observation.state listlengths 7 7 | action listlengths 7 7 | skill.type large_stringclasses 4
values | skill.progress float32 0 1 | skill.goal_position.joint listlengths 7 7 | skill.goal_position.world_xyzrpy listlengths 6 6 | skill.goal_position.robot_xyzrpy listlengths 6 6 | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 61
values | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | timestamp float32 0 46.1 | frame_index int64 0 461 | episode_index int64 0 24 | index int64 0 10.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-1.7273777723312378,
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1.5614770650863647,
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1
] | [
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1
] | move_to_position | 0.748862 | [
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] | [
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0,
0
] | [
0.029639115557074547,
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0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.029890570789575577,
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0.05154905840754509,
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0.000007617411483806791,
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] | 0 | 18.299999 | 183 | 24 | 10,300 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.827748 | [
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] | [
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0,
0
] | [
0.029639115557074547,
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0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
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0.04904715716838837,
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3.141423463821411
] | 0 | 18.4 | 184 | 24 | 10,301 | 0 |
[
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] | [
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1
] | move_to_position | 0.899467 | [
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] | [
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0,
0
] | [
0.029639115557074547,
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0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
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0.046847619116306305,
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] | 0 | 18.5 | 185 | 24 | 10,302 | 0 |
[
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] | [
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1
] | move_to_position | 0.951778 | [
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] | [
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0,
0
] | [
0.029639115557074547,
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0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
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0.045226071029901505,
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] | 0 | 18.6 | 186 | 24 | 10,303 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.98917 | [
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] | [
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0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.04399999976158142,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
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0.044176552444696426,
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] | 0 | 18.700001 | 187 | 24 | 10,304 | 0 |
[
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] | [
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1
] | move_to_position | 0.999211 | [
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1.5371447801589966,
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] | [
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0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.04399999976158142,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.029642514884471893,
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0.043990787118673325,
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] | 0 | 18.799999 | 188 | 24 | 10,305 | 0 |
[
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1
] | [
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0
] | gripper_open | 0 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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0.043981123715639114,
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] | 0 | 18.9 | 189 | 24 | 10,306 | 0 |
[
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] | [
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0
] | gripper_open | 0.14902 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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] | 0 | 19 | 190 | 24 | 10,307 | 0 |
[
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] | [
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0
] | gripper_open | 0.172549 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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0.04406517371535301,
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] | 0 | 19.1 | 191 | 24 | 10,308 | 0 |
[
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] | [
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] | gripper_open | 0.286274 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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] | 0 | 19.200001 | 192 | 24 | 10,309 | 0 |
[
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] | [
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0
] | gripper_open | 0.411765 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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] | 0 | 19.299999 | 193 | 24 | 10,310 | 0 |
[
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] | [
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] | gripper_open | 0.537255 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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] | 1 | 19.4 | 194 | 24 | 10,311 | 0 |
[
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] | [
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0
] | gripper_open | 0.658823 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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] | 1 | 19.5 | 195 | 24 | 10,312 | 0 |
[
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] | [
