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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-2.0709025859832764,
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1.4343308210372925,
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2.6454570293426514,
0.30980393290519714
] | [
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1.434361219406128,
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1
] | gripper_close | 0.309804 | [
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1.434397578239441,
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1
] | [
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] | [
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0.023041298612952232,
3.141561269760132,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
-0.21928060054779053,
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0.023063717409968376,
3.1414742469787598,
0.00027100055012851954,
3.141531467437744
] | 1 | 28.299999 | 283 | 24 | 10,400 | 0 |
[
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1.434141993522644,
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] | [
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1.434361219406128,
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1
] | gripper_close | 0.439215 | [
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1.434397578239441,
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] | [
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] | [
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0.023041298612952232,
3.141561269760132,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
-0.219453826546669,
-0.681867241859436,
0.023269319906830788,
3.1410481929779053,
0.00040865197661332786,
3.1413216590881348
] | 1 | 28.4 | 284 | 24 | 10,401 | 0 |
[
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2.6454224586486816,
0.6352941393852234
] | [
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1.434361219406128,
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1
] | gripper_close | 0.635294 | [
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1.434397578239441,
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] | [
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] | [
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0.023041298612952232,
3.141561269760132,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.023295477032661438,
3.141108751296997,
0.0002520479611121118,
3.1414318084716797
] | 0 | 28.5 | 285 | 24 | 10,402 | 0 |
[
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] | [
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1
] | gripper_close | 0.713725 | [
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1.434397578239441,
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] | [
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] | [
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0.023041298612952232,
3.141561269760132,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.023349575698375702,
3.141063690185547,
0.00028603547252714634,
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] | 0 | 28.6 | 286 | 24 | 10,403 | 0 |
[
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2.6454224586486816,
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] | [
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1.434361219406128,
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1
] | gripper_close | 0.768627 | [
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1.434397578239441,
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1
] | [
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] | [
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0.023041298612952232,
3.141561269760132,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.023204008117318153,
3.14125657081604,
0.0002215195563621819,
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] | 0 | 28.700001 | 287 | 24 | 10,404 | 0 |
[
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2.645453453063965,
0.7960784435272217
] | [
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1.434361219406128,
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1
] | gripper_close | 0.796078 | [
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1.434397578239441,
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1
] | [
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] | [
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0.023041298612952232,
3.141561269760132,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
-0.21918798983097076,
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0.022987548261880875,
-3.141573905944824,
0.000006151431534817675,
3.1415719985961914
] | 0 | 28.799999 | 288 | 24 | 10,405 | 0 |
[
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1.434386134147644,
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] | [
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1.434361219406128,
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1
] | gripper_close | 0.8 | [
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1.434397578239441,
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1
] | [
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] | [
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0.023041298612952232,
3.141561269760132,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.02292889729142189,
-3.141448497772217,
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] | 0 | 28.9 | 289 | 24 | 10,406 | 0 |
[
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] | [
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1
] | gripper_close | 0.8 | [
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1
] | [
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] | [
-0.21911302208900452,
-0.6817737817764282,
0.023041298612952232,
3.141561269760132,
-0.000007017089956207201,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
-0.21913906931877136,
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0.022844495251774788,
-3.141314744949341,
-0.00016336065891664475,
3.141552448272705
] | 0 | 29 | 290 | 24 | 10,407 | 0 |
[
-2.070887327194214,
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1.4344576597213745,
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2.6454296112060547,
0.800000011920929
] | [
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1.434361219406128,
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1
] | gripper_close | 0.8 | [
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1.434397578239441,
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1
] | [
0.21911302208900452,
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] | [
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-0.6817737817764282,
0.023041298612952232,
3.141561269760132,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
-0.21910488605499268,
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0.022808169946074486,
-3.1412904262542725,
-0.0001631305494811386,
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] | 0 | 29.1 | 291 | 24 | 10,408 | 0 |
[
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1.434493899345398,
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2.6454415321350098,
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] | [
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1.434361219406128,
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1
] | gripper_close | 0.8 | [
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1.434397578239441,
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1
] | [
0.21911302208900452,
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] | [
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0.023041298612952232,
3.141561269760132,
-0.000007017089956207201,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
-0.2191159725189209,
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0.022791272029280663,
-3.1412651538848877,
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] | 0 | 29.200001 | 292 | 24 | 10,409 | 0 |
[
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1.4344590902328491,
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2.6454415321350098,
0.800000011920929
] | [
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1.434361219406128,
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1
] | gripper_close | 0.8 | [
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1.434397578239441,
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1
] | [
0.21911302208900452,
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3.141561269760132,
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] | [
-0.21911302208900452,
-0.6817737817764282,
0.023041298612952232,
3.141561269760132,
-0.000007017089956207201,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
-0.21910087764263153,
-0.6817046403884888,
0.022870006039738655,
-3.1413636207580566,
-0.00015464828175026923,
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] | 0 | 29.299999 | 293 | 24 | 10,410 | 0 |
[
-2.070887327194214,
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1.4343751668930054,
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2.645426034927368,
0.800000011920929
] | [
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1.434361219406128,
-2.117887496948242,
