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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[
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[
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] | gripper_close | 0 | [
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[
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] | gripper_close | 0.05098 | [
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] | [
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[
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] | gripper_close | 0.317647 | [
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] | [
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[
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] | [
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[
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] | gripper_close | 0.564706 | [
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[
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[
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] | [
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[
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] | gripper_close | 0.839216 | [
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] | [
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] | 0 | 8.6 | 86 | 16 | 6,811 | 0 |
[
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] | gripper_close | 0.85098 | [
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] | [
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] | 0 | 8.7 | 87 | 16 | 6,812 | 0 |
[
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 0 | 8.8 | 88 | 16 | 6,813 | 0 |
[
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 0 | 8.9 | 89 | 16 | 6,814 | 0 |
[
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] | gripper_close | 0.85098 | [
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] | gripper_close | 0.85098 | [
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] | gripper_close | 0.85098 | [
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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 | 0.85098 | [
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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 | 0.85098 | [
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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 | 0.85098 | [
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] | [
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0.02913537435233593,
2.794279098510742,
0.06059378758072853,
3.069866180419922
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.028979837894439697,
2.794564962387085,
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] | 0 | 10.5 | 105 | 16 | 6,830 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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] | [
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] | [
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0.02913537435233593,
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3.069866180419922
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.02903076261281967,
2.794477939605713,
0.06060954928398132,
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] | 0 | 10.6 | 106 | 16 | 6,831 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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] | [
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] | [
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0.02913537435233593,
2.794279098510742,
0.06059378758072853,
3.069866180419922
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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0.029003659263253212,
2.7945303916931152,
0.06059883534908295,
3.0696921348571777
] | 0 | 10.7 | 107 | 16 | 6,832 | 0 |
[
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1
] | [
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1
] | move_to_position | 0 | [
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2.0216593742370605,
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1
] | [
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0,
0
] | [
0.17393796145915985,
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0.053171608597040176,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.14798793196678162,
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0.02900613471865654,
2.7945175170898438,
0.0606144517660141,
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] | 0 | 10.8 | 108 | 16 | 6,833 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.000063 | [
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2.0216593742370605,
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1
] | [
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0,
0
] | [
0.17393796145915985,
-0.5848037600517273,
0.053171608597040176,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.14801780879497528,
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0.0290176160633564,
2.7945196628570557,
0.06058857589960098,
3.069713830947876
] | 0 | 10.9 | 109 | 16 | 6,834 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.013559 | [
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1
] | [
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0,
0
] | [
0.17393796145915985,
-0.5848037600517273,
0.053171608597040176,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.1484651267528534,
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0.029399236664175987,
2.7945258617401123,
0.0605580173432827,
3.069615602493286
] | 0 | 11 | 110 | 16 | 6,835 | 0 |
[
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1
] | [
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3.2629196643829346,
1
] | move_to_position | 0.053555 | [
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2.0216593742370605,
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1
] | [
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0,
0,
0
] | [
0.17393796145915985,
-0.5848037600517273,
0.053171608597040176,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.14972205460071564,
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0.030485283583402634,
2.794661045074463,
0.06044202297925949,