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] | gripper_open | 0.784314 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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] | 1 | 19.6 | 196 | 24 | 10,313 | 0 |
[
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] | [
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] | gripper_open | 0.905882 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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] | 1 | 19.700001 | 197 | 24 | 10,314 | 0 |
[
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] | [
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0
] | gripper_open | 0.988234 | [
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0
] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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] | 1 | 19.799999 | 198 | 24 | 10,315 | 0 |
[
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] | gripper_open | 0.988234 | [
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] | [
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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] | 1 | 19.9 | 199 | 24 | 10,316 | 0 |
[
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] | gripper_open | 0.988234 | [
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] | [
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0.04399186000227928,
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0.00000844924034026917,
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
0.02963629923760891,
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] | 1 | 20 | 200 | 24 | 10,317 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
0.029639115557074547,
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0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
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0.04399093985557556,
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] | 1 | 20.1 | 201 | 24 | 10,318 | 0 |
[
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] | [
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] | move_to_position | 0.000012 | [
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] | [
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] | [
0.029639115557074547,
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0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 20.200001 | 202 | 24 | 10,319 | 0 |
[
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] | [
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] | move_to_position | 0.010622 | [
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] | [
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0,
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] | [
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0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 20.299999 | 203 | 24 | 10,320 | 0 |
[
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] | [
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] | move_to_position | 0.043836 | [
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] | [
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] | [
0.029639115557074547,
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0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 20.4 | 204 | 24 | 10,321 | 0 |
[
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] | [
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] | move_to_position | 0.098778 | [
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] | [
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] | [
0.029639115557074547,
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0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 20.5 | 205 | 24 | 10,322 | 0 |
[
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] | [
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] | move_to_position | 0.174034 | [
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] | [
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] | [
0.029639115557074547,
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0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 20.6 | 206 | 24 | 10,323 | 0 |
[
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] | [
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] | move_to_position | 0.25593 | [
-1.7256611585617065,
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] | [
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0,
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] | [
0.029639115557074547,
-0.6820210218429565,
0.09399999678134918,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
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0.057810913771390915,
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] | 1 | 20.700001 | 207 | 24 | 10,324 | 0 |
[
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] | [
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] | move_to_position | 0.37162 | [
-1.7256611585617065,
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] | [
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] | [
0.029639115557074547,
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0.09399999678134918,
0,
0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 20.799999 | 208 | 24 | 10,325 | 0 |
[
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] | [
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] | move_to_position | 0.500162 | [
-1.7256611585617065,
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] | [
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] | [
0.029639115557074547,
-0.6820210218429565,
0.09399999678134918,
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0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 20.9 | 209 | 24 | 10,326 | 0 |
[
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] | [
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] | move_to_position | 0.636565 | [
-1.7256611585617065,
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] | [
-0.029639115557074547,
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0,
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] | [
0.029639115557074547,
-0.6820210218429565,
0.09399999678134918,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 21 | 210 | 24 | 10,327 | 0 |
[
