observation.state list | action list | skill.type stringclasses 4
values | skill.progress float32 0 1 | skill.goal_position.joint list | skill.goal_position.world_xyzrpy list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 1 | skill.natural_language stringclasses 61
values | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | timestamp float32 0 45.5 | frame_index int64 0 455 | episode_index int64 0 19 | index int64 0 8.4k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | move_to_position | 0.004338 | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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[
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] | move_to_position | 0.010768 | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.299999 | 223 | 15 | 6,501 | 0 |
[
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] | move_to_position | 0.020525 | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.4 | 224 | 15 | 6,502 | 0 |
[
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] | move_to_position | 0.033038 | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.5 | 225 | 15 | 6,503 | 0 |
[
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] | move_to_position | 0.049491 | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.6 | 226 | 15 | 6,504 | 0 |
[
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] | move_to_position | 0.071084 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.700001 | 227 | 15 | 6,505 | 0 |
[
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] | [
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] | move_to_position | 0.099294 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.799999 | 228 | 15 | 6,506 | 0 |
[
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] | [
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] | move_to_position | 0.13225 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 22.9 | 229 | 15 | 6,507 | 0 |
[
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] | [
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] | move_to_position | 0.168756 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 23 | 230 | 15 | 6,508 | 0 |
[
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] | [
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] | move_to_position | 0.211073 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 23.1 | 231 | 15 | 6,509 | 0 |
[
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] | [
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] | move_to_position | 0.254653 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 23.200001 | 232 | 15 | 6,510 | 0 |
[
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] | move_to_position | 0.305805 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 23.299999 | 233 | 15 | 6,511 | 0 |
[
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] | [
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] | move_to_position | 0.357221 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 23.4 | 234 | 15 | 6,512 | 0 |
[
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] | [
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] | move_to_position | 0.41001 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 23.5 | 235 | 15 | 6,513 | 0 |
[
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] | [
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] | move_to_position | 0.465564 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 23.6 | 236 | 15 | 6,514 | 0 |
[
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] | [
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] | move_to_position | 0.518922 | [
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] | [
0.25824275612831116,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 23.700001 | 237 | 15 | 6,515 | 0 |
[
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0
] | [
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] | move_to_position | 0.573189 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 23.799999 | 238 | 15 | 6,516 | 0 |
[
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] | [
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] | move_to_position | 0.630445 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 23.9 | 239 | 15 | 6,517 | 0 |
[
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] | move_to_position | 0.682987 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 24 | 240 | 15 | 6,518 | 0 |
[
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] | [
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] | move_to_position | 0.733089 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 24.1 | 241 | 15 | 6,519 | 0 |
[
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] | [
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] | move_to_position | 0.78021 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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[
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] | [
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] | move_to_position | 0.823425 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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[
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] | [
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] | move_to_position | 0.860901 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 24.4 | 244 | 15 | 6,522 | 0 |
[
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] | [
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] | move_to_position | 0.897248 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 24.5 | 245 | 15 | 6,523 | 0 |
[
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] | [
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] | move_to_position | 0.924809 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 24.6 | 246 | 15 | 6,524 | 0 |
[
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] | [
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] | move_to_position | 0.947494 | [
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] | [
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] | [
0.25824275612831116,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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[
