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
] | [
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1
] | move_to_position | 0.068681 | [
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1.477797508239746,
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] | [
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0
] | [
-0.12281884253025055,
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0.08462448418140411,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
0.22681090235710144,
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0.09120029956102371,
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0.0001468359841965139,
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] | 0 | 33 | 330 | 23 | 10,000 | 0 |
[
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] | [
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1
] | move_to_position | 0.132955 | [
-1.9469389915466309,
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1.477797508239746,
-2.0311927795410156,
-1.5710092782974243,
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1
] | [
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0,
0
] | [
-0.12281884253025055,
-0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
0.20562487840652466,
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0.09086176753044128,
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0.00011872526374645531,
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] | 0 | 33.099998 | 331 | 23 | 10,001 | 0 |
[
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1
] | [
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1.5437673330307007,
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3.1957714557647705,
1
] | move_to_position | 0.212192 | [
-1.9469389915466309,
-1.0161360502243042,
1.477797508239746,
-2.0311927795410156,
-1.5710092782974243,
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1
] | [
0.12281884253025055,
0.6769384741783142,
0.08462448418140411,
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0,
0
] | [
-0.12281884253025055,
-0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
0.17681652307510376,
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0.09031575918197632,
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] | 0 | 33.200001 | 332 | 23 | 10,002 | 0 |
[
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3.16851544380188,
1
] | [
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1
] | move_to_position | 0.295069 | [
-1.9469389915466309,
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1.477797508239746,
-2.0311927795410156,
-1.5710092782974243,
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1
] | [
0.12281884253025055,
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0,
0
] | [
-0.12281884253025055,
-0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
0.14345145225524902,
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0.08971019089221954,
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0.00012435823737177998,
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] | 0 | 33.299999 | 333 | 23 | 10,003 | 0 |
[
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] | [
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3.0931241512298584,
1
] | move_to_position | 0.396207 | [
-1.9469389915466309,
-1.0161360502243042,
1.477797508239746,
-2.0311927795410156,
-1.5710092782974243,
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1
] | [
0.12281884253025055,
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0.08462448418140411,
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0,
0
] | [
-0.12281884253025055,
-0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
0.10453592985868454,
-0.6636442542076111,
0.08904743939638138,
-3.1412246227264404,
0.00013134723121766,
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] | 0 | 33.400002 | 334 | 23 | 10,004 | 0 |
[
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] | [
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3.0367329120635986,
1
] | move_to_position | 0.495293 | [
-1.9469389915466309,
-1.0161360502243042,
1.477797508239746,
-2.0311927795410156,
-1.5710092782974243,
2.7692508697509766,
1
] | [
0.12281884253025055,
0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | [
-0.12281884253025055,
-0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
0.06751095503568649,
-0.6711535453796387,
0.08834683895111084,
-3.1412088871002197,
0.00012644301750697196,
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] | 0 | 33.5 | 335 | 23 | 10,005 | 0 |
[
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1
] | [
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1.510323166847229,
-2.0386719703674316,
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1
] | move_to_position | 0.596535 | [
-1.9469389915466309,
-1.0161360502243042,
1.477797508239746,
-2.0311927795410156,
-1.5710092782974243,
2.7692508697509766,
1
] | [
0.12281884253025055,
0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | [
-0.12281884253025055,
-0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
0.02787739783525467,
-0.6768001317977905,
0.08754845708608627,
-3.1411266326904297,
0.00016148229769896716,
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] | 0 | 33.599998 | 336 | 23 | 10,006 | 0 |
[
-1.7716830968856812,
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1.5050667524337769,
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1
] | [
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1.50101900100708,
-2.036531686782837,
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2.9183475971221924,
1
] | move_to_position | 0.690576 | [
-1.9469389915466309,
-1.0161360502243042,
1.477797508239746,
-2.0311927795410156,
-1.5710092782974243,
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1