3.0695903301239014
] | 0 | 11.1 | 111 | 16 | 6,836 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.118556 | [
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2.0216593742370605,
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-1.6923115253448486,
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1
] | [
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0,
0,
0
] | [
0.17393796145915985,
-0.5848037600517273,
0.053171608597040176,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.1513410210609436,
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0.03204755857586861,
2.7945778369903564,
0.06048092991113663,
3.06962251663208
] | 0 | 11.2 | 112 | 16 | 6,837 | 0 |
[
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2.0506608486175537,
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3.268364906311035,
1
] | [
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2.0494444370269775,
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3.270092010498047,
1
] | move_to_position | 0.191367 | [
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2.0216593742370605,
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-1.6923115253448486,
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1
] | [
-0.17393796145915985,
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0,
0,
0
] | [
0.17393796145915985,
-0.5848037600517273,
0.053171608597040176,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.15337814390659332,
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0.03398680314421654,
2.7946219444274902,
0.06056045740842819,
3.0696358680725098
] | 0 | 11.3 | 113 | 16 | 6,838 | 0 |
[
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2.047773599624634,
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3.272486925125122,
1
] | [
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2.0465919971466064,
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3.2741100788116455,
1
] | move_to_position | 0.277383 | [
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2.0216593742370605,
-2.7280333042144775,
-1.6923115253448486,
3.3073272705078125,
1
] | [
-0.17393796145915985,
0.5848037600517273,
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0,
0,
0
] | [
0.17393796145915985,
-0.5848037600517273,
0.053171608597040176,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.15559527277946472,
-0.5863301157951355,
0.03605109453201294,
2.794605255126953,
0.06058900058269501,
3.06966495513916
] | 0 | 11.4 | 114 | 16 | 6,839 | 0 |
[
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2.0448262691497803,
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3.276639699935913,
1
] | [
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2.0433008670806885,
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3.2786545753479004,
1
] | move_to_position | 0.362829 | [
-1.4501564502716064,
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2.0216593742370605,
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-1.6923115253448486,
3.3073272705078125,
1
] | [
-0.17393796145915985,
0.5848037600517273,
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0,
0,
0
] | [
0.17393796145915985,
-0.5848037600517273,
0.053171608597040176,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.1578637957572937,
-0.5861920714378357,
0.03817891329526901,
2.794546365737915,
0.06057583540678024,
3.0696499347686768
] | 0 | 11.5 | 115 | 16 | 6,840 | 0 |
[
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2.040900945663452,
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3.281905174255371,
1
] | [
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2.039273262023926,
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3.2841551303863525,
1
] | move_to_position | 0.473431 | [
-1.4501564502716064,
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2.0216593742370605,
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3.3073272705078125,
1
] | [
-0.17393796145915985,
0.5848037600517273,
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0,
0,
0
] | [
0.17393796145915985,
-0.5848037600517273,
0.053171608597040176,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.16071180999279022,
-0.5860163569450378,
0.04089011624455452,
2.794433832168579,
0.060592349618673325,
3.0696754455566406
] | 0 | 11.6 | 116 | 16 | 6,841 | 0 |
[
-1.4708598852157593,
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2.0366876125335693,
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3.2876088619232178,
1
] | [
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2.0350003242492676,
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3.28993558883667,
1
] | move_to_position | 0.591612 | [
-1.4501564502716064,
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2.0216593742370605,
-2.7280333042144775,
-1.6923115253448486,
3.3073272705078125,
1
] | [
-0.17393796145915985,
0.5848037600517273,
0.053171608597040176,
0,
0,
0
] | [
0.17393796145915985,
-0.5848037600517273,
0.053171608597040176,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.16398121416568756,
-0.5857042670249939,
0.043877724558115005,
2.7945914268493652,
0.06059752404689789,
3.069671392440796
] | 0 | 11.7 | 117 | 16 | 6,842 | 0 |
[
-1.46458899974823,
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2.032236337661743,
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3.293649911880493,
1
] | [
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2.0305464267730713,
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3.295891523361206,
1
] | move_to_position | 0.715303 | [
-1.4501564502716064,
-1.1943886280059814,
2.0216593742370605,
-2.7280333042144775,
-1.6923115253448486,
3.3073272705078125,
1
] | [
-0.17393796145915985,
0.5848037600517273,
0.053171608597040176,
0,
0,
0
] | [
0.17393796145915985,
-0.5848037600517273,
0.053171608597040176,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.16718614101409912,
-0.5854294300079346,
0.04688233882188797,
2.794497013092041,
0.06057560816407204,
3.0697152614593506
] | 0 | 11.8 | 118 | 16 | 6,843 | 0 |
[
-1.4587072134017944,
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2.0280539989471436,
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3.299151659011841,