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2.645443916320801,
1
] | gripper_close | 0.8 | [
-2.070815324783325,
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1.434397578239441,
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2.645418882369995,
1
] | [
0.21911302208900452,
0.6817737817764282,
0.023041298612952232,
3.141561269760132,
-0.000007017089956207201,
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] | [
-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 | [
-0.21913425624370575,
-0.6817490458488464,
0.022975387051701546,
-3.1415066719055176,
-0.000027661148124025203,
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] | 0 | 29.4 | 294 | 24 | 10,411 | 0 |
[
-2.070871114730835,
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1.4343503713607788,
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-1.570896029472351,
2.6454451084136963,
0.800000011920929
] | [
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1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
1
] | gripper_close | 0.8 | [
-2.070815324783325,
-0.8864004015922546,
1.434397578239441,
-2.1178009510040283,
-1.570896029472351,
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1
] | [
0.21911302208900452,
0.6817737817764282,
0.023041298612952232,
3.141561269760132,
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] | [
-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 | [
-0.2191341370344162,
-0.6817659735679626,
0.022960618138313293,
-3.1415371894836426,
-0.000024754295736784115,
-3.1415483951568604
] | 0 | 29.5 | 295 | 24 | 10,412 | 0 |
[
-2.070859670639038,
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1.434386134147644,
-2.1178643703460693,
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2.6454224586486816,
0.800000011920929
] | [
-2.070871114730835,
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1.434361219406128,
-2.117887496948242,
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2.645443916320801,
1
] | gripper_close | 0.8 | [
-2.070815324783325,
-0.8864004015922546,
1.434397578239441,
-2.1178009510040283,
-1.570896029472351,
2.645418882369995,
1
] | [
0.21911302208900452,
0.6817737817764282,
0.023041298612952232,
3.141561269760132,
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] | [
-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 | [
-0.21914897859096527,
-0.6817553639411926,
0.022963667288422585,
-3.1415457725524902,
-0.00002005447277042549,
3.1415765285491943
] | 0 | 29.6 | 296 | 24 | 10,413 | 0 |
[
-2.0708630084991455,
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1.4343746900558472,
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2.6454379558563232,
0.800000011920929
] | [
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1.434361219406128,
-2.117887496948242,
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2.645443916320801,
1
] | gripper_close | 0.8 | [
-2.070815324783325,
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1.434397578239441,
-2.1178009510040283,
-1.570896029472351,
2.645418882369995,
1
] | [
0.21911302208900452,
0.6817737817764282,
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] | [
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
-0.21915966272354126,
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0.022956952452659607,
-3.1415328979492188,
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3.1415724754333496
] | 0 | 29.700001 | 297 | 24 | 10,414 | 0 |
[
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] | [
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1
] | gripper_close | 0.8 | [
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1.434397578239441,
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] | [
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] | [
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0.023041298612952232,
3.141561269760132,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.02295920066535473,
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] | 0 | 29.799999 | 298 | 24 | 10,415 | 0 |
[
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] | [
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1
] | gripper_close | 0.8 | [
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1.434397578239441,
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] | [
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] | [
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0.023041298612952232,
3.141561269760132,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.022964511066675186,
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] | 0 | 29.9 | 299 | 24 | 10,416 | 0 |
[
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] | [
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1
] | gripper_close | 0.8 | [
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] | [
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] | [
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0.023041298612952232,
3.141561269760132,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.02299070544540882,
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] | 0 | 30 | 300 | 24 | 10,417 | 0 |
[
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] | [
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1
] | gripper_close | 0.8 | [
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] | [
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] | [
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0.023041298612952232,
3.141561269760132,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.023004036396741867,
3.1415836811065674,
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] | 0 | 30.1 | 301 | 24 | 10,418 | 0 |
[
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] | [
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1
] | gripper_close | 0.8 | [
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1
] | [
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] | [
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0.023041298612952232,
3.141561269760132,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.02299395389854908,
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] | 0 | 30.200001 | 302 | 24 | 10,419 | 0 |
[
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] | [
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1
] | gripper_close | 0.8 | [
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1
] | [
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] | [
-0.21911302208900452,
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0.023041298612952232,
3.141561269760132,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.023010654374957085,
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0.0000037692939258704428,
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] | 0 | 30.299999 | 303 | 24 | 10,420 | 0 |
[
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] | [
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1
] | gripper_close | 0.8 | [
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1
] | [
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] | [
-0.21911302208900452,
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0.023041298612952232,
3.141561269760132,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
-0.2191476672887802,
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0.022984305396676064,
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3.141592025756836
] | 0 | 30.4 | 304 | 24 | 10,421 | 0 |
[
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1.4343537092208862,
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] | [
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2.645443916320801,
1
] | gripper_close | 0.8 | [
-2.070815324783325,
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1.434397578239441,
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1
] | [
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] | [
-0.21911302208900452,
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0.023041298612952232,
3.141561269760132,
-0.000007017089956207201,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
-0.2191607654094696,
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0.023004941642284393,
3.1415603160858154,
0.000024180422769859433,
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] | 0 | 30.5 | 305 | 24 | 10,422 | 0 |
[
-2.0708630084991455,
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1.4343708753585815,
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2.6454415321350098,
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] | [
-2.070871114730835,
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1.434361219406128,
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2.645443916320801,
1
] | gripper_close | 0.8 | [
-2.070815324783325,
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1.434397578239441,
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1
] | [
0.21911302208900452,
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] | [
-0.21911302208900452,
-0.6817737817764282,
0.023041298612952232,
3.141561269760132,
-0.000007017089956207201,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
-0.21915854513645172,
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0.02298969030380249,
-3.14155650138855,
-0.000030416345907724462,