] | [
0.12281884253025055,
0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | [
-0.12281884253025055,
-0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.007649340201169252,
-0.6798422336578369,
0.08690335601568222,
-3.1411478519439697,
0.00012679076462518424,
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] | 0 | 33.700001 | 337 | 23 | 10,007 | 0 |
[
-1.8231886625289917,
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2.892942428588867,
1
] | [
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1.4943221807479858,
-2.034991502761841,
-1.5709412097930908,
2.874995708465576,
1
] | move_to_position | 0.781554 | [
-1.9469389915466309,
-1.0161360502243042,
1.477797508239746,
-2.0311927795410156,
-1.5710092782974243,
2.7692508697509766,
1
] | [
0.12281884253025055,
0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | [
-0.12281884253025055,
-0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.04268575832247734,
-0.6810411214828491,
0.08625367283821106,
-3.141193389892578,
0.00017009240400511771,
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] | 0 | 33.799999 | 338 | 23 | 10,008 | 0 |
[
-1.8694814443588257,
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1.4898971319198608,
-2.033987283706665,
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2.846771001815796,
1
] | [
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-1.0233217477798462,
1.487155795097351,
-2.033344030380249,
-1.570970892906189,
2.8287513256073,
1
] | move_to_position | 0.863167 | [
-1.9469389915466309,
-1.0161360502243042,
1.477797508239746,
-2.0311927795410156,
-1.5710092782974243,
2.7692508697509766,
1
] | [
0.12281884253025055,
0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | [
-0.12281884253025055,
-0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.07176640629768372,
-0.6806548833847046,
0.08576077222824097,
-3.1413064002990723,
0.0002207631478086114,
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] | 0 | 33.900002 | 339 | 23 | 10,009 | 0 |
[
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1.4845107793807983,
-2.0327298641204834,
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2.811797618865967,
1
] | [
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1.4820315837860107,
-2.032166004180908,
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1
] | move_to_position | 0.925005 | [
-1.9469389915466309,
-1.0161360502243042,
1.477797508239746,
-2.0311927795410156,
-1.5710092782974243,
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1
] | [
0.12281884253025055,
0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | [
-0.12281884253025055,
-0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.09759160876274109,
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0.08513017743825912,
-3.141122341156006,
0.00013313180534169078,
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] | 0 | 34 | 340 | 23 | 10,010 | 0 |
[
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1
] | [
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2.777369499206543,
1
] | move_to_position | 0.974135 | [
-1.9469389915466309,
-1.0161360502243042,
1.477797508239746,
-2.0311927795410156,
-1.5710092782974243,
2.7692508697509766,
1
] | [
0.12281884253025055,
0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | [
-0.12281884253025055,
-0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.11430886387825012,
-0.6778272986412048,
0.08488454669713974,
-3.141261100769043,
0.00018388012540526688,
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] | 0 | 34.099998 | 341 | 23 | 10,011 | 0 |
[
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-2.031280279159546,
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1
] | [
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-1.0161552429199219,
1.4778224229812622,
-2.031198501586914,
-1.5710091590881348,
2.769404888153076,
1
] | move_to_position | 0.997485 | [
-1.9469389915466309,
-1.0161360502243042,
1.477797508239746,
-2.0311927795410156,
-1.5710092782974243,
2.7692508697509766,
1
] | [
0.12281884253025055,
0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | [
-0.12281884253025055,
-0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.1224847137928009,
-0.6770033240318298,
0.08468430489301682,
-3.1412506103515625,
0.00019057989993598312,
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] | 0 | 34.200001 | 342 | 23 | 10,012 | 0 |
[
-1.9469469785690308,
-1.0162352323532104,
1.477915644645691,
-2.0312163829803467,
-1.5710004568099976,
2.7692298889160156,
1
] | [
-1.9469389915466309,
-1.0161360502243042,
1.477797508239746,
-2.0311927795410156,
-1.5710092782974243,
2.7692508697509766,
1
] | move_to_position | 0.999805 | [
-1.9469389915466309,
-1.0161360502243042,
1.477797508239746,
-2.0311927795410156,
-1.5710092782974243,
2.7692508697509766,
1
] | [
0.12281884253025055,
0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | [
-0.12281884253025055,
-0.6769384741783142,
0.08462448418140411,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.12280679494142532,
-0.6769242882728577,
0.08469093590974808,
-3.1412031650543213,
0.0001682709698798135,
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] | 0 | 34.299999 | 343 | 23 | 10,013 | 0 |
[
-1.9469574689865112,
-1.016238808631897,
1.477915644645691,
-2.031181573867798,
-1.5710538625717163,
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1
] | [
-1.9469389915466309,
-1.0161360502243042,
1.477797508239746,
-2.0311927795410156,
-1.5710092782974243,
2.7692508697509766,
1
] | move_to_position | 0.000007 | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
1
] | [
0.09540730714797974,
0.6710086464881897,
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0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.12281664460897446,
-0.6769187450408936,
