observation.state listlengths 7 7 | action listlengths 7 7 | skill.type large_stringclasses 4
values | skill.progress float32 0 1 | skill.goal_position.joint listlengths 7 7 | skill.goal_position.world_xyzrpy listlengths 6 6 | skill.goal_position.robot_xyzrpy listlengths 6 6 | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 61
values | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | timestamp float32 0 46.1 | frame_index int64 0 461 | episode_index int64 0 24 | index int64 0 10.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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1.6233514547348022,
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1
] | [
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1
] | move_to_position | 0.499005 | [
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] | [
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0,
0
] | [
0.2893226146697998,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.28277361392974854,
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0.0843311995267868,
2.7974932193756104,
0.060016777366399765,
3.0698413848876953
] | 0 | 13.5 | 135 | 14 | 6,000 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.62587 | [
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] | [
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0
] | [
0.2893226146697998,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.28445082902908325,
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2.7972617149353027,
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3.0697600841522217
] | 0 | 13.6 | 136 | 14 | 6,001 | 0 |
[
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3.462754011154175,
1
] | [
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1
] | move_to_position | 0.7432 | [
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1.5844054222106934,
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] | [
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] | [
0.2893226146697998,
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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 | [
0.28614646196365356,
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0.1096273809671402,
2.797269105911255,
0.0599653497338295,
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] | 0 | 13.7 | 137 | 14 | 6,002 | 0 |
[
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] | [
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1
] | move_to_position | 0.844224 | [
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] | [
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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 | [
0.2873222529888153,
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0.11891203373670578,
2.7974414825439453,
0.05999263375997543,
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] | 0 | 13.8 | 138 | 14 | 6,003 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.912118 | [
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1.5844054222106934,
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] | [
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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 | [
0.28824904561042786,
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0.1260111778974533,
2.797379732131958,
0.05998462066054344,
3.069753885269165
] | 0 | 13.9 | 139 | 14 | 6,004 | 0 |
[
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1
] | [
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3.4688973426818848,
1
] | move_to_position | 0.964933 | [
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1.5844054222106934,
-2.37019681930542,
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3.4695003032684326,
1
] | [
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0.6606056094169617,
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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 | [
0.2888825833797455,
-0.661022961139679,
0.1307285726070404,
2.797358751296997,
0.05996612831950188,
3.0697717666625977
] | 0 | 14 | 140 | 14 | 6,005 | 0 |
[
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1.5851157903671265,
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3.4692294597625732,
1
] | [
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1.584580898284912,
-2.3706305027008057,
-1.743896245956421,
3.4694502353668213,
1
] | move_to_position | 0.992123 | [
-1.2817109823226929,
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1.5844054222106934,
-2.37019681930542,
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3.4695003032684326,
1
] | [
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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 | [
0.28912925720214844,
-0.6607391834259033,
0.13331186771392822,
2.7972867488861084,
0.05996551737189293,
3.0696775913238525
] | 0 | 14.1 | 141 | 14 | 6,006 | 0 |
[
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1.584593653678894,
-2.370285749435425,
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3.4694573879241943,
1
] | [
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1.584405541419983,
-2.370197057723999,
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3.4695003032684326,
1
] | move_to_position | 0.998878 | [
-1.2817109823226929,
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1.5844054222106934,
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1
] | [
-0.2893226146697998,
0.6606056094169617,
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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 | [
0.28916096687316895,
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0.13354195654392242,
2.797670841217041,
0.06014262139797211,
3.0696537494659424
] | 0 | 14.2 | 142 | 14 | 6,007 | 0 |
[
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1.584593653678894,
-2.370234727859497,
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3.469512701034546,
1
] | [
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1.5844054222106934,
-2.37019681930542,
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3.4695003032684326,
1
] | move_to_position | 0 | [
-1.647006869316101,
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1.8323521614074707,
-2.659233808517456,
-1.626328468322754,
3.1212480068206787,
1
] | [
-0.06852936744689941,
0.6762452125549316,
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0,
0,
0
] | [
0.06852936744689941,
-0.6762452125549316,
0.05808858945965767,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2892535626888275,
-0.660547137260437,
0.1335495561361313,