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] | [
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0
] | move_to_position | 0.748669 | [
-1.7256611585617065,
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1.4857336282730103,
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] | [
-0.029639115557074547,
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0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.09399999678134918,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.029626132920384407,
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] | 1 | 21.1 | 211 | 24 | 10,328 | 0 |
[
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] | [
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0
] | move_to_position | 0.834166 | [
-1.7256611585617065,
-1.0373483896255493,
1.4857336282730103,
-2.0177927017211914,
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] | [
-0.029639115557074547,
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0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.09399999678134918,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.02963157184422016,
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] | 1 | 21.200001 | 212 | 24 | 10,329 | 0 |
[
-1.7256921529769897,
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0
] | [
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0
] | move_to_position | 0.89762 | [
-1.7256611585617065,
-1.0373483896255493,
1.4857336282730103,
-2.0177927017211914,
-1.5707546472549438,
2.9906961917877197,
0
] | [
-0.029639115557074547,
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0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.09399999678134918,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.029618382453918457,
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] | 1 | 21.299999 | 213 | 24 | 10,330 | 0 |
[
-1.7256540060043335,
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] | [
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0
] | move_to_position | 0.949778 | [
-1.7256611585617065,
-1.0373483896255493,
1.4857336282730103,
-2.0177927017211914,
-1.5707546472549438,
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0
] | [
-0.029639115557074547,
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0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.09399999678134918,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.02961616776883602,
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] | 1 | 21.4 | 214 | 24 | 10,331 | 0 |
[
-1.7256540060043335,
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0
] | [
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0
] | move_to_position | 0.98163 | [
-1.7256611585617065,
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: retract after place | [
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[
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] | [
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] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 21.6 | 216 | 24 | 10,333 | 0 |
[
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] | move_to_joint_state | 0 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 21.700001 | 217 | 24 | 10,334 | 0 |
[
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] | move_to_joint_state | 0 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 21.799999 | 218 | 24 | 10,335 | 0 |
[
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] | move_to_joint_state | 0 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 21.9 | 219 | 24 | 10,336 | 0 |
[
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] | [
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] | move_to_joint_state | 0.064995 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 22 | 220 | 24 | 10,337 | 0 |
[
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] | [
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] | move_to_joint_state | 0.096248 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 22.1 | 221 | 24 | 10,338 | 0 |
[
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] | [
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] | move_to_joint_state | 0.195343 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 22.200001 | 222 | 24 | 10,339 | 0 |
[
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] | [
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] | move_to_joint_state | 0.267541 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 22.299999 | 223 | 24 | 10,340 | 0 |
[
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] | [
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] | move_to_joint_state | 0.36626 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 22.4 | 224 | 24 | 10,341 | 0 |
[
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] | [
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] | move_to_joint_state | 0.472681 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 22.5 | 225 | 24 | 10,342 | 0 |
[
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] | [
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] | move_to_joint_state | 0.577649 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 22.6 | 226 | 24 | 10,343 | 0 |
[
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] | [
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] | move_to_joint_state | 0.662807 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 22.700001 | 227 | 24 | 10,344 | 0 |
[
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] | [
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] | move_to_joint_state | 0.77243 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 22.799999 | 228 | 24 | 10,345 | 0 |
[
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] | [
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] | move_to_joint_state | 0.848234 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 22.9 | 229 | 24 | 10,346 | 0 |
[
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] | [
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] | move_to_joint_state | 0.930381 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 23 | 230 | 24 | 10,347 | 0 |
[
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] | [
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] | move_to_joint_state | 0.92471 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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-3.141559600830078,
