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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-1.365592360496521,
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1.4688581228256226,
-2.5242373943328857,
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3.388141393661499,
0.8549019694328308
] | [
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1.4688875675201416,
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3.3881564140319824,
1
] | gripper_close | 0.854902 | [
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1.4688161611557007,
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1
] | [
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] | [
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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 | [
0.2520196735858917,
-0.7428562045097351,
0.027988264337182045,
2.794443130493164,
0.06099020689725876,
3.0694313049316406
] | 0 | 12.2 | 122 | 15 | 6,400 | 0 |
[
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1.4688762426376343,
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3.3881726264953613,
0.8549019694328308
] | [
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1.4688875675201416,
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3.3881564140319824,
1
] | gripper_close | 0.854902 | [
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1
] | [
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] | [
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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 | [
0.2520418167114258,
-0.742840588092804,
0.027990510687232018,
2.7944512367248535,
0.0610169917345047,
3.069514274597168
] | 0 | 12.3 | 123 | 15 | 6,401 | 0 |
[
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1.4688581228256226,
-2.5242526531219482,
-1.7203043699264526,
3.3881258964538574,
0.8549019694328308
] | [
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1.4688875675201416,
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3.3881564140319824,
1
] | gripper_close | 0.854902 | [
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1.4688161611557007,
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-1.720359206199646,
3.3881726264953613,
1
] | [
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] | [
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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 | [
0.25204595923423767,
-0.7428315877914429,
0.027979210019111633,
2.794495105743408,
0.06097022816538811,
3.0695056915283203
] | 0 | 12.4 | 124 | 15 | 6,402 | 0 |
[
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1.4688547849655151,
-2.524249315261841,
-1.7203701734542847,
3.388148546218872,
1
] | [
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1.4688875675201416,
-2.524261236190796,
-1.7203304767608643,
3.3881564140319824,
1
] | move_to_position | 0.000025 | [
-1.3100959062576294,
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1.437969446182251,
-2.4393959045410156,
-1.7375186681747437,
3.4415996074676514,
1
] | [
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0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | [
0.28854119777679443,
-0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.25203102827072144,
-0.7428311705589294,
0.027972975745797157,
2.794489622116089,
0.0609985813498497,
3.069483995437622
] | 0 | 12.5 | 125 | 15 | 6,403 | 0 |
[
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1.4688876867294312,
-2.524261236190796,
-1.7203201055526733,
3.388141393661499,
1
] | [
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1.468809723854065,
-2.524012565612793,
-1.7204393148422241,
3.388317823410034,
1
] | move_to_position | 0 | [
-1.3100959062576294,
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1.437969446182251,
-2.4393959045410156,
-1.7375186681747437,
3.4415996074676514,
1
] | [
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0.7290236949920654,
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0,
0,
0
] | [
0.28854119777679443,
-0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2520277202129364,
-0.7428405284881592,
0.028029127046465874,
2.794431686401367,
0.06098119169473648,
3.0694479942321777
] | 0 | 12.6 | 126 | 15 | 6,404 | 0 |
[
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1.4686325788497925,
-2.5231378078460693,
-1.7206677198410034,
3.3889007568359375,
1
] | [
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1.4682903289794922,
-2.5220720767974854,
-1.7208998203277588,
3.3896007537841797,
1
] | move_to_position | 0.013757 | [
-1.3100959062576294,
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1.437969446182251,
-2.4393959045410156,
-1.7375186681747437,
3.4415996074676514,
1
] | [
-0.28854119777679443,
0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | [
0.28854119777679443,
-0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2527613639831543,
-0.7425348162651062,
0.028768543154001236,
2.7944447994232178,
0.061028335243463516,
3.069481134414673
] | 0 | 12.7 | 127 | 15 | 6,405 | 0 |
[
-1.362392783164978,
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1.467635989189148,
-2.519666910171509,
-1.7213419675827026,
3.391157865524292,
1
] | [
-1.3612747192382812,
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1.4671393632888794,
-2.5179507732391357,
-1.7217808961868286,
3.3923094272613525,
1
] | move_to_position | 0.055343 | [
-1.3100959062576294,
-0.8798201084136963,
1.437969446182251,
-2.4393959045410156,
-1.7375186681747437,
3.4415996074676514,
1
] | [
-0.28854119777679443,
0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | [
0.28854119777679443,
-0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.25451257824897766,
-0.7418540716171265,
0.03040245920419693,
2.794543743133545,
0.06105423718690872,
3.0695650577545166
] | 0 | 12.8 | 128 | 15 | 6,406 | 0 |
[
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1.4662641286849976,
-2.514652967453003,
-1.722368597984314,
3.3944671154022217,
1
] | [
-1.357515811920166,
-0.8416007161140442,
1.465507984161377,