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] | 0 | 30.6 | 306 | 24 | 10,423 | 0 |
[
-2.0708510875701904,
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1.4343708753585815,
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2.6454451084136963,
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] | [
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1.434361219406128,
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1
] | gripper_close | 0.8 | [
-2.070815324783325,
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1.434397578239441,
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1
] | [
0.21911302208900452,
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3.141561269760132,
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] | [
-0.21911302208900452,
-0.6817737817764282,
0.023041298612952232,
3.141561269760132,
-0.000007017089956207201,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
-0.21914927661418915,
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0.022988345474004745,
-3.1415624618530273,
0.0000260591295955237,
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] | 0 | 30.700001 | 307 | 24 | 10,424 | 0 |
[
-2.070878267288208,
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1.4343537092208862,
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2.6454379558563232,
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] | [
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1.434361219406128,
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2.645443916320801,
1
] | gripper_close | 0.8 | [
-2.070815324783325,
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1.434397578239441,
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-1.570896029472351,
2.645418882369995,
1
] | [
0.21911302208900452,
0.6817737817764282,
0.023041298612952232,
3.141561269760132,
-0.000007017089956207201,
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] | [
-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 | [
-0.2191551774740219,
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0.022998979315161705,
-3.1415467262268066,
0.000012122327461838722,
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] | 0 | 30.799999 | 308 | 24 | 10,425 | 0 |
[
-2.070859670639038,
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1.4343746900558472,
-2.1178572177886963,
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2.6454415321350098,
1
] | [
-2.070871114730835,
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1.434361219406128,
-2.117887496948242,
-1.5708993673324585,
2.645443916320801,
1
] | move_to_position | 0.000063 | [
-2.0707900524139404,
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1.3721731901168823,
-1.9839531183242798,
-1.5707658529281616,
2.6454079151153564,
1
] | [
0.21915513277053833,
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0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.08799999952316284,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
-0.21914149820804596,
-0.681775689125061,
0.02300184965133667,
3.141572952270508,
-0.000017892445612233132,
3.1415884494781494
] | 0 | 30.9 | 309 | 24 | 10,426 | 0 |
[
-2.070847749710083,
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1.434338927268982,
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-1.5709031820297241,
2.645446300506592,
1
] | [
-2.070847749710083,
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1.4342907667160034,
-2.117628812789917,
-1.570899486541748,
2.645460605621338,
1
] | move_to_position | 0 | [
-2.0707900524139404,
-0.9580665826797485,
1.3721731901168823,
-1.9839531183242798,
-1.5707658529281616,
2.6454079151153564,
1
] | [
0.21915513277053833,
0.6817684769630432,
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0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.08799999952316284,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
-0.2191506177186966,
-0.6817805171012878,
0.023084653541445732,
3.1415293216705322,
0.00004029345654998906,
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] | 0 | 31 | 310 | 24 | 10,427 | 0 |
[
-2.070866346359253,
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1.433794379234314,
-2.1163928508758545,
-1.570872187614441,
2.645472526550293,
1
] | [
-2.0708463191986084,
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1.4332937002182007,
-2.1147425174713135,
-1.570896029472351,
2.6454596519470215,
1
] | move_to_position | 0.011874 | [
-2.0707900524139404,
-0.9580665826797485,
1.3721731901168823,
-1.9839531183242798,
-1.5707658529281616,
2.6454079151153564,
1
] | [
0.21915513277053833,
0.6817684769630432,
0.08799999952316284,
0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.08799999952316284,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
-0.2191154956817627,
-0.6817961931228638,
0.024218454957008362,
3.1414201259613037,
0.00007169481978053227,
-3.1415417194366455
] | 0 | 31.1 | 311 | 24 | 10,428 | 0 |
[
-2.0708258152008057,
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1.4322890043258667,
-2.1116931438446045,
-1.5708483457565308,
2.64546537399292,
1
] | [
-2.0708436965942383,
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1.431343913078308,
-2.109522819519043,
-1.5708897113800049,
2.6454579830169678,
1
] | move_to_position | 0.045711 | [
-2.0707900524139404,
-0.9580665826797485,
1.3721731901168823,
-1.9839531183242798,
-1.5707658529281616,
2.6454079151153564,
1
] | [
0.21915513277053833,
0.6817684769630432,
0.08799999952316284,
0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.08799999952316284,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
-0.2190254032611847,
-0.6816468834877014,
0.026533342897892,
-3.141300678253174,
-0.00018048399942927063,
-3.14151930809021
] | 0 | 31.200001 | 312 | 24 | 10,429 | 0 |
[
-2.07080340385437,
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1.429531455039978,
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-1.5708564519882202,
2.645453453063965,
1
] | [
-2.0708401203155518,
-0.8963383436203003,
1.4282151460647583,
-2.101698637008667,
-1.5708807706832886,
2.6454553604125977,
1
] | move_to_position | 0.097819 | [
-2.0707900524139404,
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1.3721731901168823,
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2.6454079151153564,
1
] | [
0.21915513277053833,
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0,
0,
0
] | [
-0.21915513277053833,
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0.08799999952316284,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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] | 0 | 31.299999 | 313 | 24 | 10,430 | 0 |
[
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] | [
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1
] | move_to_position | 0.165202 | [
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1.3721731901168823,
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] | [
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0,
0,
0
] | [
-0.21915513277053833,
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0.08799999952316284,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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3.141589641571045,
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] | 0 | 31.4 | 314 | 24 | 10,431 | 0 |
[
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] | [
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1
] | move_to_position | 0.257437 | [
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1.3721731901168823,
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] | [
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0,
0
] | [
-0.21915513277053833,
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0.08799999952316284,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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] | 0 | 31.5 | 315 | 24 | 10,432 | 0 |
[
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] | [
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1
] | move_to_position | 0.382794 | [
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1.3721731901168823,
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1
] | [
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0,
0
] | [
-0.21915513277053833,
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0.08799999952316284,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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] | 0 | 31.6 | 316 | 24 | 10,433 | 0 |
[
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] | [
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1
] | move_to_position | 0.508345 | [
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] | [
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0,
0
] | [
-0.21915513277053833,
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0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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] | 0 | 31.700001 | 317 | 24 | 10,434 | 0 |
[
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] | [
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1
] | move_to_position | 0.632595 | [
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] | [
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0,
0
] | [
-0.21915513277053833,