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] | 1 | 23.1 | 231 | 24 | 10,348 | 0 |
[
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] | [
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] | move_to_joint_state | 0.972943 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 23.200001 | 232 | 24 | 10,349 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
-0.19738058745861053,
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0.10482336580753326,
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0,
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] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
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] | 1 | 23.299999 | 233 | 24 | 10,350 | 0 |
[
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] | [
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0
] | move_to_position | 0 | [
-2.05062198638916,
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1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.029627390205860138,
-0.682064950466156,
0.09378223866224289,
-3.1415534019470215,
-0.000020987999960198067,
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] | 1 | 23.4 | 234 | 24 | 10,351 | 0 |
[
-1.727455973625183,
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1.4853299856185913,
-2.016099214553833,
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0
] | [
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-2.01090931892395,
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2.985714912414551,
0
] | move_to_position | 0.005762 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
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] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.027853449806571007,
-0.6818175315856934,
0.0961967334151268,
3.141364336013794,
0.00002645701533765532,
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] | 1 | 23.5 | 235 | 24 | 10,352 | 0 |
[
-1.7360600233078003,
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1.4806922674179077,
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0
] | [
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1.4785959720611572,
-1.9950624704360962,
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0
] | move_to_position | 0.033922 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
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] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.021202348172664642,
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0.10451944917440414,
3.141350507736206,
0.00007265591557370499,
3.1415653228759766
] | 1 | 23.6 | 236 | 24 | 10,353 | 0 |
[
-1.7496646642684937,
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1.473523497581482,
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2.9665579795837402,
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] | [
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1.4703580141067505,
-1.9690725803375244,
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0
] | move_to_position | 0.0751 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.011797630228102207,
-0.6786679625511169,
0.11648887395858765,
3.141507148742676,
0.0000673819740768522,
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] | 1 | 23.700001 | 237 | 24 | 10,354 | 0 |
[
-1.7676514387130737,
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1.4639405012130737,
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] | [
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1.4593991041183472,
-1.9343953132629395,
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0
] | move_to_position | 0.123156 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.0008093144278973341,
-0.6758347153663635,
0.13069166243076324,
3.141427755355835,
0.000123598103527911,
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] | 1 | 23.799999 | 238 | 24 | 10,355 | 0 |
[
-1.7868207693099976,
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1.4538596868515015,
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0
] | [
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0
] | move_to_position | 0.165071 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.011397109366953373,
-0.6718323826789856,
0.1468052715063095,
-3.141552209854126,
0.00004903342414763756,
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] | 1 | 23.9 | 239 | 24 | 10,356 | 0 |
[
-1.8059428930282593,
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0
] | [
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0
] | move_to_position | 0.195583 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
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] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.024171538650989532,
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0.16379840672016144,
-3.141514301300049,
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] | 1 | 24 | 240 | 24 | 10,357 | 0 |
[
-1.8254960775375366,
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0
] | [
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0
] | move_to_position | 0.214159 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
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] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.034904055297374725,
-0.6620681285858154,
0.1784900277853012,
-3.141444206237793,
0.000049905585910892114,
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] | 1 | 24.1 | 241 | 24 | 10,358 | 0 |
[
-1.8415521383285522,
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2.87467885017395,
0
] | [
-1.8463406562805176,
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1.4225571155548096,
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0
] | move_to_position | 0.219133 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.04478967562317848,
-0.6570037603378296,
0.19225682318210602,
-3.1414434909820557,
0.00007806238136254251,
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] | 1 | 24.200001 | 242 | 24 | 10,359 | 0 |
[
-1.8538812398910522,
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-1.805313229560852,
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2.8623127937316895,
0
] | [
-1.8578625917434692,
