
-0.6241966485977173,
0.06951384991407394,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09366127103567123,
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0.04757264256477356,
2.7946062088012695,
0.06025860831141472,
3.069913387298584
] | 1 | 32.099998 | 321 | 12 | 5,394 | 0 |
[
-1.93608558177948,
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0
] | [
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1.9268901348114014,
-2.7155375480651855,
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2.848162889480591,
0
] | move_to_position | 0.383567 | [
-1.9478281736373901,
-1.208577036857605,
1.9900949001312256,
-2.7004783153533936,
-1.5228543281555176,
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0
] | [
0.08897411078214645,
0.6241966485977173,
0.06951384991407394,
0,
0,
0
] | [
-0.08897411078214645,
-0.6241966485977173,
0.06951384991407394,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09289026260375977,
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0.05156062915921211,
2.7944753170013428,
0.060316167771816254,
3.0698907375335693
] | 1 | 32.200001 | 322 | 12 | 5,395 | 0 |
[
-1.9385474920272827,
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2.8468194007873535,
0
] | [
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1.9416658878326416,
-2.7127795219421387,
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2.8459696769714355,
0
] | move_to_position | 0.519342 | [
-1.9478281736373901,
-1.208577036857605,
1.9900949001312256,
-2.7004783153533936,
-1.5228543281555176,
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0
] | [
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0.06951384991407394,
0,
0,
0
] | [
-0.08897411078214645,
-0.6241966485977173,
0.06951384991407394,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09203070402145386,
-0.645247757434845,
0.05538659170269966,
2.794577121734619,
0.06028749793767929,
3.0698821544647217
] | 1 | 32.299999 | 323 | 12 | 5,396 | 0 |
[
-1.9408000707626343,
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1.9500221014022827,
-2.7111451625823975,
-1.5253251791000366,
2.84472393989563,
0
] | [
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1.9540504217147827,
-2.7102982997894287,
-1.5251001119613647,
2.8440959453582764,
0
] | move_to_position | 0.640749 | [
-1.9478281736373901,
-1.208577036857605,
1.9900949001312256,
-2.7004783153533936,
-1.5228543281555176,
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0
] | [
0.08897411078214645,
0.6241966485977173,
0.06951384991407394,
0,
0,
0
] | [
-0.08897411078214645,
-0.6241966485977173,
0.06951384991407394,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09119178354740143,
-0.6396104097366333,
0.05924372747540474,
2.7943761348724365,
0.06036576256155968,
3.0698719024658203
] | 1 | 32.400002 | 324 | 12 | 5,397 | 0 |
[
-1.9426621198654175,
-1.1717422008514404,
1.961269736289978,
-2.7086737155914307,
-1.5246814489364624,
2.842984199523926,
0
] | [
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1.9661641120910645,
-2.7074499130249023,
-1.5243799686431885,
2.842175006866455,
0
] | move_to_position | 0.738298 | [
-1.9478281736373901,
-1.208577036857605,
1.9900949001312256,
-2.7004783153533936,
-1.5228543281555176,
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0
] | [
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0.6241966485977173,
0.06951384991407394,
0,
0,
0
] | [
-0.08897411078214645,
-0.6241966485977173,
0.06951384991407394,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.0905735194683075,
-0.6352244019508362,
0.06201830878853798,
2.7945234775543213,
0.06033644080162048,
3.069859266281128
] | 1 | 32.5 | 325 | 12 | 5,398 | 0 |
[
-1.9444178342819214,
-1.1845910549163818,
1.9715646505355835,
-2.706024408340454,
-1.524074912071228,
2.8412978649139404,
0
] | [
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-1.1900359392166138,
1.975777506828308,
-2.7048141956329346,
-1.5237797498703003,
2.840571880340576,
0
] | move_to_position | 0.830124 | [
-1.9478281736373901,
-1.208577036857605,
1.9900949001312256,
-2.7004783153533936,
-1.5228543281555176,
2.8380982875823975,
0
] | [
0.08897411078214645,
0.6241966485977173,
0.06951384991407394,
0,
0,
0
] | [
-0.08897411078214645,
-0.6241966485977173,
0.06951384991407394,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.08997092396020889,
-0.6310567855834961,
0.06481576710939407,
2.7945446968078613,
0.0603390634059906,
3.0698249340057373
] | 1 | 32.599998 | 326 | 12 | 5,399 | 0 |
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