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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] | 1 | 2.2 | 22 | 15 | 6,300 | 0 |
[
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] | move_to_position | 0.011485 | [
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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 | 2.3 | 23 | 15 | 6,301 | 0 |
[
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] | move_to_position | 0.016299 | [
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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 | 0.022459 | [
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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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] | 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 | 0.039423 | [
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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 | 2.7 | 27 | 15 | 6,305 | 0 |
[
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] | [
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] | move_to_position | 0.051277 | [
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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 | 2.8 | 28 | 15 | 6,306 | 0 |
[
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] | [
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] | move_to_position | 0.064443 | [
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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 | 2.9 | 29 | 15 | 6,307 | 0 |
[
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] | move_to_position | 0.078806 | [
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] | [
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] | [
0.2844608426094055,
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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 | 30 | 15 | 6,308 | 0 |
[
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] | [
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] | move_to_position | 0.093929 | [
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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 | 3.1 | 31 | 15 | 6,309 | 0 |
[
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] | [
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] | move_to_position | 0.110913 | [
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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 | 3.2 | 32 | 15 | 6,310 | 0 |
[
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] | move_to_position | 0.12997 | [
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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 | 3.3 | 33 | 15 | 6,311 | 0 |
[
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] | [
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] | move_to_position | 0.150958 | [
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] | [
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] | [
0.2844608426094055,
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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 | 3.4 | 34 | 15 | 6,312 | 0 |
[
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] | [
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] | move_to_position | 0.172794 | [
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] | [
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] | [
0.2844608426094055,
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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 | 3.5 | 35 | 15 | 6,313 | 0 |
[
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] | [
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] | move_to_position | 0.197154 | [
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] | [
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] | [
0.2844608426094055,
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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 | 3.6 | 36 | 15 | 6,314 | 0 |
[
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] | [
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] | move_to_position | 0.221289 | [
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] | [
0.2844608426094055,
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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 | 15 | 6,315 | 0 |
[
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] | [
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] | move_to_position | 0.248006 | [
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0
] | [
0.2844608426094055,
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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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0.296818345785141,
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0.0610010102391243,
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] | 1 | 3.8 | 38 | 15 | 6,316 | 0 |
[
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] | [
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] | move_to_position | 0.275362 | [
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] | [
0.2844608426094055,
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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 | 3.9 | 39 | 15 | 6,317 | 0 |
[
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] | [
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] | move_to_position | 0.302939 | [
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] | [
0.2844608426094055,
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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 | 15 | 6,318 | 0 |
[
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] | [
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] | move_to_position | 0.333707 | [
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] | [
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] | [
0.2844608426094055,
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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 | 15 | 6,319 | 0 |
[
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] | [
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] | move_to_position | 0.364522 | [
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] | [
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] | [
0.2844608426094055,
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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 | 15 | 6,320 | 0 |
[
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] | [
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] | move_to_position | 0.394441 | [
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] | [
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] | [
0.2844608426094055,
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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 | 15 | 6,321 | 0 |
[
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] | [
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] | move_to_position | 0.427066 | [
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] | [
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] | [
0.2844608426094055,
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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 | 15 | 6,322 | 0 |
[
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] | [
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] | move_to_position | 0.459607 | [
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] | [
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] | [
0.2844608426094055,
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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 | 15 | 6,323 | 0 |
[
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] | [
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] | move_to_position | 0.49192 | [
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1.4226415157318115,
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] | [
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] | [
0.2844608426094055,
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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 | 15 | 6,324 | 0 |
[
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] | [
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] | move_to_position | 0.526153 | [
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1.4226415157318115,
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] | [
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] | [
0.2844608426094055,
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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 | 15 | 6,325 | 0 |
[
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] | [
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] | move_to_position | 0.557902 | [
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1.4226415157318115,
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] | [
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] | [
0.2844608426094055,
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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 | 15 | 6,326 | 0 |
[
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] | [
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] | move_to_position | 0.589504 | [
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1.4226415157318115,
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] | [
0.2844608426094055,
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0.11510013788938522,
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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 | 15 | 6,327 | 0 |
[
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] | [
