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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] | move_to_position | 0.097536 | [
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] | [
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 3.7 | 37 | 21 | 8,900 | 0 |
[
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] | move_to_position | 0.16744 | [
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] | [
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 3.8 | 38 | 21 | 8,901 | 0 |
[
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] | [
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] | move_to_position | 0.240176 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 3.9 | 39 | 21 | 8,902 | 0 |
[
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] | [
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] | move_to_position | 0.322025 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4 | 40 | 21 | 8,903 | 0 |
[
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] | [
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] | move_to_position | 0.407153 | [
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] | [
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] | [
0.301981657743454,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4.1 | 41 | 21 | 8,904 | 0 |
[
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] | [
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] | move_to_position | 0.500232 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4.2 | 42 | 21 | 8,905 | 0 |
[
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] | [
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] | move_to_position | 0.587785 | [
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] | [
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] | [
0.301981657743454,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4.3 | 43 | 21 | 8,906 | 0 |
[
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] | [
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] | move_to_position | 0.679993 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4.4 | 44 | 21 | 8,907 | 0 |
[
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] | [
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] | move_to_position | 0.760159 | [
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] | [
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] | [
0.301981657743454,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4.5 | 45 | 21 | 8,908 | 0 |
[
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] | [
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] | move_to_position | 0.837027 | [
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] | [
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] | [
0.301981657743454,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4.6 | 46 | 21 | 8,909 | 0 |
[
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] | [
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] | move_to_position | 0.896921 | [
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] | [
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] | [
0.301981657743454,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4.7 | 47 | 21 | 8,910 | 0 |
[
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] | [
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] | move_to_position | 0.948845 | [
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] | [
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] | [
0.301981657743454,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4.8 | 48 | 21 | 8,911 | 0 |
[
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] | [
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] | move_to_position | 0.984886 | [
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] | [
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] | [
0.301981657743454,
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0.0684404969215393,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4.9 | 49 | 21 | 8,912 | 0 |
[
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] | [
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0
] | move_to_position | 0.999551 | [
-1.3026716709136963,
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0
] | [
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] | [
0.301981657743454,
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0.0684404969215393,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 5 | 50 | 21 | 8,913 | 0 |
[
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] | [
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] | move_to_position | 0.999874 | [
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] | [
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] | [
0.301981657743454,
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0.0684404969215393,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 5.1 | 51 | 21 | 8,914 | 0 |
[
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] | [
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0
] | gripper_open | 1 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: open gripper | [
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] | 1 | 5.2 | 52 | 21 | 8,915 | 0 |
[
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] | [
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0
] | gripper_open | 1 | [
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3.4135990142822266,
0
] | [
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] | [
0.3019956648349762,
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0.06842310726642609,
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0.00006297414074651897,
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] | 0 | pick first pie and place it on the first plate: open gripper | [
0.3019753694534302,
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0.06846058368682861,
3.1415791511535645,
0.00005032551780459471,
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] | 1 | 5.3 | 53 | 21 | 8,916 | 0 |
[
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] | [
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0
] | gripper_open | 1 | [
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1.5777629613876343,
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] | [
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] | [
0.3019956648349762,
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0.06842310726642609,
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0.00006297414074651897,
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] | 0 | pick first pie and place it on the first plate: open gripper | [
0.30197814106941223,
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0.06846874952316284,
3.1415741443634033,