2.797661542892456,
0.060134343802928925,
3.0697648525238037
] | 0 | 14.3 | 143 | 14 | 6,008 | 0 |
[
-1.281734824180603,
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1.584633231163025,
-2.37021803855896,
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3.4694933891296387,
1
] | [
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1.5846500396728516,
-2.3702642917633057,
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3.4694437980651855,
1
] | move_to_position | 0 | [
-1.647006869316101,
-1.0874849557876587,
1.8323521614074707,
-2.659233808517456,
-1.626328468322754,
3.1212480068206787,
1
] | [
-0.06852936744689941,
0.6762452125549316,
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0,
0,
0
] | [
0.06852936744689941,
-0.6762452125549316,
0.05808858945965767,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2892329692840576,
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0.13351906836032867,
2.7977499961853027,
0.06014792248606682,
3.0697498321533203
] | 0 | 14.4 | 144 | 14 | 6,009 | 0 |
[
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1.5851291418075562,
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3.4691011905670166,
1
] | [
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1.5859739780426025,
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3.468471050262451,
1
] | move_to_position | 0.001304 | [
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1.8323521614074707,
-2.659233808517456,
-1.626328468322754,
3.1212480068206787,
1
] | [
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0,
0,
0
] | [
0.06852936744689941,
-0.6762452125549316,
0.05808858945965767,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.28883448243141174,
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0.13343408703804016,
2.7976441383361816,
0.060031432658433914,
3.069770574569702
] | 0 | 14.5 | 145 | 14 | 6,010 | 0 |
[
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1
] | [
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1.588446855545044,
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3.466557264328003,
1
] | move_to_position | 0.00702 | [
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1.8323521614074707,
-2.659233808517456,
-1.626328468322754,
3.1212480068206787,
1
] | [
-0.06852936744689941,
0.6762452125549316,
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0,
0,
0
] | [
0.06852936744689941,
-0.6762452125549316,
0.05808858945965767,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2876424193382263,
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0.13313187658786774,
2.797517776489258,
0.0599832758307457,
3.069692611694336
] | 0 | 14.6 | 146 | 14 | 6,011 | 0 |
[
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3.464719533920288,
1
] | [
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1.5929900407791138,
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3.462825059890747,
1
] | move_to_position | 0.016105 | [
-1.647006869316101,
-1.0874849557876587,
1.8323521614074707,
-2.659233808517456,
-1.626328468322754,
3.1212480068206787,
1
] | [
-0.06852936744689941,
0.6762452125549316,
0.05808858945965767,
0,
0,
0
] | [
0.06852936744689941,
-0.6762452125549316,
0.05808858945965767,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2855134606361389,
-0.6606529355049133,
0.1323397159576416,
2.797581672668457,
0.06005649268627167,
3.06976580619812
] | 0 | 14.7 | 147 | 14 | 6,012 | 0 |
[
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1.5961846113204956,
-2.380321741104126,
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3.4600844383239746,
1
] | [
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1.5981593132019043,
-2.3821821212768555,
-1.7404390573501587,
3.4583396911621094,
1
] | move_to_position | 0.031267 | [
-1.647006869316101,
-1.0874849557876587,
1.8323521614074707,
-2.659233808517456,
-1.626328468322754,
3.1212480068206787,
1
] | [
-0.06852936744689941,
0.6762452125549316,
0.05808858945965767,
0,
0,
0
] | [
0.06852936744689941,
-0.6762452125549316,
0.05808858945965767,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2821625769138336,
-0.6608899235725403,
0.13118420541286469,
2.7976064682006836,
0.06011716276407242,
3.0697224140167236
] | 0 | 14.8 | 148 | 14 | 6,013 | 0 |
[
-1.298000693321228,
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1.6031321287155151,
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3.453833818435669,
1
] | [
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1.605751872062683,
-2.3892226219177246,
-1.738271951675415,
3.4514079093933105,
1
] | move_to_position | 0.051517 | [
-1.647006869316101,
-1.0874849557876587,
1.8323521614074707,
-2.659233808517456,
-1.626328468322754,
3.1212480068206787,
1
] | [
-0.06852936744689941,
0.6762452125549316,
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0,
0,
0
] | [
0.06852936744689941,
-0.6762452125549316,
0.05808858945965767,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.27804654836654663,
-0.6613112688064575,
0.12982986867427826,
2.7974693775177,
0.0599997416138649,
3.0697004795074463
] | 0 | 14.9 | 149 | 14 | 6,014 | 0 |
[
-1.306101679801941,
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-2.394655466079712,
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3.4459760189056396,
1
] | [
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1.6152830123901367,
-2.398190498352051,
-1.7354278564453125,
3.442437171936035,
1
] | move_to_position | 0.076343 | [
-1.647006869316101,
-1.0874849557876587,
1.8323521614074707,
-2.659233808517456,
-1.626328468322754,
3.1212480068206787,
1
] | [
-0.06852936744689941,
0.6762452125549316,
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0,
0,
0
] | [
0.06852936744689941,
-0.6762452125549316,
0.05808858945965767,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.27240049839019775,
-0.6617984771728516,
0.12774285674095154,
2.797773838043213,
0.06009962409734726,
3.0696942806243896
] | 0 | 15 | 150 | 14 | 6,015 | 0 |
[
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3.435648202896118,
1
] | [
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-1.0982213020324707,
1.6278364658355713,
-2.4098739624023438,
-1.731778621673584,
3.430882692337036,
1
] | move_to_position | 0.109251 | [
-1.647006869316101,
-1.0874849557876587,
1.8323521614074707,
-2.659233808517456,
-1.626328468322754,
3.1212480068206787,
1
] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.1 | 151 | 14 | 6,016 | 0 |
[
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] | [