1
] | [
-1.4567621946334839,
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2.026627540588379,
-2.738325357437134,
-1.690177083015442,
3.301037549972534,
1
] | move_to_position | 0.830195 | [
-1.4501564502716064,
-1.1943886280059814,
2.0216593742370605,
-2.7280333042144775,
-1.6923115253448486,
3.3073272705078125,
1
] | [
-0.17393796145915985,
0.5848037600517273,
0.053171608597040176,
0,
0,
0
] | [
0.17393796145915985,
-0.5848037600517273,
0.053171608597040176,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.1698852777481079,
-0.5851775407791138,
0.04938967525959015,
2.7944750785827637,
0.06053889915347099,
3.0697054862976074
] | 0 | 11.9 | 119 | 16 | 6,844 | 0 |
[
-1.4544295072555542,
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2.0248963832855225,
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-1.690895915031433,
3.3032307624816895,
1
] | [
-1.4528367519378662,
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2.023688316345215,
-2.732213258743286,
-1.6914458274841309,
3.3047749996185303,
1
] | move_to_position | 0.914853 | [
-1.4501564502716064,
-1.1943886280059814,
2.0216593742370605,
-2.7280333042144775,
-1.6923115253448486,
3.3073272705078125,
1
] | [
-0.17393796145915985,
0.5848037600517273,
0.053171608597040176,
0,
0,
0
] | [
0.17393796145915985,
-0.5848037600517273,
0.053171608597040176,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.17208123207092285,
-0.5849780440330505,
0.05143733322620392,
2.7945306301116943,
0.06052253395318985,
3.069679021835327
] | 0 | 12 | 120 | 16 | 6,845 | 0 |
[
-1.4516366720199585,
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2.0227882862091064,
-2.7303740978240967,
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3.305921792984009,
1
] | [
-1.4510605335235596,
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2.022343635559082,
-2.729443073272705,
-1.6920195817947388,
3.3064663410186768,
1
] | move_to_position | 0.970429 | [
-1.4501564502716064,
-1.1943886280059814,
2.0216593742370605,
-2.7280333042144775,
-1.6923115253448486,
3.3073272705078125,
1
] | [
-0.17393796145915985,
0.5848037600517273,
0.053171608597040176,
0,
0,
0
] | [
0.17393796145915985,
-0.5848037600517273,
0.053171608597040176,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.17338113486766815,
-0.584851086139679,
0.05262747034430504,
2.7945501804351807,
0.06051524728536606,
3.069695234298706
] | 0 | 12.1 | 121 | 16 | 6,846 | 0 |
[
-1.4505184888839722,
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2.0220015048980713,
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1
] | [
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1
] | move_to_position | 0.992656 | [
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] | [
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] | [
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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 | 12.2 | 122 | 16 | 6,847 | 0 |
[
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] | [
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1
] | move_to_position | 0.996688 | [
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] | [
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] | [
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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 | 12.3 | 123 | 16 | 6,848 | 0 |
[
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] | [
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1
] | move_to_position | 0.00004 | [
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] | [
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] | [
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0,
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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] | 0 | 12.4 | 124 | 16 | 6,849 | 0 |
[
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] | [
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] | move_to_position | 0.00003 | [
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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 | 12.5 | 125 | 16 | 6,850 | 0 |
[
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] | [
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] | move_to_position | 0.003137 | [
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] | [
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] | [
0.028857404366135597,
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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 | 12.6 | 126 | 16 | 6,851 | 0 |
[
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] | [
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1
] | move_to_position | 0.013539 | [
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] | [
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] | [
0.028857404366135597,
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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 | 12.7 | 127 | 16 | 6,852 | 0 |
[
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] | [
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1
] | move_to_position | 0.034476 | [
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] | [
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] | [
0.028857404366135597,
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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 | 12.8 | 128 | 16 | 6,853 | 0 |
[
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] | [
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1
] | move_to_position | 0.066616 | [
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] | [
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0
] | [
0.028857404366135597,
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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 | 12.9 | 129 | 16 | 6,854 | 0 |
[
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] | [
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1
] | move_to_position | 0.11078 | [
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1.9070453643798828,
-2.5455620288848877,
-1.5994402170181274,
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] | [
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0
