observation.state listlengths 7 7 | action listlengths 7 7 | skill.type large_stringclasses 4
values | skill.progress float32 0 1 | skill.goal_position.joint listlengths 7 7 | skill.goal_position.world_xyzrpy listlengths 6 6 | skill.goal_position.robot_xyzrpy listlengths 6 6 | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 61
values | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | timestamp float32 0 46.1 | frame_index int64 0 461 | episode_index int64 0 24 | index int64 0 10.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.85098 | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 27.799999 | 278 | 17 | 7,402 | 0 |
[
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] | gripper_close | 0.85098 | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.85098 | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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[
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 28.1 | 281 | 17 | 7,405 | 0 |
[
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 28.200001 | 282 | 17 | 7,406 | 0 |
[
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 28.299999 | 283 | 17 | 7,407 | 0 |
[
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 28.4 | 284 | 17 | 7,408 | 0 |
[
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 28.5 | 285 | 17 | 7,409 | 0 |
[
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 28.6 | 286 | 17 | 7,410 | 0 |
[
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] | gripper_close | 0.85098 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 28.700001 | 287 | 17 | 7,411 | 0 |
[
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] | [
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 28.799999 | 288 | 17 | 7,412 | 0 |
[
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] | [
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 28.9 | 289 | 17 | 7,413 | 0 |
[
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1
] | gripper_close | 0.85098 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 29 | 290 | 17 | 7,414 | 0 |
[
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] | gripper_close | 0.85098 | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 29.1 | 291 | 17 | 7,415 | 0 |
[
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] | gripper_close | 0.85098 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 29.200001 | 292 | 17 | 7,416 | 0 |
[
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] | gripper_close | 0.85098 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: grasp chocolate pie_2 | [
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] | 0 | 29.299999 | 293 | 17 | 7,417 | 0 |
[
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] | [
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] | move_to_position | 0.000172 | [
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] | [
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] | [
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
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2.7966883182525635,
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] | 0 | 29.4 | 294 | 17 | 7,418 | 0 |
[
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] | [
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] | move_to_position | 0.002316 | [
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] | [
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] | [
-0.26177123188972473,
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
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2.796548843383789,
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] | 0 | 29.5 | 295 | 17 | 7,419 | 0 |
[
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] | [
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1
] | move_to_position | 0.027192 | [
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] | [
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] | [
-0.26177123188972473,
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
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2.79652738571167,
0.060196250677108765,
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] | 0 | 29.6 | 296 | 17 | 7,420 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.067652 | [
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] | [
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] | [
-0.26177123188972473,
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0.0451098196208477,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
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2.7967867851257324,
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] | 0 | 29.700001 | 297 | 17 | 7,421 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.13126 | [
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] | [
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] | [
-0.26177123188972473,
-0.6359966993331909,
0.0451098196208477,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
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2.7968335151672363,
0.06006961688399315,
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] | 0 | 29.799999 | 298 | 17 | 7,422 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.20086 | [
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1
] | [
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0,
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] | [
-0.26177123188972473,
-0.6359966993331909,
0.0451098196208477,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
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0.03002975694835186,
2.796767473220825,
0.060080233961343765,
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] | 0 | 29.9 | 299 | 17 | 7,423 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.278739 | [
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1
] | [
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0,
0
] | [
-0.26177123188972473,
-0.6359966993331909,
0.0451098196208477,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
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0.03162401169538498,
2.7966856956481934,
0.060175005346536636,
3.070033311843872
] | 0 | 30 | 300 | 17 | 7,424 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.365104 | [
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1
] | [
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0,
0
] | [
-0.26177123188972473,
-0.6359966993331909,
0.0451098196208477,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.2632443904876709,
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0.033352624624967575,
2.7967116832733154,
0.060142211616039276,
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] | 0 | 30.1 | 301 | 17 | 7,425 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.47513 | [
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1.8319426774978638,
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1
] | [
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0,
0,
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] | [
-0.26177123188972473,
-0.6359966993331909,
