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 left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.183658 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.205926 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.7 | 37 | 14 | 5,902 | 0 |
[
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] | move_to_position | 0.230349 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.257793 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.28506 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4 | 40 | 14 | 5,905 | 0 |
[
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] | [
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] | move_to_position | 0.312807 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.1 | 41 | 14 | 5,906 | 0 |
[
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] | [
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] | move_to_position | 0.340982 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.2 | 42 | 14 | 5,907 | 0 |
[
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] | [
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] | move_to_position | 0.371564 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.3 | 43 | 14 | 5,908 | 0 |
[
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] | [
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] | move_to_position | 0.400357 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.4 | 44 | 14 | 5,909 | 0 |
[
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] | [
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] | move_to_position | 0.429913 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.5 | 45 | 14 | 5,910 | 0 |
[
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] | move_to_position | 0.462606 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.6 | 46 | 14 | 5,911 | 0 |
[
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] | [
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] | move_to_position | 0.493984 | [
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1.6409944295883179,
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.7 | 47 | 14 | 5,912 | 0 |
[
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] | [
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] | move_to_position | 0.525259 | [
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1.6409944295883179,
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.8 | 48 | 14 | 5,913 | 0 |
[
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] | [
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] | move_to_position | 0.558318 | [
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1.6409944295883179,
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.9 | 49 | 14 | 5,914 | 0 |
[
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] | [
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] | move_to_position | 0.588265 | [
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] | [
0.2938075363636017,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5 | 50 | 14 | 5,915 | 0 |
[
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] | [
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] | move_to_position | 0.620459 | [
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] | [
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] | [
0.2938075363636017,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.17973309755325317,
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0.06000854820013046,
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] | 1 | 5.1 | 51 | 14 | 5,916 | 0 |
[
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] | [
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] | move_to_position | 0.651285 | [
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] | [
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] | [
0.2938075363636017,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.2 | 52 | 14 | 5,917 | 0 |
[
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] | [
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] | move_to_position | 0.680971 | [
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] | [
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] | [
0.2938075363636017,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.3 | 53 | 14 | 5,918 | 0 |
[
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] | [
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] | move_to_position | 0.71123 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.4 | 54 | 14 | 5,919 | 0 |
[
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] | [
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] | move_to_position | 0.739412 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.5 | 55 | 14 | 5,920 | 0 |
[
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] | [
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] | move_to_position | 0.766183 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.6 | 56 | 14 | 5,921 | 0 |
[
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] | [
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] | move_to_position | 0.792153 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.7 | 57 | 14 | 5,922 | 0 |
[
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] | [
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] | move_to_position | 0.816099 | [
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1.6409944295883179,
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] | [
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] | [
0.2938075363636017,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.8 | 58 | 14 | 5,923 | 0 |
[
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] | [
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] | move_to_position | 0.840891 | [
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1.6409944295883179,
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] | [
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] | [
0.2938075363636017,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.9 | 59 | 14 | 5,924 | 0 |
[
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] | [
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] | move_to_position | 0.861852 | [
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1.6409944295883179,
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] | [
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] | [
0.2938075363636017,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6 | 60 | 14 | 5,925 | 0 |
[
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] | [
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] | move_to_position | 0.882581 | [
-1.2771432399749756,
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1.6409944295883179,
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] | [
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] | [
0.2938075363636017,
-0.6653085350990295,
0.04477984458208084,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.1 | 61 | 14 | 5,926 | 0 |
[
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] | [
