observation.state listlengths 7 7 | action listlengths 7 7 | skill.type large_stringclasses 4
values | skill.progress float32 0 1 | skill.goal_position.joint listlengths 7 7 | skill.goal_position.world_xyzrpy listlengths 6 6 | skill.goal_position.robot_xyzrpy listlengths 6 6 | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 61
values | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | timestamp float32 0 46.1 | frame_index int64 0 461 | episode_index int64 0 24 | index int64 0 10.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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1
] | [
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1
] | move_to_position | 0.995839 | [
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] | [
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] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 14.6 | 146 | 19 | 8,100 | 0 |
[
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] | [
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] | move_to_position | 0.000033 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 14.7 | 147 | 19 | 8,101 | 0 |
[
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] | [
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1
] | move_to_position | 0.000037 | [
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] | [
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0
] | [
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0,
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] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 14.8 | 148 | 19 | 8,102 | 0 |
[
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] | [
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] | move_to_position | 0.004726 | [
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] | [
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0
] | [
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] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 14.9 | 149 | 19 | 8,103 | 0 |
[
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] | [
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] | move_to_position | 0.022286 | [
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] | [
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0
] | [
0.038580071181058884,
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0,
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] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 15 | 150 | 19 | 8,104 | 0 |
[
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] | [
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1
] | move_to_position | 0.05223 | [
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1.5197378396987915,
-2.1143977642059326,
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] | [
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0,
0
] | [
0.038580071181058884,
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0.04659849405288696,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 15.1 | 151 | 19 | 8,105 | 0 |
[
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] | [
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1
] | move_to_position | 0.092506 | [
-1.7116878032684326,
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1.5197378396987915,
-2.1143977642059326,
-1.5707412958145142,
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1
] | [
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0,
0
] | [
0.038580071181058884,
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0.04659849405288696,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 15.2 | 152 | 19 | 8,106 | 0 |
[
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] | [
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1
] | move_to_position | 0.152817 | [
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] | [
-0.038580071181058884,
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0,
0
] | [
0.038580071181058884,
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0.04659849405288696,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 15.3 | 153 | 19 | 8,107 | 0 |
[
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] | [
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1
] | move_to_position | 0.237418 | [
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1.5197378396987915,
-2.1143977642059326,
-1.5707412958145142,
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1
] | [
-0.038580071181058884,
0.6859667301177979,
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0,
0,
0
] | [
0.038580071181058884,
-0.6859667301177979,
0.04659849405288696,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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0.046242378652095795,
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] | 0 | 15.4 | 154 | 19 | 8,108 | 0 |
[
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1
] | [
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1.6713558435440063,
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3.1092770099639893,
1
] | move_to_position | 0.324573 | [
-1.7116878032684326,
-0.9750223755836487,
1.5197378396987915,
-2.1143977642059326,
-1.5707412958145142,
3.0048131942749023,
1
] | [
-0.038580071181058884,
0.6859667301177979,
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0,
0
] | [
0.038580071181058884,
-0.6859667301177979,
0.04659849405288696,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 15.5 | 155 | 19 | 8,109 | 0 |
[
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] | [
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1
] | move_to_position | 0.418538 | [
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-0.9750223755836487,
1.5197378396987915,
-2.1143977642059326,
-1.5707412958145142,
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1
] | [
-0.038580071181058884,
0.6859667301177979,
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0,
0
] | [
0.038580071181058884,
-0.6859667301177979,
0.04659849405288696,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 15.6 | 156 | 19 | 8,110 | 0 |
[
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] | [
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1
] | move_to_position | 0.510878 | [
-1.7116878032684326,
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1.5197378396987915,
-2.1143977642059326,
-1.5707412958145142,
3.0048131942749023,
1
] | [
-0.038580071181058884,
0.6859667301177979,
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0,
0
] | [
0.038580071181058884,
-0.6859667301177979,
0.04659849405288696,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 15.7 | 157 | 19 | 8,111 | 0 |
[
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] | [
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1
] | move_to_position | 0.616759 | [
-1.7116878032684326,
-0.9750223755836487,
1.5197378396987915,
-2.1143977642059326,
-1.5707412958145142,
3.0048131942749023,
1
] | [
-0.038580071181058884,
0.6859667301177979,
0.04659849405288696,
0,
0,
0
] | [
0.038580071181058884,
-0.6859667301177979,
0.04659849405288696,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 15.8 | 158 | 19 | 8,112 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.715026 | [
-1.7116878032684326,
-0.9750223755836487,
1.5197378396987915,
-2.1143977642059326,
-1.5707412958145142,
3.0048131942749023,
1
] | [
-0.038580071181058884,
0.6859667301177979,
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0,
0,
0
] | [
0.038580071181058884,
-0.6859667301177979,