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] | [
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] | move_to_position | 0.96459 | [
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] | [
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] | [
0.25824275612831116,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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[
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] | [
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] | move_to_position | 0.978414 | [
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] | [
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] | [
0.25824275612831116,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 24.9 | 249 | 15 | 6,527 | 0 |
[
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] | [
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] | move_to_position | 0.988036 | [
-1.3045188188552856,
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1.872711420059204,
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] | [
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] | [
0.25824275612831116,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 25 | 250 | 15 | 6,528 | 0 |
[
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] | [
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] | move_to_position | 0.99498 | [
-1.3045188188552856,
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1.872711420059204,
-2.6723129749298096,
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] | [
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] | [
0.25824275612831116,
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0.04015349596738815,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 25.1 | 251 | 15 | 6,529 | 0 |
[
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] | [
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] | move_to_position | 0.998646 | [
-1.3045188188552856,
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1.872711420059204,
-2.6723129749298096,
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] | [
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] | [
0.25824275612831116,
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0.04015349596738815,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
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] | 1 | 25.200001 | 252 | 15 | 6,530 | 0 |
[
-1.3047102689743042,
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] | [
-1.3045188188552856,
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0
] | move_to_position | 0.999505 | [
-1.3045188188552856,
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1.872711420059204,
-2.6723129749298096,
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] | [
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] | [
0.25824275612831116,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: approach above chocolate pie_2 | [
0.258118599653244,
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] | 1 | 25.299999 | 253 | 15 | 6,531 | 0 |
[
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0
] | [
-1.3045188188552856,
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-2.6723129749298096,
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0
] | gripper_open | 1 | [
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0
] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: open gripper | [
0.2581196427345276,
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] | 1 | 25.4 | 254 | 15 | 6,532 | 0 |
[
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-1.3045188188552856,
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3.447021484375,
0
] | gripper_open | 1 | [
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[
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] | gripper_open | 1 | [
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] | 1 | 25.6 | 256 | 15 | 6,534 | 0 |
[
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] | gripper_open | 1 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: open gripper | [
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] | 1 | 25.700001 | 257 | 15 | 6,535 | 0 |
[
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] | move_to_position | 0 | [
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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: descend to chocolate pie_2 | [
0.2582373023033142,
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] | 1 | 25.799999 | 258 | 15 | 6,536 | 0 |
[
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] | [
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] | move_to_position | 0.001042 | [
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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: descend to chocolate pie_2 | [
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2.795172691345215,
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] | 1 | 25.9 | 259 | 15 | 6,537 | 0 |
[
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] | [
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] | move_to_position | 0.012405 | [
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] | [
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] | [
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-0.6029183864593506,
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0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 26 | 260 | 15 | 6,538 | 0 |
[
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] | [
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] | move_to_position | 0.059969 | [
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] | [
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] | [
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-0.6029183864593506,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
0.25810879468917847,
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] | 1 | 26.1 | 261 | 15 | 6,539 | 0 |
[
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] | [
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] | move_to_position | 0.132264 | [
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] | [
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] | [