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] | move_to_position | 0.152512 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.2 | 152 | 14 | 6,017 | 0 |
[
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] | [
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] | move_to_position | 0.199072 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 15.3 | 153 | 14 | 6,018 | 0 |
[
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] | [
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] | move_to_position | 0.249556 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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[
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] | [
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] | move_to_position | 0.304603 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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[
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] | [
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] | move_to_position | 0.366934 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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[
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] | [
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] | move_to_position | 0.430088 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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[
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] | [
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1
] | move_to_position | 0.497127 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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[
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] | [
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1
] | move_to_position | 0.562489 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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[
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] | [
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1
] | move_to_position | 0.622347 | [
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1.8323521614074707,
-2.659233808517456,
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] | [
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] | [
0.06852936744689941,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16 | 160 | 14 | 6,025 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.679034 | [
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1.8323521614074707,
-2.659233808517456,
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16.1 | 161 | 14 | 6,026 | 0 |
[
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] | [
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1
] | move_to_position | 0.741677 | [
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1.8323521614074707,
-2.659233808517456,
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] | [
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] | [
0.06852936744689941,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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[
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] | [
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1
] | move_to_position | 0.794241 | [
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1.8323521614074707,
-2.659233808517456,
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] | [
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] | [
0.06852936744689941,
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0.05808858945965767,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16.299999 | 163 | 14 | 6,028 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.842839 | [
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-1.0874849557876587,
1.8323521614074707,
-2.659233808517456,
-1.626328468322754,
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] | [
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] | [
0.06852936744689941,
-0.6762452125549316,
0.05808858945965767,
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0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16.4 | 164 | 14 | 6,029 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.884804 | [
-1.647006869316101,
-1.0874849557876587,
1.8323521614074707,
-2.659233808517456,
-1.626328468322754,
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] | [
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] | [
0.06852936744689941,
-0.6762452125549316,
0.05808858945965767,
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0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16.5 | 165 | 14 | 6,030 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.918268 | [
-1.647006869316101,
-1.0874849557876587,
1.8323521614074707,
-2.659233808517456,
-1.626328468322754,
3.1212480068206787,
1
] | [
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] | [
0.06852936744689941,
-0.6762452125549316,
0.05808858945965767,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16.6 | 166 | 14 | 6,031 | 0 |
[
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1
] | [
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3.1379151344299316,
1
] | move_to_position | 0.947286 | [
-1.647006869316101,
-1.0874849557876587,
1.8323521614074707,
-2.659233808517456,
-1.626328468322754,
3.1212480068206787,
1
] | [
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0.6762452125549316,
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0
] | [
0.06852936744689941,
-0.6762452125549316,
0.05808858945965767,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16.700001 | 167 | 14 | 6,032 | 0 |
[
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1
] | [
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3.1301510334014893,
1
] | move_to_position | 0.968558 | [
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] | [
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] | [
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0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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[
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] | [
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] | move_to_position | 0.985435 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 16.9 | 169 | 14 | 6,034 | 0 |
[
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] | [
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] | move_to_position | 0.994621 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 17 | 170 | 14 | 6,035 | 0 |
[
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] | [