0.0451098196208477,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.26302143931388855,
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0.03543592989444733,
2.796722650527954,
0.06008883938193321,
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] | 0 | 30.200001 | 302 | 17 | 7,426 | 0 |
[
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2.597520112991333,
1
] | [
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1
] | move_to_position | 0.596697 | [
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1
] | [
0.26177123188972473,
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0,
0,
0
] | [
-0.26177123188972473,
-0.6359966993331909,
0.0451098196208477,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.26275160908699036,
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0.03781287744641304,
2.7966575622558594,
0.06014012545347214,
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] | 0 | 30.299999 | 303 | 17 | 7,427 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.714025 | [
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1.8319426774978638,
-2.661848783493042,
-1.4363943338394165,
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1
] | [
0.26177123188972473,
0.6359966993331909,
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0,
0,
0
] | [
-0.26177123188972473,
-0.6359966993331909,
0.0451098196208477,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.26243969798088074,
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0.04002879932522774,
2.796816110610962,
0.06006241217255592,
3.070002555847168
] | 0 | 30.4 | 304 | 17 | 7,428 | 0 |
[
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1.8202875852584839,
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2.5922908782958984,
1
] | [
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2.5914504528045654,
1
] | move_to_position | 0.829425 | [
-2.2109899520874023,
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1.8319426774978638,
-2.661848783493042,
-1.4363943338394165,
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1
] | [
0.26177123188972473,
0.6359966993331909,
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0,
0,
0
] | [
-0.26177123188972473,
-0.6359966993331909,
0.0451098196208477,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.26214930415153503,
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0.0423169769346714,
2.7965939044952393,
0.060156289488077164,
3.070044994354248
] | 0 | 30.5 | 305 | 17 | 7,429 | 0 |
[
-2.20898699760437,
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1.826123595237732,
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2.5903539657592773,
1
] | [
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1.8281686305999756,
-2.6626384258270264,
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2.5896785259246826,
1
] | move_to_position | 0.915627 | [
-2.2109899520874023,
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1.8319426774978638,
-2.661848783493042,
-1.4363943338394165,
2.5884058475494385,
1
] | [
0.26177123188972473,
0.6359966993331909,
0.0451098196208477,
0,
0,
0
] | [
-0.26177123188972473,
-0.6359966993331909,
0.0451098196208477,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
-0.2619912624359131,
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0.04381553828716278,
2.796562910079956,
0.06020425260066986,
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] | 0 | 30.6 | 306 | 17 | 7,430 | 0 |
[
-2.21032452583313,
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1.830051302909851,
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2.589101552963257,
1
] | [
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1.8308244943618774,
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1
] | move_to_position | 0.972107 | [
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] | [
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0
] | [
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
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] | 0 | 30.700001 | 307 | 17 | 7,431 | 0 |
[
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] | [
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1
] | move_to_position | 0.993877 | [
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] | [
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0
] | [
-0.26177123188972473,
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
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] | 0 | 30.799999 | 308 | 17 | 7,432 | 0 |
[
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] | [
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1
] | move_to_position | 0.996784 | [
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] | [
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0
] | [
-0.26177123188972473,
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0.0451098196208477,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
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] | 0 | 30.9 | 309 | 17 | 7,433 | 0 |
[
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] | [
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1
] | move_to_position | 0 | [
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] | [
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] | [
-0.11140917241573334,
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0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31 | 310 | 17 | 7,434 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.000886 | [
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] | [
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0
] | [
-0.11140917241573334,
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.1 | 311 | 17 | 7,435 | 0 |
[
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] | [
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1
] | move_to_position | 0.009 | [
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] | [
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0
] | [
-0.11140917241573334,
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.200001 | 312 | 17 | 7,436 | 0 |
[
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] | [
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1
] | move_to_position | 0.026013 | [
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] | [
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0
] | [
-0.11140917241573334,
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0.05402037128806114,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.299999 | 313 | 17 | 7,437 | 0 |
[
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] | [
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1
] | move_to_position | 0.054069 | [
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1.9305109977722168,
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] | [
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0
] | [
-0.11140917241573334,
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0.05402037128806114,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.4 | 314 | 17 | 7,438 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.092625 | [