0.08467759937047958,
-3.141165256500244,
0.00016607945144642144,
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] | 0 | 34.400002 | 344 | 23 | 10,014 | 0 |
[
-1.946926474571228,
-1.0162627696990967,
1.4779008626937866,
-2.0311849117279053,
-1.5710190534591675,
2.769238233566284,
1
] | [
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1.4781088829040527,
-2.0314247608184814,
-1.571008563041687,
2.7693281173706055,
1
] | move_to_position | 0 | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
1
] | [
0.09540730714797974,
0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.12279807776212692,
-0.6769096851348877,
0.0846601352095604,
-3.1411445140838623,
0.0001902229996630922,
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] | 0 | 34.5 | 345 | 23 | 10,015 | 0 |
[
-1.9464229345321655,
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1.4788511991500854,
-2.0323612689971924,
-1.5710467100143433,
2.769733190536499,
1
] | [
-1.9459495544433594,
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1.4799906015396118,
-2.033623695373535,
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2.770148754119873,
1
] | move_to_position | 0.013149 | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
1
] | [
0.09540730714797974,
0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.12224704027175903,
-0.6768343448638916,
0.08401727676391602,
-3.1411590576171875,
0.00019709744083229452,
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] | 0 | 34.599998 | 346 | 23 | 10,016 | 0 |
[
-1.9449604749679565,
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1.481998324394226,
-2.0360772609710693,
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2.771031379699707,
1
] | [
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1.4835762977600098,
-2.0378589630126953,
-1.5710105895996094,
2.771738052368164,
1
] | move_to_position | 0.054444 | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
1
] | [
0.09540730714797974,
0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.12101102620363235,
-0.6765443086624146,
0.08236736804246902,
-3.1410748958587646,
0.00017075194045901299,
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] | 0 | 34.700001 | 347 | 23 | 10,017 | 0 |
[
-1.9430521726608276,
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1.4866102933883667,
-2.0415189266204834,
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2.773092031478882,
1
] | [
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1.4885118007659912,
-2.043771266937256,
-1.5710124969482422,
2.7739715576171875,
1
] | move_to_position | 0.11477 | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
1
] | [
0.09540730714797974,
0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.11952101439237595,
-0.6761839389801025,
0.08034491539001465,
-3.141097068786621,
0.00017073171329684556,
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] | 0 | 34.799999 | 348 | 23 | 10,018 | 0 |
[
-1.94060218334198,
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1.4920357465744019,
-2.048057794570923,
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2.775611162185669,
1
] | [
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1.4942744970321655,
-2.05080246925354,
-1.5710151195526123,
2.776650905609131,
1
] | move_to_position | 0.187149 | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
1
] | [
0.09540730714797974,
0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.11733980476856232,
-0.675735592842102,
0.07757188379764557,
-3.1411404609680176,
0.00014699339226353914,
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] | 0 | 34.900002 | 349 | 23 | 10,019 | 0 |
[
-1.9378641843795776,
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1.4978893995285034,
-2.055185079574585,
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2.7783377170562744,
1
] | [
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1.5002374649047852,
-2.058253765106201,
-1.571018099784851,
2.7795212268829346,
1
] | move_to_position | 0.266079 | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
1
] | [
0.09540730714797974,
0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.11515781283378601,
-0.6752469539642334,
0.07470043748617172,
-3.1410439014434814,
0.00013720882998313755,
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] | 0 | 35 | 350 | 23 | 10,020 | 0 |
[
-1.9343136548995972,
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1.5050257444381714,
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2.7818827629089355,
1
] | [
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1.508205533027649,
-2.068382978439331,
-1.571022391319275,
2.7834532260894775,
1
] | move_to_position | 0.365936 | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
1
] | [
0.09540730714797974,
0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.1123446673154831,
-0.6747568249702454,
0.07102571427822113,
-3.1411683559417725,
0.00017800919886212796,
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] | 0 | 35.099998 | 351 | 23 | 10,021 | 0 |
[
-1.9302533864974976,
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1.5131806135177612,
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2.785951614379883,
1
] | [
-1.928046464920044,
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1.5176793336868286,
-2.0805137157440186,
-1.5710276365280151,
2.7881767749786377,
1
] | move_to_position | 0.481307 | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
1
] | [
0.09540730714797974,
0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.10906196385622025,
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0.06674676388502121,
-3.141251802444458,
0.00018861991702578962,
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] | 0 | 35.200001 | 352 | 23 | 10,022 | 0 |
[
-1.9255975484848022,
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2.790656328201294,