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] | move_to_position | 0.900405 | [
-1.2771432399749756,
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1.6409944295883179,
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] | [
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] | [
0.2938075363636017,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.2 | 62 | 14 | 5,927 | 0 |
[
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] | [
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] | move_to_position | 0.918441 | [
-1.2771432399749756,
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1.6409944295883179,
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] | [
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] | [
0.2938075363636017,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.3 | 63 | 14 | 5,928 | 0 |
[
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] | [
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0
] | move_to_position | 0.93362 | [
-1.2771432399749756,
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1.6409944295883179,
-2.554830312728882,
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] | [
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] | [
0.2938075363636017,
-0.6653085350990295,
0.04477984458208084,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.4 | 64 | 14 | 5,929 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.946057 | [
-1.2771432399749756,
-0.9594689607620239,
1.6409944295883179,
-2.554830312728882,
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] | [
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] | [
0.2938075363636017,
-0.6653085350990295,
0.04477984458208084,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.5 | 65 | 14 | 5,930 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.957889 | [
-1.2771432399749756,
-0.9594689607620239,
1.6409944295883179,
-2.554830312728882,
-1.7455005645751953,
3.4739890098571777,
0
] | [
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] | [
0.2938075363636017,
-0.6653085350990295,
0.04477984458208084,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.6 | 66 | 14 | 5,931 | 0 |
[
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3.4634175300598145,
0
] | [
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0
] | move_to_position | 0.967653 | [
-1.2771432399749756,
-0.9594689607620239,
1.6409944295883179,
-2.554830312728882,
-1.7455005645751953,
3.4739890098571777,
0
] | [
-0.2938075363636017,
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] | [
0.2938075363636017,
-0.6653085350990295,
0.04477984458208084,
0,
0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.2848450839519501,
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2.7974112033843994,
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] | 1 | 6.7 | 67 | 14 | 5,932 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.976556 | [
-1.2771432399749756,
-0.9594689607620239,
1.6409944295883179,
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0
] | [
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] | [
0.2938075363636017,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.287240594625473,
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] | 1 | 6.8 | 68 | 14 | 5,933 | 0 |
[
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] | move_to_position | 0.983545 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.9 | 69 | 14 | 5,934 | 0 |
[
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] | move_to_position | 0.989161 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 7 | 70 | 14 | 5,935 | 0 |
[
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] | [
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] | move_to_position | 0.993348 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 7.1 | 71 | 14 | 5,936 | 0 |
[
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] | [
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] | move_to_position | 0.996364 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 7.2 | 72 | 14 | 5,937 | 0 |
[
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] | [
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] | move_to_position | 0.99835 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 7.3 | 73 | 14 | 5,938 | 0 |
[
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] | [
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] | move_to_position | 0.99939 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 7.4 | 74 | 14 | 5,939 | 0 |
[
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] | [
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] | move_to_position | 0.999748 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 7.5 | 75 | 14 | 5,940 | 0 |
[
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] | [
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] | move_to_position | 0.999876 | [
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] | [
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] | [
0.2938075363636017,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 7.6 | 76 | 14 | 5,941 | 0 |
[
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] | [
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] | gripper_open | 1 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: open gripper | [
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] | 1 | 7.7 | 77 | 14 | 5,942 | 0 |
[
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] | gripper_open | 1 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: open gripper | [
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[
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] | gripper_open | 1 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: open gripper | [
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] | 1 | 7.9 | 79 | 14 | 5,944 | 0 |
[
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] | gripper_open | 1 | [
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] | [
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0.29379796981811523,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: open gripper | [
0.29381540417671204,
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] | 1 | 8 | 80 | 14 | 5,945 | 0 |
[
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] | [
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] | move_to_position | 0.000249 | [
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] | [
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] | [
0.27538397908210754,
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0.028999999165534973,
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0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.2938177287578583,
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] | 1 | 8.1 | 81 | 14 | 5,946 | 0 |
[
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] | [
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0
] | move_to_position | 0.003726 | [
-1.3092896938323975,
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1.6460758447647095,
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] | [