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1
] | move_to_position | 0.998534 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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[
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] | [
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] | move_to_position | 0.999503 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 17.200001 | 172 | 14 | 6,037 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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] | [
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] | move_to_position | 0.000524 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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] | [
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] | move_to_position | 0.016146 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 17.5 | 175 | 14 | 6,040 | 0 |
[
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] | [
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] | move_to_position | 0.06472 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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[
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] | [
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1
] | move_to_position | 0.136599 | [
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] | [
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] | [
0.03727719560265541,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 17.700001 | 177 | 14 | 6,042 | 0 |
[
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] | [
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1
] | move_to_position | 0.224209 | [
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] | [
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] | [
0.03727719560265541,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 17.799999 | 178 | 14 | 6,043 | 0 |
[
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] | [
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1
] | move_to_position | 0.316371 | [
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1.8603355884552002,
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] | [
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] | [
0.03727719560265541,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 17.9 | 179 | 14 | 6,044 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.408449 | [
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] | [
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] | [
0.03727719560265541,
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0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 18 | 180 | 14 | 6,045 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.488562 | [
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1.8603355884552002,
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] | [
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] | [
0.03727719560265541,
-0.6740288734436035,
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0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 18.1 | 181 | 14 | 6,046 | 0 |
[
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] | [
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1
] | move_to_position | 0.581145 | [
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1.8603355884552002,
-2.703084707260132,
-1.6079092025756836,
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] | [
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] | [
0.03727719560265541,
-0.6740288734436035,
0.04399999976158142,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 18.200001 | 182 | 14 | 6,047 | 0 |
[
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] | [
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1
] | move_to_position | 0.685102 | [
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1.8603355884552002,
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1
] | [
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] | [
0.03727719560265541,
-0.6740288734436035,
0.04399999976158142,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 18.299999 | 183 | 14 | 6,048 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.788312 | [
-1.701336145401001,
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1.8603355884552002,
-2.703084707260132,
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1
] | [
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] | [
0.03727719560265541,
-0.6740288734436035,
0.04399999976158142,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 18.4 | 184 | 14 | 6,049 | 0 |
[
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1
] | [
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3.0745630264282227,
1
] | move_to_position | 0.877178 | [
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1.8603355884552002,
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1
] | [
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0,
0,
0
] | [
0.03727719560265541,
-0.6740288734436035,
0.04399999976158142,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
0.04066479206085205,
-0.6743097901344299,
0.04555646330118179,
2.797516107559204,
0.06013720482587814,
3.0698931217193604
] | 0 | 18.5 | 185 | 14 | 6,050 | 0 |
[
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3.0724401473999023,
1
] | [
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1.8595536947250366,
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1
] | move_to_position | 0.950131 | [
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1.8603355884552002,
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1
] | [
-0.03727719560265541,
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0,
0,
0
] | [
0.03727719560265541,
-0.6740288734436035,
0.04399999976158142,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
0.038508426398038864,
-0.6741384863853455,
0.044596992433071136,
2.7974836826324463,
0.06011045351624489,
3.0698819160461426
] | 0 | 18.6 | 186 | 14 | 6,051 | 0 |
[
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3.070338487625122,
1
] | [
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1.8602635860443115,
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3.0699844360351562,
1
] | move_to_position | 0.990417 | [
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1.8603355884552002,
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] | [
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0,
0,
0
] | [
0.03727719560265541,
-0.6740288734436035,
0.04399999976158142,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
