observation.state listlengths 7 7 | action listlengths 7 7 | skill.type large_stringclasses 4
values | skill.progress float32 0 1 | skill.goal_position.joint listlengths 7 7 | skill.goal_position.world_xyzrpy listlengths 6 6 | skill.goal_position.robot_xyzrpy listlengths 6 6 | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 61
values | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | timestamp float32 0 46.1 | frame_index int64 0 461 | episode_index int64 0 24 | index int64 0 10.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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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 | 0.256156 | [
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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 | 25.4 | 254 | 13 | 5,702 | 0 |
[
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] | move_to_position | 0.379919 | [
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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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] | 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 | 0.6278 | [
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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 | 25.700001 | 257 | 13 | 5,705 | 0 |
[
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] | [
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] | move_to_position | 0.730788 | [
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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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] | 1 | 25.799999 | 258 | 13 | 5,706 | 0 |
[
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] | [
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] | move_to_position | 0.824579 | [
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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 | 25.9 | 259 | 13 | 5,707 | 0 |
[
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] | [
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] | move_to_position | 0.910199 | [
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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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] | 1 | 26 | 260 | 13 | 5,708 | 0 |
[
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] | [
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] | move_to_position | 0.967726 | [
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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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] | 1 | 26.1 | 261 | 13 | 5,709 | 0 |
[
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] | [
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] | move_to_position | 0.993533 | [
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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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] | 1 | 26.200001 | 262 | 13 | 5,710 | 0 |
[
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] | [
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] | move_to_position | 0.998352 | [
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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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] | 1 | 26.299999 | 263 | 13 | 5,711 | 0 |
[
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] | [
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1
] | gripper_close | 0 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 1 | 26.4 | 264 | 13 | 5,712 | 0 |
[
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1
] | gripper_close | 0.011765 | [
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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 | 26.5 | 265 | 13 | 5,713 | 0 |
[
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1
] | gripper_close | 0.047059 | [
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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 | 26.6 | 266 | 13 | 5,714 | 0 |
[
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1
] | gripper_close | 0.180392 | [
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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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] | 1 | 26.700001 | 267 | 13 | 5,715 | 0 |
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] | gripper_close | 0.498039 | [
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] | gripper_close | 0.537255 | [
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] | gripper_close | 0.560784 | [
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] | gripper_close | 0.572549 | [
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[
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] | gripper_close | 0.572549 | [
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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 | 0.572549 | [
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] | [
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[
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] | gripper_close | 0.572549 | [
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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 | 0.572549 | [
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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 | 0.572549 | [
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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 | 0.572549 | [
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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 | 0.572549 | [
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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 | 28.1 | 281 | 13 | 5,729 | 0 |
[
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1
] | gripper_close | 0.572549 | [
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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 | 28.200001 | 282 | 13 | 5,730 | 0 |
[
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] | gripper_close | 0.572549 | [
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] | gripper_close | 0.572549 | [
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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 | 0.572549 | [
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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 | 0.572549 | [
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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 | 28.799999 | 288 | 13 | 5,736 | 0 |
[
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] | gripper_close | 0.572549 | [
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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 | 28.9 | 289 | 13 | 5,737 | 0 |
[
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] | gripper_close | 0.572549 | [
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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 | 29 | 290 | 13 | 5,738 | 0 |