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0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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] | 0 | 31.799999 | 318 | 24 | 10,435 | 0 |
[
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] | [
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1
] | move_to_position | 0.738966 | [
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1.3721731901168823,
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1
] | [
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0,
0
] | [
-0.21915513277053833,
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0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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] | 0 | 31.9 | 319 | 24 | 10,436 | 0 |
[
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] | [
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1
] | move_to_position | 0.827425 | [
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1
] | [
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0,
0
] | [
-0.21915513277053833,
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0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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] | 0 | 32 | 320 | 24 | 10,437 | 0 |
[
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] | [
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1
] | move_to_position | 0.905599 | [
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1.3721731901168823,
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1
] | [
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0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.08799999952316284,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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] | 0 | 32.099998 | 321 | 24 | 10,438 | 0 |
[
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] | [
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1
] | move_to_position | 0.96578 | [
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1.3721731901168823,
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1
] | [
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0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.08799999952316284,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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] | 0 | 32.200001 | 322 | 24 | 10,439 | 0 |
[
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] | [
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1
] | move_to_position | 0.992947 | [
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1
] | [
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0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.08799999952316284,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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] | 0 | 32.299999 | 323 | 24 | 10,440 | 0 |
[
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] | [
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1
] | move_to_position | 0.997927 | [
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1.3721731901168823,
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1
] | [
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0,
0,
0
] | [
-0.21915513277053833,
-0.6817684769630432,
0.08799999952316284,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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] | 0 | 32.400002 | 324 | 24 | 10,441 | 0 |
[
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] | [
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1.3721731901168823,
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2.6454079151153564,
1
] | move_to_position | 0 | [
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1.561775803565979,
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1
] | [
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0,
0,
0
] | [
-0.1373738795518875,
-0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.2191237062215805,
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0.0879722386598587,
-3.1415627002716064,
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] | 0 | 32.5 | 325 | 24 | 10,442 | 0 |
[
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1
] | [
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1
] | move_to_position | 0 | [
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1.561775803565979,
-2.0887763500213623,
-1.5706335306167603,
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1
] | [
0.1373738795518875,
0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | [
-0.1373738795518875,
-0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.2191063016653061,
-0.6817331910133362,
0.08793026208877563,
-3.1414785385131836,
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] | 0 | 32.599998 | 326 | 24 | 10,443 | 0 |
[
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1
] | [
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-1.5707664489746094,
2.6465935707092285,
1
] | move_to_position | 0.004956 | [
-1.9805874824523926,
-1.0424306392669678,
1.561775803565979,
-2.0887763500213623,
-1.5706335306167603,
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1
] | [
0.1373738795518875,
0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | [
-0.1373738795518875,
-0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.21828313171863556,
-0.6815128326416016,
0.08760064840316772,
-3.1412508487701416,
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] | 0 | 32.700001 | 327 | 24 | 10,444 | 0 |
[
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1
] | [
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-1.9904865026474,
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2.6510555744171143,
1
] | move_to_position | 0.042007 | [
-1.9805874824523926,
-1.0424306392669678,
1.561775803565979,
-2.0887763500213623,
-1.5706335306167603,
2.7356655597686768,
1
] | [
0.1373738795518875,
0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | [
-0.1373738795518875,
-0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.2150089591741562,
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0.08706072717905045,
-3.1414847373962402,
-0.00004623855056706816,
3.1415555477142334
] | 0 | 32.799999 | 328 | 24 | 10,445 | 0 |
[
-2.061328172683716,
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2.6549489498138428,
1
] | [
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1.3984578847885132,
-1.9984309673309326,
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2.657899856567383,
1
] | move_to_position | 0.104386 | [
-1.9805874824523926,
-1.0424306392669678,
1.561775803565979,
-2.0887763500213623,
-1.5706335306167603,
2.7356655597686768,
1
] | [
0.1373738795518875,
0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | [
-0.1373738795518875,
-0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.20906449854373932,
-0.679140031337738,
0.08582162857055664,
-3.1414387226104736,
-0.000051888237067032605,
3.14158034324646
] | 0 | 32.900002 | 329 | 24 | 10,446 | 0 |
[
-2.053199529647827,
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1
] | [
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1.4168410301208496,
-2.0085909366607666,
-1.5707358121871948,
2.6666457653045654,
1
] | move_to_position | 0.194341 | [
-1.9805874824523926,
-1.0424306392669678,
1.561775803565979,
-2.0887763500213623,
-1.5706335306167603,
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1
] | [
0.1373738795518875,
0.6538929343223572,
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0,
0,
0
] | [
-0.1373738795518875,
-0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.20124733448028564,
-0.6769493222236633,
0.08417008817195892,
-3.141329050064087,
-0.000151193788042292,
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] | 0 | 33 | 330 | 24 | 10,447 | 0 |
[
-2.0436604022979736,
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1.4292834997177124,
-2.0154941082000732,
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2.6725785732269287,
1
] | [
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1.4379609823226929,
-2.020254135131836,
-1.5707205533981323,
2.676682472229004,
1
] | move_to_position | 0.300671 | [
-1.9805874824523926,
-1.0424306392669678,
1.561775803565979,
-2.0887763500213623,
-1.5706335306167603,
2.7356655597686768,
1
] | [
0.1373738795518875,
0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | [
-0.1373738795518875,
-0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.1922314614057541,
-0.6742889285087585,
0.08229445666074753,
-3.1413824558258057,
-0.00022717216052114964,
3.1415891647338867
] | 0 | 33.099998 | 331 | 24 | 10,448 | 0 |
[
-2.0336310863494873,
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1.4506124258041382,
-2.0272552967071533,
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2.6827239990234375,
1
] | [
-2.027709722518921,
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1.4629241228103638,
-2.034036874771118,
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2.688540458679199,
1
] | move_to_position | 0.412988 | [
-1.9805874824523926,
-1.0424306392669678,
1.561775803565979,
-2.0887763500213623,
-1.5706335306167603,
2.7356655597686768,
1
] | [
0.1373738795518875,
0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | [
-0.1373738795518875,
-0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.18316935002803802,
-0.6713645458221436,
0.08039843291044235,
-3.141350269317627,
-0.00017582668806426227,