1
] | [
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1.5262514352798462,
-2.091533899307251,
-1.5710325241088867,
2.792475461959839,
1
] | move_to_position | 0.612511 | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
1
] | [
0.09540730714797974,
0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.10548815876245499,
-0.6733111143112183,
0.06208397448062897,
-3.1411259174346924,
0.00014690049283672124,
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] | 0 | 35.299999 | 353 | 23 | 10,023 | 0 |
[
-1.921244502067566,
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1.5311945676803589,
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2.7949717044830322,
1
] | [
-1.9194283485412598,
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1.534863829612732,
-2.102637767791748,
-1.5710375308990479,
2.7968122959136963,
1
] | move_to_position | 0.733871 | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
1
] | [
0.09540730714797974,
0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.10217273235321045,
-0.6725338697433472,
0.05780722573399544,
-3.141047477722168,
0.0001512671442469582,
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] | 0 | 35.400002 | 354 | 23 | 10,024 | 0 |
[
-1.9173558950424194,
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1.5389512777328491,
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2.79889178276062,
1
] | [
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1.540935754776001,
-2.1104884147644043,
-1.5710411071777344,
2.799882173538208,
1
] | move_to_position | 0.843763 | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
1
] | [
0.09540730714797974,
0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09942862391471863,
-0.6719152331352234,
0.05424610152840614,
-3.141184091567993,
0.00018166392692364752,
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] | 0 | 35.5 | 355 | 23 | 10,025 | 0 |
[
-1.9148138761520386,
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1.5438822507858276,
-2.114365816116333,
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2.801391839981079,
1
] | [
-1.9140836000442505,
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1.5453509092330933,
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2.8021676540374756,
1
] | move_to_position | 0.913872 | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
1
] | [
0.09540730714797974,
0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09749390929937363,
-0.6714411377906799,
0.051797520369291306,
-3.141199827194214,
0.00017725526413414627,
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] | 0 | 35.599998 | 356 | 23 | 10,026 | 0 |
[
-1.9130972623825073,
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1.5471776723861694,
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2.80316424369812,
1
] | [
-1.9126213788986206,
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1.5480434894561768,
-2.119959592819214,
-1.5710457563400269,
2.8036327362060547,
1
] | move_to_position | 0.961822 | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
1
] | [
0.09540730714797974,
0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09633927047252655,
-0.67121821641922,
0.050334908068180084,
-3.141277313232422,
0.00018989352975040674,
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] | 0 | 35.700001 | 357 | 23 | 10,027 | 0 |
[
-1.9121650457382202,
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1.548899531364441,
-2.1211440563201904,
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2.8041017055511475,
1
] | [
-1.9118977785110474,
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1.5492894649505615,
-2.1217405796051025,
-1.5710468292236328,
2.8043577671051025,
1
] | move_to_position | 0.987364 | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
1
] | [
0.09540730714797974,
0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09569760411977768,
-0.6710476875305176,
0.049446675926446915,
-3.1412625312805176,
0.00021246685355436057,
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] | 0 | 35.799999 | 358 | 23 | 10,028 | 0 |
[
-1.9118999242782593,
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1.5494402647018433,
-2.1221392154693604,
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2.804490327835083,
1
] | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
1
] | move_to_position | 0.996965 | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
1
] | [
0.09540730714797974,
0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.04899999871850014,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09556525945663452,
-0.6710643172264099,
0.04917735233902931,
-3.141333818435669,
0.0002507647732272744,
3.1414284706115723
] | 0 | 35.900002 | 359 | 23 | 10,029 | 0 |
[
-1.911852240562439,
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1.5494507551193237,
-2.122211217880249,
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2.8045389652252197,
1
] | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
0
] | gripper_open | 0 | [
-1.911852240562439,
-0.9969478845596313,
1.5494507551193237,
-2.122211217880249,
-1.5710519552230835,
2.8045389652252197,
0
] | [
0.09552691876888275,
0.671058714389801,
0.04911717399954796,
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0.00023553549544885755,
3.1415157318115234
] | [
-0.09552691876888275,
-0.671058714389801,
0.04911717399954796,
-3.1412694454193115,
0.00023553549544885755,
3.1415157318115234
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09555824846029282,
-0.6710922718048096,
0.049182042479515076,
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0.00032548283343203366,
3.1414520740509033
] | 0 | 36 | 360 | 23 | 10,030 | 0 |
[
-1.9117077589035034,
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1.54948890209198,
-2.122302293777466,
