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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[
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] | move_to_position | 0.265257 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.423114 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.269588 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.061055 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.174049 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.5 | 5 | 20 | 8,406 | 0 |
[
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] | [
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] | move_to_position | 0.076107 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.188324 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.8 | 8 | 20 | 8,409 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.227704 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1 | 10 | 20 | 8,411 | 0 |
[
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] | [
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] | move_to_position | 0.505552 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.1 | 11 | 20 | 8,412 | 0 |
[
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] | [
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] | move_to_position | 0.216244 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.2 | 12 | 20 | 8,413 | 0 |
[
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] | [
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] | move_to_position | 0.395496 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.3 | 13 | 20 | 8,414 | 0 |
[
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] | [
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] | move_to_position | 0.195061 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.4 | 14 | 20 | 8,415 | 0 |
[
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] | [
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] | move_to_position | 0.686361 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.5 | 15 | 20 | 8,416 | 0 |
[
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] | [
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] | move_to_joint_state | 0.020362 | [
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0
] | move_to_position | 0.012255 | [
-1.5255194902420044,
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1.862941026687622,
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] | [
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0
] | [
0.15974931418895721,
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0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.0011716174194589257,
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0.34925952553749084,
3.141500949859619,
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] | 1 | 3.5 | 35 | 20 | 8,436 | 0 |
[
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] | [
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] | move_to_position | 0.040369 | [
-1.5255194902420044,
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1.862941026687622,
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] | [
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0
] | [
0.15974931418895721,
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0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.004124875646084547,
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0.3402974009513855,
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] | 1 | 3.6 | 36 | 20 | 8,437 | 0 |
[
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] | [
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] | move_to_position | 0.084492 | [
-1.5255194902420044,
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1.862941026687622,
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] | [
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0,
0
] | [
0.15974931418895721,
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0,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.008500732481479645,
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] | 1 | 3.7 | 37 | 20 | 8,438 | 0 |
[
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] | [
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] | move_to_position | 0.141152 | [
-1.5255194902420044,
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1.862941026687622,
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] | [
-0.15974931418895721,
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0,
0
] | [
0.15974931418895721,
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0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.014791510067880154,
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0.31142744421958923,
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] | 1 | 3.8 | 38 | 20 | 8,439 | 0 |
[
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] | [
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] | move_to_position | 0.213716 | [
-1.5255194902420044,
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1.862941026687622,
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] | [
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0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
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0,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.023705294355750084,
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0.29035794734954834,
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] | 1 | 3.9 | 39 | 20 | 8,440 | 0 |
[
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] | [
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] | move_to_position | 0.287295 | [
-1.5255194902420044,
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] | [
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0
] | [
0.15974931418895721,
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0,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.03373593091964722,
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] | 1 | 4 | 40 | 20 | 8,441 | 0 |
[
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] | [
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] | move_to_position | 0.369596 | [
-1.5255194902420044,
-1.1926501989364624,
1.862941026687622,