3.1415278911590576
] | 0 | 33.200001 | 332 | 24 | 10,449 | 0 |
[
-2.0223920345306396,
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1.4742292165756226,
-2.0401670932769775,
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2.693835973739624,
1
] | [
-2.01806378364563,
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1.483228325843811,
-2.0452492237091064,
-1.5706883668899536,
2.6981866359710693,
1
] | move_to_position | 0.537136 | [
-1.9805874824523926,
-1.0424306392669678,
1.561775803565979,
-2.0887763500213623,
-1.5706335306167603,
2.7356655597686768,
1
] | [
0.1373738795518875,
0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | [
-0.1373738795518875,
-0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.1729758083820343,
-0.6678619980812073,
0.07812247425317764,
-3.1411330699920654,
-0.00020306931401137263,
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] | 0 | 33.299999 | 333 | 24 | 10,450 | 0 |
[
-2.011598825454712,
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1.4967530965805054,
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2.7046005725860596,
1
] | [
-2.0081255435943604,
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1.5041359663009644,
-2.0568008422851562,
-1.5706738233566284,
2.708125591278076,
1
] | move_to_position | 0.656289 | [
-1.9805874824523926,
-1.0424306392669678,
1.561775803565979,
-2.0887763500213623,
-1.5706335306167603,
2.7356655597686768,
1
] | [
0.1373738795518875,
0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | [
-0.1373738795518875,
-0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.16366754472255707,
-0.6644814014434814,
0.07608836889266968,
-3.1410064697265625,
-0.0002800100191961974,
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] | 0 | 33.400002 | 334 | 24 | 10,451 | 0 |
[
-2.002204656600952,
-1.0222300291061401,
1.5165899991989136,
-2.06365704536438,
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1
] | [
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1.5244156122207642,
-2.068016767501831,
-1.5706597566604614,
2.7177770137786865,
1
] | move_to_position | 0.761012 | [
-1.9805874824523926,
-1.0424306392669678,
1.561775803565979,
-2.0887763500213623,
-1.5706335306167603,
2.7356655597686768,
1
] | [
0.1373738795518875,
0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | [
-0.1373738795518875,
-0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.15491168200969696,
-0.6611033082008362,
0.07425108551979065,
-3.1411499977111816,
-0.0001984198170248419,
3.1415393352508545
] | 0 | 33.5 | 335 | 24 | 10,452 | 0 |
[
-1.9931734800338745,
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1.5355819463729858,
-2.0741169452667236,
-1.5706876516342163,
2.7230210304260254,
1
] | [
-1.9902093410491943,
-1.0334131717681885,
1.5417512655258179,
-2.077618360519409,
-1.5706477165222168,
2.7260425090789795,
1
] | move_to_position | 0.860978 | [
-1.9805874824523926,
-1.0424306392669678,
1.561775803565979,
-2.0887763500213623,
-1.5706335306167603,
2.7356655597686768,
1
] | [
0.1373738795518875,
0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | [
-0.1373738795518875,
-0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.14725902676582336,
-0.6580253839492798,
0.07256020605564117,
-3.141075849533081,
-0.0002069597685476765,
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] | 0 | 33.599998 | 336 | 24 | 10,453 | 0 |
[
-1.986732840538025,
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1.5489076375961304,
-2.0816423892974854,
-1.5706685781478882,
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1
] | [
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1.5544419288635254,
-2.0846633911132812,
-1.57063889503479,
2.7321128845214844,
1
] | move_to_position | 0.931887 | [
-1.9805874824523926,
-1.0424306392669678,
1.561775803565979,
-2.0887763500213623,
-1.5706335306167603,
2.7356655597686768,
1
] | [
0.1373738795518875,
0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | [
-0.1373738795518875,
-0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.1418101042509079,
-0.6557731628417969,
0.07139696925878525,
-3.141155242919922,
-0.00022430640819948167,
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] | 0 | 33.700001 | 337 | 24 | 10,454 | 0 |
[
-1.9820770025253296,
-1.0410172939300537,
1.5586823225021362,
-2.0870473384857178,
-1.5706170797348022,
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1
] | [
-1.980994462966919,
-1.0420488119125366,
1.5609440803527832,
-2.088306188583374,
-1.570634126663208,
2.7352583408355713,
1
] | move_to_position | 0.983565 | [
-1.9805874824523926,
-1.0424306392669678,
1.561775803565979,
-2.0887763500213623,
-1.5706335306167603,
2.7356655597686768,
1
] | [
0.1373738795518875,
0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | [
-0.1373738795518875,
-0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.13822954893112183,
-0.6542142033576965,
0.07058157026767731,
-3.1411244869232178,
-0.00020796441822312772,
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] | 0 | 33.799999 | 338 | 24 | 10,455 | 0 |
[
-1.9806212186813354,
-1.0422645807266235,
1.561806559562683,
-2.088670015335083,
-1.570644736289978,
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1
] | [
-1.9805874824523926,
-1.0424306392669678,
1.561775803565979,
-2.0887763500213623,
-1.5706335306167603,
2.7356655597686768,
1
] | move_to_position | 0.999174 | [
-1.9805874824523926,
-1.0424306392669678,
1.561775803565979,
-2.0887763500213623,
-1.5706335306167603,
2.7356655597686768,
1
] | [
0.1373738795518875,
0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | [
-0.1373738795518875,
-0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.13742859661579132,
-0.6538176536560059,
0.07031118124723434,
-3.140967607498169,
-0.00026536505902186036,
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] | 0 | 33.900002 | 339 | 24 | 10,456 | 0 |
[
-1.9806536436080933,
-1.042264699935913,
1.5617626905441284,
-2.0887610912323,
-1.5706323385238647,
2.735630989074707,
1
] | [
-1.9805874824523926,
-1.0424306392669678,
1.561775803565979,
-2.0887763500213623,
-1.5706335306167603,
2.7356655597686768,
1
] | move_to_position | 0.999309 | [
-1.9805874824523926,
-1.0424306392669678,
1.561775803565979,
-2.0887763500213623,
-1.5706335306167603,
2.7356655597686768,
1
] | [
0.1373738795518875,
0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | [
-0.1373738795518875,
-0.6538929343223572,
0.07044506818056107,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.1374378800392151,
-0.653867244720459,
0.07035189867019653,
-3.1411094665527344,
-0.00019978228374384344,
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] | 0 | 34 | 340 | 24 | 10,457 | 0 |
[
-1.9806569814682007,
-1.0422991514205933,
1.5617502927780151,
-2.08878493309021,
-1.570651888847351,
2.735673427581787,
1
] | [
-1.9805874824523926,
-1.0424306392669678,
1.561775803565979,
-2.0887763500213623,
-1.5706335306167603,
2.7356655597686768,
1
] | move_to_position | 0 | [
-1.9061880111694336,
-0.9723588228225708,
1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.13745351135730743,
-0.6538587212562561,
0.07036492228507996,
-3.1411144733428955,
-0.00020688018412329257,
3.141507148742676
] | 0 | 34.099998 | 341 | 24 | 10,458 | 0 |
[
-1.9806331396102905,
-1.0422714948654175,
1.5617231130599976,
-2.0887644290924072,
-1.5706485509872437,
2.735718250274658,
1
] | [
-1.9802887439727783,
-1.0419424772262573,
1.5615953207015991,
-2.088890314102173,
-1.570647120475769,
2.736079216003418,
1
] | move_to_position | 0.000396 | [
-1.9061880111694336,
-0.9723588228225708,
1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.13740800321102142,
-0.6538712382316589,
0.07035251706838608,
-3.14111328125,
-0.00019798858556896448,
3.141441583633423
] | 0 | 34.200001 | 342 | 24 | 10,459 | 0 |
[
-1.979084849357605,
-1.0412518978118896,
1.5610469579696655,
-2.089315176010132,
-1.5706285238265991,
2.7371537685394287,
1
] | [
-1.9782888889312744,
-1.0401822328567505,
1.5605839490890503,
-2.0896005630493164,
-1.5706502199172974,
2.7381107807159424,
1
] | move_to_position | 0.018407 | [
-1.9061880111694336,
-0.9723588228225708,
1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.13631755113601685,
-0.6545923352241516,
0.06991472095251083,
-3.1413581371307373,
-0.00016620097449049354,
3.141573190689087
] | 0 | 34.299999 | 343 | 24 | 10,460 | 0 |
[
-1.9757851362228394,
-1.03816556930542,
1.559317946434021,
-2.0904762744903564,
-1.5706285238265991,
2.740565538406372,
1
] | [
-1.9741097688674927,
-1.0365381240844727,
1.5584017038345337,
-2.091064691543579,
-1.5706526041030884,
2.7422900199890137,
1
] | move_to_position | 0.062312 | [
-1.9061880111694336,
-0.9723588228225708,
1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.1344531625509262,
-0.6557781100273132,
0.06869623810052872,
-3.141052722930908,
-0.0002670788671821356,
3.14145827293396
] | 0 | 34.400002 | 344 | 24 | 10,461 | 0 |
[
-1.9711345434188843,
-1.0339993238449097,
1.5568264722824097,
-2.0921099185943604,
-1.5706251859664917,
2.745292901992798,
1
] | [
-1.9688712358474731,
-1.0319355726242065,
1.555562138557434,
-2.0928566455841064,
-1.5706543922424316,
2.7475082874298096,
1
] | move_to_position | 0.123301 | [
-1.9061880111694336,
-0.9723588228225708,
1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.13151602447032928,
-0.6577261090278625,