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] | move_to_position | 0.622831 | [
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1.4226415157318115,
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] | [
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] | [
0.2844608426094055,
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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 | 15 | 6,328 | 0 |
[
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] | [
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] | move_to_position | 0.654856 | [
-1.3131996393203735,
-0.9550454616546631,
1.4226415157318115,
-2.3493616580963135,
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] | [
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] | [
0.2844608426094055,
-0.7223147749900818,
0.11510013788938522,
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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 | 5.1 | 51 | 15 | 6,329 | 0 |
[
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] | [
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0
] | move_to_position | 0.685038 | [
-1.3131996393203735,
-0.9550454616546631,
1.4226415157318115,
-2.3493616580963135,
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] | [
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] | [
0.2844608426094055,
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0.11510013788938522,
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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 | 15 | 6,330 | 0 |
[
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] | [
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0
] | move_to_position | 0.715862 | [
-1.3131996393203735,
-0.9550454616546631,
1.4226415157318115,
-2.3493616580963135,
-1.736391305923462,
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] | [
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] | [
0.2844608426094055,
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0.11510013788938522,
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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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0.060945063829422,
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] | 1 | 5.3 | 53 | 15 | 6,331 | 0 |
[
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3.358393907546997,
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] | [
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0
] | move_to_position | 0.745547 | [
-1.3131996393203735,
-0.9550454616546631,
1.4226415157318115,
-2.3493616580963135,
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] | [
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] | [
0.2844608426094055,
-0.7223147749900818,
0.11510013788938522,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.2152462601661682,
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0.06099998578429222,
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] | 1 | 5.4 | 54 | 15 | 6,332 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.773041 | [
-1.3131996393203735,
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1.4226415157318115,
-2.3493616580963135,
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] | [
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] | [
0.2844608426094055,
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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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0.16591699421405792,
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] | 1 | 5.5 | 55 | 15 | 6,333 | 0 |
[
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] | [
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] | move_to_position | 0.799648 | [
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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 | 15 | 6,334 | 0 |
[
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] | [
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] | move_to_position | 0.825929 | [
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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 | 15 | 6,335 | 0 |
[
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] | [
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] | move_to_position | 0.849071 | [
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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 | 5.8 | 58 | 15 | 6,336 | 0 |
[
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] | [
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] | move_to_position | 0.870296 | [
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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 | 5.9 | 59 | 15 | 6,337 | 0 |
[
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] | [
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] | move_to_position | 0.891282 | [
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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 | 6 | 60 | 15 | 6,338 | 0 |
[
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] | [
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] | move_to_position | 0.909278 | [
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] | [
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] | [
0.2844608426094055,
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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 | 15 | 6,339 | 0 |
[
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] | [
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] | move_to_position | 0.92699 | [
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] | [
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] | [
0.2844608426094055,
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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 | 15 | 6,340 | 0 |
[
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] | [
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] | move_to_position | 0.941422 | [
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] | [
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] | [
0.2844608426094055,
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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 | 15 | 6,341 | 0 |
[
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] | [
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] | move_to_position | 0.953897 | [
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] | [
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] | [
0.2844608426094055,
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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 | 15 | 6,342 | 0 |
[
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] | [
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] | move_to_position | 0.964872 | [
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] | [
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] | [
0.2844608426094055,
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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 | 15 | 6,343 | 0 |
[
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] | [
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] | move_to_position | 0.973678 | [
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1.4226415157318115,
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] | [
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] | [
0.2844608426094055,
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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 | 15 | 6,344 | 0 |
[
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] | [
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] | move_to_position | 0.981352 | [
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1.4226415157318115,
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] | [
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] | [
0.2844608426094055,
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0.11510013788938522,
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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 | 6.7 | 67 | 15 | 6,345 | 0 |
[
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] | [
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] | move_to_position | 0.987494 | [
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1.4226415157318115,
-2.3493616580963135,
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] | [
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] | [
0.2844608426094055,
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0.11510013788938522,
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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 | 6.8 | 68 | 15 | 6,346 | 0 |
[
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] | [
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0
] | move_to_position | 0.992244 | [
-1.3131996393203735,
-0.9550454616546631,
1.4226415157318115,
-2.3493616580963135,
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] | [
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] | [
0.2844608426094055,
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0.11510013788938522,
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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 | 15 | 6,347 | 0 |
[
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] | [
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0
] | move_to_position | 0.995681 | [
-1.3131996393203735,
-0.9550454616546631,
1.4226415157318115,
-2.3493616580963135,
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] | [
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] | [
0.2844608426094055,