0.04659849405288696,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 15.9 | 159 | 19 | 8,113 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.804286 | [
-1.7116878032684326,
-0.9750223755836487,
1.5197378396987915,
-2.1143977642059326,
-1.5707412958145142,
3.0048131942749023,
1
] | [
-0.038580071181058884,
0.6859667301177979,
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0,
0
] | [
0.038580071181058884,
-0.6859667301177979,
0.04659849405288696,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 16 | 160 | 19 | 8,114 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.869299 | [
-1.7116878032684326,
-0.9750223755836487,
1.5197378396987915,
-2.1143977642059326,
-1.5707412958145142,
3.0048131942749023,
1
] | [
-0.038580071181058884,
0.6859667301177979,
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0,
0
] | [
0.038580071181058884,
-0.6859667301177979,
0.04659849405288696,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 16.1 | 161 | 19 | 8,115 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.926381 | [
-1.7116878032684326,
-0.9750223755836487,
1.5197378396987915,
-2.1143977642059326,
-1.5707412958145142,
3.0048131942749023,
1
] | [
-0.038580071181058884,
0.6859667301177979,
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0,
0,
0
] | [
0.038580071181058884,
-0.6859667301177979,
0.04659849405288696,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
0.04587429761886597,
-0.6804202795028687,
0.046576227992773056,
-3.141464948654175,
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3.1413631439208984
] | 0 | 16.200001 | 162 | 19 | 8,116 | 0 |
[
-1.7067707777023315,
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1
] | [
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1
] | move_to_position | 0.965331 | [
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1.5197378396987915,
-2.1143977642059326,
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1
] | [
-0.038580071181058884,
0.6859667301177979,
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0,
0,
0
] | [
0.038580071181058884,
-0.6859667301177979,
0.04659849405288696,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
0.04172058403491974,
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0.046549998223781586,
-3.1413750648498535,
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] | 0 | 16.299999 | 163 | 19 | 8,117 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.988906 | [
-1.7116878032684326,
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1.5197378396987915,
-2.1143977642059326,
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1
] | [
-0.038580071181058884,
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0,
0
] | [
0.038580071181058884,
-0.6859667301177979,
0.04659849405288696,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
0.039450503885746,
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0.04661250114440918,
-3.1414546966552734,
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] | 0 | 16.4 | 164 | 19 | 8,118 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.998651 | [
-1.7116878032684326,
-0.9750223755836487,
1.5197378396987915,
-2.1143977642059326,
-1.5707412958145142,
3.0048131942749023,
1
] | [
-0.038580071181058884,
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0,
0
] | [
0.038580071181058884,
-0.6859667301177979,
0.04659849405288696,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
0.038709186017513275,
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0.04666104167699814,
-3.1415743827819824,
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] | 0 | 16.5 | 165 | 19 | 8,119 | 0 |
[
-1.711506724357605,
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] | [
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1.5197378396987915,
-2.1143977642059326,
-1.5707412958145142,
3.0048131942749023,
1
] | move_to_position | 0.00111 | [
-1.7257345914840698,
-0.9795767068862915,
1.5383245944976807,
-2.1285533905029297,
-1.5707556009292603,
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1
] | [
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0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.038709454238414764,
-0.6858984231948853,
0.046658072620630264,
-3.1414401531219482,
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] | 0 | 16.6 | 166 | 19 | 8,120 | 0 |
[
-1.711513876914978,
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1
] | [
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1
] | move_to_position | 0.000873 | [
-1.7257345914840698,
-0.9795767068862915,
1.5383245944976807,
-2.1285533905029297,
-1.5707556009292603,
2.99064302444458,
1
] | [
-0.029639115557074547,
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0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.03873516619205475,
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0.046701740473508835,
-3.1415159702301025,
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] | 0 | 16.700001 | 167 | 19 | 8,121 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.005208 | [
-1.7257345914840698,
-0.9795767068862915,
1.5383245944976807,
-2.1285533905029297,
-1.5707556009292603,
2.99064302444458,
1
] | [
-0.029639115557074547,
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0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.03861962631344795,
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0.046673260629177094,
3.1415655612945557,
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] | 0 | 16.799999 | 168 | 19 | 8,122 | 0 |
[
-1.7122071981430054,
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1
] | [
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1
] | move_to_position | 0.043245 | [
-1.7257345914840698,
-0.9795767068862915,
1.5383245944976807,
-2.1285533905029297,
-1.5707556009292603,
2.99064302444458,
1
] | [
-0.029639115557074547,
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0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
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0.04641392081975937,
-3.1414663791656494,
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] | 0 | 16.9 | 169 | 19 | 8,123 | 0 |
[
-1.7132362127304077,
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1
] | [
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1.5223876237869263,
-2.116506338119507,
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3.002937078475952,
1
] | move_to_position | 0.112301 | [
-1.7257345914840698,
-0.9795767068862915,
1.5383245944976807,
-2.1285533905029297,
-1.5707556009292603,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
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0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.0374581553041935,
-0.6854751706123352,
0.046157702803611755,
-3.141486406326294,
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] | 0 | 17 | 170 | 19 | 8,124 | 0 |
[
-1.7142328023910522,
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-2.117224931716919,
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3.002201557159424,
1
] | [
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1.5240941047668457,
-2.117811441421509,
-1.5707513093948364,
3.0016274452209473,
1
] | move_to_position | 0.190435 | [
-1.7257345914840698,
-0.9795767068862915,
1.5383245944976807,
-2.1285533905029297,
-1.5707556009292603,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.036783330142498016,
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0.045970410108566284,
3.1414713859558105,
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] | 0 | 17.1 | 171 | 19 | 8,125 | 0 |