[
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1
] | gripper_close | 0.572549 | [
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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 | 29.1 | 291 | 13 | 5,739 | 0 |
[
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] | gripper_close | 0.572549 | [
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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 | 29.200001 | 292 | 13 | 5,740 | 0 |
[
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] | gripper_close | 0.572549 | [
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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 | 29.299999 | 293 | 13 | 5,741 | 0 |
[
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] | [
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1
] | move_to_position | 0 | [
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] | [
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0,
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] | [
-0.19667188823223114,
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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 | [
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] | 0 | 29.4 | 294 | 13 | 5,742 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.000231 | [
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] | [
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0,
0
] | [
-0.19667188823223114,
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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 | [
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] | 0 | 29.5 | 295 | 13 | 5,743 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.010327 | [
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] | [
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] | [
-0.19667188823223114,
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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 | [
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2.7959747314453125,
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] | 0 | 29.6 | 296 | 13 | 5,744 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.042776 | [
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] | [
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0,
0
] | [
-0.19667188823223114,
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0.13151715695858002,
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 | 29.700001 | 297 | 13 | 5,745 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.090537 | [
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1
] | [
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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: retract with chocolate pie_2 | [
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0.035362470895051956,
2.7958645820617676,
0.06006840616464615,
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] | 0 | 29.799999 | 298 | 13 | 5,746 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.16317 | [
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] | [
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0,
0
] | [
-0.19667188823223114,
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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 | [
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0.043908800929784775,
2.7959492206573486,
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] | 0 | 29.9 | 299 | 13 | 5,747 | 0 |
[
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] | [
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1
] | move_to_position | 0.268941 | [
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] | [
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0,
0,
0
] | [
-0.19667188823223114,
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0.13151715695858002,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.2041923701763153,
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0.05524154752492905,
2.7959372997283936,
0.06010003387928009,
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] | 0 | 30 | 300 | 13 | 5,748 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.388195 | [
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] | [
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0,
0
] | [
-0.19667188823223114,
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0.13151715695858002,
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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0.06878545880317688,
2.7959680557250977,
0.060048170387744904,
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] | 0 | 30.1 | 301 | 13 | 5,749 | 0 |
[
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] | [
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1
] | move_to_position | 0.503642 | [
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] | [
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0,
0
] | [
-0.19667188823223114,
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0.13151715695858002,
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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2.795924425125122,
0.0600762777030468,
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] | 0 | 30.200001 | 302 | 13 | 5,750 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.619499 | [
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] | [
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0,
0
] | [
-0.19667188823223114,
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0.13151715695858002,
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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2.7959392070770264,
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] | 0 | 30.299999 | 303 | 13 | 5,751 | 0 |
[
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] | [
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1
] | move_to_position | 0.739299 | [
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1
] | [
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0,
0,
0
] | [
-0.19667188823223114,
-0.7469109892845154,
0.13151715695858002,
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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0.10646052658557892,
2.795865535736084,
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] | 0 | 30.4 | 304 | 13 | 5,752 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.844408 | [
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1
] | [
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0,
0,
0
] | [
-0.19667188823223114,
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0.13151715695858002,
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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0.11685549467802048,
2.7960047721862793,
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] | 0 | 30.5 | 305 | 13 | 5,753 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.915514 | [