-2.5124142169952393,
-1.7229256629943848,
3.395920991897583,
1
] | move_to_position | 0.115421 | [
-1.3100959062576294,
-0.8798201084136963,
1.437969446182251,
-2.4393959045410156,
-1.7375186681747437,
3.4415996074676514,
1
] | [
-0.28854119777679443,
0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | [
0.28854119777679443,
-0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2569558322429657,
-0.7408844828605652,
0.032700881361961365,
2.794724464416504,
0.06099393218755722,
3.069655418395996
] | 0 | 12.9 | 129 | 15 | 6,407 | 0 |
[
-1.3546193838119507,
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1.4642356634140015,
-2.5081899166107178,
-1.7237972021102905,
3.3986423015594482,
1
] | [
-1.352952241897583,
-0.8455860018730164,
1.463367223739624,
-2.5056190490722656,
-1.724312424659729,
3.40030837059021,
1
] | move_to_position | 0.192879 | [
-1.3100959062576294,
-0.8798201084136963,
1.437969446182251,
-2.4393959045410156,
-1.7375186681747437,
3.4415996074676514,
1
] | [
-0.28854119777679443,
0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | [
0.28854119777679443,
-0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2597689926624298,
-0.7398607134819031,
0.0356866791844368,
2.794555425643921,
0.060996368527412415,
3.069474458694458
] | 0 | 13 | 130 | 15 | 6,408 | 0 |
[
-1.3499397039413452,
-0.8480218052864075,
1.4618891477584839,
-2.501187562942505,
-1.725211501121521,
3.4031622409820557,
1
] | [
-1.34810471534729,
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1.4608523845672607,
-2.498291254043579,
-1.725803017616272,
3.404972791671753,
1
] | move_to_position | 0.27632 | [
-1.3100959062576294,
-0.8798201084136963,
1.437969446182251,
-2.4393959045410156,
-1.7375186681747437,
3.4415996074676514,
1
] | [
-0.28854119777679443,
0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | [
0.28854119777679443,
-0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.26261621713638306,
-0.7388159036636353,
0.038547489792108536,
2.794560432434082,
0.06101078912615776,
3.0694797039031982
] | 0 | 13.1 | 131 | 15 | 6,409 | 0 |
[
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1.4592827558517456,
-2.493985891342163,
-1.7266796827316284,
3.4077279567718506,
1
] | [
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1.4576807022094727,
-2.4896583557128906,
-1.727545976638794,
3.4103996753692627,
1
] | move_to_position | 0.36118 | [
-1.3100959062576294,
-0.8798201084136963,
1.437969446182251,
-2.4393959045410156,
-1.7375186681747437,
3.4415996074676514,
1
] | [
-0.28854119777679443,
0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | [
0.28854119777679443,
-0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2661699056625366,
-0.7375421524047852,
0.04213327541947365,
2.7945611476898193,
0.06100321561098099,
3.0694518089294434
] | 0 | 13.2 | 132 | 15 | 6,410 | 0 |
[
-1.338889479637146,
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1.4555953741073608,
-2.484121084213257,
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3.4138362407684326,
1
] | [
-1.3354253768920898,
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1.4535866975784302,
-2.4788095951080322,
-1.7297208309173584,
3.417184829711914,
1
] | move_to_position | 0.476763 | [
-1.3100959062576294,
-0.8798201084136963,
1.437969446182251,
-2.4393959045410156,
-1.7375186681747437,
3.4415996074676514,
1
] | [
-0.28854119777679443,
0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | [
0.28854119777679443,
-0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2705516517162323,
-0.7359875440597534,
0.04653758928179741,
2.7945098876953125,
0.06094028055667877,
3.069486141204834
] | 0 | 13.3 | 133 | 15 | 6,411 | 0 |
[
-1.331722617149353,
-0.8629587292671204,
1.4514096975326538,
-2.4730265140533447,
-1.7308810949325562,
3.420764923095703,
1
] | [
-1.3291739225387573,
-0.864956259727478,
1.4498931169509888,
-2.46915340423584,
-1.7316497564315796,
3.4232077598571777,
1
] | move_to_position | 0.606977 | [
-1.3100959062576294,
-0.8798201084136963,
1.437969446182251,
-2.4393959045410156,
-1.7375186681747437,
3.4415996074676514,
1
] | [
-0.28854119777679443,
0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | [
0.28854119777679443,
-0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2751963138580322,
-0.73423832654953,
0.051203321665525436,
2.794501304626465,
0.06095175817608833,
3.0694739818573
] | 0 | 13.4 | 134 | 15 | 6,412 | 0 |
[
-1.3250592947006226,
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1.4474223852157593,
-2.462794542312622,
-1.7329047918319702,
3.427208423614502,
1
] | [
-1.3222341537475586,
-0.8704842925071716,
1.4457530975341797,
-2.45841646194458,
-1.7337898015975952,
3.42989444732666,
1
] | move_to_position | 0.727418 | [
-1.3100959062576294,
-0.8798201084136963,
1.437969446182251,
-2.4393959045410156,
-1.7375186681747437,
3.4415996074676514,
1
] | [
-0.28854119777679443,
0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | [
0.28854119777679443,
-0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2794938385486603,
-0.7326000928878784,
0.05558224767446518,
2.7944211959838867,
0.0608995147049427,
3.0694260597229004
] | 0 | 13.5 | 135 | 15 | 6,413 | 0 |
[
-1.3189257383346558,
-0.8731265068054199,
1.4437788724899292,
-2.453331232070923,
-1.7348116636276245,
3.433074712753296,
1
] | [
-1.3171948194503784,
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1.4427293539047241,
-2.4506118297576904,
-1.7353434562683105,
3.4347503185272217,
1
] | move_to_position | 0.838214 | [
-1.3100959062576294,
-0.8798201084136963,
1.437969446182251,
-2.4393959045410156,
-1.7375186681747437,
3.4415996074676514,
1
] | [
-0.28854119777679443,
0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | [
0.28854119777679443,
-0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2833958566188812,
-0.7310312986373901,
0.05950111523270607,
2.7944936752319336,
0.06096724793314934,
3.0694334506988525
] | 0 | 13.6 | 136 | 15 | 6,414 | 0 |
[
-1.3145664930343628,
-0.8766476511955261,
1.4410885572433472,
-2.4464962482452393,