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1.4164354801177979,
-1.7988066673278809,
-1.570522427558899,
2.8583626747131348,
0
] | move_to_position | 0.216295 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.051354050636291504,
-0.6533007025718689,
0.2016109675168991,
-3.141583204269409,
0.00008833593165036291,
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] | 1 | 24.299999 | 243 | 24 | 10,360 | 0 |
[
-1.8609217405319214,
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1.4147924184799194,
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2.855435848236084,
0
] | [
-1.8613932132720947,
-1.1914262771606445,
1.4145278930664062,
-1.7930083274841309,
-1.5705177783966064,
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0
] | move_to_position | 0.212623 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.05452824756503105,
-0.6514679193496704,
0.20608265697956085,
3.141563653945923,
0.00011725594231393188,
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] | 1 | 24.4 | 244 | 24 | 10,361 | 0 |
[
-1.8614581823349,
-1.19142746925354,
1.4145444631576538,
-1.7928062677383423,
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2.8548076152801514,
0
] | [
-1.861475944519043,
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1.414482831954956,
-1.7928730249404907,
-1.570517659187317,
2.854748487472534,
0
] | move_to_position | 0.212061 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.05455474928021431,
-0.6513656973838806,
0.20617890357971191,
-3.141456127166748,
0.00003154817022732459,
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] | 1 | 24.5 | 245 | 24 | 10,362 | 0 |
[
-1.8614500761032104,
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1.4145516157150269,
-1.7928625345230103,
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2.854783773422241,
0
] | [
-1.861475944519043,
-1.1915199756622314,
1.414482831954956,
-1.7928730249404907,
-1.570517659187317,
2.854748487472534,
0
] | move_to_position | 0.212131 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.054568812251091,
-0.6513670682907104,
0.2061709761619568,
-3.1414525508880615,
0.00004238138353684917,
3.1413731575012207
] | 1 | 24.6 | 246 | 24 | 10,363 | 0 |
[
-1.8614739179611206,
-1.1914823055267334,
1.4145549535751343,
-1.7928553819656372,
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2.854728937149048,
0
] | [
-1.8618807792663574,
-1.1911348104476929,
1.4144827127456665,
-1.7932579517364502,
-1.5705180168151855,
2.8543434143066406,
0
] | move_to_position | 0.212158 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.054599545896053314,
-0.6513841152191162,
0.20618405938148499,
-3.14152455329895,
0.00008019527012947947,
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] | 1 | 24.700001 | 247 | 24 | 10,364 | 0 |
[
-1.8647440671920776,
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1.4144757986068726,
-1.7958885431289673,
-1.570504069328308,
2.8515074253082275,
0
] | [
-1.8682326078414917,
-1.1850967407226562,
1.4144798517227173,
-1.7992911338806152,
-1.570523977279663,
2.8479907512664795,
0
] | move_to_position | 0.225389 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.05772015452384949,
-0.652311384677887,
0.20418184995651245,
3.1414685249328613,
0.00012357924424577504,
3.141375780105591
] | 1 | 24.799999 | 248 | 24 | 10,365 | 0 |
[
-1.8766735792160034,
-1.1772381067276,
1.4144915342330933,
-1.8073078393936157,
-1.5705126523971558,
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0
] | [
-1.883755087852478,
-1.1703591346740723,
1.4144728183746338,
-1.814018964767456,
-1.5705382823944092,
2.8324668407440186,
0
] | move_to_position | 0.275278 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.06827157735824585,
-0.6553606390953064,
0.19676873087882996,
3.141453504562378,
0.000148781095049344,
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] | 1 | 24.9 | 249 | 24 | 10,366 | 0 |
[
-1.8967713117599487,
-1.157920241355896,
1.41447913646698,
-1.8264394998550415,
-1.570548415184021,
2.819420099258423,
0
] | [
-1.906258463859558,
-1.1489977836608887,
1.4144614934921265,
-1.835365891456604,
-1.570558786392212,
2.809964418411255,
0
] | move_to_position | 0.35934 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.08380163460969925,
-0.6593026518821716,
0.1857864409685135,
-3.141580581665039,
0.00010690947965485975,
3.141441822052002
] | 1 | 25 | 250 | 24 | 10,367 | 0 |
[
-1.9206575155258179,
-1.13535475730896,
1.4144753217697144,
-1.8489867448806763,
-1.5705798864364624,
2.7955217361450195,
0
] | [
-1.9319615364074707,
-1.1245957612991333,
1.4144479036331177,
-1.8597490787506104,
-1.5705819129943848,
2.7842612266540527,
0
] | move_to_position | 0.458607 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.102570541203022,
-0.6632458567619324,
0.1726396232843399,
-3.1415350437164307,
0.000055102063925005496,
3.141510009765625
] | 1 | 25.1 | 251 | 24 | 10,368 | 0 |
[
-1.947067141532898,
-1.110323429107666,
1.4144543409347534,
-1.874169945716858,
-1.5706037282943726,
2.7690439224243164,
0
] | [
-1.9600645303726196,
-1.097907304763794,
1.4144357442855835,
-1.8864141702651978,
-1.5706069469451904,
2.7561538219451904,
0
] | move_to_position | 0.568769 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.1223747581243515,
-0.6665326356887817,
0.15870478749275208,
3.1415786743164062,
0.00003857450428768061,
3.1415653228759766
] | 1 | 25.200001 | 252 | 24 | 10,369 | 0 |
[
-1.9747194051742554,
-1.0840052366256714,
1.4144428968429565,
-1.9003797769546509,
-1.5705927610397339,
2.74139666557312,
0
] | [
-1.9878640174865723,
-1.07150399684906,
1.4144245386123657,
-1.9127931594848633,
-1.5706321001052856,
2.728350877761841,
0
] | move_to_position | 0.683979 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.14367082715034485,
-0.6690462231636047,
0.1435575634241104,
3.1415810585021973,
0.00004654449367080815,
-3.1415343284606934
] | 1 | 25.299999 | 253 | 24 | 10,370 | 0 |
[
-2.0020339488983154,
-1.058112621307373,
1.414446234703064,
-1.9262510538101196,
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2.7141811847686768,
0
] | [
-2.010800838470459,
-1.0497256517410278,
1.414412498474121,
-1.9345556497573853,
-1.570652723312378,
2.705418109893799,
0
] | move_to_position | 0.797553 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.16406534612178802,
-0.6704421639442444,