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] | 1 | 5.4 | 54 | 21 | 8,917 | 0 |
[
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] | [
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0
] | gripper_open | 1 | [
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1.5777629613876343,
-2.0989606380462646,
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3.4135990142822266,
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] | [
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] | [
0.3019956648349762,
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0.06842310726642609,
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0.00006297414074651897,
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] | 0 | pick first pie and place it on the first plate: open gripper | [
0.30197352170944214,
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0.0684388056397438,
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0.0000523074995726347,
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] | 1 | 5.5 | 55 | 21 | 8,918 | 0 |
[
-1.3026779890060425,
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] | [
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1.5776395797729492,
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3.413619041442871,
0
] | move_to_position | 0.000097 | [
-1.33627188205719,
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1.5526922941207886,
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-1.570805311203003,
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] | [
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0,
0,
0
] | [
0.28627216815948486,
-0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.3019863963127136,
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0.0684339702129364,
-3.141531467437744,
0.000039255075535038486,
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] | 1 | 5.6 | 56 | 21 | 8,919 | 0 |
[
-1.3027652502059937,
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0
] | [
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1.5774797201156616,
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0
] | move_to_position | 0.002846 | [
-1.33627188205719,
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1.5526922941207886,
-2.162745714187622,
-1.570805311203003,
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] | [
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0,
0,
0
] | [
0.28627216815948486,
-0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.30190184712409973,
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0.06825988739728928,
3.141446828842163,
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] | 1 | 5.7 | 57 | 21 | 8,920 | 0 |
[
-1.3036030530929565,
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0
] | [
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1.5769685506820679,
-2.10186767578125,
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3.4121336936950684,
0
] | move_to_position | 0.025052 | [
-1.33627188205719,
-0.9597636461257935,
1.5526922941207886,
-2.162745714187622,
-1.570805311203003,
3.3800854682922363,
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] | [
-0.28627216815948486,
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0,
0,
0
] | [
0.28627216815948486,
-0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.301454097032547,
-0.5924652814865112,
0.06718418747186661,
3.141542673110962,
1.543759964306446e-7,
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] | 1 | 5.8 | 58 | 21 | 8,921 | 0 |
[
-1.3050020933151245,
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0
] | [
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1.576210618019104,
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0
] | move_to_position | 0.067708 | [
-1.33627188205719,
-0.9597636461257935,
1.5526922941207886,
-2.162745714187622,
-1.570805311203003,
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] | [
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0,
0,
0
] | [
0.28627216815948486,
-0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.3007867634296417,
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0.06524715572595596,
3.1414668560028076,
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] | 1 | 5.9 | 59 | 21 | 8,922 | 0 |
[
-1.307076334953308,
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0
] | [
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1.5750396251678467,
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3.4084312915802,
0
] | move_to_position | 0.126957 | [
-1.33627188205719,
-0.9597636461257935,
1.5526922941207886,
-2.162745714187622,
-1.570805311203003,
3.3800854682922363,
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] | [
-0.28627216815948486,
0.6193580031394958,
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0,
0,
0
] | [
0.28627216815948486,
-0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.2998453378677368,
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0.06286448985338211,
3.141491651535034,
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3.141587495803833
] | 1 | 6 | 60 | 21 | 8,923 | 0 |
[
-1.3094218969345093,
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1.5741008520126343,
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0
] | [
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1.5735269784927368,
-2.114089250564575,
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3.4059243202209473,
0
] | move_to_position | 0.194846 | [
-1.33627188205719,
-0.9597636461257935,
1.5526922941207886,
-2.162745714187622,
-1.570805311203003,
3.3800854682922363,
0
] | [
-0.28627216815948486,
0.6193580031394958,
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0,
0,
0
] | [
0.28627216815948486,
-0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.29866400361061096,
-0.5973648428916931,
0.059671320021152496,
-3.1414883136749268,
0.00003188668779330328,
3.1415815353393555
] | 1 | 6.1 | 61 | 21 | 8,924 | 0 |
[
-1.3118475675582886,
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1.5725005865097046,
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3.4043893814086914,
0
] | [
-1.3131338357925415,
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1.5716241598129272,
-2.119438648223877,
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3.4031448364257812,
0
] | move_to_position | 0.266168 | [
-1.33627188205719,
-0.9597636461257935,
1.5526922941207886,
-2.162745714187622,
-1.570805311203003,
3.3800854682922363,
0
] | [
-0.28627216815948486,
0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | [
0.28627216815948486,
-0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.2975522577762604,
-0.59943687915802,
0.05674852803349495,
3.14155650138855,
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] | 1 | 6.2 | 62 | 21 | 8,925 | 0 |
[
-1.315121054649353,