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-1.570459008216858,
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] | [
-0.15974931418895721,
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0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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0.24421000480651855,
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] | 1 | 4.1 | 41 | 20 | 8,442 | 0 |
[
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] | [
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] | move_to_position | 0.45866 | [
-1.5255194902420044,
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1.862941026687622,
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] | [
-0.15974931418895721,
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0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
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0,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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0.21850867569446564,
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] | 1 | 4.2 | 42 | 20 | 8,443 | 0 |
[
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] | [
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] | move_to_position | 0.545467 | [
-1.5255194902420044,
-1.1926501989364624,
1.862941026687622,
-2.2401528358459473,
-1.570459008216858,
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] | [
-0.15974931418895721,
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0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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0.19202303886413574,
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] | 1 | 4.3 | 43 | 20 | 8,444 | 0 |
[
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] | [
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0
] | move_to_position | 0.624474 | [
-1.5255194902420044,
-1.1926501989364624,
1.862941026687622,
-2.2401528358459473,
-1.570459008216858,
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] | [
-0.15974931418895721,
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0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
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0,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.08924068510532379,
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0.16507218778133392,
3.1413145065307617,
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] | 1 | 4.4 | 44 | 20 | 8,445 | 0 |
[
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] | [
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] | move_to_position | 0.710204 | [
-1.5255194902420044,
-1.1926501989364624,
1.862941026687622,
-2.2401528358459473,
-1.570459008216858,
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] | [
-0.15974931418895721,
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0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
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0,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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3.1411778926849365,
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] | 1 | 4.5 | 45 | 20 | 8,446 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.786911 | [
-1.5255194902420044,
-1.1926501989364624,
1.862941026687622,
-2.2401528358459473,
-1.570459008216858,
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] | [
-0.15974931418895721,
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0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
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0,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.11903682351112366,
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3.1412248611450195,
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] | 1 | 4.6 | 46 | 20 | 8,447 | 0 |
[
-1.5782831907272339,
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0
] | [
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0
] | move_to_position | 0.851768 | [
-1.5255194902420044,
-1.1926501989364624,
1.862941026687622,
-2.2401528358459473,
-1.570459008216858,
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] | [
-0.15974931418895721,
0.5573320984840393,
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0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.13260503113269806,
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0.0931248739361763,
3.140995502471924,
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] | 1 | 4.7 | 47 | 20 | 8,448 | 0 |
[
-1.5569905042648315,
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] | [
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0
] | move_to_position | 0.911878 | [
-1.5255194902420044,
-1.1926501989364624,
1.862941026687622,
-2.2401528358459473,
-1.570459008216858,
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] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.1440676748752594,
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0.07452603429555893,
3.141220808029175,
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] | 1 | 4.8 | 48 | 20 | 8,449 | 0 |
[
-1.540922999382019,
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] | [
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0
] | move_to_position | 0.956965 | [
-1.5255194902420044,
-1.1926501989364624,
1.862941026687622,
-2.2401528358459473,
-1.570459008216858,
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] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.15258987247943878,
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0.0609588548541069,
3.141211986541748,
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] | 1 | 4.9 | 49 | 20 | 8,450 | 0 |
[
-1.52997624874115,
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0
] | [
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0
] | move_to_position | 0.987523 | [
-1.5255194902420044,
-1.1926501989364624,
1.862941026687622,
-2.2401528358459473,
-1.570459008216858,
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0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.15797686576843262,
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0.052230942994356155,
3.1415181159973145,
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] | 1 | 5 | 50 | 20 | 8,451 | 0 |
[