[
-1.7156809568405151,
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-2.1186025142669678,
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3.0007972717285156,
1
] | [
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1.5260982513427734,
-2.119328260421753,
-1.5707521438598633,
3.000088691711426,
1
] | move_to_position | 0.289082 | [
-1.7257345914840698,
-0.9795767068862915,
1.5383245944976807,
-2.1285533905029297,
-1.5707556009292603,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.03583065792918205,
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0.04555411636829376,
3.141519784927368,
0.000017796111933421344,
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] | 0 | 17.200001 | 172 | 19 | 8,126 | 0 |
[
-1.7172778844833374,
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-2.1202762126922607,
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1
] | [
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-2.120889663696289,
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1
] | move_to_position | 0.406977 | [
-1.7257345914840698,
-0.9795767068862915,
1.5383245944976807,
-2.1285533905029297,
-1.5707556009292603,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.0349450446665287,
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0.04516059532761574,
3.1415884494781494,
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] | 0 | 17.299999 | 173 | 19 | 8,127 | 0 |
[
-1.7188471555709839,
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-2.121826410293579,
-1.5707682371139526,
2.997556447982788,
1
] | [
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-2.1224803924560547,
-1.5707530975341797,
2.996863603591919,
1
] | move_to_position | 0.517485 | [
-1.7257345914840698,
-0.9795767068862915,
1.5383245944976807,
-2.1285533905029297,
-1.5707556009292603,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.03376803174614906,
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0.044702090322971344,
3.141575336456299,
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] | 0 | 17.4 | 174 | 19 | 8,128 | 0 |
[
-1.7205251455307007,
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-2.1234261989593506,
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2.9958744049072266,
1
] | [
-1.721036434173584,
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1.5322380065917969,
-2.123939037322998,
-1.5707534551620483,
2.9953651428222656,
1
] | move_to_position | 0.634147 | [
-1.7257345914840698,
-0.9795767068862915,
1.5383245944976807,
-2.1285533905029297,
-1.5707556009292603,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.03278842940926552,
-0.6834167242050171,
0.044276896864175797,
-3.141554594039917,
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] | 0 | 17.5 | 175 | 19 | 8,129 | 0 |
[
-1.721993327140808,
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-2.1248533725738525,
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2.994387626647949,
1
] | [
-1.7226732969284058,
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1.5343759059906006,
-2.125545024871826,
-1.570753812789917,
2.9937150478363037,
1
] | move_to_position | 0.738407 | [
-1.7257345914840698,
-0.9795767068862915,
1.5383245944976807,
-2.1285533905029297,
-1.5707556009292603,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.03184811770915985,
-0.6829767227172852,
0.043899159878492355,
-3.141514539718628,
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3.141561985015869
] | 0 | 17.6 | 176 | 19 | 8,130 | 0 |
[
-1.7233814001083374,
-0.9788538813591003,
1.5352977514266968,
-2.1262567043304443,
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1
] | [
-1.7237961292266846,
-0.9789977073669434,
1.5358355045318604,
-2.1266467571258545,
-1.5707541704177856,
2.992584705352783,
1
] | move_to_position | 0.835643 | [
-1.7257345914840698,
-0.9795767068862915,
1.5383245944976807,
-2.1285533905029297,
-1.5707556009292603,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.030968572944402695,
-0.6825851202011108,
0.04350782558321953,
-3.141465187072754,
-0.00005003335900255479,
3.14149808883667
] | 0 | 17.700001 | 177 | 19 | 8,131 | 0 |
[
-1.7244876623153687,
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1.5367130041122437,
-2.1273272037506104,
-1.570752501487732,
2.9918735027313232,
1
] | [
-1.7248620986938477,
-0.9793182015419006,
1.5372090339660645,
-2.127694606781006,
-1.570754885673523,
2.9915153980255127,
1
] | move_to_position | 0.912719 | [
-1.7257345914840698,
-0.9795767068862915,
1.5383245944976807,
-2.1285533905029297,
-1.5707556009292603,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.030325351282954216,
-0.6823236346244812,
0.04327580705285072,
-3.1415085792541504,
-0.00003059758455492556,
3.1415505409240723
] | 0 | 17.799999 | 178 | 19 | 8,132 | 0 |
[
-1.725180983543396,
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1.5376633405685425,
-2.1280477046966553,
-1.5707367658615112,
2.9911491870880127,
1
] | [
-1.7254835367202759,
-0.9795023202896118,
1.5380035638809204,
-2.1283061504364014,
-1.5707553625106812,
2.990894079208374,
1
] | move_to_position | 0.963266 | [
-1.7257345914840698,
-0.9795767068862915,
1.5383245944976807,
-2.1285533905029297,
-1.5707556009292603,
2.99064302444458,
1
] | [
-0.029639115557074547,
0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | [
0.029639115557074547,
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0.0430000014603138,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.029964445158839226,
-0.6821476221084595,
0.04309544712305069,
-3.141536235809326,
-0.000026224890461890027,
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] | 0 | 17.9 | 179 | 19 | 8,133 | 0 |
[
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1.5380724668502808,
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1
] | [
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1.5382832288742065,
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1
] | move_to_position | 0.986575 | [
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1
] | [
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0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.029774919152259827,
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0.043086130172014236,
3.141519546508789,
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] | 0 | 18 | 180 | 19 | 8,134 | 0 |
[
-1.7256678342819214,
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1.538225531578064,
-2.128535032272339,
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1
] | [
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1.5383245944976807,
-2.1285533905029297,
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1
] | move_to_position | 0.995704 | [
-1.7257345914840698,
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1.5383245944976807,
-2.1285533905029297,
-1.5707556009292603,
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1
] | [
-0.029639115557074547,
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0,
0,
0
] | [
0.029639115557074547,
-0.6820210218429565,
0.0430000014603138,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
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0.04302258417010307,
-3.141582727432251,
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3.141573905944824
] | 0 | 18.1 | 181 | 19 | 8,135 | 0 |
[
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1.5383208990097046,
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1
] | [
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1.5383245944976807,