0.0374123714864254,
-0.6741231083869934,
0.04426760971546173,
2.797236204147339,
0.06018705293536186,
3.069857597351074
] | 0 | 18.700001 | 187 | 14 | 6,052 | 0 |
[
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1
] | [
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1.8603355884552002,
-2.703084707260132,
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1
] | move_to_position | 0.996527 | [
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1.8603355884552002,
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1
] | [
-0.03727719560265541,
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0,
0,
0
] | [
0.03727719560265541,
-0.6740288734436035,
0.04399999976158142,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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0.04420916736125946,
2.7971858978271484,
0.06016094610095024,
3.069997549057007
] | 0 | 18.799999 | 188 | 14 | 6,053 | 0 |
[
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1
] | [
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0
] | gripper_open | 0 | [
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] | [
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] | [
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0.04415181651711464,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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0.04414787143468857,
2.797280788421631,
0.06012439355254173,
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] | 0 | 18.9 | 189 | 14 | 6,054 | 0 |
[
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] | [
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0
] | gripper_open | 0.141176 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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0.044004350900650024,
2.7975687980651855,
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] | 0 | 19 | 190 | 14 | 6,055 | 0 |
[
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] | [
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0
] | gripper_open | 0.164706 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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0.044020090252161026,
2.797520875930786,
0.06015186011791229,
3.069910764694214
] | 0 | 19.1 | 191 | 14 | 6,056 | 0 |
[
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] | [
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0
] | gripper_open | 0.278431 | [
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] | [
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] | [
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0.04415181651711464,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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0.0440245121717453,
2.797489881515503,
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3.069908618927002
] | 0 | 19.200001 | 192 | 14 | 6,057 | 0 |
[
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] | [
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0
] | gripper_open | 0.407843 | [
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] | [
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] | [
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0.04415181651711464,
2.797281265258789,
0.060146935284137726,
3.070039749145508
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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0.044013574719429016,
2.797532796859741,
0.06014025956392288,
3.0698914527893066
] | 0 | 19.299999 | 193 | 14 | 6,058 | 0 |
[
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] | [
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0
] | gripper_open | 0.533333 | [
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0
] | [
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] | [
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0.04415181651711464,
2.797281265258789,
0.060146935284137726,
3.070039749145508
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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-0.6740391254425049,
0.04402655363082886,
2.7975189685821533,
0.060130730271339417,
3.069941997528076
] | 1 | 19.4 | 194 | 14 | 6,059 | 0 |
[
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3.06984281539917,
0.3450980484485626
] | [
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1.8603355884552002,
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3.069838285446167,
0
] | gripper_open | 0.654902 | [
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1.860120177268982,
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0
] | [
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] | [
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0.04415181651711464,
2.797281265258789,
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3.070039749145508
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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-0.6740241050720215,
0.04399516060948372,
2.79756498336792,
0.06011919304728508,
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] | 1 | 19.5 | 195 | 14 | 6,060 | 0 |
[
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] | [
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3.069838285446167,
0
] | gripper_open | 0.780392 | [
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0
] | [
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] | [
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0.04415181651711464,
2.797281265258789,
0.060146935284137726,
3.070039749145508
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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-0.674045205116272,
0.044013798236846924,
2.7975099086761475,
0.060114677995443344,
3.069927215576172
] | 1 | 19.6 | 196 | 14 | 6,061 | 0 |
[
-1.7013195753097534,
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1.8603461980819702,
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3.069849967956543,
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] | [
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1.8603355884552002,
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3.069838285446167,
0
] | gripper_open | 0.988232 | [
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1.860120177268982,
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3.06984806060791,
0
] | [
-0.03739626333117485,
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] | [
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-0.6741224527359009,
0.04415181651711464,
2.797281265258789,
0.060146935284137726,
3.070039749145508