-1.525567889213562,
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3.1905758380889893,
0
] | [
-1.5255227088928223,
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-2.2401459217071533,
-1.570459008216858,
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0
] | move_to_position | 0.999716 | [
-1.5255194902420044,
-1.1926501989364624,
1.862941026687622,
-2.2401528358459473,
-1.570459008216858,
3.190715789794922,
0
] | [
-0.15974931418895721,
0.5573320984840393,
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0,
0
] | [
0.15974931418895721,
-0.5573320984840393,
0.04938391596078873,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.15978138148784637,
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0.04940709099173546,
3.1415860652923584,
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] | 1 | 5.1 | 51 | 20 | 8,452 | 0 |
[
-1.5255202054977417,
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0
] | [
-1.5255194902420044,
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3.190715789794922,
0
] | move_to_position | 0.999886 | [
-1.5255194902420044,
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1.862941026687622,
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0
] | [
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0,
0
] | [
0.15974931418895721,
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0.04938391596078873,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.1597423255443573,
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0.049454204738140106,
3.14141845703125,
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] | 1 | 5.2 | 52 | 20 | 8,453 | 0 |
[
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] | [
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0
] | gripper_open | 1 | [
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1.8628896474838257,
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] | [
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] | [
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0.049438804388046265,
3.1414549350738525,
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] | 0 | pick first pie and place it on the first plate: open gripper | [
0.15974146127700806,
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0.049431391060352325,
3.1414883136749268,
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] | 1 | 5.3 | 53 | 20 | 8,454 | 0 |
[
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] | [
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0
] | gripper_open | 1 | [
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1.8628896474838257,
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] | [
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] | [
0.1597318947315216,
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0.049438804388046265,
3.1414549350738525,
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] | 0 | pick first pie and place it on the first plate: open gripper | [
0.1597217619419098,
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0.04943187162280083,
3.141472339630127,
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] | 1 | 5.4 | 54 | 20 | 8,455 | 0 |
[
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] | [
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0
] | gripper_open | 1 | [
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1.8628896474838257,
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] | [
-0.1597318947315216,
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] | [
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0.049438804388046265,
3.1414549350738525,
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] | 0 | pick first pie and place it on the first plate: open gripper | [
0.1597476452589035,
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0.049404457211494446,
3.14154052734375,
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] | 1 | 5.5 | 55 | 20 | 8,456 | 0 |
[
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] | [
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0
] | gripper_open | 1 | [
-1.5255473852157593,
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1.8628896474838257,
-2.2401702404022217,
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] | [
-0.1597318947315216,
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] | [
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0.049438804388046265,
3.1414549350738525,
-0.000005651763331115944,
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] | 0 | pick first pie and place it on the first plate: open gripper | [
0.15975788235664368,
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0.0494135320186615,
3.141538381576538,
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] | 1 | 5.6 | 56 | 20 | 8,457 | 0 |
[
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] | [
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1.862941026687622,
-2.2401528358459473,
-1.570459008216858,
3.190715789794922,
0
] | move_to_position | 0 | [
-1.5343762636184692,
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1.820300579071045,
-2.2781271934509277,
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] | [
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0,
0
] | [
0.1556655913591385,
-0.5805638432502747,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15972572565078735,
-0.5573614239692688,
0.04939967766404152,
3.141558885574341,
0.000014467570508713834,
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] | 1 | 5.7 | 57 | 20 | 8,458 | 0 |
[
-1.5255473852157593,
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0
] | [
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1.8627773523330688,
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3.1907007694244385,
0
] | move_to_position | 0 | [
-1.5343762636184692,
-1.1120845079421997,
1.820300579071045,
-2.2781271934509277,
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3.1819186210632324,
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] | [
-0.1556655913591385,
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0,
0
] | [
0.1556655913591385,
-0.5805638432502747,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15973076224327087,
-0.5573737025260925,
0.04940943792462349,
3.1415154933929443,