0.12904325127601624,
3.141522169113159,
0.00006683950050501153,
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] | 1 | 25.4 | 254 | 24 | 10,371 | 0 |
[
-2.0249860286712646,
-1.0362303256988525,
1.4144314527511597,
-1.9479624032974243,
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2.6912877559661865,
0
] | [
-2.0321218967437744,
-1.0294846296310425,
1.414398193359375,
-1.9547864198684692,
-1.5706721544265747,
2.6841018199920654,
0
] | move_to_position | 0.893115 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.1807710975408554,
-0.6708908677101135,
0.11691225320100784,
-3.1415576934814453,
0.000023618504201294854,
3.141517162322998
] | 1 | 25.5 | 255 | 24 | 10,372 | 0 |
[
-2.041747808456421,
-1.0203675031661987,
1.4144223928451538,
-1.9639226198196411,
-1.5706804990768433,
2.674452304840088,
0
] | [
-2.0460283756256104,
-1.01627779006958,
1.4143893718719482,
-1.9679864645004272,
-1.5706849098205566,
2.670196533203125,
0
] | move_to_position | 0.963017 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.1924726665019989,
-0.6708189249038696,
0.10844860970973969,
-3.1415762901306152,
0.00002028789822361432,
3.1415889263153076
] | 1 | 25.6 | 256 | 24 | 10,373 | 0 |
[
-2.0500738620758057,
-1.0124759674072266,
1.414406657218933,
-1.9717003107070923,
-1.5706804990768433,
2.6662960052490234,
0
] | [
-2.050605535507202,
-1.0119234323501587,
1.4143873453140259,
-1.9723377227783203,
-1.5706892013549805,
2.665618896484375,
0
] | move_to_position | 0.997357 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.19735689461231232,
-0.6706894040107727,
0.10487226396799088,
-3.1415510177612305,
-0.00004729030843009241,
3.1414599418640137
] | 1 | 25.700001 | 257 | 24 | 10,374 | 0 |
[
-2.0505950450897217,
-1.0119034051895142,
1.414366602897644,
-1.9723550081253052,
-1.5707162618637085,
2.665600299835205,
0
] | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | move_to_position | 0.999907 | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | [
0.19738058745861053,
0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | [
-0.19738058745861053,
-0.6707156896591187,
0.10482336580753326,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.1973569244146347,
-0.6707119941711426,
0.104812391102314,
-3.141547679901123,
-0.000026228179194731638,
-3.14156174659729
] | 1 | 25.799999 | 258 | 24 | 10,375 | 0 |
[
-2.05061411857605,
-1.0118827819824219,
1.4143918752670288,
-1.9723402261734009,
-1.5707200765609741,
2.6656157970428467,
0
] | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | gripper_open | 1 | [
-2.05061411857605,
-1.0118827819824219,
1.4143918752670288,
-1.9723402261734009,
-1.5707200765609741,
2.6656157970428467,
0
] | [
0.1973671019077301,
0.6707097291946411,
0.10479909181594849,
-3.1415491104125977,
-0.000017365266103297472,
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] | [
-0.1973671019077301,
-0.6707097291946411,
0.10479909181594849,
-3.1415491104125977,
-0.000017365266103297472,
-3.1415774822235107
] | 0 | pick second pie and place it on the second plate: open gripper | [
-0.19736449420452118,
-0.6707134246826172,
0.1048227921128273,
-3.1415648460388184,
0.000008482114026264753,
-3.1415655612945557
] | 1 | 25.9 | 259 | 24 | 10,376 | 0 |
[
-2.050579309463501,
-1.0119261741638184,
1.4143632650375366,
-1.972382664680481,
-1.5707005262374878,
2.665628433227539,
0.0117647061124444
] | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | gripper_open | 1 | [
-2.05061411857605,
-1.0118827819824219,
1.4143918752670288,
-1.9723402261734009,
-1.5707200765609741,
2.6656157970428467,
0
] | [
0.1973671019077301,
0.6707097291946411,
0.10479909181594849,
-3.1415491104125977,
-0.000017365266103297472,
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] | [
-0.1973671019077301,
-0.6707097291946411,
0.10479909181594849,
-3.1415491104125977,
-0.000017365266103297472,
-3.1415774822235107
] | 0 | pick second pie and place it on the second plate: open gripper | [
-0.19737368822097778,
-0.6707212328910828,
0.10481201857328415,
-3.1415700912475586,
0.000006941866558918264,
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] | 1 | 26 | 260 | 24 | 10,377 | 0 |
[
-2.050610303878784,
-1.0119106769561768,
1.4144138097763062,
-1.9723483324050903,
-1.5707114934921265,
2.665635347366333,
0.0117647061124444
] | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | gripper_open | 1 | [
-2.05061411857605,
-1.0118827819824219,
1.4143918752670288,
-1.9723402261734009,
-1.5707200765609741,
2.6656157970428467,
0
] | [
0.1973671019077301,
0.6707097291946411,
0.10479909181594849,
-3.1415491104125977,
-0.000017365266103297472,
-3.1415774822235107
] | [
-0.1973671019077301,
-0.6707097291946411,
0.10479909181594849,
-3.1415491104125977,
-0.000017365266103297472,
-3.1415774822235107
] | 0 | pick second pie and place it on the second plate: open gripper | [
-0.19740884006023407,
-0.6707237362861633,
0.10483372956514359,
3.141544818878174,
0.000004292582616471918,
3.141554355621338
] | 1 | 26.1 | 261 | 24 | 10,378 | 0 |
[
-2.0505988597869873,
-1.0118827819824219,
1.4143918752670288,
-1.9723550081253052,
-1.5706995725631714,
2.665619373321533,
0.0117647061124444
] | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | gripper_open | 1 | [
-2.05061411857605,
-1.0118827819824219,
1.4143918752670288,
-1.9723402261734009,
-1.5707200765609741,
2.6656157970428467,
0
] | [
0.1973671019077301,
0.6707097291946411,
0.10479909181594849,
-3.1415491104125977,
-0.000017365266103297472,
-3.1415774822235107
] | [
-0.1973671019077301,
-0.6707097291946411,
0.10479909181594849,
-3.1415491104125977,
-0.000017365266103297472,
-3.1415774822235107
] | 0 | pick second pie and place it on the second plate: open gripper | [
-0.19738489389419556,
-0.6707186698913574,
0.10481975972652435,
-3.141585111618042,
0.00001896595313155558,
3.1415772438049316
] | 1 | 26.200001 | 262 | 24 | 10,379 | 0 |
[
-2.0506365299224854,
-1.0118986368179321,
1.4144138097763062,
-1.9723745584487915,
-1.5707186460494995,
2.66558837890625,
0
] | [
-2.05062198638916,
-1.0119078159332275,
1.4143873453140259,
-1.9723533391952515,
-1.5706892013549805,
2.665602445602417,
0
] | move_to_position | 0.000208 | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
0
] | [
0.21915513277053833,
0.6817684769630432,