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-0.6029183864593506,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
0.25787991285324097,
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] | 1 | 26.200001 | 262 | 15 | 6,540 | 0 |
[
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] | [
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] | move_to_position | 0.223163 | [
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] | [
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] | [
0.25566813349723816,
-0.6029183864593506,
0.028999999165534973,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
0.25764110684394836,
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] | 1 | 26.299999 | 263 | 15 | 6,541 | 0 |
[
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] | [
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] | move_to_position | 0.335682 | [
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] | [
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] | [
0.25566813349723816,
-0.6029183864593506,
0.028999999165534973,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 26.4 | 264 | 15 | 6,542 | 0 |
[
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] | [
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] | move_to_position | 0.449503 | [
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] | [
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] | [
0.25566813349723816,
-0.6029183864593506,
0.028999999165534973,
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
0.2570241689682007,
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0.034899529069662094,
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] | 1 | 26.5 | 265 | 15 | 6,543 | 0 |
[
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] | [
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] | move_to_position | 0.561731 | [
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] | [
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] | [
0.25566813349723816,
-0.6029183864593506,
0.028999999165534973,
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0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
0.25676268339157104,
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0.03366512432694435,
2.7951040267944336,
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] | 1 | 26.6 | 266 | 15 | 6,544 | 0 |
[
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] | [
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0
] | move_to_position | 0.664334 | [
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] | [
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] | [
0.25566813349723816,
-0.6029183864593506,
0.028999999165534973,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
0.25651419162750244,
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0.03257310390472412,
2.7952003479003906,
0.06103033944964409,
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] | 1 | 26.700001 | 267 | 15 | 6,545 | 0 |
[
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] | [
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0
] | move_to_position | 0.748764 | [
-1.3085345029830933,
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-1.737573266029358,
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] | [
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] | [
0.25566813349723816,
-0.6029183864593506,
0.028999999165534973,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
0.25631508231163025,
-0.6031357049942017,
0.03174635022878647,
2.795023202896118,
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] | 1 | 26.799999 | 268 | 15 | 6,546 | 0 |
[
-1.3077720403671265,
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0
] | [
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1.8829175233840942,
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0
] | move_to_position | 0.817368 | [
-1.3085345029830933,
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1.8847565650939941,
-2.7017300128936768,
-1.737573266029358,
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] | [
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] | [
0.25566813349723816,
-0.6029183864593506,
0.028999999165534973,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
0.25616371631622314,
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0.031004851683974266,
2.7949864864349365,
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] | 1 | 26.9 | 269 | 15 | 6,547 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.880291 | [
-1.3085345029830933,
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1.8847565650939941,
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] | [
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] | [
0.25566813349723816,
-0.6029183864593506,
0.028999999165534973,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
0.2559750974178314,
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2.7950830459594727,
0.06100761145353317,
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] | 1 | 27 | 270 | 15 | 6,548 | 0 |
[
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0
] | [
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1.8842893838882446,
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0
] | move_to_position | 0.934252 | [
-1.3085345029830933,
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1.8847565650939941,
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-1.737573266029358,
3.4431581497192383,
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] | [
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] | [
0.25566813349723816,
-0.6029183864593506,
0.028999999165534973,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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] | 1 | 27.1 | 271 | 15 | 6,549 | 0 |
[
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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[
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] | 0 | pick up the right chocolate pie and place it on the right red plate: descend to chocolate pie_2 | [
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[
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] | gripper_close | 0 | [