0.00004346004789113067,
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] | 1 | 5.8 | 58 | 20 | 8,459 | 0 |
[
-1.525596022605896,
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1.8623627424240112,
-2.2407100200653076,
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3.1906309127807617,
0
] | [
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1.861830234527588,
-2.241121530532837,
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3.1905016899108887,
0
] | move_to_position | 0.014085 | [
-1.5343762636184692,
-1.1120845079421997,
1.820300579071045,
-2.2781271934509277,
-1.570594310760498,
3.1819186210632324,
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] | [
-0.1556655913591385,
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0,
0
] | [
0.1556655913591385,
-0.5805638432502747,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15971891582012177,
-0.5577715039253235,
0.0489550344645977,
3.1415481567382812,
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] | 1 | 5.9 | 59 | 20 | 8,460 | 0 |
[
-1.5259522199630737,
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3.190263032913208,
0
] | [
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1.859673023223877,
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3.1899991035461426,
0
] | move_to_position | 0.052106 | [
-1.5343762636184692,
-1.1120845079421997,
1.820300579071045,
-2.2781271934509277,
-1.570594310760498,
3.1819186210632324,
0
] | [
-0.1556655913591385,
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0,
0,
0
] | [
0.1556655913591385,
-0.5805638432502747,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15952268242835999,
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0.04787295311689377,
3.1414241790771484,
0.000021012376237194985,
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] | 1 | 6 | 60 | 20 | 8,461 | 0 |
[
-1.52653968334198,
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1.8584002256393433,
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3.1897315979003906,
0
] | [
-1.5268588066101074,
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1.857075572013855,
-2.246138572692871,
-1.5704869031906128,
3.18939208984375,
0
] | move_to_position | 0.11165 | [
-1.5343762636184692,
-1.1120845079421997,
1.820300579071045,
-2.2781271934509277,
-1.570594310760498,
3.1819186210632324,
0
] | [
-0.1556655913591385,
0.5805638432502747,
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0,
0,
0
] | [
0.1556655913591385,
-0.5805638432502747,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.1592460721731186,
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0.04626171290874481,
3.1413843631744385,
0.00004949345748173073,
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] | 1 | 6.1 | 61 | 20 | 8,462 | 0 |
[
-1.527199149131775,
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1.8554795980453491,
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3.189033031463623,
0
] | [
-1.5275874137878418,
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1.853866696357727,
-2.249387741088867,
-1.5704950094223022,
3.1886627674102783,
0
] | move_to_position | 0.186709 | [
-1.5343762636184692,
-1.1120845079421997,
1.820300579071045,
-2.2781271934509277,
-1.570594310760498,
3.1819186210632324,
0
] | [
-0.1556655913591385,
0.5805638432502747,
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0,
0,
0
] | [
0.1556655913591385,
-0.5805638432502747,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15894146263599396,
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0.04425451159477234,
3.141509532928467,
0.00002265589682792779,
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] | 1 | 6.2 | 62 | 20 | 8,463 | 0 |
[
-1.5280183553695679,
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1.8518580198287964,
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3.188260078430176,
0
] | [
-1.5282764434814453,
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1.8506932258605957,
-2.25240159034729,
-1.570503830909729,
3.1879756450653076,
0
] | move_to_position | 0.275871 | [
-1.5343762636184692,
-1.1120845079421997,
1.820300579071045,
-2.2781271934509277,
-1.570594310760498,
3.1819186210632324,
0
] | [
-0.1556655913591385,
0.5805638432502747,
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0,
0,
0
] | [
0.1556655913591385,
-0.5805638432502747,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15859073400497437,
-0.5640004277229309,
0.042119100689888,
3.141573905944824,
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] | 1 | 6.3 | 63 | 20 | 8,464 | 0 |
[
-1.528809905052185,
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1.8481882810592651,
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3.1874732971191406,
0
] | [
-1.5291392803192139,
-1.1603652238845825,
1.8465436697006226,
-2.2561087608337402,
-1.5705164670944214,
3.1871190071105957,
0
] | move_to_position | 0.363151 | [
-1.5343762636184692,
-1.1120845079421997,
1.820300579071045,
-2.2781271934509277,
-1.570594310760498,
3.1819186210632324,
0
] | [
-0.1556655913591385,
0.5805638432502747,
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0,
0,
0
] | [
0.1556655913591385,
-0.5805638432502747,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15817944705486298,
-0.5662599205970764,
0.03966695815324783,
-3.1415860652923584,
0.000012472412890929263,
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] | 1 | 6.4 | 64 | 20 | 8,465 | 0 |
[
-1.5298022031784058,
-1.1548007726669312,
1.8435996770858765,
-2.258679151535034,
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3.1865084171295166,
0
] | [
-1.5301545858383179,
-1.151108980178833,
1.84158456325531,
-2.2604503631591797,
-1.5705313682556152,
3.1861109733581543,
0
] | move_to_position | 0.469501 | [
-1.5343762636184692,
-1.1120845079421997,
1.820300579071045,
-2.2781271934509277,
-1.570594310760498,
3.1819186210632324,
0
] | [
-0.1556655913591385,
0.5805638432502747,
0.024000000208616257,
0,
0,
0
] | [
0.1556655913591385,
-0.5805638432502747,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15770384669303894,
-0.5688936710357666,
0.03697250038385391,
3.141420841217041,
-0.000004113413069717353,
3.141531229019165
] | 1 | 6.5 | 65 | 20 | 8,466 | 0 |
[
-1.53087317943573,