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0
] | gripper_open | 0 | [
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1.5383208990097046,
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0
] | [
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] | [
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0.04301726818084717,
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3.1415302753448486
] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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0.04300939664244652,
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] | 0 | 18.200001 | 182 | 19 | 8,136 | 0 |
[
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] | [
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0
] | gripper_open | 0.196078 | [
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] | [
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] | [
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0.04301726818084717,
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3.1415302753448486
] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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] | 0 | 18.299999 | 183 | 19 | 8,137 | 0 |
[
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] | [
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0
] | gripper_open | 0.227451 | [
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] | [
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] | [
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0.04301726818084717,
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3.1415302753448486
] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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0.04302804544568062,
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0.00002149251122318674,
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] | 0 | 18.4 | 184 | 19 | 8,138 | 0 |
[
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] | [
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0
] | gripper_open | 0.341176 | [
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] | [
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] | [
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0.04301726818084717,
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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 | 18.5 | 185 | 19 | 8,139 | 0 |
[
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] | [
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0
] | gripper_open | 0.462745 | [
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] | [
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] | [
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0.04301726818084717,
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3.1415302753448486
] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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0.04301311820745468,
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] | 0 | 18.6 | 186 | 19 | 8,140 | 0 |
[
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] | [
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0
] | gripper_open | 0.584314 | [
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] | [
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] | [
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0.04301726818084717,
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3.1415302753448486
] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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0.04301757365465164,
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3.141514778137207
] | 1 | 18.700001 | 187 | 19 | 8,141 | 0 |
[
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] | [
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0
] | gripper_open | 0.705882 | [
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] | [
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] | [
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0.04301726818084717,
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3.1415302753448486
] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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0.043012119829654694,
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7.731644018349471e-7,
3.141541004180908
] | 1 | 18.799999 | 188 | 19 | 8,142 | 0 |
[
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1.538329005241394,
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2.9906508922576904,
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] | [
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1.5383245944976807,
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0
] | gripper_open | 0.831373 | [
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1.5383208990097046,
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0
] | [
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] | [
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0.04301726818084717,
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3.1415302753448486
] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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0.04304546117782593,
3.1415743827819824,
0.000025619136067689396,
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] | 1 | 18.9 | 189 | 19 | 8,143 | 0 |
[
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1.5383456945419312,
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] | [
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0
] | gripper_open | 0.952941 | [
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0
] | [
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] | [
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0.04301726818084717,
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3.1415302753448486
] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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0.0430171936750412,
-3.1415534019470215,
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3.141545295715332
] | 1 | 19 | 190 | 19 | 8,144 | 0 |
[
-1.725744605064392,
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1.5383423566818237,
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2.9906389713287354,
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] | [
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1.5383245944976807,
-2.1285533905029297,
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0
] | gripper_open | 0.988235 | [
-1.7257555723190308,
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1.5383208990097046,
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0
] | [
-0.0296279676258564,
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] | [
0.0296279676258564,
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0.04301726818084717,
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3.1415302753448486
] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
0.02963578701019287,
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0.04299503564834595,
-3.141502857208252,
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3.141533613204956
] | 1 | 19.1 | 191 | 19 | 8,145 | 0 |
[
-1.7257293462753296,
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1.5383027791976929,
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2.9906699657440186,
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] | [
-1.7257345914840698,
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1.5383245944976807,