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0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.19737163186073303,
-0.6707162261009216,
0.10481975227594376,
-3.141592264175415,
0.000009296184543927666,
-3.1415810585021973
] | 1 | 26.299999 | 263 | 24 | 10,380 | 0 |
[
-2.0506179332733154,
-1.0118913650512695,
1.4143952131271362,
-1.9723550081253052,
-1.5706924200057983,
2.665600299835205,
0
] | [
-2.0506691932678223,
-1.0117783546447754,
1.4144874811172485,
-1.9726183414459229,
-1.5707318782806396,
2.6655821800231934,
0
] | move_to_position | 0.000132 | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
0
] | [
0.21915513277053833,
0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.19740082323551178,
-0.6707342267036438,
0.10483962297439575,
3.141500234603882,
0.00005315682938089594,
3.141580581665039
] | 1 | 26.4 | 264 | 24 | 10,381 | 0 |
[
-2.050809621810913,
-1.010834813117981,
1.4148296117782593,
-1.9740949869155884,
-1.5707124471664429,
2.6653966903686523,
0
] | [
-2.051095724105835,
-1.009783387184143,
1.4154529571533203,
-1.9756436347961426,
-1.570739984512329,
2.6651992797851562,
0
] | move_to_position | 0.010676 | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
0
] | [
0.21915513277053833,
0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.1976921111345291,
-0.6708906888961792,
0.10374009609222412,
3.1414389610290527,
0.00014833702880423516,
-3.1415507793426514
] | 1 | 26.5 | 265 | 24 | 10,382 | 0 |
[
-2.05149245262146,
-1.00774085521698,
1.4162405729293823,
-1.9786072969436646,
-1.5707281827926636,
2.664825677871704,
0
] | [
-2.051910638809204,
-1.0052337646484375,
1.4171990156173706,
-1.9818973541259766,
-1.5707422494888306,
2.664362907409668,
0
] | move_to_position | 0.039436 | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
0
] | [
0.21915513277053833,
0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.19843661785125732,
-0.6711662411689758,
0.1010982096195221,
3.1414430141448975,
0.0001317734713666141,
3.141521692276001
] | 1 | 26.6 | 266 | 24 | 10,383 | 0 |
[
-2.05261492729187,
-1.0016602277755737,
1.4183086156845093,
-1.986669659614563,
-1.57077157497406,
2.6637158393859863,
0
] | [
-2.05299973487854,
-0.9988729357719421,
1.4191601276397705,
-1.9901597499847412,
-1.5707454681396484,
2.663242816925049,
0
] | move_to_position | 0.092371 | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
0
] | [
0.21915513277053833,
0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.19970160722732544,
-0.671794593334198,
0.09638918191194534,
3.141486883163452,
0.00010653667413862422,
3.141531229019165
] | 1 | 26.700001 | 267 | 24 | 10,384 | 0 |
[
-2.0538628101348877,
-0.9937810301780701,
1.4204601049423218,
-1.996595025062561,
-1.5707401037216187,
2.6623711585998535,
0
] | [
-2.0546059608459473,
-0.9893399477005005,
1.421468734741211,
-2.0019800662994385,
-1.5707566738128662,
2.661633014678955,
0
] | move_to_position | 0.158531 | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
0
] | [
0.21915513277053833,
0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.2011900395154953,
-0.6726572513580322,
0.09069157391786575,
3.1415350437164307,
0.00007036970782792196,
3.1415858268737793
] | 1 | 26.799999 | 268 | 24 | 10,385 | 0 |
[
-2.0559675693511963,
-0.9812443852424622,
1.4232600927352905,
-2.01178240776062,
-1.570764422416687,
2.660299301147461,
0
] | [
-2.0568623542785645,
-0.9758514165878296,
1.424453854560852,
-2.0184361934661865,
-1.570774793624878,
2.6593880653381348,
0
] | move_to_position | 0.261205 | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
0
] | [
0.21915513277053833,
0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.2033672332763672,
-0.6738222241401672,
0.08262867480516434,
-3.1414871215820312,
-0.00003633630331023596,
3.141535997390747
] | 1 | 26.9 | 269 | 24 | 10,386 | 0 |
[
-2.058354139328003,
-0.9667705297470093,
1.4263862371444702,
-2.029409646987915,
-1.570776343345642,
2.657891273498535,
0
] | [
-2.059227228164673,
-0.9616045951843262,
1.4274284839630127,
-2.0356407165527344,
-1.5707941055297852,
2.6570348739624023,
0
] | move_to_position | 0.379941 | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
0
] | [
0.21915513277053833,
0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.2062268853187561,
-0.6753557920455933,
0.07186628878116608,
3.1415557861328125,
0.0000028398089852998964,
-3.1415600776672363
] | 1 | 27 | 270 | 24 | 10,387 | 0 |
[
-2.0608537197113037,
-0.9515279531478882,
1.4293454885482788,
-2.047694444656372,
-1.570834994316101,
2.6553685665130615,
0
] | [
-2.062138795852661,
-0.9438419938087463,
1.4307429790496826,
-2.0567193031311035,
-1.570818305015564,
2.65413761138916,
0
] | move_to_position | 0.503664 | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
0
] | [
0.21915513277053833,
0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.20888376235961914,
-0.6766259670257568,
0.06173150986433029,
-3.1414990425109863,
-0.0000198993493540911,
-3.141585111618042
] | 1 | 27.1 | 271 | 24 | 10,388 | 0 |
[
-2.063380479812622,
-0.9360685348510742,
1.4319361448287964,
-2.0656955242156982,
-1.5708240270614624,
2.6529242992401123,
0
] | [
-2.064178228378296,
-0.9310981035232544,
1.4325822591781616,
-2.071338653564453,
-1.570835828781128,
2.6521079540252686,
0
] | move_to_position | 0.626769 | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
0
] | [
0.21915513277053833,
0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.21142548322677612,
-0.6778423190116882,
0.05203923210501671,
-3.141566753387451,
0.00006817281973781064,
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] | 1 | 27.200001 | 272 | 24 | 10,389 | 0 |
[
-2.065267324447632,
-0.9238913655281067,
1.4333409070968628,
-2.0792758464813232,
-1.5708831548690796,
2.650956153869629,
0
] | [
-2.066305637359619,
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1.433727502822876,
-2.086337089538574,
-1.5708552598953247,
2.6499900817871094,
0
] | move_to_position | 0.72126 | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
0
] | [
0.21915513277053833,
0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.2134704291820526,
-0.6788464188575745,
0.04428142309188843,
-3.1415483951568604,
5.493077992468898e-7,
-3.1415703296661377
] | 1 | 27.299999 | 273 | 24 | 10,390 | 0 |
[
-2.067399263381958,
-0.9100344181060791,
1.43394935131073,
-2.093919038772583,
-1.5708445310592651,