-1.7361639738082886,
3.4373114109039307,
1
] | [
-1.3130364418029785,
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1.4401696920394897,
-2.444143533706665,
-1.736623764038086,
3.438758611679077,
1
] | move_to_position | 0.918085 | [
-1.3100959062576294,
-0.8798201084136963,
1.437969446182251,
-2.4393959045410156,
-1.7375186681747437,
3.4415996074676514,
1
] | [
-0.28854119777679443,
0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | [
0.28854119777679443,
-0.7290236949920654,
0.0646485686302185,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.28602123260498047,
-0.7299502491950989,
0.06221260130405426,
2.7944653034210205,
0.06098150089383125,
3.0694491863250732
] | 0 | 13.7 | 137 | 15 | 6,415 | 0 |
[
-1.3117655515670776,
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1.4393481016159058,
-2.442206621170044,
-1.736932635307312,
3.439927577972412,
1
] | [
-1.3111802339553833,
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1.4388962984085083,
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1
] | move_to_position | 0.967713 | [
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1
] | [
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0,
0,
0
] | [
0.28854119777679443,
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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 | [
0.2876244783401489,
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] | 0 | 13.8 | 138 | 15 | 6,416 | 0 |
[
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] | [
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1
] | move_to_position | 0.991578 | [
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1.437969446182251,
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] | [
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0,
0,
0
] | [
0.28854119777679443,
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0.0646485686302185,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.288238525390625,
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] | 0 | 13.9 | 139 | 15 | 6,417 | 0 |
[
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] | [
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1
] | move_to_position | 0.99698 | [
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1.437969446182251,
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] | [
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0,
0
] | [
0.28854119777679443,
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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 | [
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] | 0 | 14 | 140 | 15 | 6,418 | 0 |
[
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] | [
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1
] | move_to_position | 0.000012 | [
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] | [
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0
] | [
0.032769378274679184,
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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 | 14.1 | 141 | 15 | 6,419 | 0 |
[
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] | [
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1
] | move_to_position | 0 | [
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1.9663116931915283,
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1
] | [
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0,
0
] | [
0.032769378274679184,
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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 | 14.2 | 142 | 15 | 6,420 | 0 |
[
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] | [
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1
] | move_to_position | 0.000798 | [
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] | [
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0,
0
] | [
0.032769378274679184,
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0.10178732872009277,
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 | 14.3 | 143 | 15 | 6,421 | 0 |
[
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] | [
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1
] | move_to_position | 0.004027 | [
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1.9663116931915283,
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1
] | [
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0,
0
] | [
0.032769378274679184,
-0.6237942576408386,
0.10178732872009277,
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 | 14.4 | 144 | 15 | 6,422 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.009682 | [
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1.9663116931915283,
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1
] | [
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0,
0
] | [
0.032769378274679184,
-0.6237942576408386,
0.10178732872009277,
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 | 14.5 | 145 | 15 | 6,423 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.017794 | [
-1.721813678741455,
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1.9663116931915283,
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-1.6014416217803955,
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1
] | [
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0,
0
] | [
0.032769378274679184,
-0.6237942576408386,
0.10178732872009277,
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 | 14.6 | 146 | 15 | 6,424 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.030268 | [
-1.721813678741455,
-1.267453908920288,
1.9663116931915283,
-2.6192338466644287,
-1.6014416217803955,
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1
] | [
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0,
0
] | [
0.032769378274679184,
-0.6237942576408386,
0.10178732872009277,
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 | 14.7 | 147 | 15 | 6,425 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.047269 | [
-1.721813678741455,
-1.267453908920288,
1.9663116931915283,
-2.6192338466644287,
-1.6014416217803955,