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1
] | [
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0,
0,
0
] | [
-0.19667188823223114,
-0.7469109892845154,
0.13151715695858002,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.19750328361988068,
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0.12354724854230881,
2.7959399223327637,
0.06009673327207565,
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] | 0 | 30.6 | 306 | 13 | 5,754 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.962295 | [
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1.4842689037322998,
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-1.4953397512435913,
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1
] | [
0.19667188823223114,
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0,
0,
0
] | [
-0.19667188823223114,
-0.7469109892845154,
0.13151715695858002,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.19700230658054352,
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0.12828730046749115,
2.795987844467163,
0.06004973128437996,
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] | 0 | 30.700001 | 307 | 13 | 5,755 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.991157 | [
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1.4842689037322998,
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1
] | [
0.19667188823223114,
0.7469109892845154,
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0,
0,
0
] | [
-0.19667188823223114,
-0.7469109892845154,
0.13151715695858002,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.19671452045440674,
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0.13096007704734802,
2.7959165573120117,
0.06007549539208412,
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] | 0 | 30.799999 | 308 | 13 | 5,756 | 0 |
[
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1
] | [
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1.4842689037322998,
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1
] | move_to_position | 0 | [
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1
] | [
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0,
0,
0
] | [
-0.0612892284989357,
-0.6623669862747192,
0.054314617067575455,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.1966761350631714,
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0.1313435435295105,
2.7961535453796387,
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] | 0 | 30.9 | 309 | 13 | 5,757 | 0 |
[
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2.7601561546325684,
1
] | [
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1
] | move_to_position | 0 | [
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1.8951647281646729,
-2.6990487575531006,
-1.5475170612335205,
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1
] | [
0.0612892284989357,
0.6623669862747192,
0.054314617067575455,
0,
0,
0
] | [
-0.0612892284989357,
-0.6623669862747192,
0.054314617067575455,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.19667349755764008,
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0.13126273453235626,
2.79628586769104,
0.059991609305143356,
3.0704352855682373
] | 0 | 31 | 310 | 13 | 5,758 | 0 |
[
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1.485803484916687,
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2.7605042457580566,
1
] | [
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1.4872618913650513,
-2.383777618408203,
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2.760774850845337,
1
] | move_to_position | 0.003231 | [
-1.876116394996643,
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1.8951647281646729,
-2.6990487575531006,
-1.5475170612335205,
2.905064582824707,
1
] | [
0.0612892284989357,
0.6623669862747192,
0.054314617067575455,
0,
0,
0
] | [
-0.0612892284989357,
-0.6623669862747192,
0.054314617067575455,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.19600234925746918,
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0.1311161369085312,
2.7960920333862305,
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] | 0 | 31.1 | 311 | 13 | 5,759 | 0 |
[
-2.028111219406128,
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1.490211844444275,
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2.761455535888672,
1
] | [
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1.4933563470840454,
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2.762219190597534,
1
] | move_to_position | 0.013206 | [
-1.876116394996643,
-1.1156809329986572,
1.8951647281646729,
-2.6990487575531006,
-1.5475170612335205,
2.905064582824707,
1
] | [
0.0612892284989357,
0.6623669862747192,
0.054314617067575455,
0,
0,
0
] | [
-0.0612892284989357,
-0.6623669862747192,
0.054314617067575455,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.19461336731910706,
-0.745657742023468,
0.13032183051109314,
2.7961008548736572,
0.060111768543720245,
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] | 0 | 31.200001 | 312 | 13 | 5,760 | 0 |
[
-2.0261518955230713,
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2.763536214828491,
1
] | [
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1.5031282901763916,
-2.3946449756622314,
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2.7646615505218506,
1
] | move_to_position | 0.032321 | [
-1.876116394996643,
-1.1156809329986572,
1.8951647281646729,
-2.6990487575531006,
-1.5475170612335205,
2.905064582824707,
1
] | [
0.0612892284989357,
0.6623669862747192,
0.054314617067575455,
0,
0,
0
] | [
-0.0612892284989357,
-0.6623669862747192,
0.054314617067575455,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.19219785928726196,
-0.744010329246521,
0.12877926230430603,
2.7962000370025635,
0.06003603711724281,
3.0704782009124756
] | 0 | 31.299999 | 313 | 13 | 5,761 | 0 |
[
-2.0228965282440186,
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1.5105537176132202,
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1
] | [
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-1.0262371301651,
1.518181324005127,
-2.405100107192993,
-1.4983408451080322,
2.768521785736084,
1
] | move_to_position | 0.059434 | [
-1.876116394996643,
-1.1156809329986572,
1.8951647281646729,
-2.6990487575531006,
-1.5475170612335205,
2.905064582824707,
1
] | [
0.0612892284989357,
0.6623669862747192,
0.054314617067575455,
0,
0,
0
] | [
-0.0612892284989357,
-0.6623669862747192,
0.054314617067575455,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.18863020837306976,
-0.7418975830078125,
0.12682132422924042,
2.796090841293335,
0.060081589967012405,
3.0705032348632812
] | 0 | 31.4 | 314 | 13 | 5,762 | 0 |
[
-2.0180327892303467,
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2.7712464332580566,
1
] | [
-2.01501202583313,
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1.5403056144714355,
-2.4204049110412598,
-1.5003221035003662,
2.7741174697875977,
1
] | move_to_position | 0.101264 | [
-1.876116394996643,