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2.804593801498413,
0.772549033164978
] | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
0
] | gripper_open | 0.227451 | [
-1.911852240562439,
-0.9969478845596313,
1.5494507551193237,
-2.122211217880249,
-1.5710519552230835,
2.8045389652252197,
0
] | [
0.09552691876888275,
0.671058714389801,
0.04911717399954796,
-3.1412694454193115,
0.00023553549544885755,
3.1415157318115234
] | [
-0.09552691876888275,
-0.671058714389801,
0.04911717399954796,
-3.1412694454193115,
0.00023553549544885755,
3.1415157318115234
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09539039433002472,
-0.6710676550865173,
0.04907527193427086,
-3.141273021697998,
0.0002119018172379583,
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] | 0 | 36.099998 | 361 | 23 | 10,031 | 0 |
[
-1.9116719961166382,
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1.5496281385421753,
-2.1222951412200928,
-1.5710281133651733,
2.804605722427368,
0.6627451181411743
] | [
-1.9116712808609009,
-0.9968565702438354,
1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
0
] | gripper_open | 0.337255 | [
-1.911852240562439,
-0.9969478845596313,
1.5494507551193237,
-2.122211217880249,
-1.5710519552230835,
2.8045389652252197,
0
] | [
0.09552691876888275,
0.671058714389801,
0.04911717399954796,
-3.1412694454193115,
0.00023553549544885755,
3.1415157318115234
] | [
-0.09552691876888275,
-0.671058714389801,
0.04911717399954796,
-3.1412694454193115,
0.00023553549544885755,
3.1415157318115234
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09536870568990707,
-0.6710203289985657,
0.04902144894003868,
-3.141160488128662,
0.0002055479126283899,
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] | 0 | 36.200001 | 362 | 23 | 10,032 | 0 |
[
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1.5496281385421753,
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2.80458664894104,
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] | [
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1.549647569656372,
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0
] | gripper_open | 0.462745 | [
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] | [
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] | [
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0.00023553549544885755,
3.1415157318115234
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09537791460752487,
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0.049014151096343994,
-3.1411356925964355,
0.00021700563956983387,
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] | 0 | 36.299999 | 363 | 23 | 10,033 | 0 |
[
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] | [
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0
] | gripper_open | 0.580392 | [
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] | [
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] | [
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0.04911717399954796,
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0.00023553549544885755,
3.1415157318115234
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09540615975856781,
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0.049039311707019806,
-3.141176462173462,
0.00019306120520923287,
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] | 1 | 36.400002 | 364 | 23 | 10,034 | 0 |
[
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1.5496639013290405,
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2.8045594692230225,
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] | [
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0
] | gripper_open | 0.701961 | [
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] | [
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] | [
-0.09552691876888275,
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0.04911717399954796,
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0.00023553549544885755,
3.1415157318115234
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09538557380437851,
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0.04901100695133209,
-3.141141176223755,
0.00019367356435395777,
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] | 1 | 36.5 | 365 | 23 | 10,035 | 0 |
[
-1.91165292263031,
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1.5496567487716675,
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] | [
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1.549647569656372,
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0
] | gripper_open | 0.823529 | [
-1.911852240562439,
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1.5494507551193237,
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] | [
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] | [
-0.09552691876888275,
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0.04911717399954796,
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0.00023553549544885755,
3.1415157318115234
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09539279341697693,
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0.049019794911146164,
-3.1411521434783936,
0.0002177805727114901,
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] | 1 | 36.599998 | 366 | 23 | 10,036 | 0 |
[
-1.9116686582565308,
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1.5496639013290405,
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] | [
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1.549647569656372,
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0
] | gripper_open | 0.949019 | [
-1.911852240562439,
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1.5494507551193237,
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0
] | [
0.09552691876888275,
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] | [