] | [
0.028857404366135597,
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0.12641634047031403,
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 | 13 | 130 | 16 | 6,855 | 0 |
[
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] | [
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1
] | move_to_position | 0.168715 | [
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-1.2819877862930298,
1.9070453643798828,
-2.5455620288848877,
-1.5994402170181274,
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1
] | [
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0
] | [
0.028857404366135597,
-0.6357823014259338,
0.12641634047031403,
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 | 13.1 | 131 | 16 | 6,856 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.241751 | [
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-1.2819877862930298,
1.9070453643798828,
-2.5455620288848877,
-1.5994402170181274,
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] | [
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0,
0
] | [
0.028857404366135597,
-0.6357823014259338,
0.12641634047031403,
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 | 13.2 | 132 | 16 | 6,857 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.315772 | [
-1.7259454727172852,
-1.2819877862930298,
1.9070453643798828,
-2.5455620288848877,
-1.5994402170181274,
3.046682596206665,
1
] | [
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0,
0
] | [
0.028857404366135597,
-0.6357823014259338,
0.12641634047031403,
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 | 13.3 | 133 | 16 | 6,858 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.398366 | [
-1.7259454727172852,
-1.2819877862930298,
1.9070453643798828,
-2.5455620288848877,
-1.5994402170181274,
3.046682596206665,
1
] | [
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0.6357823014259338,
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0,
0
] | [
0.028857404366135597,
-0.6357823014259338,
0.12641634047031403,
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 | 13.4 | 134 | 16 | 6,859 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.484637 | [
-1.7259454727172852,
-1.2819877862930298,
1.9070453643798828,
-2.5455620288848877,
-1.5994402170181274,
3.046682596206665,
1
] | [
-0.028857404366135597,
0.6357823014259338,
0.12641634047031403,
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0,
0
] | [
0.028857404366135597,
-0.6357823014259338,
0.12641634047031403,
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 | 13.5 | 135 | 16 | 6,860 | 0 |
[
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1
] | [
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-2.6220271587371826,
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1
] | move_to_position | 0.577661 | [
-1.7259454727172852,
-1.2819877862930298,
1.9070453643798828,
-2.5455620288848877,
-1.5994402170181274,
3.046682596206665,
1
] | [
-0.028857404366135597,
0.6357823014259338,
0.12641634047031403,
0,
0,
0
] | [
0.028857404366135597,
-0.6357823014259338,
0.12641634047031403,
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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2.7950451374053955,
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] | 0 | 13.6 | 136 | 16 | 6,861 | 0 |
[
-1.6376370191574097,
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1
] | [
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-2.60657000541687,
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1
] | move_to_position | 0.662708 | [
-1.7259454727172852,
-1.2819877862930298,
1.9070453643798828,
-2.5455620288848877,
-1.5994402170181274,
3.046682596206665,
1
] | [
-0.028857404366135597,
0.6357823014259338,
0.12641634047031403,
0,
0,
0
] | [
0.028857404366135597,
-0.6357823014259338,
0.12641634047031403,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.07514791190624237,
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] | 0 | 13.7 | 137 | 16 | 6,862 | 0 |
[
-1.6587713956832886,
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3.1099069118499756,
1
] | [
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-2.5937392711639404,
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1
] | move_to_position | 0.740427 | [
-1.7259454727172852,
-1.2819877862930298,
1.9070453643798828,
-2.5455620288848877,
-1.5994402170181274,
3.046682596206665,
1
] | [
-0.028857404366135597,
0.6357823014259338,
0.12641634047031403,
0,
0,
0
] | [
0.028857404366135597,
-0.6357823014259338,
0.12641634047031403,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
0.06420788168907166,
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0.10855358093976974,
2.7946994304656982,
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] | 0 | 13.8 | 138 | 16 | 6,863 | 0 |
[
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] | [
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] | move_to_position | 0.808219 | [
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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 | 0.868185 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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[
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] | [
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] | move_to_position | 0.920723 | [
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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 | 14.1 | 141 | 16 | 6,866 | 0 |
[
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] | [
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] | move_to_position | 0.959328 | [
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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 | 14.2 | 142 | 16 | 6,867 | 0 |
[
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] | [
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] | move_to_position | 0.983489 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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[
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] | [
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] | move_to_position | 0.995624 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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[