0.0670745000243187,
-3.1410489082336426,
-0.000256138650001958,
3.141453742980957
] | 0 | 34.5 | 345 | 24 | 10,462 | 0 |
[
-1.965582251548767,
-1.0291144847869873,
1.5537480115890503,
-2.0939524173736572,
-1.5706409215927124,
2.7507388591766357,
1
] | [
-1.9626444578170776,
-1.026376485824585,
1.552024006843567,
-2.0949134826660156,
-1.570656657218933,
2.753709554672241,
1
] | move_to_position | 0.195121 | [
-1.9061880111694336,
-0.9723588228225708,
1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.128394216299057,
-0.6598269939422607,
0.06538049131631851,
-3.1411290168762207,
-0.00018612212443258613,
3.1414976119995117
] | 0 | 34.599998 | 346 | 24 | 10,463 | 0 |
[
-1.9590548276901245,
-1.023193120956421,
1.54989755153656,
-2.0960428714752197,
-1.570621371269226,
2.757265090942383,
1
] | [
-1.9570469856262207,
-1.02126145362854,
1.5486509799957275,
-2.0966742038726807,
-1.5706595182418823,
2.7592949867248535,
1
] | move_to_position | 0.281211 | [
-1.9061880111694336,
-0.9723588228225708,
1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.12473726272583008,
-0.6622534990310669,
0.06338635087013245,
-3.1411304473876953,
-0.00023378444893751293,
3.141570806503296
] | 0 | 34.700001 | 347 | 24 | 10,464 | 0 |
[
-1.9525765180587769,
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1.545812964439392,
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2.7637622356414795,
1
] | [
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1.5438404083251953,
-2.098902940750122,
-1.5706647634506226,
2.7668023109436035,
1
] | move_to_position | 0.368163 | [
-1.9061880111694336,
-0.9723588228225708,
1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.12124614417552948,
-0.6646340489387512,
0.06141122058033943,
-3.1410927772521973,
-0.0002512340433895588,
3.1415655612945557
] | 0 | 34.799999 | 348 | 24 | 10,465 | 0 |
[
-1.9448884725570679,
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1.5407694578170776,
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2.7715001106262207,
1
] | [
-1.941520094871521,
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1.5385754108428955,
-2.1012308597564697,
-1.570670485496521,
2.774827480316162,
1
] | move_to_position | 0.472097 | [
-1.9061880111694336,
-0.9723588228225708,
1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.11647979170084,
-0.6679068803787231,
0.05875972658395767,
-3.1410844326019287,
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3.141470432281494
] | 0 | 34.900002 | 349 | 24 | 10,466 | 0 |
[
-1.9362305402755737,
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1.5350173711776733,
-2.1027472019195557,
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2.7801530361175537,
1
] | [
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1.5322154760360718,
-2.103945016860962,
-1.570677399635315,
2.7843549251556396,
1
] | move_to_position | 0.588857 | [
-1.9061880111694336,
-0.9723588228225708,
1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.11147139221429825,
-0.6712234616279602,
0.0559999905526638,
-3.141064405441284,
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3.1415741443634033
] | 0 | 35 | 350 | 24 | 10,467 | 0 |
[
-1.9266976118087769,
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1.528638243675232,
-2.1054599285125732,
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2.789616107940674,
1
] | [
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1.52617609500885,
-2.1064178943634033,
-1.5706839561462402,
2.793224811553955,
1
] | move_to_position | 0.717469 | [
-1.9061880111694336,
-0.9723588228225708,
1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.10646575689315796,
-0.6745434999465942,
0.05331321060657501,
-3.141232967376709,
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] | 0 | 35.099998 | 351 | 24 | 10,468 | 0 |
[
-1.9187430143356323,
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1
] | [
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1.5213135480880737,
-2.10829758644104,
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2.800178050994873,
1
] | move_to_position | 0.82605 | [
-1.9061880111694336,
-0.9723588228225708,
1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.10160539299249649,
-0.6776507496833801,
0.05056540668010712,
-3.14106822013855,
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] | 0 | 35.200001 | 352 | 24 | 10,469 | 0 |
[
-1.9121464490890503,
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1
] | [
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1.517139196395874,
-2.109738349914551,
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2.805856466293335,
1
] | move_to_position | 0.917563 | [
-1.9061880111694336,
-0.9723588228225708,
1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09824120253324509,
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0.04864742234349251,
-3.141014814376831,
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3.141514539718628
] | 0 | 35.299999 | 353 | 24 | 10,470 | 0 |
[
-1.9082835912704468,
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1.5154398679733276,
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2.8081042766571045,
1
] | [
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1.514822006225586,
-2.1104700565338135,
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2.808894157409668,
1
] | move_to_position | 0.970938 | [
-1.9061880111694336,
-0.9723588228225708,
1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09613274782896042,
-0.6812629103660583,
0.04756338149309158,
-3.1410672664642334,
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3.1415371894836426
] | 0 | 35.400002 | 354 | 24 | 10,471 | 0 |
[
-1.906546950340271,
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1.5141915082931519,
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2.809727668762207,
1
] | [
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1.5139682292938232,
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2.8100132942199707,
1
] | move_to_position | 0.994054 | [
-1.9061880111694336,
-0.9723588228225708,
1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09531547874212265,
-0.6817514300346375,
0.047081150114536285,
-3.1409971714019775,
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3.14158034324646
] | 0 | 35.5 | 355 | 24 | 10,472 | 0 |
[
-1.906373381614685,
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1.5140761137008667,
-2.110765218734741,
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2.810072660446167,
1
] | [
-1.9061880111694336,
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1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
1
] | move_to_position | 0.997241 | [
-1.9061880111694336,
-0.9723588228225708,
1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04699999839067459,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09530062973499298,
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0.04705628380179405,
-3.1410436630249023,
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3.1413795948028564
] | 0 | 35.599998 | 356 | 24 | 10,473 | 0 |
[
-1.9063886404037476,
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1.5140408277511597,
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2.81013560295105,
1
] | [
-1.9061880111694336,
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1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
0
] | gripper_open | 0 | [
-1.9063886404037476,
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1.5140408277511597,
-2.1107733249664307,
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2.81013560295105,
0
] | [
0.09529896825551987,
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] | [
-0.09529896825551987,
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0.04706551879644394,
-3.1410410404205322,
-0.00025663094129413366,
3.1413779258728027
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09527605772018433,
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0.04706702008843422,
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3.141404390335083
] | 0 | 35.700001 | 357 | 24 | 10,474 | 0 |
[
-1.9062384366989136,
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1.5138882398605347,
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] | [
-1.9061880111694336,
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1.5138462781906128,
-2.110778331756592,
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2.810173273086548,
0
] | gripper_open | 0.227451 | [
-1.9063886404037476,
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1.5140408277511597,
-2.1107733249664307,
-1.5707043409347534,
2.81013560295105,
0
] | [
0.09529896825551987,
0.6817919611930847,
0.04706551879644394,
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] | [
-0.09529896825551987,
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0.04706551879644394,
-3.1410410404205322,
-0.00025663094129413366,
3.1413779258728027
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09523838013410568,
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0.04709595441818237,
-3.141181707382202,
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3.1415040493011475
] | 0 | 35.799999 | 358 | 24 | 10,475 | 0 |
[
-1.9061964750289917,
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1.5138400793075562,
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2.8101859092712402,