-0.09552691876888275,
-0.671058714389801,
0.04911717399954796,
-3.1412694454193115,
0.00023553549544885755,
3.1415157318115234
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09536776691675186,
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0.048995085060596466,
-3.141125440597534,
0.00016329216305166483,
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] | 1 | 36.700001 | 367 | 23 | 10,037 | 0 |
[
-1.9116791486740112,
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2.804574728012085,
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] | [
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1.549647569656372,
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2.8045847415924072,
0
] | gripper_open | 0.988231 | [
-1.911852240562439,
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1.5494507551193237,
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0
] | [
0.09552691876888275,
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] | [
-0.09552691876888275,
-0.671058714389801,
0.04911717399954796,
-3.1412694454193115,
0.00023553549544885755,
3.1415157318115234
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09539593011140823,
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0.049013327807188034,
-3.141146659851074,
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] | 1 | 36.799999 | 368 | 23 | 10,038 | 0 |
[
-1.911660075187683,
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1.5496248006820679,
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2.8046090602874756,
0.0117647061124444
] | [
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1.549647569656372,
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2.8045847415924072,
0
] | gripper_open | 0.988232 | [
-1.911852240562439,
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1.5494507551193237,
-2.122211217880249,
-1.5710519552230835,
2.8045389652252197,
0
] | [
0.09552691876888275,
0.671058714389801,
0.04911717399954796,
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0.00023553549544885755,
3.1415157318115234
] | [
-0.09552691876888275,
-0.671058714389801,
0.04911717399954796,
-3.1412694454193115,
0.00023553549544885755,
3.1415157318115234
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09538642317056656,
-0.6710145473480225,
0.04901580139994621,
-3.1411445140838623,
0.00020342889183666557,
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] | 1 | 36.900002 | 369 | 23 | 10,039 | 0 |
[
-1.9117063283920288,
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1.5496381521224976,
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2.8045783042907715,
0.0117647061124444
] | [
-1.9116712808609009,
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1.549647569656372,
-2.1222856044769287,
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2.8045847415924072,
0
] | gripper_open | 0.988232 | [
-1.911852240562439,
-0.9969478845596313,
1.5494507551193237,
-2.122211217880249,
-1.5710519552230835,
2.8045389652252197,
0
] | [
0.09552691876888275,
0.671058714389801,
0.04911717399954796,
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0.00023553549544885755,
3.1415157318115234
] | [
-0.09552691876888275,
-0.671058714389801,
0.04911717399954796,
-3.1412694454193115,
0.00023553549544885755,
3.1415157318115234
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09537669271230698,
-0.6710019707679749,
0.048984233289957047,
-3.1410880088806152,
0.00019153208995703608,
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] | 1 | 37 | 370 | 23 | 10,040 | 0 |
[
-1.9116686582565308,
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1.5496567487716675,
-2.1222712993621826,
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2.8045783042907715,
0
] | [
-1.9116712808609009,
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1.549647569656372,
-2.1222856044769287,
-1.5710471868515015,
2.8045847415924072,
0
] | move_to_position | 0 | [
-1.9116623401641846,
-1.0531412363052368,
1.496893286705017,
-2.013284206390381,
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2.8045010566711426,
0
] | [
0.09540730714797974,
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0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.0989999994635582,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09540208429098129,
-0.6710186004638672,
0.04900806024670601,
-3.1411514282226562,
0.00020633537496905774,
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] | 1 | 37.099998 | 371 | 23 | 10,041 | 0 |
[
-1.9116638898849487,
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1.5496567487716675,
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2.8046090602874756,
0
] | [
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1.549523949623108,
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2.80460524559021,
0
] | move_to_position | 0 | [
-1.9116623401641846,
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1.496893286705017,
-2.013284206390381,
-1.5709336996078491,
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0
] | [
0.09540730714797974,
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0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.0989999994635582,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09537716209888458,
-0.6709939241409302,
0.049018267542123795,
-3.14109206199646,
0.0001647652970859781,
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] | 1 | 37.200001 | 372 | 23 | 10,042 | 0 |
[
-1.9116753339767456,
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1.5492008924484253,
-2.120976686477661,
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2.804605484008789,
0
] | [
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1.5484565496444702,
-2.1193270683288574,
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2.804602861404419,
0