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0
] | gripper_open | 0.988235 | [
-1.7257555723190308,
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1.5383208990097046,
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0
] | [
-0.0296279676258564,
0.6820177435874939,
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] | [
0.0296279676258564,
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0.04301726818084717,
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-0.00002673537346709054,
3.1415302753448486
] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
0.029620271176099777,
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0.04301441088318825,
-3.1415536403656006,
-0.000011269186870777048,
3.1414954662323
] | 1 | 19.200001 | 192 | 19 | 8,146 | 0 |
[
-1.725702166557312,
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1.5382994413375854,
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2.990642547607422,
0.0117647061124444
] | [
-1.7257345914840698,
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1.5383245944976807,
-2.1285533905029297,
-1.5707556009292603,
2.99064302444458,
0
] | gripper_open | 0.988235 | [
-1.7257555723190308,
-0.9795829057693481,
1.5383208990097046,
-2.128539800643921,
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2.9906580448150635,
0
] | [
-0.0296279676258564,
0.6820177435874939,
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-3.1415345668792725,
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] | [
0.0296279676258564,
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0.04301726818084717,
-3.1415345668792725,
-0.00002673537346709054,
3.1415302753448486
] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
0.02965327724814415,
-0.6820211410522461,
0.04301993176341057,
-3.1415493488311768,
-0.000024458973712171428,
3.141526460647583
] | 1 | 19.299999 | 193 | 19 | 8,147 | 0 |
[
-1.7257517576217651,
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1.5383208990097046,
-2.1285746097564697,
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2.9906580448150635,
0
] | [
-1.7257345914840698,
-0.9795767068862915,
1.5383245944976807,
-2.1285533905029297,
-1.5707556009292603,
2.99064302444458,
0
] | move_to_position | 0.000301 | [
-1.7407878637313843,
-1.0270352363586426,
1.6040984392166138,
-2.1468608379364014,
-1.5706984996795654,
2.9755868911743164,
0
] | [
-0.022856777533888817,
0.6617978811264038,
0.04778837412595749,
0,
0,
0
] | [
0.022856777533888817,
-0.6617978811264038,
0.04778837412595749,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.029632220044732094,
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0.04299655184149742,
-3.1415112018585205,
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3.1415300369262695
] | 1 | 19.4 | 194 | 19 | 8,148 | 0 |
[
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] | [
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] | move_to_position | 0.00336 | [
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] | [
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] | [
0.022856777533888817,
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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 | 19.5 | 195 | 19 | 8,149 | 0 |
[
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] | [
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] | move_to_position | 0.034572 | [
-1.7407878637313843,
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] | [
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] | [
0.022856777533888817,
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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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0.04332743585109711,
3.1414642333984375,
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] | 1 | 19.6 | 196 | 19 | 8,150 | 0 |
[
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] | [
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] | move_to_position | 0.080207 | [
-1.7407878637313843,
-1.0270352363586426,
1.6040984392166138,
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-1.5706984996795654,
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] | [
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0
] | [
0.022856777533888817,
-0.6617978811264038,
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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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-3.1414873600006104,
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] | 1 | 19.700001 | 197 | 19 | 8,151 | 0 |
[
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] | [
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] | move_to_position | 0.141523 | [
-1.7407878637313843,
-1.0270352363586426,
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] | [
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0
] | [
0.022856777533888817,
-0.6617978811264038,
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0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
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-3.14155650138855,
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] | 1 | 19.799999 | 198 | 19 | 8,152 | 0 |
[
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] | [
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] | move_to_position | 0.220895 | [
-1.7407878637313843,
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] | [
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0
] | [
0.022856777533888817,
-0.6617978811264038,
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0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.028026781976222992,
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0.04414530098438263,
3.1415750980377197,
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] | 1 | 19.9 | 199 | 19 | 8,153 | 0 |
[
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] | [
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] | move_to_position | 0.30158 | [
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] | [
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] | [
0.022856777533888817,
-0.6617978811264038,
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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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0.04452180489897728,
-3.1415250301361084,
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] | 1 | 20 | 200 | 19 | 8,154 | 0 |
[
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] | [
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] | move_to_position | 0.379191 | [
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] | [
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] | [
0.022856777533888817,
-0.6617978811264038,
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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 | 20.1 | 201 | 19 | 8,155 | 0 |
[
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] | [
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] | move_to_position | 0.470536 | [
-1.7407878637313843,
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] | [
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0
] | [
0.022856777533888817,
-0.6617978811264038,
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0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 20.200001 | 202 | 19 | 8,156 | 0 |
[
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] | [
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] | move_to_position | 0.58559 | [
-1.7407878637313843,