3.050717830657959,
1
] | [
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0.6237942576408386,
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0,
0,
0
] | [
0.032769378274679184,
-0.6237942576408386,
0.10178732872009277,
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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2.794934034347534,
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] | 0 | 14.8 | 148 | 15 | 6,426 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.067889 | [
-1.721813678741455,
-1.267453908920288,
1.9663116931915283,
-2.6192338466644287,
-1.6014416217803955,
3.050717830657959,
1
] | [
-0.032769378274679184,
0.6237942576408386,
0.10178732872009277,
0,
0,
0
] | [
0.032769378274679184,
-0.6237942576408386,
0.10178732872009277,
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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-0.721994161605835,
0.06697844713926315,
2.794677257537842,
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] | 0 | 14.9 | 149 | 15 | 6,427 | 0 |
[
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1
] | [
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-2.470588445663452,
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1
] | move_to_position | 0.094058 | [
-1.721813678741455,
-1.267453908920288,
1.9663116931915283,
-2.6192338466644287,
-1.6014416217803955,
3.050717830657959,
1
] | [
-0.032769378274679184,
0.6237942576408386,
0.10178732872009277,
0,
0,
0
] | [
0.032769378274679184,
-0.6237942576408386,
0.10178732872009277,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.26511964201927185,
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0.06774228811264038,
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0.06117262691259384,
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] | 0 | 15 | 150 | 15 | 6,428 | 0 |
[
-1.3484104871749878,
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1
] | [
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-2.4793732166290283,
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3.4009714126586914,
1
] | move_to_position | 0.127888 | [
-1.721813678741455,
-1.267453908920288,
1.9663116931915283,
-2.6192338466644287,
-1.6014416217803955,
3.050717830657959,
1
] | [
-0.032769378274679184,
0.6237942576408386,
0.10178732872009277,
0,
0,
0
] | [
0.032769378274679184,
-0.6237942576408386,
0.10178732872009277,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.25749480724334717,
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0.0690186470746994,
2.7946174144744873,
0.0610404834151268,
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] | 0 | 15.1 | 151 | 15 | 6,429 | 0 |
[
-1.3597596883773804,
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-2.485236883163452,
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3.393965721130371,
1
] | [
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1.553428292274475,
-2.489238739013672,
-1.7204029560089111,
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1
] | move_to_position | 0.16258 | [
-1.721813678741455,
-1.267453908920288,
1.9663116931915283,
-2.6192338466644287,
-1.6014416217803955,
3.050717830657959,
1
] | [
-0.032769378274679184,
0.6237942576408386,
0.10178732872009277,
0,
0,
0
] | [
0.032769378274679184,
-0.6237942576408386,
0.10178732872009277,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.24785682559013367,
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0.07040189206600189,
2.7947561740875244,
0.061044346541166306,
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] | 0 | 15.2 | 152 | 15 | 6,430 | 0 |
[
-1.3733214139938354,
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3.3809685707092285,
1
] | [
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-0.9710034728050232,
1.5801118612289429,
-2.5003716945648193,
-1.715895652770996,
3.375302314758301,
1
] | move_to_position | 0.203492 | [
-1.721813678741455,
-1.267453908920288,
1.9663116931915283,
-2.6192338466644287,
-1.6014416217803955,
3.050717830657959,
1
] | [
-0.032769378274679184,
0.6237942576408386,
0.10178732872009277,
0,
0,
0
] | [
0.032769378274679184,
-0.6237942576408386,
0.10178732872009277,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.2386653572320938,
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0.07169311493635178,
2.7948873043060303,
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3.069310426712036
] | 0 | 15.3 | 153 | 15 | 6,431 | 0 |
[
-1.3876012563705444,
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1.5956100225448608,
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-1.7132705450057983,
3.3671460151672363,
1
] | [
-1.395042061805725,
-0.9900826215744019,
1.6087995767593384,
-2.5121917724609375,
-1.7108592987060547,
3.360123634338379,
1
] | move_to_position | 0.245939 | [
-1.721813678741455,
-1.267453908920288,
1.9663116931915283,
-2.6192338466644287,
-1.6014416217803955,
3.050717830657959,
1
] | [
-0.032769378274679184,
0.6237942576408386,
0.10178732872009277,
0,
0,
0
] | [
0.032769378274679184,
-0.6237942576408386,
0.10178732872009277,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.22700148820877075,
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0.07339594513177872,
2.794818878173828,
0.061134133487939835,
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] | 0 | 15.4 | 154 | 15 | 6,432 | 0 |
[
-1.404312014579773,
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3.3513078689575195,
1
] | [
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1
] | move_to_position | 0.293727 | [
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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 | 15.5 | 155 | 15 | 6,433 | 0 |
[
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] | [
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1
] | move_to_position | 0.345309 | [
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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 | 15.6 | 156 | 15 | 6,434 | 0 |
[
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] | [