2.648895502090454,
0
] | [
-2.068035364151001,
-0.9057071805000305,
1.4342080354690552,
-2.0983786582946777,
-1.5708715915679932,
2.648267984390259,
0
] | move_to_position | 0.825571 | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
0
] | [
0.21915513277053833,
0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.21571843326091766,
-0.6800684928894043,
0.03614736348390579,
3.141388177871704,
0.00007386838115053251,
3.141575574874878
] | 1 | 27.4 | 274 | 24 | 10,391 | 0 |
[
-2.0690548419952393,
-0.8988726735115051,
1.4341496229171753,
-2.1054775714874268,
-1.570896029472351,
2.6472465991973877,
0
] | [
-2.0695443153381348,
-0.895436704158783,
1.434373140335083,
-2.108792781829834,
-1.570886254310608,
2.6467654705047607,
0
] | move_to_position | 0.908668 | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
0
] | [
0.21915513277053833,
0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.21745222806930542,
-0.6809976696968079,
0.02962452359497547,
3.141317129135132,
0.00015001732390373945,
-3.1415560245513916
] | 1 | 27.5 | 275 | 24 | 10,392 | 0 |
[
-2.070119619369507,
-0.891162097454071,
1.4343055486679077,
-2.1131160259246826,
-1.570884108543396,
2.6461994647979736,
0
] | [
-2.0704925060272217,
-0.888916552066803,
1.4343833923339844,
-2.1152946949005127,
-1.5708956718444824,
2.6458210945129395,
0
] | move_to_position | 0.964742 | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
0
] | [
0.21915513277053833,
0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.2184814214706421,
-0.6814854145050049,
0.02523226849734783,
-3.141545057296753,
-0.00003907824066118337,
-3.1415369510650635
] | 1 | 27.6 | 276 | 24 | 10,393 | 0 |
[
-2.0705206394195557,
-0.8871713876724243,
1.4343708753585815,
-2.1169183254241943,
-1.570896029472351,
2.6456642150878906,
0
] | [
-2.0708067417144775,
-0.8867534399032593,
1.4343719482421875,
-2.117445707321167,
-1.5708987712860107,
2.645508289337158,
0
] | move_to_position | 0.993031 | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
0
] | [
0.21915513277053833,
0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.21890690922737122,
-0.6817569136619568,
0.023322081193327904,
-3.1415486335754395,
-0.0000786297459853813,
-3.1414260864257812
] | 1 | 27.700001 | 277 | 24 | 10,394 | 0 |
[
-2.070722818374634,
-0.8863800764083862,
1.4343823194503784,
-2.1177403926849365,
-1.5708612203598022,
2.645477294921875,
0
] | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
0
] | move_to_position | 0.998836 | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
0
] | [
0.21915513277053833,
0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.023000000044703484,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.2190723568201065,
-0.68177729845047,
0.023043813183903694,
-3.141556978225708,
0.00001342120231129229,
-3.141469955444336
] | 1 | 27.799999 | 278 | 24 | 10,395 | 0 |
[
-2.070815324783325,
-0.8864004015922546,
1.434397578239441,
-2.1178009510040283,
-1.570896029472351,
2.645418882369995,
0
] | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
1
] | gripper_close | 0 | [
-2.070815324783325,
-0.8864004015922546,
1.434397578239441,
-2.1178009510040283,
-1.570896029472351,
2.645418882369995,
1
] | [
0.21911302208900452,
0.6817737817764282,
0.023041298612952232,
3.141561269760132,
-0.000007017089956207201,
-3.141526460647583
] | [
-0.21911302208900452,
-0.6817737817764282,
0.023041298612952232,
3.141561269760132,
-0.000007017089956207201,
-3.141526460647583
] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
-0.21912774443626404,
-0.6817649602890015,
0.023052465170621872,
3.1415462493896484,
0.00002287655843247194,
-3.14155912399292
] | 1 | 27.9 | 279 | 24 | 10,396 | 0 |
[
-2.070894479751587,
-0.8864148855209351,
1.4343708753585815,
-2.1178882122039795,
-1.570896029472351,
2.645448684692383,
0.0117647061124444
] | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
1
] | gripper_close | 0.011765 | [
-2.070815324783325,
-0.8864004015922546,
1.434397578239441,
-2.1178009510040283,
-1.570896029472351,
2.645418882369995,
1
] | [
0.21911302208900452,
0.6817737817764282,
0.023041298612952232,
3.141561269760132,
-0.000007017089956207201,
-3.141526460647583
] | [
-0.21911302208900452,
-0.6817737817764282,
0.023041298612952232,
3.141561269760132,
-0.000007017089956207201,
-3.141526460647583
] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
-0.21916355192661285,
-0.6817715167999268,
0.02305036596953869,
3.141540765762329,
0.0000654418981866911,
-3.141577959060669
] | 1 | 28 | 280 | 24 | 10,397 | 0 |
[
-2.070878267288208,
-0.8863992094993591,
1.4343823194503784,
-2.1178882122039795,
-1.5709308385849,
2.6454570293426514,
0.054901961237192154
] | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
1
] | gripper_close | 0.054902 | [
-2.070815324783325,
-0.8864004015922546,
1.434397578239441,
-2.1178009510040283,
-1.570896029472351,
2.645418882369995,
1
] | [
0.21911302208900452,
0.6817737817764282,
0.023041298612952232,
3.141561269760132,
-0.000007017089956207201,
-3.141526460647583
] | [
-0.21911302208900452,
-0.6817737817764282,
0.023041298612952232,
3.141561269760132,
-0.000007017089956207201,
-3.141526460647583
] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
-0.219142884016037,
-0.6817710995674133,
0.023038368672132492,
3.141541004180908,
4.4203062543601845e-7,
3.1415836811065674
] | 1 | 28.1 | 281 | 24 | 10,398 | 0 |
[
-2.070859670639038,
-0.88632732629776,
1.4343785047531128,
-2.1179001331329346,
-1.5709308385849,
2.645414113998413,
0.1764705926179886
] | [
-2.070871114730835,
-0.8863090872764587,
1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
1
] | gripper_close | 0.176471 | [
-2.070815324783325,
-0.8864004015922546,
1.434397578239441,
-2.1178009510040283,
-1.570896029472351,
2.645418882369995,
1
] | [
0.21911302208900452,
0.6817737817764282,
0.023041298612952232,
3.141561269760132,
-0.000007017089956207201,
-3.141526460647583
] | [
-0.21911302208900452,
-0.6817737817764282,
0.023041298612952232,
3.141561269760132,
-0.000007017089956207201,
-3.141526460647583
] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
-0.21915438771247864,
-0.681757926940918,
0.022989461198449135,
-3.141575336456299,
-0.000016311934814439155,
3.1415865421295166
] | 1 | 28.200001 | 282 | 24 | 10,399 | 0 |
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