] | move_to_position | 0.0115 | [
-1.9116623401641846,
-1.0531412363052368,
1.496893286705017,
-2.013284206390381,
-1.5709336996078491,
2.8045010566711426,
0
] | [
0.09540730714797974,
0.6710086464881897,
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0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.0989999994635582,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09535904973745346,
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0.049888283014297485,
-3.1411280632019043,
0.00013355645933188498,
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] | 1 | 37.299999 | 373 | 23 | 10,043 | 0 |
[
-1.9116872549057007,
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2.8046021461486816,
0
] | [
-1.911667823791504,
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1.546319603919983,
-2.1142280101776123,
-1.5710383653640747,
2.804598093032837,
0
] | move_to_position | 0.049765 | [
-1.9116623401641846,
-1.0531412363052368,
1.496893286705017,
-2.013284206390381,
-1.5709336996078491,
2.8045010566711426,
0
] | [
0.09540730714797974,
0.6710086464881897,
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0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.0989999994635582,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09537185728549957,
-0.670986533164978,
0.05203663930296898,
-3.1411871910095215,
0.00017257980653084815,
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] | 1 | 37.400002 | 374 | 23 | 10,044 | 0 |
[
-1.9116753339767456,
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1.544758677482605,
-2.1105711460113525,
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2.8046140670776367,
0
] | [
-1.9116672277450562,
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1.5435649156570435,
-2.107896566390991,
-1.571031093597412,
2.8045921325683594,
0
] | move_to_position | 0.107223 | [
-1.9116623401641846,
-1.0531412363052368,
1.496893286705017,
-2.013284206390381,
-1.5709336996078491,
2.8045010566711426,
0
] | [
0.09540730714797974,
0.6710086464881897,
0.0989999994635582,
0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.0989999994635582,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09536208212375641,
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0.054875828325748444,
-3.141108274459839,
0.0001791265676729381,
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] | 1 | 37.5 | 375 | 23 | 10,045 | 0 |
[
-1.911660075187683,
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1.5413531064987183,
-2.1030056476593018,
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2.8045902252197266,
0
] | [
-1.9116666316986084,
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1.5397043228149414,
-2.099402904510498,
-1.5710216760635376,
2.804584264755249,
0
] | move_to_position | 0.176813 | [
-1.9116623401641846,
-1.0531412363052368,
1.496893286705017,
-2.013284206390381,
-1.5709336996078491,
2.8045010566711426,
0
] | [
0.09540730714797974,
0.6710086464881897,
0.0989999994635582,
0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.0989999994635582,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09539102762937546,
-0.6709850430488586,
0.05873263254761696,
-3.1410632133483887,
0.00018849497428163886,
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] | 1 | 37.599998 | 376 | 23 | 10,046 | 0 |
[
-1.9116872549057007,
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2.8045902252197266,
0
] | [
-1.9116660356521606,
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1.5347357988357544,
-2.0889320373535156,
-1.5710104703903198,
2.8045742511749268,
0
] | move_to_position | 0.257668 | [
-1.9116623401641846,
-1.0531412363052368,
1.496893286705017,
-2.013284206390381,
-1.5709336996078491,
2.8045010566711426,
0
] | [
0.09540730714797974,
0.6710086464881897,
0.0989999994635582,
0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.0989999994635582,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09541599452495575,
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0.06304293125867844,
-3.1411685943603516,
0.00016884785145521164,
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] | 1 | 37.700001 | 377 | 23 | 10,047 | 0 |
[
-1.911660075187683,
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1.5310782194137573,
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2.804574728012085,
0
] | [
-1.9116652011871338,
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1.5282758474349976,
-2.07551908493042,
-1.5709962844848633,
2.8045613765716553,
0
] | move_to_position | 0.376339 | [
-1.9116623401641846,
-1.0531412363052368,
1.496893286705017,
-2.013284206390381,
-1.5709336996078491,
2.8045010566711426,
0
] | [
0.09540730714797974,
0.6710086464881897,
0.0989999994635582,
0,
0,
0
] | [
-0.09540730714797974,
-0.6710086464881897,
0.0989999994635582,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09543738514184952,
-0.671122133731842,
0.06861270219087601,
-3.1411709785461426,
0.00019776358385570347,
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] | 1 | 37.799999 | 378 | 23 | 10,048 | 0 |
[
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] | 0 | pick second pie and place it on the second plate: retract after place | [
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[
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] | 0 | pick second pie and place it on the second plate: retract after place | [
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[
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] | move_to_position | 0.749182 | [
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] | 0 | pick second pie and place it on the second plate: retract after place | [
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[
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] | move_to_position | 0.833445 | [