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] | [
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] | move_to_position | 0.999143 | [
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] | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: approach above red plate_1 | [
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[
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] | [
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] | move_to_position | 0.000196 | [
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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 | 0.000094 | [
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] | [
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] | [
0.03720203787088394,
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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 | 14.7 | 147 | 16 | 6,872 | 0 |
[
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] | [
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1
] | move_to_position | 0.01079 | [
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] | [
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] | [
0.03720203787088394,
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0.04399999976158142,
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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 | 14.8 | 148 | 16 | 6,873 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.041961 | [
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] | [
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] | [
0.03720203787088394,
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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 | 14.9 | 149 | 16 | 6,874 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.092124 | [
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-1.0797832012176514,
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] | [
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] | [
0.03720203787088394,
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0.04399999976158142,
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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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[
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1
] | [
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1
] | move_to_position | 0.157 | [
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-1.0797832012176514,
1.8718880414962769,
-2.7116916179656982,
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3.069141387939453,
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] | [
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0,
0
] | [
0.03720203787088394,
-0.6709079146385193,
0.04399999976158142,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 15.1 | 151 | 16 | 6,876 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.266724 | [
-1.7020854949951172,
-1.0797832012176514,
1.8718880414962769,
-2.7116916179656982,
-1.6079717874526978,
3.069141387939453,
1
] | [
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0,
0
] | [
0.03720203787088394,
-0.6709079146385193,
0.04399999976158142,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 15.2 | 152 | 16 | 6,877 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.388888 | [
-1.7020854949951172,
-1.0797832012176514,
1.8718880414962769,
-2.7116916179656982,
-1.6079717874526978,
3.069141387939453,
1
] | [
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0,
0,
0
] | [
0.03720203787088394,
-0.6709079146385193,
0.04399999976158142,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
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] | 0 | 15.3 | 153 | 16 | 6,878 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.501433 | [
-1.7020854949951172,
-1.0797832012176514,
1.8718880414962769,
-2.7116916179656982,
-1.6079717874526978,
3.069141387939453,
1
] | [
-0.03720203787088394,
0.6709079146385193,
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0,
0,
0
] | [
0.03720203787088394,
-0.6709079146385193,
0.04399999976158142,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
0.0332658477127552,
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] | 0 | 15.4 | 154 | 16 | 6,879 | 0 |
[
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3.0609848499298096,
1
] | [
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-2.6607601642608643,
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1
] | move_to_position | 0.622365 | [
-1.7020854949951172,
-1.0797832012176514,
1.8718880414962769,
-2.7116916179656982,
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3.069141387939453,
1
] | [
-0.03720203787088394,
0.6709079146385193,
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0,
0,
0
] | [
0.03720203787088394,
-0.6709079146385193,
0.04399999976158142,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: descend to red plate_1 | [
0.03423847258090973,
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0.07349242269992828,
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] | 0 | 15.5 | 155 | 16 | 6,880 | 0 |
[
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] | [
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1
] | move_to_position | 0.737231 | [
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] | [
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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 | 15.6 | 156 | 16 | 6,881 | 0 |
[
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] | [
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] | move_to_position | 0.843053 | [
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] | [
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] | [
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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 | 15.7 | 157 | 16 | 6,882 | 0 |
[
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] | [
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] | move_to_position | 0.910081 | [
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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 | 15.8 | 158 | 16 | 6,883 | 0 |
[
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] | [