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1.5701383352279663,
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3.401139259338379,
0
] | [
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1.5691075325012207,
-2.125807523727417,
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3.399796724319458,
0
] | move_to_position | 0.363853 | [
-1.33627188205719,
-0.9597636461257935,
1.5526922941207886,
-2.162745714187622,
-1.570805311203003,
3.3800854682922363,
0
] | [
-0.28627216815948486,
0.6193580031394958,
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0,
0,
0
] | [
0.28627216815948486,
-0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.29596641659736633,
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0.05245734378695488,
-3.141570568084717,
0.00004351728057372384,
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] | 1 | 6.3 | 63 | 21 | 8,926 | 0 |
[
-1.318945288658142,
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1.56718909740448,
-2.1304662227630615,
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3.3972856998443604,
0
] | [
-1.3212769031524658,
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1.5653847455978394,
-2.134829521179199,
-1.5707389116287231,
3.3950295448303223,
0
] | move_to_position | 0.478073 | [
-1.33627188205719,
-0.9597636461257935,
1.5526922941207886,
-2.162745714187622,
-1.570805311203003,
3.3800854682922363,
0
] | [
-0.28627216815948486,
0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | [
0.28627216815948486,
-0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.29413750767707825,
-0.6056525707244873,
0.047600775957107544,
-3.1415188312530518,
0.00007148111762944609,
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] | 1 | 6.4 | 64 | 21 | 8,927 | 0 |
[
-1.3234328031539917,
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1.5636738538742065,
-2.1388661861419678,
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3.3929708003997803,
0
] | [
-1.3252179622650146,
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1.562256932258606,
-2.142241954803467,
-1.5707560777664185,
3.3911020755767822,
0
] | move_to_position | 0.610758 | [
-1.33627188205719,
-0.9597636461257935,
1.5526922941207886,
-2.162745714187622,
-1.570805311203003,
3.3800854682922363,
0
] | [
-0.28627216815948486,
0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | [
0.28627216815948486,
-0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.2922273278236389,
-0.6091336011886597,
0.042575955390930176,
3.141488552093506,
0.000003905812718585366,
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] | 1 | 6.5 | 65 | 21 | 8,928 | 0 |
[
-1.327494502067566,
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1.5604346990585327,
-2.1465003490448,
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3.388881206512451,
0
] | [
-1.3288778066635132,
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1.5593187808990479,
-2.149113893508911,
-1.5707721710205078,
3.3874547481536865,
0
] | move_to_position | 0.733379 | [
-1.33627188205719,
-0.9597636461257935,
1.5526922941207886,
-2.162745714187622,
-1.570805311203003,
3.3800854682922363,
0
] | [
-0.28627216815948486,
0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | [
0.28627216815948486,
-0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.2901546359062195,
-0.612678587436676,
0.03704983741044998,
-3.1414754390716553,
0.000007918155461084098,
3.141589403152466
] | 1 | 6.6 | 66 | 21 | 8,929 | 0 |
[
-1.331145167350769,
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1.5574439764022827,
-2.1533520221710205,
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3.3851940631866455,
0
] | [
-1.3322522640228271,
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1.5565828084945679,
-2.155439615249634,
-1.570786952972412,
3.384091854095459,
0
] | move_to_position | 0.843556 | [
-1.33627188205719,
-0.9597636461257935,
1.5526922941207886,
-2.162745714187622,
-1.570805311203003,
3.3800854682922363,
0
] | [
-0.28627216815948486,
0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | [
0.28627216815948486,
-0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.2886105477809906,
-0.6153632998466492,
0.03304358571767807,
3.141576051712036,
0.0000010942306971628568,
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] | 1 | 6.7 | 67 | 21 | 8,930 | 0 |
[
-1.3335388898849487,
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1.5554312467575073,
-2.157819986343384,
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3.382830858230591,
0
] | [
-1.334364891052246,
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1.554763913154602,
-2.1593611240386963,
-1.5707963705062866,
3.381986379623413,
0
] | move_to_position | 0.914969 | [
-1.33627188205719,
-0.9597636461257935,
1.5526922941207886,
-2.162745714187622,
-1.570805311203003,
3.3800854682922363,
0
] | [
-0.28627216815948486,
0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | [
0.28627216815948486,
-0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.2873956263065338,
-0.6173161864280701,
0.03001195564866066,
-3.1415772438049316,
0.000029708817237406038,
3.1415231227874756
] | 1 | 6.8 | 68 | 21 | 8,931 | 0 |
[
-1.3351491689682007,
-0.9630283117294312,
1.5539721250534058,
-2.160835027694702,
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3.3811440467834473,
0
] | [
-1.3355687856674194,
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1.5535715818405151,
-2.1615395545959473,
-1.570801854133606,
3.380786418914795,
0
] | move_to_position | 0.964838 | [
-1.33627188205719,
-0.9597636461257935,
1.5526922941207886,
-2.162745714187622,
-1.570805311203003,
3.3800854682922363,
0
] | [
-0.28627216815948486,
0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | [
0.28627216815948486,
-0.6193580031394958,
0.027000000700354576,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.28677240014076233,
-0.6184885501861572,
0.02829752117395401,
3.1415107250213623,
-0.00003616650792537257,
3.141587972640991
] | 1 | 6.9 | 69 | 21 | 8,932 | 0 |
[
-1.33588445186615,
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1.553183913230896,
-2.162214517593384,
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3.380462646484375,
0
] | [
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0
] | move_to_position | 0.989359 | [
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] | [
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0,
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 | 7 | 70 | 21 | 8,933 | 0 |
[
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] | [
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0
] | move_to_position | 0.996807 | [
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] | [
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0,
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 | 7.1 | 71 | 21 | 8,934 | 0 |