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] | [
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0
] | [
0.022856777533888817,
-0.6617978811264038,
0.04778837412595749,
0,
0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
0.025578578934073448,
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] | 1 | 20.299999 | 203 | 19 | 8,157 | 0 |
[
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] | [
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] | move_to_position | 0.696935 | [
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1.6040984392166138,
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] | [
-0.022856777533888817,
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0
] | [
0.022856777533888817,
-0.6617978811264038,
0.04778837412595749,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 20.4 | 204 | 19 | 8,158 | 0 |
[
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] | [
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0
] | move_to_position | 0.817492 | [
-1.7407878637313843,
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] | [
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] | [
0.022856777533888817,
-0.6617978811264038,
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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 | 19 | 8,159 | 0 |
[
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] | [
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0
] | move_to_position | 0.907569 | [
-1.7407878637313843,
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1.6040984392166138,
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] | [
-0.022856777533888817,
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0
] | [
0.022856777533888817,
-0.6617978811264038,
0.04778837412595749,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
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0.047417495399713516,
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] | 1 | 20.6 | 206 | 19 | 8,160 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.966472 | [
-1.7407878637313843,
-1.0270352363586426,
1.6040984392166138,
-2.1468608379364014,
-1.5706984996795654,
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0
] | [
-0.022856777533888817,
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0,
0,
0
] | [
0.022856777533888817,
-0.6617978811264038,
0.04778837412595749,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.02312680520117283,
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0.047723881900310516,
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0.000005564430011872901,
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] | 1 | 20.700001 | 207 | 19 | 8,161 | 0 |
[
-1.7404741048812866,
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0
] | [
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0
] | move_to_position | 0.991875 | [
-1.7407878637313843,
-1.0270352363586426,
1.6040984392166138,
-2.1468608379364014,
-1.5706984996795654,
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0
] | [
-0.022856777533888817,
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0,
0,
0
] | [
0.022856777533888817,
-0.6617978811264038,
0.04778837412595749,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.02301352098584175,
-0.6618770360946655,
0.0477217361330986,
-3.14144229888916,
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] | 1 | 20.799999 | 208 | 19 | 8,162 | 0 |
[
-1.740643858909607,
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0
] | [
-1.7407878637313843,
-1.0270352363586426,
1.6040984392166138,
-2.1468608379364014,
-1.5706984996795654,
2.9755868911743164,
0
] | move_to_position | 0.995656 | [
-1.7407878637313843,
-1.0270352363586426,
1.6040984392166138,
-2.1468608379364014,
-1.5706984996795654,
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0
] | [
-0.022856777533888817,
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0,
0,
0
] | [
0.022856777533888817,
-0.6617978811264038,
0.04778837412595749,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.022903211414813995,
-0.6618790626525879,
0.04773719236254692,
-3.141541004180908,
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] | 1 | 20.9 | 209 | 19 | 8,163 | 0 |
[
-1.7407668828964233,
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-2.1468565464019775,
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2.9755959510803223,
0
] | [
-1.7407878637313843,
-1.0270352363586426,
1.6040984392166138,
-2.1468608379364014,
-1.5706984996795654,
2.9755868911743164,
0
] | move_to_joint_state | 0.091479 | [
-1.740798830986023,
-1.026804804801941,
1.6039146184921265,
-2.1469616889953613,
-1.5706826448440552,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking second pie | [
0.02285948023200035,
-0.6618533134460449,
0.04772825166583061,
-3.1414763927459717,
-0.000014756838936591521,
3.141537666320801
] | 1 | 21 | 210 | 19 | 8,164 | 0 |
[
-1.7407668828964233,
-1.0268105268478394,
1.6039122343063354,
-2.1468722820281982,
-1.5706852674484253,
2.975584030151367,
0
] | [
-1.7407870292663574,
-1.0267724990844727,
1.6038753986358643,
-2.146838665008545,
-1.5707002878189087,
2.9755985736846924,
0
] | move_to_joint_state | 0.257549 | [
-1.740798830986023,
-1.026804804801941,
1.6039146184921265,
-2.1469616889953613,
-1.5706826448440552,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking second pie | [
0.022852716967463493,
-0.6618679761886597,
0.047758761793375015,
-3.1415390968322754,
0.0000037064257867314154,
3.141544818878174
] | 1 | 21.1 | 211 | 19 | 8,165 | 0 |
[
-1.7408021688461304,
-1.0268033742904663,
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0
] | [
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] | move_to_joint_state | 0.264243 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 21.200001 | 212 | 19 | 8,166 | 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 | 21.299999 | 213 | 19 | 8,167 | 0 |
[
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] | [
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] | move_to_joint_state | 0.237654 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 21.4 | 214 | 19 | 8,168 | 0 |
[
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] | [
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] | move_to_joint_state | 0.07336 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 21.5 | 215 | 19 | 8,169 | 0 |
[
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] | [
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] | move_to_joint_state | 0.124752 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 21.6 | 216 | 19 | 8,170 | 0 |
[
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] | [
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] | move_to_joint_state | 0.181269 | [
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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 | 19 | 8,171 | 0 |
[
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] | move_to_joint_state | 0.508016 | [
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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 | 19 | 8,172 | 0 |
[
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] | [
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] | move_to_joint_state | 0.502001 | [
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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 | 19 | 8,173 | 0 |
[
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] | move_to_joint_state | 0.594848 | [