-1.1156809329986572,
1.8951647281646729,
-2.6990487575531006,
-1.5475170612335205,
2.905064582824707,
1
] | [
0.0612892284989357,
0.6623669862747192,
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0,
0,
0
] | [
-0.0612892284989357,
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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 | 31.5 | 315 | 13 | 5,763 | 0 |
[
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] | [
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] | move_to_position | 0.15726 | [
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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 | 31.6 | 316 | 13 | 5,764 | 0 |
[
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] | [
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] | move_to_position | 0.221637 | [
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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 | 31.700001 | 317 | 13 | 5,765 | 0 |
[
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] | [
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1
] | move_to_position | 0.293683 | [
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1.8951647281646729,
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] | [
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] | [
-0.0612892284989357,
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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 | 31.799999 | 318 | 13 | 5,766 | 0 |
[
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] | [
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] | move_to_position | 0.37312 | [
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] | [
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] | [
-0.0612892284989357,
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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 | 31.9 | 319 | 13 | 5,767 | 0 |
[
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] | [
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] | move_to_position | 0.460134 | [
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] | [
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] | [
-0.0612892284989357,
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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 | 32 | 320 | 13 | 5,768 | 0 |
[
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] | [
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1
] | move_to_position | 0.539659 | [
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1.8951647281646729,
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] | [
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] | [
-0.0612892284989357,
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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 | 32.099998 | 321 | 13 | 5,769 | 0 |
[
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] | [
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1
] | move_to_position | 0.623269 | [
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] | [
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] | [
-0.0612892284989357,
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0.054314617067575455,
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 | 32.200001 | 322 | 13 | 5,770 | 0 |
[
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] | [
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1
] | move_to_position | 0.705952 | [
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-1.5475170612335205,
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] | [
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] | [
-0.0612892284989357,
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0.054314617067575455,
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 | 32.299999 | 323 | 13 | 5,771 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.780864 | [
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1.8951647281646729,
-2.6990487575531006,
-1.5475170612335205,
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1
] | [
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] | [
-0.0612892284989357,
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0.054314617067575455,
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 | 32.400002 | 324 | 13 | 5,772 | 0 |
[
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] | [
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1
] | move_to_position | 0.840932 | [
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1.8951647281646729,
-2.6990487575531006,
-1.5475170612335205,
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1
] | [
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] | [
-0.0612892284989357,
-0.6623669862747192,
0.054314617067575455,
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 | 32.5 | 325 | 13 | 5,773 | 0 |
[
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] | [
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1
] | move_to_position | 0.892953 | [
-1.876116394996643,
-1.1156809329986572,
1.8951647281646729,
-2.6990487575531006,
-1.5475170612335205,
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1
] | [
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0
] | [
-0.0612892284989357,
-0.6623669862747192,
0.054314617067575455,
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 | 32.599998 | 326 | 13 | 5,774 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.937637 | [
-1.876116394996643,
-1.1156809329986572,
1.8951647281646729,
-2.6990487575531006,
-1.5475170612335205,
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1
] | [
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0.6623669862747192,
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0
] | [
-0.0612892284989357,
-0.6623669862747192,
0.054314617067575455,
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 | 32.700001 | 327 | 13 | 5,775 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.969398 | [
-1.876116394996643,
-1.1156809329986572,
1.8951647281646729,
-2.6990487575531006,
-1.5475170612335205,
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1
] | [
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0.6623669862747192,
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0,
0
] | [
-0.0612892284989357,
-0.6623669862747192,
0.054314617067575455,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.06539342552423477,
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] | 0 | 32.799999 | 328 | 13 | 5,776 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.987369 | [
-1.876116394996643,
-1.1156809329986572,
1.8951647281646729,
-2.6990487575531006,
-1.5475170612335205,
2.905064582824707,
1
] | [
0.0612892284989357,
0.6623669862747192,
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0,
0
] | [
-0.0612892284989357,
-0.6623669862747192,
0.054314617067575455,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.06281854212284088,
-0.6631860733032227,