[
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] | [
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1
] | gripper_close | 0 | [
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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 | 7.2 | 72 | 21 | 8,935 | 0 |
[
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1
] | gripper_close | 0.011765 | [
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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 | 21 | 8,936 | 0 |
[
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1
] | gripper_close | 0.054902 | [
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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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[
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] | gripper_close | 0.180392 | [
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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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[
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] | gripper_close | 0.313725 | [
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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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[
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] | gripper_close | 0.443137 | [
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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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[
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] | gripper_close | 0.647059 | [
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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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[
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1
] | gripper_close | 0.741176 | [
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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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[
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1
] | gripper_close | 0.823529 | [
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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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[
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1
] | gripper_close | 0.85098 | [
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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 | 8.1 | 81 | 21 | 8,944 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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1
] | [
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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 | 8.2 | 82 | 21 | 8,945 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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1
] | [
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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 | 8.3 | 83 | 21 | 8,946 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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1
] | [
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] | [
0.28637343645095825,
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0.02704544924199581,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 8.4 | 84 | 21 | 8,947 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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1
] | [
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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 | 21 | 8,948 | 0 |
[
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1
] | gripper_close | 0.85098 | [
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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 | 8.6 | 86 | 21 | 8,949 | 0 |
[
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] | gripper_close | 0.85098 | [
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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 | 8.7 | 87 | 21 | 8,950 | 0 |
[
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] | gripper_close | 0.85098 | [
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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 | 21 | 8,951 | 0 |
[
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] | gripper_close | 0.85098 | [
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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 | 8.9 | 89 | 21 | 8,952 | 0 |
[
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] | gripper_close | 0.85098 | [
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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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[
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1
] | gripper_close | 0.85098 | [
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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 | 9.1 | 91 | 21 | 8,954 | 0 |
[
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] | gripper_close | 0.85098 | [
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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 | 9.2 | 92 | 21 | 8,955 | 0 |
[
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1
] | gripper_close | 0.85098 | [
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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 | 9.3 | 93 | 21 | 8,956 | 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 | 9.4 | 94 | 21 | 8,957 | 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 | 9.5 | 95 | 21 | 8,958 | 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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0.02704544924199581,
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0.00005147696356289089,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 9.6 | 96 | 21 | 8,959 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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1
] | [
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] | [
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0.02704544924199581,
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0.00005147696356289089,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 9.7 | 97 | 21 | 8,960 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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1
] | [
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] | [
0.28637343645095825,
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0.02704544924199581,
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0.00005147696356289089,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 9.8 | 98 | 21 | 8,961 | 0 |
[
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] | [
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1
] | gripper_close | 0.85098 | [
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1
] | [