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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 | 19 | 8,174 | 0 |
[
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] | [
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] | move_to_joint_state | 0.576185 | [
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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 | 19 | 8,175 | 0 |
[
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] | [
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] | move_to_joint_state | 0.708101 | [
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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 | 19 | 8,176 | 0 |
[
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] | [
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] | move_to_joint_state | 0.762993 | [
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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 | 19 | 8,177 | 0 |
[
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] | [
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] | move_to_joint_state | 0.626826 | [
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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 | 19 | 8,178 | 0 |
[
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] | [
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] | move_to_joint_state | 0.652581 | [
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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 | 19 | 8,179 | 0 |
[
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] | [
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] | move_to_position | 0.00011 | [
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] | [
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] | [
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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 | 22.6 | 226 | 19 | 8,180 | 0 |
[
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] | move_to_position | 0.000023 | [
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] | [
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] | [
-0.2109326422214508,
-0.6937406659126282,
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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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3.141566514968872,
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] | 1 | 22.700001 | 227 | 19 | 8,181 | 0 |
[
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] | [
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] | move_to_position | 0.001366 | [
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] | [
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] | [
-0.2109326422214508,
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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 | 22.799999 | 228 | 19 | 8,182 | 0 |
[
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] | [
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] | move_to_position | 0.00612 | [
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] | [
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] | [
-0.2109326422214508,
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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 | 22.9 | 229 | 19 | 8,183 | 0 |
[
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] | [
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] | move_to_position | 0.015173 | [
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] | [
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] | [
-0.2109326422214508,
-0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.018329869955778122,
-0.662268877029419,
0.04757293313741684,
-3.1413934230804443,
-0.00001544726728752721,
3.1414434909820557
] | 1 | 23 | 230 | 19 | 8,184 | 0 |
[
-1.7517327070236206,
-1.0251647233963013,
1.6020845174789429,
-2.1465837955474854,
-1.5707353353500366,
2.9646522998809814,
0
] | [
-1.754860520362854,
-1.024497151374817,
1.6013367176055908,
-2.146486759185791,
-1.5707106590270996,
2.961510181427002,
0
] | move_to_position | 0.028008 | [
-2.0526769161224365,
-0.8842791318893433,
1.3894065618515015,
-2.074979066848755,
-1.5708800554275513,
2.6636414527893066,
0
] | [
0.2109326422214508,
0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | [
-0.2109326422214508,
-0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.014558196999132633,
-0.6627883315086365,
0.04737579822540283,
-3.141395330429077,
-0.000025202059987350367,
3.1414661407470703
] | 1 | 23.1 | 231 | 19 | 8,185 | 0 |
[
-1.7591384649276733,
-1.0236029624938965,
1.6001356840133667,
-2.146305799484253,
-1.5707162618637085,
2.9571845531463623,
0
] | [
-1.7620515823364258,
-1.0228418111801147,
1.5992579460144043,
-2.146188497543335,
-1.5707117319107056,
2.9542832374572754,
0
] | move_to_position | 0.047823 | [
-2.0526769161224365,
-0.8842791318893433,
1.3894065618515015,
-2.074979066848755,
-1.5708800554275513,
2.6636414527893066,
0
] | [
0.2109326422214508,
0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | [
-0.2109326422214508,
-0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.009451782330870628,
-0.6635735630989075,
0.047092072665691376,
-3.141430139541626,
-0.000010664000910765026,
3.1415815353393555
] | 1 | 23.200001 | 232 | 19 | 8,186 | 0 |
[
-1.7681416273117065,
-1.0212337970733643,
1.5973490476608276,
-2.145869016647339,
-1.5707281827926636,
2.948262929916382,
0
] | [
-1.7721173763275146,
-1.020371913909912,
1.5960917472839355,
-2.14567494392395,
-1.5707141160964966,
2.9442129135131836,
0
] | move_to_position | 0.072306 | [
-2.0526769161224365,
-0.8842791318893433,
1.3894065618515015,
-2.074979066848755,
-1.5708800554275513,
2.6636414527893066,
0
] | [
0.2109326422214508,
0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | [
-0.2109326422214508,
-0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.002855073194950819,
-0.6646617650985718,
0.04674876108765602,
-3.1415212154388428,
0.000013412266525847372,
3.1415555477142334
] | 1 | 23.299999 | 233 | 19 | 8,187 | 0 |
[
-1.7803810834884644,
-1.0184780359268188,
1.5936506986618042,
-2.145256280899048,
-1.5707391500473022,
2.9359312057495117,
0
] | [
-1.7858742475509644,
-1.0171680450439453,
1.5920581817626953,
-2.1449038982391357,
-1.570717215538025,
2.9304563999176025,
0
] | move_to_position | 0.105389 | [
-2.0526769161224365,
-0.8842791318893433,
1.3894065618515015,
-2.074979066848755,
-1.5708800554275513,
2.6636414527893066,
0
] | [
0.2109326422214508,
0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | [
-0.2109326422214508,
-0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.005986829288303852,
-0.6659438014030457,
0.04648211970925331,
3.141362428665161,
0.00009220046194968745,
-3.1415629386901855
] | 1 | 23.4 | 234 | 19 | 8,188 | 0 |
[
-1.795568823814392,
-1.0147993564605713,
1.5890625715255737,
-2.144231081008911,
-1.5707162618637085,
2.9207327365875244,
0
] | [
-1.8018581867218018,
-1.0132635831832886,
1.587053656578064,
-2.1437666416168213,
-1.57072114944458,
2.9144725799560547,
0
] | move_to_position | 0.146354 | [
-2.0526769161224365,
-0.8842791318893433,
1.3894065618515015,
-2.074979066848755,
-1.5708800554275513,
2.6636414527893066,
0
] | [
0.2109326422214508,
0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | [
-0.2109326422214508,
-0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.015880314633250237,
-0.6671700477600098,
0.045961882919073105,
3.141477346420288,
0.00007242184074129909,
-3.1415855884552
] | 1 | 23.5 | 235 | 19 | 8,189 | 0 |
[