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1.8380793333053589,
-2.26344895362854,
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3.1854429244995117,
0
] | [
-1.5312790870666504,
-1.1408212184906006,
1.836038589477539,
-2.26523494720459,
-1.5705479383468628,
3.1849944591522217,
0
] | move_to_position | 0.595204 | [
-1.5343762636184692,
-1.1120845079421997,
1.820300579071045,
-2.2781271934509277,
-1.570594310760498,
3.1819186210632324,
0
] | [
-0.1556655913591385,
0.5805638432502747,
0.024000000208616257,
0,
0,
0
] | [
0.1556655913591385,
-0.5805638432502747,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15722793340682983,
-0.5718522667884827,
0.033765967935323715,
3.141392707824707,
0.000009818965736485552,
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] | 1 | 6.6 | 66 | 20 | 8,467 | 0 |
[
-1.5319327116012573,
-1.1349835395812988,
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-2.2679197788238525,
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3.184356927871704,
0
] | [
-1.5323209762573242,
-1.1312462091445923,
1.8308583498001099,
-2.2696380615234375,
-1.5705634355545044,
3.183959722518921,
0
] | move_to_position | 0.715784 | [
-1.5343762636184692,
-1.1120845079421997,
1.820300579071045,
-2.2781271934509277,
-1.570594310760498,
3.1819186210632324,
0
] | [
-0.1556655913591385,
0.5805638432502747,
0.024000000208616257,
0,
0,
0
] | [
0.1556655913591385,
-0.5805638432502747,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15671364963054657,
-0.5745871067047119,
0.030697045847773552,
3.141463041305542,
-0.0000023430529836332425,
3.1415910720825195
] | 1 | 6.7 | 67 | 20 | 8,468 | 0 |
[
-1.532904028892517,
-1.1257109642028809,
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-2.2721383571624756,
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3.183382749557495,
0
] | [
-1.5332367420196533,
-1.1227699518203735,
1.8262640237808228,
-2.273465156555176,
-1.5705770254135132,
3.1830503940582275,
0
] | move_to_position | 0.83085 | [
-1.5343762636184692,
-1.1120845079421997,
1.820300579071045,
-2.2781271934509277,
-1.570594310760498,
3.1819186210632324,
0
] | [
-0.1556655913591385,
0.5805638432502747,
0.024000000208616257,
0,
0,
0
] | [
0.1556655913591385,
-0.5805638432502747,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15634095668792725,
-0.576895534992218,
0.028080318123102188,
3.1415083408355713,
-0.000016756577679188922,
-3.141526699066162
] | 1 | 6.8 | 68 | 20 | 8,469 | 0 |
[
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] | [
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0
] | move_to_position | 0.917077 | [
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0
] | [
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0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
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] | 1 | 6.9 | 69 | 20 | 8,470 | 0 |
[
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] | [
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] | move_to_position | 0.969586 | [
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] | [
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] | [
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0,
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] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
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] | 1 | 7 | 70 | 20 | 8,471 | 0 |
[
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] | [
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] | move_to_position | 0.993045 | [
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] | [
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] | [
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0,
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] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
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] | 1 | 7.1 | 71 | 20 | 8,472 | 0 |
[
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] | [
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0
] | move_to_position | 0.996963 | [
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1.820300579071045,
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] | [
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0
] | [
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0,
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] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
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] | 1 | 7.2 | 72 | 20 | 8,473 | 0 |
[
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] | [
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1
] | gripper_close | 0 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 1 | 7.3 | 73 | 20 | 8,474 | 0 |
[
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1
] | gripper_close | 0.011765 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 1 | 7.4 | 74 | 20 | 8,475 | 0 |
[
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1
] | gripper_close | 0.05098 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 1 | 7.5 | 75 | 20 | 8,476 | 0 |
[
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] | [
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1
] | gripper_close | 0.176471 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 1 | 7.6 | 76 | 20 | 8,477 | 0 |
[
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1
] | gripper_close | 0.309804 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 1 | 7.7 | 77 | 20 | 8,478 | 0 |
[
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1
] | gripper_close | 0.443137 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 1 | 7.8 | 78 | 20 | 8,479 | 0 |
[
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1
] | gripper_close | 0.560784 | [
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] | [
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] | [
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0.024034779518842697,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 7.9 | 79 | 20 | 8,480 | 0 |
[
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] | [
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1
] | gripper_close | 0.643137 | [
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] | [
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] | [