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] | [
0.28637343645095825,
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0.02704544924199581,
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0.00005147696356289089,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 9.9 | 99 | 21 | 8,962 | 0 |
[
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] | [
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3.3800854682922363,
1
] | gripper_close | 0.85098 | [
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1.5528792142868042,
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1
] | [
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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 | 10 | 100 | 21 | 8,963 | 0 |
[
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] | gripper_close | 0.85098 | [
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[
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] | move_to_position | 0.000114 | [
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] | [
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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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[
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] | [
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] | move_to_position | 0.000126 | [
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] | [
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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 | 10.3 | 103 | 21 | 8,966 | 0 |
[
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] | [
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] | move_to_position | 0.011016 | [
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] | [
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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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[
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] | [
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] | move_to_position | 0.044531 | [
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] | [
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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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[
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] | [
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] | move_to_position | 0.097398 | [
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] | [
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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 | 10.6 | 106 | 21 | 8,969 | 0 |
[
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] | [
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] | move_to_position | 0.165594 | [
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] | [
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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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[
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] | move_to_position | 0.252104 | [
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] | [
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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 | 10.8 | 108 | 21 | 8,971 | 0 |
[
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] | [
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] | move_to_position | 0.381502 | [
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] | [
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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 | 10.9 | 109 | 21 | 8,972 | 0 |
[
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] | [
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1
] | move_to_position | 0.509617 | [
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] | [
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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 | 11 | 110 | 21 | 8,973 | 0 |
[
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] | [
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] | move_to_position | 0.626723 | [
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] | [
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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 | 11.1 | 111 | 21 | 8,974 | 0 |
[
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] | [
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1
] | move_to_position | 0.729173 | [
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] | [
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] | [
0.28627216815948486,
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0.09200000017881393,
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0,
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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 | 11.2 | 112 | 21 | 8,975 | 0 |
[
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] | [
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1
] | move_to_position | 0.82421 | [
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] | [
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] | [
0.28627216815948486,
-0.6193580031394958,
0.09200000017881393,
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0,
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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 | 11.3 | 113 | 21 | 8,976 | 0 |
[
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] | [
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1
] | move_to_position | 0.90881 | [
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] | [
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] | [
0.28627216815948486,
-0.6193580031394958,
0.09200000017881393,
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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 | 11.4 | 114 | 21 | 8,977 | 0 |
[
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] | [
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1
] | move_to_position | 0.965048 | [
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] | [
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] | [
0.28627216815948486,
-0.6193580031394958,
0.09200000017881393,
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0,
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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 | 11.5 | 115 | 21 | 8,978 | 0 |
[
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] | [
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1
] | move_to_position | 0.993521 | [
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1
] | [
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] | [
0.28627216815948486,
-0.6193580031394958,
0.09200000017881393,
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0,