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] | [
-1.9061880111694336,
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1.5138462781906128,
-2.110778331756592,
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2.810173273086548,
0
] | gripper_open | 0.345098 | [
-1.9063886404037476,
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1.5140408277511597,
-2.1107733249664307,
-1.5707043409347534,
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0
] | [
0.09529896825551987,
0.6817919611930847,
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] | [
-0.09529896825551987,
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0.04706551879644394,
-3.1410410404205322,
-0.00025663094129413366,
3.1413779258728027
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09522111713886261,
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0.047020528465509415,
-3.1410956382751465,
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3.1415228843688965
] | 0 | 35.900002 | 359 | 24 | 10,476 | 0 |
[
-1.9061931371688843,
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1.5138334035873413,
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2.8102011680603027,
0.5333333611488342
] | [
-1.9061880111694336,
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1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
0
] | gripper_open | 0.466667 | [
-1.9063886404037476,
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1.5140408277511597,
-2.1107733249664307,
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2.81013560295105,
0
] | [
0.09529896825551987,
0.6817919611930847,
0.04706551879644394,
-3.1410410404205322,
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3.1413779258728027
] | [
-0.09529896825551987,
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0.04706551879644394,
-3.1410410404205322,
-0.00025663094129413366,
3.1413779258728027
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09521391987800598,
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0.04701252281665802,
-3.1410770416259766,
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3.141519546508789
] | 0 | 36 | 360 | 24 | 10,477 | 0 |
[
-1.9061998128890991,
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1.5138400793075562,
-2.1107800006866455,
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2.8101601600646973,
0.4117647111415863
] | [
-1.9061880111694336,
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1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
0
] | gripper_open | 0.588235 | [
-1.9063886404037476,
-0.9725716710090637,
1.5140408277511597,
-2.1107733249664307,
-1.5707043409347534,
2.81013560295105,
0
] | [
0.09529896825551987,
0.6817919611930847,
0.04706551879644394,
-3.1410410404205322,
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3.1413779258728027
] | [
-0.09529896825551987,
-0.6817919611930847,
0.04706551879644394,
-3.1410410404205322,
-0.00025663094129413366,
3.1413779258728027
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09520518779754639,
-0.6818894743919373,
0.04702751338481903,
-3.1410791873931885,
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3.1415083408355713
] | 1 | 36.099998 | 361 | 24 | 10,478 | 0 |
[
-1.906216025352478,
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1.5138367414474487,
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2.810166835784912,
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] | [
-1.9061880111694336,
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1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
0
] | gripper_open | 0.709804 | [
-1.9063886404037476,
-0.9725716710090637,
1.5140408277511597,
-2.1107733249664307,
-1.5707043409347534,
2.81013560295105,
0
] | [
0.09529896825551987,
0.6817919611930847,
0.04706551879644394,
-3.1410410404205322,
-0.00025663094129413366,
3.1413779258728027
] | [
-0.09529896825551987,
-0.6817919611930847,
0.04706551879644394,
-3.1410410404205322,
-0.00025663094129413366,
3.1413779258728027
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09520208090543747,
-0.6818973422050476,
0.04703637212514877,
-3.1410977840423584,
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3.1415491104125977
] | 1 | 36.200001 | 362 | 24 | 10,479 | 0 |
[
-1.9061812162399292,
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2.810194253921509,
0.16862745583057404
] | [
-1.9061880111694336,
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1.5138462781906128,
-2.110778331756592,
-1.5706971883773804,
2.810173273086548,
0
] | gripper_open | 0.831372 | [
-1.9063886404037476,
-0.9725716710090637,
1.5140408277511597,
-2.1107733249664307,
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2.81013560295105,
0
] | [
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] | [
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0.04706551879644394,
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3.1413779258728027
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.0951802134513855,
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0.04706158488988876,
-3.1411468982696533,
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] | 1 | 36.299999 | 363 | 24 | 10,480 | 0 |
[
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] | [
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0
] | gripper_open | 0.956861 | [
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] | [
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] | [
-0.09529896825551987,
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0.04706551879644394,
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3.1413779258728027
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09519459307193756,
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-3.141050100326538,
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] | 1 | 36.400002 | 364 | 24 | 10,481 | 0 |
[
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] | [
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0
] | gripper_open | 0.98823 | [
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] | [
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] | [
-0.09529896825551987,
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0.04706551879644394,
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-0.00025663094129413366,
3.1413779258728027
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09519721567630768,
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] | 1 | 36.5 | 365 | 24 | 10,482 | 0 |
[
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] | [
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0
] | gripper_open | 0.98823 | [
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1.5140408277511597,
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] | [
0.09529896825551987,
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] | [
-0.09529896825551987,
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0.04706551879644394,
-3.1410410404205322,
-0.00025663094129413366,
3.1413779258728027
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09518507868051529,
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0.047032713890075684,
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] | 1 | 36.599998 | 366 | 24 | 10,483 | 0 |
[
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] | [
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0
] | gripper_open | 0.988229 | [
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] | [
0.09529896825551987,
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] | [
-0.09529896825551987,
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0.04706551879644394,
-3.1410410404205322,
-0.00025663094129413366,
3.1413779258728027
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09517589956521988,
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0.047027502208948135,
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] | 1 | 36.700001 | 367 | 24 | 10,484 | 0 |
[
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] | [
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0
] | move_to_position | 0 | [
-1.90611732006073,
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1.4615334272384644,
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0
] | [
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0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.09700000286102295,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09517180919647217,
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0.04701445996761322,
-3.141083002090454,
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] | 1 | 36.799999 | 368 | 24 | 10,485 | 0 |
[
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] | [
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0
] | move_to_position | 0.000267 | [
-1.90611732006073,
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1.4615334272384644,
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0
] | [
0.09519022703170776,
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0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.09700000286102295,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09519897401332855,
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0.047064680606126785,
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] | 1 | 36.900002 | 369 | 24 | 10,486 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.014779 | [