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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-0.6740331053733826,
0.044008027762174606,
2.7975406646728516,
0.060150232166051865,
3.0699026584625244
] | 1 | 19.700001 | 197 | 14 | 6,062 | 0 |
[
-1.7013195753097534,
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1.8603428602218628,
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3.069878101348877,
0.0117647061124444
] | [
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1.8603355884552002,
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3.069838285446167,
0
] | gripper_open | 0.988232 | [
-1.701198935508728,
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1.860120177268982,
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-1.6079005002975464,
3.06984806060791,
0
] | [
-0.03739626333117485,
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0.04415181651711464,
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] | [
0.03739626333117485,
-0.6741224527359009,
0.04415181651711464,
2.797281265258789,
0.060146935284137726,
3.070039749145508
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
0.03729746863245964,
-0.6740407347679138,
0.044029559940099716,
2.7975125312805176,
0.06013600155711174,
3.069927215576172
] | 1 | 19.799999 | 198 | 14 | 6,063 | 0 |
[
-1.7013195753097534,
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1.8603113889694214,
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3.0698273181915283,
0.0117647061124444
] | [
-1.701336145401001,
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1.8603355884552002,
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3.069838285446167,
0
] | gripper_open | 0.988232 | [
-1.701198935508728,
-1.0743200778961182,
1.860120177268982,
-2.7030727863311768,
-1.6079005002975464,
3.06984806060791,
0
] | [
-0.03739626333117485,
0.6741224527359009,
0.04415181651711464,
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3.070039749145508
] | [
0.03739626333117485,
-0.6741224527359009,
0.04415181651711464,
2.797281265258789,
0.060146935284137726,
3.070039749145508
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
0.03732101991772652,
-0.67403644323349,
0.04401418939232826,
2.797508478164673,
0.06008412688970566,
3.0699546337127686
] | 1 | 19.9 | 199 | 14 | 6,064 | 0 |
[
-1.7013672590255737,
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1.8603428602218628,
-2.703084707260132,
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3.0698273181915283,
0
] | [
-1.701336145401001,
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1.8603355884552002,
-2.703084707260132,
-1.6079092025756836,
3.069838285446167,
0
] | move_to_position | 0 | [
-1.643314003944397,
-1.1489711999893188,
1.898931860923767,
-2.6642792224884033,
-1.6274362802505493,
3.1244380474090576,
0
] | [
-0.0724838450551033,
0.6511560678482056,
0.06810086965560913,
0,
0,
0
] | [
0.0724838450551033,
-0.6511560678482056,
0.06810086965560913,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
0.03731193020939827,
-0.6740546226501465,
0.0440351627767086,
2.7974720001220703,
0.060117803514003754,
3.0699410438537598
] | 1 | 20 | 200 | 14 | 6,065 | 0 |
[
-1.7013157606124878,
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] | [
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] | move_to_position | 0.000195 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.1 | 201 | 14 | 6,066 | 0 |
[
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] | move_to_position | 0.014233 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.200001 | 202 | 14 | 6,067 | 0 |
[
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] | move_to_position | 0.05569 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.299999 | 203 | 14 | 6,068 | 0 |
[
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] | move_to_position | 0.120644 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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[
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] | move_to_position | 0.197696 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.5 | 205 | 14 | 6,070 | 0 |
[
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] | move_to_position | 0.279922 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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[
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] | [
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] | move_to_position | 0.359668 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.700001 | 207 | 14 | 6,072 | 0 |
[
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] | [
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] | move_to_position | 0.465332 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 20.799999 | 208 | 14 | 6,073 | 0 |
[
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] | move_to_position | 0.591527 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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[
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] | move_to_position | 0.710381 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 21 | 210 | 14 | 6,075 | 0 |
[
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] | [
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] | move_to_position | 0.81749 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 21.1 | 211 | 14 | 6,076 | 0 |
[
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] | [
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] | move_to_position | 0.910172 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 21.200001 | 212 | 14 | 6,077 | 0 |
[
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] | [
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] | move_to_position | 0.968401 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 21.299999 | 213 | 14 | 6,078 | 0 |
[
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] | [
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] | move_to_position | 0.992133 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 21.4 | 214 | 14 | 6,079 | 0 |
[
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] | [
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] | move_to_position | 0.997169 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
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] | 1 | 21.5 | 215 | 14 | 6,080 | 0 |
[
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] | [
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] | move_to_position | 0.000055 | [
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] | [