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] | move_to_position | 0.395424 | [
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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 | 15.7 | 157 | 15 | 6,435 | 0 |
[
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] | [
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] | move_to_position | 0.447891 | [
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] | [
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] | [
0.032769378274679184,
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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 | 15.8 | 158 | 15 | 6,436 | 0 |
[
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] | [
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] | move_to_position | 0.501736 | [
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] | [
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] | [
0.032769378274679184,
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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 | 15.9 | 159 | 15 | 6,437 | 0 |
[
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] | [
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] | move_to_position | 0.558345 | [
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] | [
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] | [
0.032769378274679184,
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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 | 15 | 6,438 | 0 |
[
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] | [
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1
] | move_to_position | 0.612726 | [
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] | [
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] | [
0.032769378274679184,
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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 | 15 | 6,439 | 0 |
[
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] | [
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1
] | move_to_position | 0.660601 | [
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1.9663116931915283,
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] | [
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] | [
0.032769378274679184,
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0.10178732872009277,
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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 | 16.200001 | 162 | 15 | 6,440 | 0 |
[
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] | [
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1
] | move_to_position | 0.710157 | [
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1.9663116931915283,
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] | [
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] | [
0.032769378274679184,
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0.10178732872009277,
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 | 16.299999 | 163 | 15 | 6,441 | 0 |
[
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] | [
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1
] | move_to_position | 0.757967 | [
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-1.267453908920288,
1.9663116931915283,
-2.6192338466644287,
-1.6014416217803955,
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] | [
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0
] | [
0.032769378274679184,
-0.6237942576408386,
0.10178732872009277,
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 | 16.4 | 164 | 15 | 6,442 | 0 |
[
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] | [
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1
] | move_to_position | 0.80413 | [
-1.721813678741455,
-1.267453908920288,
1.9663116931915283,
-2.6192338466644287,
-1.6014416217803955,
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] | [
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0
] | [
0.032769378274679184,
-0.6237942576408386,
0.10178732872009277,
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 | 16.5 | 165 | 15 | 6,443 | 0 |
[
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] | [
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1
] | move_to_position | 0.842435 | [
-1.721813678741455,
-1.267453908920288,
1.9663116931915283,
-2.6192338466644287,
-1.6014416217803955,
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1
] | [
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0,
0
] | [
0.032769378274679184,
-0.6237942576408386,
0.10178732872009277,
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 | 15 | 6,444 | 0 |
[
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] | [
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1
] | move_to_position | 0.87876 | [
-1.721813678741455,
-1.267453908920288,
1.9663116931915283,
-2.6192338466644287,
-1.6014416217803955,
3.050717830657959,
1
] | [
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0.6237942576408386,
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0,
0
] | [
0.032769378274679184,
-0.6237942576408386,
0.10178732872009277,
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 | 15 | 6,445 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.908111 | [
-1.721813678741455,
-1.267453908920288,
1.9663116931915283,
-2.6192338466644287,
-1.6014416217803955,
3.050717830657959,
1
] | [
-0.032769378274679184,
0.6237942576408386,
0.10178732872009277,
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0,
0
] | [
0.032769378274679184,
-0.6237942576408386,
0.10178732872009277,
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 | 16.799999 | 168 | 15 | 6,446 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.936056 | [
-1.721813678741455,
-1.267453908920288,
1.9663116931915283,
-2.6192338466644287,
-1.6014416217803955,
3.050717830657959,
1
] | [
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0.6237942576408386,
0.10178732872009277,
0,
0,
0
] | [
0.032769378274679184,
-0.6237942576408386,
0.10178732872009277,