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[
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] | gripper_close | 0.054902 | [
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[
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] | gripper_close | 0.184314 | [
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[
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] | gripper_close | 0.309804 | [
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[
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] | gripper_close | 0.407843 | [
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[
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] | gripper_close | 0.47451 | [
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[
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] | gripper_close | 0.541176 | [
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[
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] | gripper_close | 0.6 | [
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[
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] | gripper_close | 0.694117 | [
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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 | 0.792156 | [
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] | [
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[
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] | gripper_close | 0.823529 | [
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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 | 15 | 6,562 | 0 |
[
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] | gripper_close | 0.823529 | [
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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 | 0.823529 | [
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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 | 15 | 6,564 | 0 |
[
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1
] | gripper_close | 0.823529 | [
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] | gripper_close | 0.823529 | [
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] | gripper_close | 0.823529 | [
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] | gripper_close | 0.823529 | [
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[
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] | gripper_close | 0.823529 | [
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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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] | gripper_close | 0.823529 | [
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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 | 0.823529 | [
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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 | 0.823529 | [
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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 | 0.823529 | [
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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 | 0.823529 | [
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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 | 0.823529 | [
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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 | 29.700001 | 297 | 15 | 6,575 | 0 |
[
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] | gripper_close | 0.823529 | [
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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 | 29.799999 | 298 | 15 | 6,576 | 0 |
[
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] | gripper_close | 0.823529 | [
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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 | 29.9 | 299 | 15 | 6,577 | 0 |
[
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1
] | gripper_close | 0.823529 | [
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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 | 30 | 300 | 15 | 6,578 | 0 |
[
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] | [
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1
] | gripper_close | 0.823529 | [
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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 | 30.1 | 301 | 15 | 6,579 | 0 |
[
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1
] | gripper_close | 0.823529 | [
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1
] | [
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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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0.029049038887023926,
2.7950408458709717,
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] | 0 | 30.200001 | 302 | 15 | 6,580 | 0 |
[
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] | [
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1
] | gripper_close | 0.823529 | [
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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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0.029061811044812202,
2.7950196266174316,
0.060984883457422256,
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] | 0 | 30.299999 | 303 | 15 | 6,581 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.000348 | [
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] | [
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0,
0
] | [
0.22187937796115875,
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0.0575125627219677,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.2556794285774231,
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0.029057838022708893,
2.795015811920166,
0.06100805848836899,
3.069633722305298
] | 0 | 30.4 | 304 | 15 | 6,582 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.003237 | [
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1
] | [
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0,
0
] | [
0.22187937796115875,
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0.0575125627219677,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.25552257895469666,
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0.029283432289958,
2.7949979305267334,
0.06093739718198776,