-1.90611732006073,
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1.4615334272384644,
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0
] | [
0.09519022703170776,
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0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.09700000286102295,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09521671384572983,
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0.048077747225761414,
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] | 1 | 37 | 370 | 24 | 10,487 | 0 |
[
-1.9061659574508667,
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0
] | [
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0
] | move_to_position | 0.05512 | [
-1.90611732006073,
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1.4615334272384644,
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0
] | [
0.09519022703170776,
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0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.09700000286102295,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.0951940268278122,
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0.050067223608493805,
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3.1415252685546875
] | 1 | 37.099998 | 371 | 24 | 10,488 | 0 |
[
-1.9061468839645386,
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0
] | [
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0
] | move_to_position | 0.108546 | [
-1.90611732006073,
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1.4615334272384644,
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0
] | [
0.09519022703170776,
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0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.09700000286102295,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.095194973051548,
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0.05315596982836723,
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] | 1 | 37.200001 | 372 | 24 | 10,489 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.175919 | [
-1.90611732006073,
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1.4615334272384644,
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0
] | [
0.09519022703170776,
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0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.09700000286102295,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.0952044427394867,
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0.056683845818042755,
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] | 1 | 37.299999 | 373 | 24 | 10,490 | 0 |
[
-1.9061540365219116,
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0
] | [
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0
] | move_to_position | 0.257922 | [
-1.90611732006073,
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1.4615334272384644,
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0
] | [
0.09519022703170776,
0.6818943023681641,
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0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.09700000286102295,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09521321952342987,
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] | 1 | 37.400002 | 374 | 24 | 10,491 | 0 |
[
-1.9061692953109741,
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0
] | [
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0
] | move_to_position | 0.376075 | [
-1.90611732006073,
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1.4615334272384644,
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0
] | [
0.09519022703170776,
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0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.09700000286102295,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.0952320545911789,
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3.141551971435547
] | 1 | 37.5 | 375 | 24 | 10,492 | 0 |
[
-1.9061607122421265,
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0
] | [
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0
] | move_to_position | 0.501776 | [
-1.90611732006073,
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1.4615334272384644,
-2.00319504737854,
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0
] | [
0.09519022703170776,
0.6818943023681641,
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0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.09700000286102295,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09523937106132507,
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0.07347788661718369,
-3.141141653060913,
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] | 1 | 37.599998 | 376 | 24 | 10,493 | 0 |
[
-1.9061387777328491,
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0
] | [
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0
] | move_to_position | 0.638553 | [
-1.90611732006073,
-1.027618646621704,
1.4615334272384644,
-2.00319504737854,
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0
] | [
0.09519022703170776,
0.6818943023681641,
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0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.09700000286102295,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09523165225982666,
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0.07992971688508987,
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] | 1 | 37.700001 | 377 | 24 | 10,494 | 0 |
[
-1.9061607122421265,
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0
] | [
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0
] | move_to_position | 0.750862 | [
-1.90611732006073,
-1.027618646621704,
1.4615334272384644,
-2.00319504737854,
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0
] | [
0.09519022703170776,
0.6818943023681641,
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0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.09700000286102295,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09518907219171524,
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0.08563748002052307,
-3.141057014465332,
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] | 1 | 37.799999 | 378 | 24 | 10,495 | 0 |
[
-1.906145453453064,
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0
] | [
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0
] | move_to_position | 0.833288 | [
-1.90611732006073,
-1.027618646621704,
1.4615334272384644,
-2.00319504737854,
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0
] | [
0.09519022703170776,
0.6818943023681641,
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0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.09700000286102295,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09516556560993195,
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0.08948295563459396,
-3.141148090362549,
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3.141533374786377
] | 1 | 37.900002 | 379 | 24 | 10,496 | 0 |
[
-1.9061020612716675,
-1.022777795791626,
1.4674524068832397,
-2.0138795375823975,
-1.5706208944320679,
2.8101584911346436,
0
] | [
-1.9061213731765747,
-1.0238701105117798,
1.466263771057129,
-2.0116748809814453,
-1.5706127882003784,
2.810145854949951,
0
] | move_to_position | 0.900302 | [
-1.90611732006073,
-1.027618646621704,
1.4615334272384644,
-2.00319504737854,
-1.5706074237823486,
2.8101439476013184,
0
] | [
0.09519022703170776,
0.6818943023681641,
0.09700000286102295,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.09700000286102295,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09516216069459915,
-0.6818649768829346,
0.09248201549053192,
-3.1411054134368896,
-0.00024522689636796713,
3.1415669918060303
] | 1 | 38 | 380 | 24 | 10,497 | 0 |
[
-1.906140685081482,
-1.0253208875656128,
1.4645718336105347,
-2.0086095333099365,
-1.5706247091293335,
2.810148239135742,
0
] | [
-1.9061191082000732,
-1.0259580612182617,
1.4637333154678345,
-2.0070559978485107,
-1.5706098079681396,
2.8101449012756348,
0
] | move_to_position | 0.949764 | [
-1.90611732006073,
-1.027618646621704,
1.4615334272384644,
-2.00319504737854,
-1.5706074237823486,
2.8101439476013184,
0
] | [
0.09519022703170776,
0.6818943023681641,
0.09700000286102295,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.09700000286102295,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09515849500894547,
-0.6818668246269226,
0.09493029117584229,
-3.141127586364746,
-0.0002340800128877163,
3.141587257385254
] | 1 | 38.099998 | 381 | 24 | 10,498 | 0 |
[
-1.9061301946640015,
-1.0267468690872192,
1.4626487493515015,
-2.0051348209381104,
-1.5706084966659546,
2.8101704120635986,
0
] | [
-1.9061176776885986,
-1.0273070335388184,
1.461969017982483,
-2.0039424896240234,
-1.5706079006195068,
2.8101441860198975,
0
] | move_to_position | 0.981777 | [
-1.90611732006073,
-1.027618646621704,
1.4615334272384644,
-2.00319504737854,
-1.5706074237823486,
2.8101439476013184,
0
] | [
0.09519022703170776,
0.6818943023681641,
0.09700000286102295,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.09700000286102295,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09517504274845123,
-0.6818839311599731,
0.0963229313492775,
-3.14105224609375,
-0.00026535108918324113,
3.1415693759918213
] | 1 | 38.200001 | 382 | 24 | 10,499 | 0 |
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