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1.9305109977722168,
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-1.5151537656784058,
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] | [
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0,
0
] | [
-0.11140917241573334,
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0.05402037128806114,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.5 | 315 | 17 | 7,439 | 0 |
[
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] | [
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1
] | move_to_position | 0.149793 | [
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1.9305109977722168,
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-1.5151537656784058,
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1
] | [
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0,
0
] | [
-0.11140917241573334,
-0.6447091102600098,
0.05402037128806114,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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] | 0 | 31.6 | 316 | 17 | 7,440 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.228851 | [
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1.9305109977722168,
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-1.5151537656784058,
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1
] | [
0.11140917241573334,
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0,
0
] | [
-0.11140917241573334,
-0.6447091102600098,
0.05402037128806114,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.22465184330940247,
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] | 0 | 31.700001 | 317 | 17 | 7,441 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.314386 | [
-1.9719343185424805,
-1.1372829675674438,
1.9305109977722168,
-2.7088124752044678,
-1.5151537656784058,
2.8151803016662598,
1
] | [
0.11140917241573334,
0.6447091102600098,
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0,
0
] | [
-0.11140917241573334,
-0.6447091102600098,
0.05402037128806114,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.21144971251487732,
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0.04807291924953461,
2.7967426776885986,
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] | 0 | 31.799999 | 318 | 17 | 7,442 | 0 |
[
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2.677424430847168,
1
] | [
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1
] | move_to_position | 0.40913 | [
-1.9719343185424805,
-1.1372829675674438,
1.9305109977722168,
-2.7088124752044678,
-1.5151537656784058,
2.8151803016662598,
1
] | [
0.11140917241573334,
0.6447091102600098,
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0,
0,
0
] | [
-0.11140917241573334,
-0.6447091102600098,
0.05402037128806114,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.19693942368030548,
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2.796600341796875,
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] | 0 | 31.9 | 319 | 17 | 7,443 | 0 |
[
-2.0948212146759033,
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1
] | [
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-2.6955435276031494,
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1
] | move_to_position | 0.504123 | [
-1.9719343185424805,
-1.1372829675674438,
1.9305109977722168,
-2.7088124752044678,
-1.5151537656784058,
2.8151803016662598,
1
] | [
0.11140917241573334,
0.6447091102600098,
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0,
0,
0
] | [
-0.11140917241573334,
-0.6447091102600098,
0.05402037128806114,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.1824411153793335,
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0.0498015470802784,
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] | 0 | 32 | 320 | 17 | 7,444 | 0 |
[
-2.0701448917388916,
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2.722407102584839,
1
] | [
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1.9080650806427002,
-2.699556350708008,
-1.485220193862915,
2.7308568954467773,
1
] | move_to_position | 0.605454 | [
-1.9719343185424805,
-1.1372829675674438,
1.9305109977722168,
-2.7088124752044678,
-1.5151537656784058,
2.8151803016662598,
1
] | [
0.11140917241573334,
0.6447091102600098,
0.05402037128806114,
0,
0,
0
] | [
-0.11140917241573334,
-0.6447091102600098,
0.05402037128806114,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.16803716123104095,
-0.6416877508163452,
0.050649311393499374,
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0.06002245098352432,
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] | 0 | 32.099998 | 321 | 17 | 7,445 | 0 |
[
-2.045612096786499,
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1
] | [
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1.9162678718566895,
-2.7032310962677,
-1.4938640594482422,
2.7553980350494385,
1
] | move_to_position | 0.705364 | [
-1.9719343185424805,
-1.1372829675674438,
1.9305109977722168,
-2.7088124752044678,
-1.5151537656784058,
2.8151803016662598,
1
] | [
0.11140917241573334,
0.6447091102600098,
0.05402037128806114,
0,
0,
0
] | [
-0.11140917241573334,
-0.6447091102600098,
0.05402037128806114,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.15348020195960999,
-0.642526388168335,
0.05148868262767792,
2.7968924045562744,
0.060059621930122375,
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] | 0 | 32.200001 | 322 | 17 | 7,446 | 0 |
[
-2.0244228839874268,
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1
] | [
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1.9217113256454468,
-2.705627202987671,
-1.4999197721481323,
2.772559404373169,
1
] | move_to_position | 0.791154 | [
-1.9719343185424805,
-1.1372829675674438,
1.9305109977722168,
-2.7088124752044678,
-1.5151537656784058,
2.8151803016662598,
1
] | [
0.11140917241573334,
0.6447091102600098,
0.05402037128806114,
0,
0,
0
] | [
-0.11140917241573334,
-0.6447091102600098,
0.05402037128806114,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
-0.14095266163349152,
-0.643062174320221,
0.0522598959505558,
2.796748399734497,
0.0600789375603199,
3.070115804672241
] | 0 | 32.299999 | 323 | 17 | 7,447 | 0 |
[
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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[
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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[
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] | move_to_position | 0.958256 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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[
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] | move_to_position | 0.985066 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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[
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] | move_to_position | 0.99723 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
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[
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] | [