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] | 0 | 30.5 | 305 | 15 | 6,583 | 0 |
[
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3.441527843475342,
1
] | [
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1
] | move_to_position | 0.029087 | [
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1
] | [
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0,
0
] | [
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-0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.25453487038612366,
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0.029912594705820084,
2.7954766750335693,
0.06096574291586876,
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] | 0 | 30.6 | 306 | 15 | 6,584 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.077688 | [
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-2.6572837829589844,
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1
] | [
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0,
0,
0
] | [
0.22187937796115875,
-0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.2525818347930908,
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0.03128606453537941,
2.7957212924957275,
0.061227988451719284,
3.0697288513183594
] | 0 | 30.700001 | 307 | 15 | 6,585 | 0 |
[
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3.4347686767578125,
1
] | [
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1
] | move_to_position | 0.143961 | [
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1.8970985412597656,
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1
] | [
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0,
0,
0
] | [
0.22187937796115875,
-0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.250425785779953,
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0.03320315107703209,
2.7953147888183594,
0.06112999469041824,
3.069455623626709
] | 0 | 30.799999 | 308 | 15 | 6,586 | 0 |
[
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3.4307029247283936,
1
] | [
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1.8889425992965698,
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1
] | move_to_position | 0.214418 | [
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1.8970985412597656,
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1
] | [
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0,
0,
0
] | [
0.22187937796115875,
-0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.2478526085615158,
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0.03552127256989479,
2.7951953411102295,
0.06102931499481201,
3.0696094036102295
] | 0 | 30.9 | 309 | 15 | 6,587 | 0 |
[
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1.889588713645935,
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3.4259297847747803,
1
] | [
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1.8900216817855835,
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3.424129009246826,
1
] | move_to_position | 0.296519 | [
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1.8970985412597656,
-2.6572837829589844,
-1.718592643737793,
3.3846919536590576,
1
] | [
-0.22187937796115875,
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0,
0,
0
] | [
0.22187937796115875,
-0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.2450539916753769,
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0.03795390576124191,
2.7950351238250732,
0.06099477410316467,
3.0695559978485107
] | 0 | 31 | 310 | 15 | 6,588 | 0 |
[
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1.890715479850769,
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3.421212911605835,
1
] | [
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1.8911793231964111,
-2.683945655822754,
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3.418753147125244,
1
] | move_to_position | 0.377043 | [
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1.8970985412597656,
-2.6572837829589844,
-1.718592643737793,
3.3846919536590576,
1
] | [
-0.22187937796115875,
0.6088079214096069,
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0,
0,
0
] | [
0.22187937796115875,
-0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.2423657923936844,
-0.6052815914154053,
0.04028671979904175,
2.7950291633605957,
0.06093418598175049,
3.0696194171905518
] | 0 | 31.1 | 311 | 15 | 6,589 | 0 |
[
-1.3370665311813354,
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1.8917959928512573,
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3.4156360626220703,
1
] | [
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1.8923159837722778,
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3.4129292964935303,
1
] | move_to_position | 0.471969 | [
-1.3692477941513062,
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1.8970985412597656,
-2.6572837829589844,
-1.718592643737793,
3.3846919536590576,
1
] | [
-0.22187937796115875,
0.6088079214096069,
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0,
0,
0
] | [
0.22187937796115875,
-0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.23899191617965698,
-0.6059134006500244,
0.0431089885532856,
2.795062303543091,
0.06097576022148132,
3.069645881652832
] | 0 | 31.200001 | 312 | 15 | 6,590 | 0 |
[
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1.893044352531433,
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3.4088940620422363,
1
] | [
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1.8936055898666382,
-2.674069881439209,
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3.4059791564941406,
1
] | move_to_position | 0.586819 | [
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1.8970985412597656,
-2.6572837829589844,
-1.718592643737793,
3.3846919536590576,
1
] | [
-0.22187937796115875,
0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | [
0.22187937796115875,
-0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.23529428243637085,
-0.6065999269485474,
0.04626140370965004,
2.7950053215026855,
0.06091917306184769,
3.069631576538086
] | 0 | 31.299999 | 313 | 15 | 6,591 | 0 |
[
-1.3513625860214233,
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1.8943675756454468,
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3.4018609523773193,
1
] | [
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1.8947548866271973,