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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 | 11.6 | 116 | 21 | 8,979 | 0 |
[
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] | [
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1
] | move_to_position | 0.998107 | [
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] | [
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0
] | [
0.28627216815948486,
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0.09200000017881393,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
0.28623566031455994,
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0.0917602926492691,
-3.141263246536255,
0.00011424883268773556,
3.1415462493896484
] | 0 | 11.7 | 117 | 21 | 8,980 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.000089 | [
-1.7103136777877808,
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1.5212633609771729,
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1
] | [
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0,
0
] | [
0.041641965508461,
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0.09667173027992249,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
0.28626036643981934,
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0.09196391701698303,
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0.00007282134174602106,
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] | 0 | 11.8 | 118 | 21 | 8,981 | 0 |
[
-1.3362215757369995,
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] | [
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1
] | move_to_position | 0.000021 | [
-1.7103136777877808,
-1.0642727613449097,
1.5212633609771729,
-2.026435613632202,
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1
] | [
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0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
0.2862590551376343,
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0.09186643362045288,
-3.141388416290283,
0.00011671200627461076,
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] | 0 | 11.9 | 119 | 21 | 8,982 | 0 |
[
-1.337530493736267,
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1
] | [
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-2.023378372192383,
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1
] | move_to_position | 0.00342 | [
-1.7103136777877808,
-1.0642727613449097,
1.5212633609771729,
-2.026435613632202,
-1.5707695484161377,
3.0059194564819336,
1
] | [
-0.041641965508461,
0.6701909303665161,
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0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
0.2846578061580658,
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0.09181148558855057,
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0.0001194519572891295,
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] | 0 | 12 | 120 | 21 | 8,983 | 0 |
[
-1.3496307134628296,
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] | [
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1
] | move_to_position | 0.036089 | [
-1.7103136777877808,
-1.0642727613449097,
1.5212633609771729,
-2.026435613632202,
-1.5707695484161377,
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1
] | [
-0.041641965508461,
0.6701909303665161,
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0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
0.2755262553691864,
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0.09205353260040283,
-3.141284227371216,
0.00008519236871507019,
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] | 0 | 12.1 | 121 | 21 | 8,984 | 0 |
[
-1.3723324537277222,
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] | [
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1
] | move_to_position | 0.096562 | [
-1.7103136777877808,
-1.0642727613449097,
1.5212633609771729,
-2.026435613632202,
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1
] | [
-0.041641965508461,
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0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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0.09230946004390717,
-3.1411566734313965,
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] | 0 | 12.2 | 122 | 21 | 8,985 | 0 |
[
-1.404009222984314,
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] | [
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1
] | move_to_position | 0.181181 | [
-1.7103136777877808,
-1.0642727613449097,
1.5212633609771729,
-2.026435613632202,
-1.5707695484161377,
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1
] | [
-0.041641965508461,
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0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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0.09270113706588745,
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] | 0 | 12.3 | 123 | 21 | 8,986 | 0 |
[
-1.439524531364441,
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1
] | [
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1
] | move_to_position | 0.276291 | [
-1.7103136777877808,
-1.0642727613449097,
1.5212633609771729,
-2.026435613632202,
-1.5707695484161377,
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1
] | [
-0.041641965508461,
0.6701909303665161,
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0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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0.09325236827135086,
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] | 0 | 12.4 | 124 | 21 | 8,987 | 0 |
[
-1.483141303062439,
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-2.0245444774627686,
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] | [
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-2.0246939659118652,
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1
] | move_to_position | 0.392867 | [
-1.7103136777877808,
-1.0642727613449097,
1.5212633609771729,
-2.026435613632202,
-1.5707695484161377,
3.0059194564819336,
1
] | [
-0.041641965508461,
0.6701909303665161,
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0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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0.09383748471736908,
-3.1411941051483154,
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] | 0 | 12.5 | 125 | 21 | 8,988 | 0 |
[
-1.5237125158309937,
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-2.0248796939849854,
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1
] | [
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-2.0250635147094727,
-1.5707435607910156,
3.1714606285095215,
1
] | move_to_position | 0.501238 | [
-1.7103136777877808,
-1.0642727613449097,
1.5212633609771729,
-2.026435613632202,
-1.5707695484161377,
3.0059194564819336,
1
] | [
-0.041641965508461,
0.6701909303665161,