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 | 16.9 | 169 | 15 | 6,447 | 0 |
[
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1
] | [
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-2.6178884506225586,
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1
] | move_to_position | 0.957477 | [
-1.721813678741455,
-1.267453908920288,
1.9663116931915283,
-2.6192338466644287,
-1.6014416217803955,
3.050717830657959,
1
] | [
-0.032769378274679184,
0.6237942576408386,
0.10178732872009277,
0,
0,
0
] | [
0.032769378274679184,
-0.6237942576408386,
0.10178732872009277,
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 | 17 | 170 | 15 | 6,448 | 0 |
[
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1
] | [
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1.9590506553649902,
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3.0613129138946533,
1
] | move_to_position | 0.973467 | [
-1.721813678741455,
-1.267453908920288,
1.9663116931915283,
-2.6192338466644287,
-1.6014416217803955,
3.050717830657959,
1
] | [
-0.032769378274679184,
0.6237942576408386,
0.10178732872009277,
0,
0,
0
] | [
0.032769378274679184,
-0.6237942576408386,
0.10178732872009277,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.03910539299249649,
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] | 0 | 17.1 | 171 | 15 | 6,449 | 0 |
[
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] | [
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1
] | move_to_position | 0.985277 | [
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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 | 15 | 6,450 | 0 |
[
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] | move_to_position | 0.992586 | [
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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 | 17.299999 | 173 | 15 | 6,451 | 0 |
[
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] | [
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] | move_to_position | 0.997232 | [
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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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] | move_to_position | 0.999218 | [
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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 | [
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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 | 0.000157 | [
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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 | 0.011488 | [
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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 | 0.040024 | [
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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 | 17.9 | 179 | 15 | 6,457 | 0 |
[
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] | [
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1
] | move_to_position | 0.091049 | [
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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 | 18 | 180 | 15 | 6,458 | 0 |
[
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] | [
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1
] | move_to_position | 0.158249 | [
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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 | 18.1 | 181 | 15 | 6,459 | 0 |
[
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] | [
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1
] | move_to_position | 0.264406 | [
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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 | 18.200001 | 182 | 15 | 6,460 | 0 |
[
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] | [
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1
] | move_to_position | 0.387639 | [
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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: descend to red plate_1 | [
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] | 0 | 18.299999 | 183 | 15 | 6,461 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.511132 | [
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] | [
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] | [
0.027814451605081558,
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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 | 18.4 | 184 | 15 | 6,462 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.618992 | [
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] | [
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] | [
0.027814451605081558,
-0.6711353063583374,
0.0430000014603138,
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 | 18.5 | 185 | 15 | 6,463 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.735983 | [
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] | [
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0,
0
] | [
0.027814451605081558,
-0.6711353063583374,
0.0430000014603138,
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 | 18.6 | 186 | 15 | 6,464 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.841465 | [
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1.874354362487793,
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1
] | [
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] | [
0.027814451605081558,
-0.6711353063583374,
0.0430000014603138,
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 | 18.700001 | 187 | 15 | 6,465 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.917528 | [
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1.874354362487793,
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1
] | [
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0.6711353063583374,
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0,
0,
0
] | [
0.027814451605081558,
-0.6711353063583374,
0.0430000014603138,
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 | 18.799999 | 188 | 15 | 6,466 | 0 |
[
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3.054053544998169,