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0.11510013788938522,
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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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0.11589315533638,
2.79447078704834,
0.06102241203188896,
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] | 1 | 7 | 70 | 15 | 6,348 | 0 |
[
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] | [
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0
] | move_to_position | 0.998099 | [
-1.3131996393203735,
-0.9550454616546631,
1.4226415157318115,
-2.3493616580963135,
-1.736391305923462,
3.4385502338409424,
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] | [
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0.7223147749900818,
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] | [
0.2844608426094055,
-0.7223147749900818,
0.11510013788938522,
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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 | [
0.2839566171169281,
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2.794405221939087,
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] | 1 | 7.1 | 71 | 15 | 6,349 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.999252 | [
-1.3131996393203735,
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1.4226415157318115,
-2.3493616580963135,
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] | [
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] | [
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0,
0
] | 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 | 15 | 6,350 | 0 |
[
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] | [
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] | move_to_position | 0.999679 | [
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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 | 15 | 6,351 | 0 |
[
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] | move_to_position | 0.999856 | [
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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 | 15 | 6,352 | 0 |
[
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] | [
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] | gripper_open | 1 | [
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[
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] | gripper_open | 1 | [
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] | [
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] | 1 | 7.6 | 76 | 15 | 6,354 | 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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] | 1 | 7.7 | 77 | 15 | 6,355 | 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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] | 1 | 7.8 | 78 | 15 | 6,356 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
0.25205913186073303,
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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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] | 1 | 7.9 | 79 | 15 | 6,357 | 0 |
[
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] | [
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] | move_to_position | 0.00003 | [
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] | [
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] | [
0.25205913186073303,
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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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] | 1 | 8 | 80 | 15 | 6,358 | 0 |
[
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] | [
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] | move_to_position | 0.011289 | [
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] | [
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] | [
0.25205913186073303,
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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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] | 1 | 8.1 | 81 | 15 | 6,359 | 0 |
[
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] | [
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] | move_to_position | 0.042104 | [
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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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] | 1 | 8.2 | 82 | 15 | 6,360 | 0 |
[
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] | [
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] | move_to_position | 0.087958 | [
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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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] | 1 | 8.3 | 83 | 15 | 6,361 | 0 |
[
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] | [
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] | move_to_position | 0.161806 | [
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] | [
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] | [
0.25205913186073303,
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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 | [
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] | 1 | 8.4 | 84 | 15 | 6,362 | 0 |
[
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] | [
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] | move_to_position | 0.265963 | [
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] | [
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] | [
0.25205913186073303,
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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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] | 1 | 8.5 | 85 | 15 | 6,363 | 0 |
[
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] | [
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] | move_to_position | 0.385082 | [
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] | [
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] | [
0.25205913186073303,
-0.7428292632102966,
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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 | [
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] | 1 | 8.6 | 86 | 15 | 6,364 | 0 |
[
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] | [
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] | move_to_position | 0.508694 | [
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] | [
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] | [
0.25205913186073303,
-0.7428292632102966,
0.02800000086426735,
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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 | [
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] | 1 | 8.7 | 87 | 15 | 6,365 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.618713 | [
-1.3655908107757568,
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1.4688875675201416,
-2.524261236190796,
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] | [
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0
] | [
0.25205913186073303,
-0.7428292632102966,
0.02800000086426735,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
0.2638862431049347,
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] | 1 | 8.8 | 88 | 15 | 6,366 | 0 |
[
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0
] | [
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] | move_to_position | 0.735373 | [
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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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] | gripper_close | 0.854902 | [
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[
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] | gripper_close | 0.854902 | [
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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 | 0.854902 | [
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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 | 0.854902 | [
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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 | 0.854902 | [
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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 | 0.854902 | [
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1
] | [
-0.2522067427635193,
0.7427873611450195,
0.028084825724363327,
2.7943990230560303,
0.060960229486227036,
3.0696847438812256
] | [
0.2522067427635193,
-0.7427873611450195,
0.028084825724363327,
2.7943990230560303,
0.060960229486227036,
3.0696847438812256
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
0.2520402669906616,
-0.7428392767906189,
0.027971619740128517,
2.794492244720459,
0.060955196619033813,
3.0694780349731445
] | 0 | 12 | 120 | 15 | 6,398 | 0 |
[
-1.365573763847351,
-0.8342956900596619,
1.4688876867294312,
-2.524273157119751,
-1.720342993736267,
3.388176202774048,
0.8549019694328308
] | [
-1.3655908107757568,
-0.8342940211296082,
1.4688875675201416,
-2.524261236190796,
-1.7203304767608643,
3.3881564140319824,
1
] | gripper_close | 0.854902 | [
-1.3653644323349,
-0.8344276547431946,
1.4688161611557007,
-2.524158239364624,
-1.720359206199646,
3.3881726264953613,
1
] | [
-0.2522067427635193,
0.7427873611450195,
0.028084825724363327,
2.7943990230560303,
0.060960229486227036,
3.0696847438812256
] | [
0.2522067427635193,
-0.7427873611450195,
0.028084825724363327,
2.7943990230560303,
0.060960229486227036,
3.0696847438812256
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
0.25206542015075684,
-0.7428103089332581,
0.02796860784292221,
2.794513463973999,
0.06096655875444412,
3.0695106983184814
] | 0 | 12.1 | 121 | 15 | 6,399 | 0 |
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