-1.8123263120651245,
-1.01046621799469,
1.583377718925476,
-2.14284348487854,
-1.5707319974899292,
2.9040541648864746,
0
] | [
-1.8194009065628052,
-1.0084413290023804,
1.5806306600570679,
-2.1420938968658447,
-1.5707261562347412,
2.896929979324341,
0
] | move_to_position | 0.191984 | [
-2.0526769161224365,
-0.8842791318893433,
1.3894065618515015,
-2.074979066848755,
-1.5708800554275513,
2.6636414527893066,
0
] | [
0.2109326422214508,
0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | [
-0.2109326422214508,
-0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.02757338248193264,
-0.6686387658119202,
0.04539872705936432,
3.141576051712036,
0.000011518990504555404,
3.141590118408203
] | 1 | 23.6 | 236 | 19 | 8,190 | 0 |
[
-1.8303369283676147,
-1.005021572113037,
1.5759648084640503,
-2.14072585105896,
-1.5707005262374878,
2.8859925270080566,
0
] | [
-1.8375816345214844,
-1.0025445222854614,
1.5724178552627563,
-2.139730453491211,
-1.5707327127456665,
2.878749370574951,
0
] | move_to_position | 0.242741 | [
-2.0526769161224365,
-0.8842791318893433,
1.3894065618515015,
-2.074979066848755,
-1.5708800554275513,
2.6636414527893066,
0
] | [
0.2109326422214508,
0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | [
-0.2109326422214508,
-0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.04029104858636856,
-0.6703689694404602,
0.04482037574052811,
-3.14154052734375,
-0.000006584616585314507,
3.14154052734375
] | 1 | 23.700001 | 237 | 19 | 8,191 | 0 |
[
-1.8475836515426636,
-0.9988062381744385,
1.5670636892318726,
-2.1380717754364014,
-1.5706971883773804,
2.868633985519409,
0
] | [
-1.8545854091644287,
-0.9961366057395935,
1.5632002353668213,
-2.1369194984436035,
-1.5707401037216187,
2.861745595932007,
0
] | move_to_position | 0.293677 | [
-2.0526769161224365,
-0.8842791318893433,
1.3894065618515015,
-2.074979066848755,
-1.5708800554275513,
2.6636414527893066,
0
] | [
0.2109326422214508,
0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | [
-0.2109326422214508,
-0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.05377756059169769,
-0.6725256443023682,
0.04427028074860573,
3.141559600830078,
0.000014105331501923501,
-3.1414661407470703
] | 1 | 23.799999 | 238 | 19 | 8,192 | 0 |
[
-1.8672603368759155,
-0.9911997318267822,
1.5558518171310425,
-2.134657621383667,
-1.570724368095398,
2.8491077423095703,
0
] | [
-1.8755898475646973,
-0.9877057075500488,
1.5509403944015503,
-2.1330904960632324,
-1.5707498788833618,
2.840740919113159,
0
] | move_to_position | 0.352734 | [
-2.0526769161224365,
-0.8842791318893433,
1.3894065618515015,
-2.074979066848755,
-1.5708800554275513,
2.6636414527893066,
0
] | [
0.2109326422214508,
0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | [
-0.2109326422214508,
-0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.06830751895904541,
-0.674734354019165,
0.04363710433244705,
3.1415045261383057,
0.00004857280509895645,
3.1415343284606934
] | 1 | 23.9 | 239 | 19 | 8,193 | 0 |
[
-1.8892802000045776,
-0.9818516969680786,
1.542526125907898,
-2.1304104328155518,
-1.5707682371139526,
2.826969623565674,
0
] | [
-1.8966314792633057,
-0.9787925481796265,
1.5378495454788208,
-2.1289126873016357,
-1.5707603693008423,
2.819699287414551,
0
] | move_to_position | 0.42031 | [
-2.0526769161224365,
-0.8842791318893433,
1.3894065618515015,
-2.074979066848755,
-1.5708800554275513,
2.6636414527893066,
0
] | [
0.2109326422214508,
0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | [
-0.2109326422214508,
-0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.08361276239156723,
-0.6768702864646912,
0.04277724027633667,
-3.1414248943328857,
-0.00005960492489975877,
-3.1415622234344482
] | 1 | 24 | 240 | 19 | 8,194 | 0 |
[
-1.909979224205017,
-0.9728823900222778,
1.5291260480880737,
-2.1261255741119385,
-1.5707486867904663,
2.806349992752075,
0
] | [
-1.9175142049789429,
-0.969472348690033,
1.5240181684494019,
-2.124401569366455,
-1.5707714557647705,
2.798816204071045,
0
] | move_to_position | 0.484469 | [
-2.0526769161224365,
-0.8842791318893433,
1.3894065618515015,
-2.074979066848755,
-1.5708800554275513,
2.6636414527893066,
0
] | [
0.2109326422214508,
0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | [
-0.2109326422214508,
-0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.09986463934183121,
-0.6790575385093689,
0.04216589406132698,
3.1415064334869385,
0.0000652667586109601,
-3.1415462493896484
] | 1 | 24.1 | 241 | 19 | 8,195 | 0 |
[
-1.9310611486434937,
-0.9632393717765808,
1.5145257711410522,
-2.121258020401001,
-1.5707606077194214,
2.7853145599365234,
0
] | [
-1.9398657083511353,
-0.9588414430618286,
1.5080336332321167,
-2.1190476417541504,
-1.570784330368042,
2.7764639854431152,
0
] | move_to_position | 0.551066 | [
-2.0526769161224365,
-0.8842791318893433,
1.3894065618515015,
-2.074979066848755,
-1.5708800554275513,
2.6636414527893066,
0
] | [
0.2109326422214508,
0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | [
-0.2109326422214508,
-0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.11407745629549026,
-0.6807844042778015,
0.04156402498483658,
3.1414263248443604,
0.00005519787737284787,
3.1415176391601562
] | 1 | 24.200001 | 242 | 19 | 8,196 | 0 |
[
-1.948677897453308,
-0.9543538093566895,
1.5012282133102417,
-2.116731882095337,
-1.570815920829773,
2.7675395011901855,
0
] | [
-1.955664038658142,
-0.9506843090057373,
1.4955658912658691,
-2.114736795425415,
-1.5707943439483643,
2.760664939880371,
0
] | move_to_position | 0.608567 | [
-2.0526769161224365,
-0.8842791318893433,
1.3894065618515015,
-2.074979066848755,
-1.5708800554275513,
2.6636414527893066,
0
] | [
0.2109326422214508,
0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | [
-0.2109326422214508,
-0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.12848949432373047,
-0.6824923753738403,
0.040802400559186935,
3.1415553092956543,
0.00000892544903763337,
3.1415581703186035
] | 1 | 24.299999 | 243 | 19 | 8,197 | 0 |
[
-1.9657119512557983,
-0.9449670314788818,
1.486747145652771,
-2.1115849018096924,
-1.5707453489303589,
2.750659227371216,
0
] | [
-1.9746414422988892,
-0.9396155476570129,
1.4783053398132324,
-2.1085445880889893,
-1.5708082914352417,
2.7416863441467285,
0
] | move_to_position | 0.666278 | [
-2.0526769161224365,
-0.8842791318893433,
1.3894065618515015,
-2.074979066848755,
-1.5708800554275513,
2.6636414527893066,
0
] | [
0.2109326422214508,
0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | [
-0.2109326422214508,
-0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.1418866068124771,
-0.6842729449272156,
0.0401974618434906,
3.1415622234344482,
0.000033990461815847084,
3.1415679454803467
] | 1 | 24.4 | 244 | 19 | 8,198 | 0 |
[
-1.9825056791305542,
-0.9346625804901123,
1.4705299139022827,
-2.1056673526763916,
-1.5708001852035522,
2.7338058948516846,
0
] | [
-1.9893535375595093,
-0.9302115440368652,
1.4634456634521484,
-2.10308837890625,
-1.5708202123641968,
2.726973056793213,
0
] | move_to_position | 0.726465 | [
-2.0526769161224365,
-0.8842791318893433,
1.3894065618515015,
-2.074979066848755,
-1.5708800554275513,
2.6636414527893066,
0
] | [
0.2109326422214508,
0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | [
-0.2109326422214508,
-0.6937406659126282,
0.03703884780406952,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.15386752784252167,
-0.6859919428825378,
0.03963548317551613,
-3.1415562629699707,
-0.000047773301048437133,
-3.1415467262268066
] | 1 | 24.5 | 245 | 19 | 8,199 | 0 |
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