1
] | [
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1
] | move_to_position | 0.962718 | [
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] | [
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0,
0,
0
] | [
0.027814451605081558,
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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 | [
0.028003303334116936,
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0.044920340180397034,
2.7947890758514404,
0.06101849302649498,
3.069429397583008
] | 0 | 18.9 | 189 | 15 | 6,467 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.98838 | [
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1
] | [
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0,
0,
0
] | [
0.027814451605081558,
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0.0430000014603138,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
0.02784496359527111,
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0.04348413646221161,
2.7948191165924072,
0.06104942411184311,
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] | 0 | 19 | 190 | 15 | 6,468 | 0 |
[
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1
] | [
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1.874354362487793,
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1
] | move_to_position | 0.998834 | [
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1
] | [
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0,
0,
0
] | [
0.027814451605081558,
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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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0.042888540774583817,
2.7951459884643555,
0.06099994108080864,
3.069408416748047
] | 0 | 19.1 | 191 | 15 | 6,469 | 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 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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] | 0 | 19.200001 | 192 | 15 | 6,470 | 0 |
[
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] | [
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0
] | gripper_open | 0.145098 | [
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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 | 19.299999 | 193 | 15 | 6,471 | 0 |
[
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] | [
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0
] | gripper_open | 0.172549 | [
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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 | 19.4 | 194 | 15 | 6,472 | 0 |
[
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] | [
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] | gripper_open | 0.286274 | [
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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 | 19.5 | 195 | 15 | 6,473 | 0 |
[
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] | [
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] | gripper_open | 0.415686 | [
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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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2.794858694076538,
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] | 0 | 19.6 | 196 | 15 | 6,474 | 0 |
[
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] | [
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0
] | gripper_open | 0.537255 | [
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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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0.04300405830144882,
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] | 1 | 19.700001 | 197 | 15 | 6,475 | 0 |
[
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] | [
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0
] | gripper_open | 0.658823 | [
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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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] | 1 | 19.799999 | 198 | 15 | 6,476 | 0 |
[
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] | [
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0
] | gripper_open | 0.780392 | [
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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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] | 1 | 19.9 | 199 | 15 | 6,477 | 0 |
[
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] | [
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0
] | gripper_open | 0.905882 | [
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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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] | 1 | 20 | 200 | 15 | 6,478 | 0 |
[
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] | [
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0
] | gripper_open | 0.988234 | [
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0
] | [
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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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] | 1 | 20.1 | 201 | 15 | 6,479 | 0 |
[
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] | [
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0
] | gripper_open | 0.988234 | [
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0
] | [
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] | [
0.02783188968896866,
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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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0.04300903156399727,
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0.06103767827153206,
3.0694031715393066
] | 1 | 20.200001 | 202 | 15 | 6,480 | 0 |
[
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] | [
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0
] | gripper_open | 0.988234 | [
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0
] | [
-0.02783188968896866,
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] | [