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] | [
0.27538397908210754,
-0.6761420369148254,
0.028999999165534973,
0,
0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.2937600016593933,
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] | 1 | 8.2 | 82 | 14 | 5,947 | 0 |
[
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] | [
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0
] | move_to_position | 0.037394 | [
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] | [
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] | [
0.27538397908210754,
-0.6761420369148254,
0.028999999165534973,
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0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.2931234538555145,
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] | 1 | 8.3 | 83 | 14 | 5,948 | 0 |
[
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] | [
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0
] | move_to_position | 0.090166 | [
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] | [
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] | [
0.27538397908210754,
-0.6761420369148254,
0.028999999165534973,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.29193994402885437,
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] | 1 | 8.4 | 84 | 14 | 5,949 | 0 |
[
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] | [
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] | move_to_position | 0.169331 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | move_to_position | 0.263586 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | move_to_position | 0.367056 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | move_to_position | 0.467438 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | move_to_position | 0.558056 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | move_to_position | 0.635398 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.707003 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | move_to_position | 0.780884 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | move_to_position | 0.855876 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | move_to_position | 0.923551 | [
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] | [
0.27538397908210754,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | [
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[
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] | move_to_position | 0.99404 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | gripper_close | 0 | [
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[
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] | gripper_close | 0.011765 | [
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[
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] | gripper_close | 0.047059 | [
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[
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] | gripper_close | 0.180392 | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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[
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] | gripper_close | 0.447059 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | gripper_close | 0.858823 | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | gripper_close | 0.858823 | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | gripper_close | 0.858823 | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | gripper_close | 0.858823 | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 0 | 11.6 | 116 | 14 | 5,981 | 0 |
[
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1
] | gripper_close | 0.858823 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 0 | 11.7 | 117 | 14 | 5,982 | 0 |
[
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] | gripper_close | 0.858823 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 0 | 11.8 | 118 | 14 | 5,983 | 0 |
[
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] | [
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] | gripper_close | 0.858823 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 0 | 11.9 | 119 | 14 | 5,984 | 0 |
[
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] | [
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] | gripper_close | 0.858823 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 0 | 12 | 120 | 14 | 5,985 | 0 |
[
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] | [
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1
] | gripper_close | 0.858823 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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2.7974343299865723,
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] | 0 | 12.1 | 121 | 14 | 5,986 | 0 |
[
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] | [
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1
] | gripper_close | 0.858823 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.02901589497923851,
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] | 0 | 12.2 | 122 | 14 | 5,987 | 0 |
[
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] | [
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1
] | gripper_close | 0.858823 | [
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] | [
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] | [
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3.0699267387390137
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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2.797429323196411,
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] | 0 | 12.3 | 123 | 14 | 5,988 | 0 |
[
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] | [
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1
] | gripper_close | 0.858823 | [
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1
] | [
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] | [
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0.029140779748558998,
2.7972569465637207,
0.05996336415410042,
3.0699267387390137
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
0.27540627121925354,
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0.029008964076638222,
2.7974283695220947,
0.05999378114938736,
3.069838285446167
] | 0 | 12.4 | 124 | 14 | 5,989 | 0 |
[
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] | [
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1
] | gripper_close | 0.858823 | [
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1
] | [
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] | [
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0.029140779748558998,
2.7972569465637207,
0.05996336415410042,
3.0699267387390137
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
0.2753714621067047,
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0.029028799384832382,
2.7973556518554688,
0.05998106673359871,
3.06977915763855
] | 0 | 12.5 | 125 | 14 | 5,990 | 0 |
[
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] | [
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1
] | gripper_close | 0.858823 | [