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] | move_to_position | 0.959247 | [
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] | [
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] | [
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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 | 15.9 | 159 | 16 | 6,884 | 0 |
[
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] | [
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] | move_to_position | 0.988338 | [
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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 | 16 | 160 | 16 | 6,885 | 0 |
[
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] | [
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1
] | move_to_position | 0.999015 | [
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] | [
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0,
0
] | [
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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 | 16.1 | 161 | 16 | 6,886 | 0 |
[
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] | [
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] | gripper_open | 0 | [
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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 | 16.200001 | 162 | 16 | 6,887 | 0 |
[
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] | gripper_open | 0.180392 | [
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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 | 16.299999 | 163 | 16 | 6,888 | 0 |
[
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] | gripper_open | 0.290196 | [
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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 | 16.4 | 164 | 16 | 6,889 | 0 |
[
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] | gripper_open | 0.415686 | [
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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 | 16.5 | 165 | 16 | 6,890 | 0 |
[
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] | gripper_open | 0.541176 | [
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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 | 16.6 | 166 | 16 | 6,891 | 0 |
[
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] | gripper_open | 0.658823 | [
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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 | 16.700001 | 167 | 16 | 6,892 | 0 |
[
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] | gripper_open | 0.780392 | [
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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 | 16.799999 | 168 | 16 | 6,893 | 0 |
[
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] | gripper_open | 0.905882 | [
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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 | 16.9 | 169 | 16 | 6,894 | 0 |
[
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] | gripper_open | 0.988234 | [
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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 | 17 | 170 | 16 | 6,895 | 0 |
[
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] | gripper_open | 0.988234 | [
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] | [
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0.06058302894234657,
3.0695462226867676
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
0.03719061240553856,
-0.6709075570106506,
0.04399183765053749,
2.7948966026306152,
0.06059699133038521,
3.0696637630462646
] | 1 | 17.1 | 171 | 16 | 6,896 | 0 |
[
-1.7020734548568726,
-1.0797832012176514,
1.8718541860580444,
-2.71167254447937,
-1.6079801321029663,
3.069141387939453,
0.0117647061124444
] | [
-1.7020854949951172,
-1.0797832012176514,
1.8718880414962769,
-2.7116916179656982,
-1.6079717874526978,
3.069141387939453,
0
] | gripper_open | 0.988233 | [
-1.702173113822937,
-1.0798311233520508,
1.8720577955245972,
-2.7116310596466064,
-1.607949137687683,
3.069119453430176,
0
] | [
-0.037125274538993835,
0.6708173155784607,
0.04392622411251068,
2.7951033115386963,
0.06058302894234657,
3.0695462226867676
] | [
0.037125274538993835,
-0.6708173155784607,
0.04392622411251068,
2.7951033115386963,
0.06058302894234657,
3.0695462226867676
] | 0 | pick up the left chocolate pie and place it on the left red plate: release at red plate_1 | [
0.037192147225141525,
-0.6708972454071045,
0.043985892087221146,
2.7949228286743164,
0.06058172509074211,
3.069650650024414
] | 1 | 17.200001 | 172 | 16 | 6,897 | 0 |
[
-1.7020925283432007,
-1.0798107385635376,
1.871886134147644,
-2.711707830429077,
-1.607949137687683,
3.0691347122192383,
0
] | [
-1.7020854949951172,
-1.0797832012176514,
1.8718880414962769,
-2.7116916179656982,
-1.6079717874526978,
3.069141387939453,
0
] | move_to_position | 0 | [
-1.6909090280532837,
-1.2586897611618042,
1.9662047624588013,
-2.626680850982666,
-1.611515998840332,
3.079622983932495,
0
] | [
-0.04925096780061722,
0.6232260465621948,
0.09791366755962372,
0,
0,
0
] | [
0.04925096780061722,
-0.6232260465621948,
0.09791366755962372,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
0.03718683868646622,
-0.6709150075912476,
0.04400325566530228,
2.7948832511901855,
0.06056765839457512,
3.069645881652832
] | 1 | 17.299999 | 173 | 16 | 6,898 | 0 |
[
-1.702095866203308,
-1.0797759294509888,
1.871886134147644,
-2.711679697036743,
-1.6080073118209839,
3.069149971008301,
0
] | [
-1.7019790410995483,
-1.080109715461731,
1.8720701932907104,
-2.711611270904541,
-1.60801100730896,
3.069148063659668,
0
] | move_to_position | 0 | [
-1.6909090280532837,
-1.2586897611618042,
1.9662047624588013,
-2.626680850982666,
-1.611515998840332,
3.079622983932495,
0
] | [
-0.04925096780061722,
0.6232260465621948,
0.09791366755962372,
0,
0,
0
] | [
0.04925096780061722,
-0.6232260465621948,
0.09791366755962372,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: retract after place | [
0.03720245137810707,
-0.6708788275718689,
0.04399755597114563,
2.7949321269989014,
0.06060749292373657,
3.0696568489074707
] | 1 | 17.4 | 174 | 16 | 6,899 | 0 |
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