-2.669044256210327,
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3.3995368480682373,
1
] | move_to_position | 0.707025 | [
-1.3692477941513062,
-1.1294814348220825,
1.8970985412597656,
-2.6572837829589844,
-1.718592643737793,
3.3846919536590576,
1
] | [
-0.22187937796115875,
0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | [
0.22187937796115875,
-0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.23124127089977264,
-0.6072691679000854,
0.049635834991931915,
2.7951176166534424,
0.06096291542053223,
3.0696470737457275
] | 0 | 31.4 | 314 | 15 | 6,592 | 0 |
[
-1.3580530881881714,
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1.8954647779464722,
-2.6658589839935303,
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3.395475387573242,
1
] | [
-1.3603594303131104,
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1.8958324193954468,
-2.6641039848327637,
-1.7213940620422363,
3.3932392597198486,
1
] | move_to_position | 0.816116 | [
-1.3692477941513062,
-1.1294814348220825,
1.8970985412597656,
-2.6572837829589844,
-1.718592643737793,
3.3846919536590576,
1
] | [
-0.22187937796115875,
0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | [
0.22187937796115875,
-0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.2273755967617035,
-0.6078970432281494,
0.052856527268886566,
2.7951009273529053,
0.06097017973661423,
3.0695836544036865
] | 0 | 31.5 | 315 | 15 | 6,593 | 0 |
[
-1.3637055158615112,
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1.896276831626892,
-2.6615259647369385,
-1.7203081846237183,
3.3900146484375,
1
] | [
-1.3653701543807983,
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1.8966026306152344,
-2.6602907180786133,
-1.7198173999786377,
3.3884191513061523,
1
] | move_to_position | 0.909256 | [
-1.3692477941513062,
-1.1294814348220825,
1.8970985412597656,
-2.6572837829589844,
-1.718592643737793,
3.3846919536590576,
1
] | [
-0.22187937796115875,
0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | [
0.22187937796115875,
-0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.22445623576641083,
-0.6084315776824951,
0.05540222302079201,
2.794966697692871,
0.060902711004018784,
3.06960129737854
] | 0 | 31.6 | 316 | 15 | 6,594 | 0 |
[
-1.3673709630966187,
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1.8967193365097046,
-2.658738374710083,
-1.71922767162323,
3.3865134716033936,
1
] | [
-1.3681004047393799,
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1.8969587087631226,
-2.658177375793457,
-1.718955397605896,
3.3857946395874023,
1
] | move_to_position | 0.968962 | [
-1.3692477941513062,
-1.1294814348220825,
1.8970985412597656,
-2.6572837829589844,
-1.718592643737793,
3.3846919536590576,
1
] | [
-0.22187937796115875,
0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | [
0.22187937796115875,
-0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.22274252772331238,
-0.608742892742157,
0.05682704970240593,
2.7949068546295166,
0.06098119169473648,
3.069586992263794
] | 0 | 31.700001 | 317 | 15 | 6,595 | 0 |
[
-1.368872046470642,
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1.8969205617904663,
-2.6576192378997803,
-1.7187718152999878,
3.385089635848999,
1
] | [
-1.3691462278366089,
-1.1293754577636719,
1.8970861434936523,
-2.657362937927246,
-1.7186247110366821,
3.38478946685791,
1
] | move_to_position | 0.993093 | [
-1.3692477941513062,
-1.1294814348220825,
1.8970985412597656,
-2.6572837829589844,
-1.718592643737793,
3.3846919536590576,
1
] | [
-0.22187937796115875,
0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | [
0.22187937796115875,
-0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.22201743721961975,
-0.6088382005691528,
0.05739912763237953,
2.794951915740967,
0.060981784015893936,
3.069561719894409
] | 0 | 31.799999 | 318 | 15 | 6,596 | 0 |
[
-1.3690012693405151,
-1.1292060613632202,
1.89708411693573,
-2.657335042953491,
-1.7185996770858765,
3.38474178314209,
1
] | [
-1.3692477941513062,
-1.1294814348220825,
1.8970985412597656,
-2.6572837829589844,
-1.718592643737793,
3.3846919536590576,
1
] | move_to_position | 0.996811 | [
-1.3692477941513062,
-1.1294814348220825,
1.8970985412597656,
-2.6572837829589844,
-1.718592643737793,
3.3846919536590576,
1
] | [
-0.22187937796115875,
0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | [
0.22187937796115875,
-0.6088079214096069,
0.0575125627219677,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: retract with chocolate pie_2 | [
0.22200626134872437,
-0.6087513566017151,
0.05735349282622337,
2.7952380180358887,
0.061033137142658234,
3.069817066192627
] | 0 | 31.9 | 319 | 15 | 6,597 | 0 |
[
-1.3690804243087769,
-1.1292613744735718,
1.8971189260482788,
-2.6572840213775635,
-1.7186192274093628,
3.3846628665924072,
1
] | [
-1.3692477941513062,
-1.1294814348220825,
1.8970985412597656,
-2.6572837829589844,
-1.718592643737793,
3.3846919536590576,
1
] | move_to_position | 0 | [
-1.9539440870285034,
-1.2383313179016113,
1.7981528043746948,
-2.477922201156616,
-1.5215281248092651,
2.8319947719573975,
1
] | [
0.1081281527876854,
0.6626092791557312,
0.14172939956188202,
0,
0,
0
] | [
-0.1081281527876854,
-0.6626092791557312,
0.14172939956188202,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
0.22197039425373077,
-0.6087654829025269,
0.057366158813238144,
2.795239210128784,
0.06102573871612549,
3.069796085357666
] | 0 | 32 | 320 | 15 | 6,598 | 0 |
[
-1.3690732717514038,
-1.1292660236358643,
1.8970955610275269,
-2.6573026180267334,
-1.718579649925232,
3.3847005367279053,
1
] | [
-1.3690358400344849,
-1.1292530298233032,
1.8971070051193237,
-2.657318115234375,
-1.7185956239700317,
3.3847005367279053,
1
] | move_to_position | 0 | [
-1.9539440870285034,
-1.2383313179016113,
1.7981528043746948,
-2.477922201156616,
-1.5215281248092651,
2.8319947719573975,
1
] | [
0.1081281527876854,
0.6626092791557312,
0.14172939956188202,
0,
0,
0
] | [
-0.1081281527876854,
-0.6626092791557312,
0.14172939956188202,
0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: approach above red plate_2 | [
0.22198553383350372,
-0.6087595224380493,
0.05737188085913658,
2.795231342315674,
0.06096111238002777,
3.0697834491729736
] | 0 | 32.099998 | 321 | 15 | 6,599 | 0 |
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