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] | 0 | pick second pie and place it on the second plate: retract after place | [
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[
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] | [
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] | 1 | 38.299999 | 383 | 23 | 10,053 | 0 |
[
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] | move_to_position | 0.946485 | [
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] | [
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] | 0 | pick second pie and place it on the second plate: retract after place | [
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[
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] | move_to_position | 0.982601 | [
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] | [
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] | 0 | pick second pie and place it on the second plate: retract after place | [
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] | 1 | 38.5 | 385 | 23 | 10,055 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | 0 | return to home after task completion | [
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] | 1 | 38.599998 | 386 | 23 | 10,056 | 0 |
[
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] | [
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] | move_to_position | 0.000024 | [
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] | [
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] | [
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] | 0 | return to home after task completion | [
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] | 1 | 38.700001 | 387 | 23 | 10,057 | 0 |
[
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] | [
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] | move_to_position | 0.000109 | [
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] | [
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] | [
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] | 0 | return to home after task completion | [
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] | 1 | 38.799999 | 388 | 23 | 10,058 | 0 |
[
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] | move_to_position | 0.001678 | [
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] | [
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] | [
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] | 0 | return to home after task completion | [
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] | 1 | 38.900002 | 389 | 23 | 10,059 | 0 |
[
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] | [
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] | move_to_position | 0.004581 | [
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] | [
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] | [
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] | 0 | return to home after task completion | [
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] | 1 | 39 | 390 | 23 | 10,060 | 0 |
[
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] | [
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] | move_to_position | 0.008547 | [
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] | [
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] | [
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] | 0 | return to home after task completion | [
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] | 1 | 39.099998 | 391 | 23 | 10,061 | 0 |
[
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] | [
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] | move_to_position | 0.014838 | [
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] | [
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0.4399999976158142,
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] | [
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] | 0 | return to home after task completion | [
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] | 1 | 39.200001 | 392 | 23 | 10,062 | 0 |
[
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] | [
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] | move_to_position | 0.023053 | [
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] | [
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] | [
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] | 0 | return to home after task completion | [
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] | 1 | 39.299999 | 393 | 23 | 10,063 | 0 |
[
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] | [
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] | move_to_position | 0.033024 | [
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] | [
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] | [
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] | 0 | return to home after task completion | [
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] | 1 | 39.400002 | 394 | 23 | 10,064 | 0 |
[
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] | [
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] | move_to_position | 0.04709 | [
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] | [
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] | 0 | return to home after task completion | [
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] | 1 | 39.5 | 395 | 23 | 10,065 | 0 |
[
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] | [
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] | move_to_position | 0.063457 | [
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[
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[
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[
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[
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