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] | move_to_position | 0.000232 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 32.900002 | 329 | 17 | 7,453 | 0 |
[
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] | move_to_position | 0 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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[
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] | move_to_position | 0.014725 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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[
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] | [
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] | move_to_position | 0.063756 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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[
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] | [
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] | move_to_position | 0.133663 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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[
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] | [
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] | move_to_position | 0.211126 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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[
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] | [
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1
] | move_to_position | 0.302305 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 33.5 | 335 | 17 | 7,459 | 0 |
[
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] | [
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1
] | move_to_position | 0.388928 | [
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1.870729684829712,
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 33.599998 | 336 | 17 | 7,460 | 0 |
[
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] | [
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1
] | move_to_position | 0.478449 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 33.700001 | 337 | 17 | 7,461 | 0 |
[
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] | [
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] | move_to_position | 0.579509 | [
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] | [
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] | [
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0.041999999433755875,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 33.799999 | 338 | 17 | 7,462 | 0 |
[
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] | [
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] | move_to_position | 0.696899 | [
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] | [
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] | [
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0.041999999433755875,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 33.900002 | 339 | 17 | 7,463 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.807548 | [
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] | [
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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2.7967166900634766,
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] | 0 | 34 | 340 | 17 | 7,464 | 0 |
[
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] | [
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] | move_to_position | 0.90225 | [
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] | [
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0,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 34.099998 | 341 | 17 | 7,465 | 0 |
[
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] | [
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] | move_to_position | 0.965137 | [
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] | [
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] | [
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0,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 34.200001 | 342 | 17 | 7,466 | 0 |
[
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] | [
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] | move_to_position | 0.993186 | [
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] | [
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] | [
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0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 34.299999 | 343 | 17 | 7,467 | 0 |
[
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] | [
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] | move_to_position | 0.997043 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 34.400002 | 344 | 17 | 7,468 | 0 |
[
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] | [
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] | gripper_open | 0 | [
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[
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] | gripper_open | 0.14902 | [
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[
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] | gripper_open | 0.176471 | [
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[
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] | gripper_open | 0.290196 | [
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[
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] | gripper_open | 0.415686 | [
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[
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] | gripper_open | 0.541176 | [
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] | 1 | 35 | 350 | 17 | 7,474 | 0 |
[
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] | gripper_open | 0.662745 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 1 | 35.099998 | 351 | 17 | 7,475 | 0 |
[
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] | gripper_open | 0.905882 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 1 | 35.200001 | 352 | 17 | 7,476 | 0 |
[
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] | gripper_open | 0.98823 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 1 | 35.299999 | 353 | 17 | 7,477 | 0 |
[
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] | gripper_open | 0.988231 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 1 | 35.400002 | 354 | 17 | 7,478 | 0 |
[
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] | gripper_open | 0.988231 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 1 | 35.5 | 355 | 17 | 7,479 | 0 |
[
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] | [
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0
] | move_to_position | 0.000079 | [
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] | [
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] | [
-0.0900719091296196,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 35.599998 | 356 | 17 | 7,480 | 0 |
[
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] | [
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] | move_to_position | 0.000215 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 35.700001 | 357 | 17 | 7,481 | 0 |
[