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1
] | [
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] | [
0.27552101016044617,
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0.029140779748558998,
2.7972569465637207,
0.05996336415410042,
3.0699267387390137
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
0.2753954231739044,
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0.029021047055721283,
2.7973971366882324,
0.0599968358874321,
3.0698165893554688
] | 0 | 12.6 | 126 | 14 | 5,991 | 0 |
[
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3.4428863525390625,
1
] | [
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1.6460758447647095,
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1
] | move_to_position | 0.000047 | [
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1
] | [
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0,
0,
0
] | [
0.2893226146697998,
-0.6606056094169617,
0.13372692465782166,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.27539464831352234,
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0.029024381190538406,
2.797396659851074,
0.05998307093977928,
3.06982421875
] | 0 | 12.7 | 127 | 14 | 5,992 | 0 |
[
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3.442897081375122,
1
] | [
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1.646036982536316,
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3.442981481552124,
1
] | move_to_position | 0.000285 | [
-1.2817109823226929,
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1.5844054222106934,
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1
] | [
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0,
0,
0
] | [
0.2893226146697998,
-0.6606056094169617,
0.13372692465782166,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.27540871500968933,
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0.029207376763224602,
2.7972099781036377,
0.05990411341190338,
3.0697860717773438
] | 0 | 12.8 | 128 | 14 | 5,993 | 0 |
[
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1
] | [
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1.64569091796875,
-2.587783098220825,
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3.4434783458709717,
1
] | move_to_position | 0.00978 | [
-1.2817109823226929,
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1.5844054222106934,
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1
] | [
-0.2893226146697998,
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0,
0,
0
] | [
0.2893226146697998,
-0.6606056094169617,
0.13372692465782166,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.27559003233909607,
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0.030549461022019386,
2.7973971366882324,
0.05989636853337288,
3.0697996616363525
] | 0 | 12.9 | 129 | 14 | 5,994 | 0 |
[
-1.3080357313156128,
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1.6452406644821167,
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3.4439680576324463,
1
] | [
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1.6445939540863037,
-2.579698324203491,
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3.444469928741455,
1
] | move_to_position | 0.038191 | [
-1.2817109823226929,
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1.5844054222106934,
-2.37019681930542,
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1
] | [
-0.2893226146697998,
0.6606056094169617,
0.13372692465782166,
0,
0,
0
] | [
0.2893226146697998,
-0.6606056094169617,
0.13372692465782166,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.27619025111198425,
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0.03389553353190422,
2.797398567199707,
0.05990522354841232,
3.0700275897979736
] | 0 | 13 | 130 | 14 | 5,995 | 0 |
[
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1.643497347831726,
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3.4452321529388428,
1
] | [
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1.6419976949691772,
-2.565524101257324,
-1.7368618249893188,
3.4462039470672607,
1
] | move_to_position | 0.088288 | [
-1.2817109823226929,
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1.5844054222106934,
-2.37019681930542,
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3.4695003032684326,
1
] | [
-0.2893226146697998,
0.6606056094169617,
0.13372692465782166,
0,
0,
0
] | [
0.2893226146697998,
-0.6606056094169617,
0.13372692465782166,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.27683091163635254,
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0.03976843133568764,
2.797433376312256,
0.0599496029317379,
3.0698375701904297
] | 0 | 13.1 | 131 | 14 | 5,996 | 0 |
[
-1.3047236204147339,
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1.6403559446334839,
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3.447254180908203,
1
] | [
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1.638570785522461,
-2.5481796264648438,
-1.737507700920105,
3.4483351707458496,
1
] | move_to_position | 0.161917 | [
-1.2817109823226929,
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1.5844054222106934,
-2.37019681930542,
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3.4695003032684326,
1
] | [
-0.2893226146697998,
0.6606056094169617,
0.13372692465782166,
0,
0,
0
] | [
0.2893226146697998,
-0.6606056094169617,
0.13372692465782166,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2779902219772339,
-0.6733825206756592,
0.048277441412210464,
2.797365188598633,
0.05997133627533913,
3.0698254108428955
] | 0 | 13.2 | 132 | 14 | 5,997 | 0 |
[
-1.30185067653656,
-0.979089617729187,
1.6357344388961792,
-2.534069299697876,
-1.7380155324935913,
3.4500606060028076,
1
] | [
-1.300740361213684,
-0.9857915639877319,
1.6338603496551514,
-2.5253467559814453,
-1.738355278968811,
3.451131820678711,
1
] | move_to_position | 0.267688 | [
-1.2817109823226929,
-1.0883017778396606,
1.5844054222106934,
-2.37019681930542,
-1.7439113855361938,
3.4695003032684326,
1
] | [
-0.2893226146697998,
0.6606056094169617,
0.13372692465782166,
0,
0,
0
] | [
0.2893226146697998,
-0.6606056094169617,
0.13372692465782166,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2795461416244507,
-0.6716445088386536,
0.060001470148563385,
2.7973175048828125,
0.05996774137020111,
3.069810628890991
] | 0 | 13.3 | 133 | 14 | 5,998 | 0 |
[
-1.2985233068466187,
-0.9989227652549744,
1.6299270391464233,
-2.507798433303833,
-1.7389787435531616,
3.453247308731079,
1
] | [
-1.2973651885986328,
-1.0057950019836426,
1.627598762512207,
-2.4985251426696777,
-1.7393419742584229,
3.4543893337249756,
1
] | move_to_position | 0.387282 | [
-1.2817109823226929,
-1.0883017778396606,
1.5844054222106934,
-2.37019681930542,
-1.7439113855361938,
3.4695003032684326,
1
] | [
-0.2893226146697998,
0.6606056094169617,
0.13372692465782166,
0,
0,
0
] | [
0.2893226146697998,
-0.6606056094169617,
0.13372692465782166,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2810213267803192,
-0.669857919216156,
0.07139156758785248,
2.7974603176116943,
0.06001962348818779,
3.0697994232177734
] | 0 | 13.4 | 134 | 14 | 5,999 | 0 |
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