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0.024034779518842697,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 8 | 80 | 20 | 8,481 | 0 |
[
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] | [
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1
] | gripper_close | 0.819607 | [
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1
] | [
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] | [
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0.024034779518842697,
3.141552448272705,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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3.1414172649383545,
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] | 0 | 8.1 | 81 | 20 | 8,482 | 0 |
[
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] | [
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1.820300579071045,
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3.1819186210632324,
1
] | gripper_close | 0.85098 | [
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1.820504069328308,
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1
] | [
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] | [
0.15565568208694458,
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0.024034779518842697,
3.141552448272705,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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0.02396874502301216,
3.1415693759918213,
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] | 0 | 8.2 | 82 | 20 | 8,483 | 0 |
[
-1.5343607664108276,
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] | [
-1.5343762636184692,
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1.820300579071045,
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3.1819186210632324,
1
] | gripper_close | 0.85098 | [
-1.5343798398971558,
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1.820504069328308,
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1
] | [
-0.15565568208694458,
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] | [
0.15565568208694458,
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0.024034779518842697,
3.141552448272705,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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3.141585350036621,
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] | 0 | 8.3 | 83 | 20 | 8,484 | 0 |
[
-1.5343679189682007,
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] | [
-1.5343762636184692,
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1.820300579071045,
-2.2781271934509277,
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3.1819186210632324,
1
] | gripper_close | 0.85098 | [
-1.5343798398971558,
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1.820504069328308,
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1
] | [
-0.15565568208694458,
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] | [
0.15565568208694458,
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0.024034779518842697,
3.141552448272705,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
0.15565556287765503,
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0.023955311626195908,
3.141570568084717,
-0.00001904885721160099,
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] | 0 | 8.4 | 84 | 20 | 8,485 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 8.5 | 85 | 20 | 8,486 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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1.820504069328308,
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] | [
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] | [
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0.024034779518842697,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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3.141554117202759,
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] | 0 | 8.6 | 86 | 20 | 8,487 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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3.141483783721924,
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] | 0 | 8.7 | 87 | 20 | 8,488 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 8.8 | 88 | 20 | 8,489 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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] | [
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] | [
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0.024034779518842697,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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0.024037471041083336,
3.141449213027954,
4.147431411638536e-7,
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] | 0 | 8.9 | 89 | 20 | 8,490 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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] | [
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] | [
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0.024034779518842697,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 9 | 90 | 20 | 8,491 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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1.820504069328308,
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1
] | [
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] | [
0.15565568208694458,
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0.024034779518842697,
3.141552448272705,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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0.024027708917856216,
3.1414785385131836,
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] | 0 | 9.1 | 91 | 20 | 8,492 | 0 |
[
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3.181907892227173,
0.8509804010391235
] | [
-1.5343762636184692,
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1.820300579071045,
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3.1819186210632324,
1
] | gripper_close | 0.85098 | [
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1.820504069328308,
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-1.5706051588058472,
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1
] | [
-0.15565568208694458,
0.5804896950721741,
0.024034779518842697,
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] | [
0.15565568208694458,
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0.024034779518842697,