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] | [
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] | move_to_position | 0.013986 | [
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] | [
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] | [
-0.0900719091296196,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 35.799999 | 358 | 17 | 7,482 | 0 |
[
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] | [
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] | move_to_position | 0.051269 | [
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] | [
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] | [
-0.0900719091296196,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 35.900002 | 359 | 17 | 7,483 | 0 |
[
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] | [
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] | move_to_position | 0.11182 | [
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] | [
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] | [
-0.0900719091296196,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 36 | 360 | 17 | 7,484 | 0 |
[
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] | [
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] | move_to_position | 0.183366 | [
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] | [
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] | [
-0.0900719091296196,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 36.099998 | 361 | 17 | 7,485 | 0 |
[
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] | [
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] | move_to_position | 0.266489 | [
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] | [
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] | [
-0.0900719091296196,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 36.200001 | 362 | 17 | 7,486 | 0 |
[
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] | [
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] | move_to_position | 0.368943 | [
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] | [
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] | [
-0.0900719091296196,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09344232082366943,
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] | 1 | 36.299999 | 363 | 17 | 7,487 | 0 |
[
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] | [
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] | move_to_position | 0.482832 | [
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] | [
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] | [
-0.0900719091296196,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 36.400002 | 364 | 17 | 7,488 | 0 |
[
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] | [
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] | move_to_position | 0.614863 | [
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] | [
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] | [
-0.0900719091296196,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09209024906158447,
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] | 1 | 36.5 | 365 | 17 | 7,489 | 0 |
[
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] | [
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] | move_to_position | 0.743073 | [
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] | [
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] | [
-0.0900719091296196,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.0914335548877716,
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] | 1 | 36.599998 | 366 | 17 | 7,490 | 0 |
[
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] | [
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] | move_to_position | 0.840323 | [
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] | [
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] | [
-0.0900719091296196,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 36.700001 | 367 | 17 | 7,491 | 0 |
[
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] | [
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] | move_to_position | 0.913006 | [
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] | [
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] | [
-0.0900719091296196,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09043809026479721,
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] | 1 | 36.799999 | 368 | 17 | 7,492 | 0 |
[
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] | [
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] | move_to_position | 0.961021 | [
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] | [
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0,
0
] | [
-0.0900719091296196,
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0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09016506373882294,
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] | 1 | 36.900002 | 369 | 17 | 7,493 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.987567 | [
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1.9613398313522339,
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] | [
0.0900719091296196,
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0,
0,
0
] | [
-0.0900719091296196,
-0.6361706852912903,
0.05864956974983215,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09010591357946396,
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] | 1 | 37 | 370 | 17 | 7,494 | 0 |
[
-1.9412764310836792,
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0
] | [
-1.9413217306137085,
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0
] | move_to_position | 0.998214 | [
-1.9413217306137085,
-1.1662667989730835,
1.9613398313522339,
-2.7120518684387207,
-1.5255361795425415,
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0
] | [
0.0900719091296196,
0.6361706852912903,
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0,
0,
0
] | [
-0.0900719091296196,
-0.6361706852912903,
0.05864956974983215,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.0900769978761673,
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] | 1 | 37.099998 | 371 | 17 | 7,495 | 0 |
[
-1.9412921667099,
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0
] | [
-1.9413217306137085,
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-2.7120518684387207,
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0
] | move_to_position | 0.000022 | [
-1.9004255533218384,
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] | [
0,
0.4399999976158142,
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0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
-0.09007282555103302,
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3.070053815841675
] | 1 | 37.200001 | 372 | 17 | 7,496 | 0 |
[
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0
] | [
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[
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[
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] | 1 | 37.5 | 375 | 17 | 7,499 | 0 |
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