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] | 0 | 32.900002 | 329 | 13 | 5,777 | 0 |
[
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1
] | [
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2.9047915935516357,
1
] | move_to_position | 0.99678 | [
-1.876116394996643,
-1.1156809329986572,
1.8951647281646729,
-2.6990487575531006,
-1.5475170612335205,
2.905064582824707,
1
] | [
0.0612892284989357,
0.6623669862747192,
0.054314617067575455,
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0,
0
] | [
-0.0612892284989357,
-0.6623669862747192,
0.054314617067575455,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.06160959601402283,
-0.6624804735183716,
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] | 0 | 33 | 330 | 13 | 5,778 | 0 |
[
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1
] | [
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-2.6990482807159424,
-1.5475168228149414,
2.905064105987549,
1
] | move_to_position | 0.99951 | [
-1.876116394996643,
-1.1156809329986572,
1.8951647281646729,
-2.6990487575531006,
-1.5475170612335205,
2.905064582824707,
1
] | [
0.0612892284989357,
0.6623669862747192,
0.054314617067575455,
0,
0,
0
] | [
-0.0612892284989357,
-0.6623669862747192,
0.054314617067575455,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.06141035631299019,
-0.6623762845993042,
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] | 0 | 33.099998 | 331 | 13 | 5,779 | 0 |
[
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1
] | [
-1.876116394996643,
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1.8951647281646729,
-2.6990487575531006,
-1.5475170612335205,
2.905064582824707,
1
] | move_to_position | 0 | [
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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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] | move_to_position | 0.016068 | [
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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 | 0.063171 | [
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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 | 0.143641 | [
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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 | 0.227246 | [
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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 | 0.321122 | [
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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 | 0.411357 | [
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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 | 0.491279 | [
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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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] | move_to_position | 0.574713 | [
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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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] | move_to_position | 0.678746 | [
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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 | 0.778814 | [
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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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] | move_to_position | 0.868034 | [
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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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] | move_to_position | 0.941472 | [
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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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] | move_to_position | 0.986895 | [
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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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1
] | move_to_position | 0.996022 | [
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] | [
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] | [
-0.09543830901384354,
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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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0
] | gripper_open | 0 | [
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] | [
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[
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1.872444748878479,
-2.718230724334717,
-1.529499888420105,
2.8552699089050293,
0
] | gripper_open | 0.462745 | [
-1.929038405418396,
-1.0724421739578247,
1.872649073600769,
-2.7182090282440186,
-1.5295437574386597,
2.8553271293640137,
0
] | [
0.09532675892114639,
0.6693939566612244,
0.04001407325267792,
2.7961387634277344,
0.06001096963882446,
3.070406198501587
] | [
-0.09532675892114639,
-0.6693939566612244,
0.04001407325267792,
2.7961387634277344,
0.06001096963882446,
3.070406198501587
] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
-0.09539114683866501,
-0.6694939136505127,
0.04012506827712059,
2.7958943843841553,
0.06006598472595215,
3.0703887939453125
] | 0 | 34.900002 | 349 | 13 | 5,797 | 0 |
[
-1.9291938543319702,
-1.0723100900650024,
1.872418761253357,
-2.718252420425415,
-1.5295079946517944,
2.855259895324707,
0.4274509847164154
] | [
-1.9292099475860596,
-1.0722947120666504,
1.872444748878479,
-2.718230724334717,
-1.529499888420105,
2.8552699089050293,
0
] | gripper_open | 0.572549 | [
-1.929038405418396,
-1.0724421739578247,
1.872649073600769,
-2.7182090282440186,
-1.5295437574386597,
2.8553271293640137,
0
] | [
0.09532675892114639,
0.6693939566612244,
0.04001407325267792,
2.7961387634277344,
0.06001096963882446,
3.070406198501587
] | [
-0.09532675892114639,
-0.6693939566612244,
0.04001407325267792,
2.7961387634277344,
0.06001096963882446,
3.070406198501587
] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
-0.0954505130648613,
-0.6694567203521729,
0.04001978039741516,
2.7960543632507324,
0.060024626553058624,
3.07027006149292
] | 1 | 35 | 350 | 13 | 5,798 | 0 |
[
-1.929202914237976,
-1.0723209381103516,
1.8724373579025269,
-2.7182281017303467,
-1.5294779539108276,
2.8552796840667725,
0.30588236451148987
] | [
-1.9292099475860596,
-1.0722947120666504,
1.872444748878479,
-2.718230724334717,
-1.529499888420105,
2.8552699089050293,
0
] | gripper_open | 0.694117 | [
-1.929038405418396,
-1.0724421739578247,
1.872649073600769,
-2.7182090282440186,
-1.5295437574386597,
2.8553271293640137,
0
] | [
0.09532675892114639,
0.6693939566612244,
0.04001407325267792,
2.7961387634277344,
0.06001096963882446,
3.070406198501587
] | [
-0.09532675892114639,
-0.6693939566612244,
0.04001407325267792,
2.7961387634277344,
0.06001096963882446,
3.070406198501587
] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
-0.09546179324388504,
-0.6694469451904297,
0.04000091925263405,
2.7961008548736572,
0.060032960027456284,
3.070241928100586
] | 1 | 35.099998 | 351 | 13 | 5,799 | 0 |
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