0.02783188968896866,
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3.0694305896759033
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
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0.04299841448664665,
2.794833183288574,
0.06106458976864815,
3.0694220066070557
] | 1 | 20.299999 | 203 | 15 | 6,481 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000023 | [
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0
] | [
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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 | 20.4 | 204 | 15 | 6,482 | 0 |
[
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] | move_to_position | 0.000347 | [
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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 | 15 | 6,483 | 0 |
[
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] | move_to_position | 0.010337 | [
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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 | 20.6 | 206 | 15 | 6,484 | 0 |
[
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] | [
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] | move_to_position | 0.040631 | [
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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 | 15 | 6,485 | 0 |
[
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] | move_to_position | 0.092501 | [
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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 | 20.799999 | 208 | 15 | 6,486 | 0 |
[
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] | move_to_position | 0.163678 | [
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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 | 20.9 | 209 | 15 | 6,487 | 0 |
[
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] | [
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] | move_to_position | 0.266954 | [
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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 | 15 | 6,488 | 0 |
[
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] | [
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] | move_to_position | 0.384148 | [
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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 | 15 | 6,489 | 0 |
[
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] | [
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] | move_to_position | 0.503451 | [
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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 | 15 | 6,490 | 0 |
[
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] | [
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] | move_to_position | 0.617468 | [
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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 | 15 | 6,491 | 0 |
[
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] | [
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] | move_to_position | 0.737241 | [
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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 | 15 | 6,492 | 0 |
[
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] | [
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] | move_to_position | 0.843156 | [
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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 | 15 | 6,493 | 0 |
[
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] | [
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] | move_to_position | 0.911232 | [
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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 | 21.6 | 216 | 15 | 6,494 | 0 |
[
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] | [
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] | move_to_position | 0.959437 | [
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] | [
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] | [
0.0063172923400998116,
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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 | 21.700001 | 217 | 15 | 6,495 | 0 |
[
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] | [
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] | move_to_position | 0.988362 | [
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] | [
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] | [
0.0063172923400998116,
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0,
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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 | 21.799999 | 218 | 15 | 6,496 | 0 |
[
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] | [
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0
] | move_to_position | 0.000025 | [
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] | [
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] | [
0.25824275612831116,
-0.6036848425865173,
0.04015349596738815,
0,
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 | 21.9 | 219 | 15 | 6,497 | 0 |
[
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] | [
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0
] | move_to_position | 0 | [
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0
] | [
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] | [
0.25824275612831116,
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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 | 22 | 220 | 15 | 6,498 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.001029 | [
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0
] | [
-0.25824275612831116,
0.6036848425865173,
0.04015349596738815,
0,
0,
0
] | [
0.25824275612831116,
-0.6036848425865173,
0.04015349596738815,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
0.0069089108146727085,
-0.6582360863685608,
0.13244782388210297,
2.7949588298797607,
0.060957811772823334,
3.0695834159851074
] | 1 | 22.1 | 221 | 15 | 6,499 | 0 |
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