3.141552448272705,
-0.000014528047358908225,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
0.1556565910577774,
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0.024042245000600815,
3.141436815261841,
4.92200058488379e-8,
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] | 0 | 9.2 | 92 | 20 | 8,493 | 0 |
[
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1.8202804327011108,
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3.181933641433716,
0.8509804010391235
] | [
-1.5343762636184692,
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1.820300579071045,
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3.1819186210632324,
1
] | gripper_close | 0.85098 | [
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1.820504069328308,
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-1.5706051588058472,
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1
] | [
-0.15565568208694458,
0.5804896950721741,
0.024034779518842697,
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] | [
0.15565568208694458,
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0.024034779518842697,
3.141552448272705,
-0.000014528047358908225,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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3.141507625579834,
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] | 0 | 9.3 | 93 | 20 | 8,494 | 0 |
[
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3.181926727294922,
0.8509804010391235
] | [
-1.5343762636184692,
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1.820300579071045,
-2.2781271934509277,
-1.570594310760498,
3.1819186210632324,
1
] | gripper_close | 0.85098 | [
-1.5343798398971558,
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1.820504069328308,
-2.27813982963562,
-1.5706051588058472,
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1
] | [
-0.15565568208694458,
0.5804896950721741,
0.024034779518842697,
3.141552448272705,
-0.000014528047358908225,
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] | [
0.15565568208694458,
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0.024034779518842697,
3.141552448272705,
-0.000014528047358908225,
-3.1415719985961914
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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0.024007486179471016,
3.141493797302246,
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] | 0 | 9.4 | 94 | 20 | 8,495 | 0 |
[
-1.5343645811080933,
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3.1819300651550293,
0.8509804010391235
] | [
-1.5343762636184692,
-1.1120845079421997,
1.820300579071045,
-2.2781271934509277,
-1.570594310760498,
3.1819186210632324,
1
] | gripper_close | 0.85098 | [
-1.5343798398971558,
-1.1123237609863281,
1.820504069328308,
-2.27813982963562,
-1.5706051588058472,
3.1819427013397217,
1
] | [
-0.15565568208694458,
0.5804896950721741,
0.024034779518842697,
3.141552448272705,
-0.000014528047358908225,
-3.1415719985961914
] | [
0.15565568208694458,
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0.024034779518842697,
3.141552448272705,
-0.000014528047358908225,
-3.1415719985961914
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
0.15565086901187897,
-0.5805715322494507,
0.023991994559764862,
3.1415419578552246,
-0.000002845680455720867,
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] | 0 | 9.5 | 95 | 20 | 8,496 | 0 |
[
-1.5343445539474487,
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1.8202728033065796,
-2.278104543685913,
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3.1819231510162354,
0.8509804010391235
] | [
-1.5343762636184692,
-1.1120845079421997,
1.820300579071045,
-2.2781271934509277,
-1.570594310760498,
3.1819186210632324,
1
] | gripper_close | 0.85098 | [
-1.5343798398971558,
-1.1123237609863281,
1.820504069328308,
-2.27813982963562,
-1.5706051588058472,
3.1819427013397217,
1
] | [
-0.15565568208694458,
0.5804896950721741,
0.024034779518842697,
3.141552448272705,
-0.000014528047358908225,
-3.1415719985961914
] | [
0.15565568208694458,
-0.5804896950721741,
0.024034779518842697,
3.141552448272705,
-0.000014528047358908225,
-3.1415719985961914
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
0.15568532049655914,
-0.5805708169937134,
0.023995375260710716,
3.1415257453918457,
-0.000015389967302326113,
-3.141479730606079
] | 0 | 9.6 | 96 | 20 | 8,497 | 0 |
[
-1.5343679189682007,
-1.1120802164077759,
1.8202961683273315,
-2.2781360149383545,
-1.570581316947937,
3.1819043159484863,
0.8509804010391235
] | [
-1.5343762636184692,
-1.1120845079421997,
1.820300579071045,
-2.2781271934509277,
-1.570594310760498,
3.1819186210632324,
1
] | gripper_close | 0.85098 | [
-1.5343798398971558,
-1.1123237609863281,
1.820504069328308,
-2.27813982963562,
-1.5706051588058472,
3.1819427013397217,
1
] | [
-0.15565568208694458,
0.5804896950721741,
0.024034779518842697,
3.141552448272705,
-0.000014528047358908225,
-3.1415719985961914
] | [
0.15565568208694458,
-0.5804896950721741,
0.024034779518842697,
3.141552448272705,
-0.000014528047358908225,
-3.1415719985961914
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
0.15565325319766998,
-0.5805754065513611,
0.024010632187128067,
3.141512870788574,
0.000021388281311374158,
-3.1415107250213623
] | 0 | 9.7 | 97 | 20 | 8,498 | 0 |
[
-1.5343679189682007,
-1.1120802164077759,
1.8203109502792358,
-2.2781360149383545,
-1.5705899000167847,
3.1819427013397217,
0.8509804010391235
] | [
-1.5343762636184692,
-1.1120845079421997,
1.820300579071045,
-2.2781271934509277,
-1.570594310760498,
3.1819186210632324,
1
] | gripper_close | 0.85098 | [
-1.5343798398971558,
-1.1123237609863281,
1.820504069328308,
-2.27813982963562,
-1.5706051588058472,
3.1819427013397217,
1
] | [
-0.15565568208694458,
0.5804896950721741,
0.024034779518842697,
3.141552448272705,
-0.000014528047358908225,
-3.1415719985961914
] | [
0.15565568208694458,
-0.5804896950721741,
0.024034779518842697,
3.141552448272705,
-0.000014528047358908225,
-3.1415719985961914
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
0.1556667983531952,
-0.5805600881576538,
0.023999080061912537,
3.141552448272705,
0.00001285590769839473,
-3.141544818878174
] | 0 | 9.8 | 98 | 20 | 8,499 | 0 |
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