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] | [
0.11727897822856903,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21.6 | 216 | 14 | 6,081 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000245 | [
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] | [
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] | [
0.11727897822856903,
-0.5759183168411255,
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0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21.700001 | 217 | 14 | 6,082 | 0 |
[
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0
] | [
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] | move_to_position | 0.011314 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21.799999 | 218 | 14 | 6,083 | 0 |
[
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] | [
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] | move_to_position | 0.040987 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 21.9 | 219 | 14 | 6,084 | 0 |
[
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] | [
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] | move_to_position | 0.092094 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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[
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] | [
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] | move_to_position | 0.162265 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.1 | 221 | 14 | 6,086 | 0 |
[
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] | [
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] | move_to_position | 0.269216 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.200001 | 222 | 14 | 6,087 | 0 |
[
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] | [
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] | move_to_position | 0.385928 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.299999 | 223 | 14 | 6,088 | 0 |
[
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] | [
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] | move_to_position | 0.514202 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.4 | 224 | 14 | 6,089 | 0 |
[
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] | [
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] | move_to_position | 0.623316 | [
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] | [
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] | [
0.11727897822856903,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.5 | 225 | 14 | 6,090 | 0 |
[
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] | [
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] | move_to_position | 0.731776 | [
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] | [
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] | [
0.11727897822856903,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.6 | 226 | 14 | 6,091 | 0 |
[
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] | [
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] | move_to_position | 0.836454 | [
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] | [
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] | [
0.11727897822856903,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.700001 | 227 | 14 | 6,092 | 0 |
[
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] | [
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] | move_to_position | 0.914861 | [
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2.0687878131866455,
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] | [
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] | [
0.11727897822856903,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.799999 | 228 | 14 | 6,093 | 0 |
[
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] | [
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] | move_to_position | 0.967086 | [
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2.0687878131866455,
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0
] | [
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] | [
0.11727897822856903,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.9 | 229 | 14 | 6,094 | 0 |
[
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] | [
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] | move_to_position | 0.992064 | [
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] | [
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] | [
0.11727897822856903,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 23 | 230 | 14 | 6,095 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.998797 | [
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2.0687878131866455,
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0
] | [
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] | [
0.11727897822856903,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 23.1 | 231 | 14 | 6,096 | 0 |
[
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0
] | [
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0
] | gripper_open | 1 | [
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0
] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: open gripper | [
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] | 1 | 23.200001 | 232 | 14 | 6,097 | 0 |
[
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] | [
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3.2015018463134766,
0
] | gripper_open | 1 | [
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0
] | [
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] | [
0.1171746477484703,
-0.5760118365287781,
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0.06017574667930603,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: open gripper | [
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] | 1 | 23.299999 | 233 | 14 | 6,098 | 0 |
[
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0
] | gripper_open | 1 | [
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] | [
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0.5760118365287781,
0.08527226746082306,
2.7974910736083984,
0.06017574667930603,
3.0696558952331543
] | [
0.1171746477484703,
-0.5760118365287781,
0.08527226746082306,
2.7974910736083984,
0.06017574667930603,
3.0696558952331543
] | 0 | pick up the right chocolate pie and place it on the right red plate: open gripper | [
0.11726224422454834,
-0.575897753238678,
0.08525919914245605,
2.797579526901245,
0.06020984426140785,
3.069810152053833
] | 1 | 23.4 | 234 | 14 | 6,099 | 0 |
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