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0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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0.09445305168628693,
-3.141340732574463,
0.0000920757811400108,
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] | 0 | 12.6 | 126 | 21 | 8,989 | 0 |
[
-1.5684789419174194,
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-2.025254964828491,
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3.1477127075195312,
1
] | [
-1.5911587476730347,
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-2.025444507598877,
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3.125072717666626,
1
] | move_to_position | 0.620903 | [
-1.7103136777877808,
-1.0642727613449097,
1.5212633609771729,
-2.026435613632202,
-1.5707695484161377,
3.0059194564819336,
1
] | [
-0.041641965508461,
0.6701909303665161,
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0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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0.09489713609218597,
-3.1411139965057373,
0.00010607048170641065,
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] | 0 | 12.7 | 127 | 21 | 8,990 | 0 |
[
-1.6093195676803589,
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-2.0255606174468994,
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1
] | [
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-2.0257458686828613,
-1.5707573890686035,
3.0884482860565186,
1
] | move_to_position | 0.730061 | [
-1.7103136777877808,
-1.0642727613449097,
1.5212633609771729,
-2.026435613632202,
-1.5707695484161377,
3.0059194564819336,
1
] | [
-0.041641965508461,
0.6701909303665161,
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0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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-3.141165256500244,
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] | 0 | 12.8 | 128 | 21 | 8,991 | 0 |
[
-1.6466950178146362,
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-2.025891065597534,
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1
] | [
-1.6591768264770508,
-1.0603505373001099,
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-2.026005268096924,
-1.5707621574401855,
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1
] | move_to_position | 0.82987 | [
-1.7103136777877808,
-1.0642727613449097,
1.5212633609771729,
-2.026435613632202,
-1.5707695484161377,
3.0059194564819336,
1
] | [
-0.041641965508461,
0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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0.09592264890670776,
-3.1411705017089844,
0.00010032059071818367,
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] | 0 | 12.9 | 129 | 21 | 8,992 | 0 |
[
-1.6763914823532104,
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-2.0261218547821045,
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3.0398664474487305,
1
] | [
-1.6894738674163818,
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-2.0262575149536133,
-1.5707664489746094,
3.0267584323883057,
1
] | move_to_position | 0.909282 | [
-1.7103136777877808,
-1.0642727613449097,
1.5212633609771729,
-2.026435613632202,
-1.5707695484161377,
3.0059194564819336,
1
] | [
-0.041641965508461,
0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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0.09628930687904358,
-3.141192674636841,
0.0001294611720368266,
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] | 0 | 13 | 130 | 21 | 8,993 | 0 |
[
-1.6982382535934448,
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1.5202206373214722,
-2.026332139968872,
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1
] | [
-1.7060611248016357,
-1.0639328956604004,
1.520886778831482,
-2.026398181915283,
-1.5707688331604004,
3.01017165184021,
1
] | move_to_position | 0.967767 | [
-1.7103136777877808,
-1.0642727613449097,
1.5212633609771729,
-2.026435613632202,
-1.5707695484161377,
3.0059194564819336,
1
] | [
-0.041641965508461,
0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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-0.6700595617294312,
0.09647852927446365,
-3.1410934925079346,
0.00008074277866398916,
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] | 0 | 13.1 | 131 | 21 | 8,994 | 0 |
[
-1.7097042798995972,
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-2.026421308517456,
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3.0066378116607666,
1
] | [
-1.7102868556976318,
-1.0642706155776978,
1.5212609767913818,
-2.026435375213623,
-1.5707695484161377,
3.005946397781372,
1
] | move_to_position | 0.998155 | [
-1.7103136777877808,
-1.0642727613449097,
1.5212633609771729,
-2.026435613632202,
-1.5707695484161377,
3.0059194564819336,
1
] | [
-0.041641965508461,
0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
0.04164613038301468,
-0.6702332496643066,
0.0965753048658371,
-3.141094923019409,
0.00010063069930765778,
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] | 0 | 13.2 | 132 | 21 | 8,995 | 0 |
[
-1.710333228111267,
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-2.0264337062835693,
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3.005962610244751,
1
] | [
-1.7103136777877808,
-1.0642727613449097,
1.5212633609771729,
-2.026435613632202,
-1.5707695484161377,
3.0059194564819336,
1
] | move_to_position | 0.999514 | [
-1.7103136777877808,
-1.0642727613449097,
1.5212633609771729,
-2.026435613632202,
-1.5707695484161377,
3.0059194564819336,
1
] | [
-0.041641965508461,
0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | [
0.041641965508461,
-0.6701909303665161,
0.09667173027992249,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
0.041649267077445984,
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0.09657398611307144,
-3.141101121902466,
0.00008944018190959468,
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] | 0 | 13.3 | 133 | 21 | 8,996 | 0 |
[
-1.7102712392807007,
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-2.026430368423462,
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3.0059285163879395,
1
] | [
-1.7103136777877808,
-1.0642727613449097,
1.5212633609771729,
-2.026435613632202,
-1.5707695484161377,
3.0059194564819336,
1
] | move_to_position | 0 | [
-1.7280051708221436,
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-2.119600772857666,
-1.5709084272384644,
2.988325357437134,
1
] | [
-0.02807430550456047,
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0,
0,
0
] | [
0.02807430550456047,
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0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.04164379835128784,
-0.6702324748039246,
0.09663718193769455,
-3.141201972961426,
0.00009106538345804438,
-3.1415908336639404
] | 0 | 13.4 | 134 | 21 | 8,997 | 0 |
[
-1.7103537321090698,
-1.064092993736267,
1.5211576223373413,
-2.026808023452759,
-1.5708001852035522,
3.005873441696167,
1
] | [
-1.710442304611206,
-1.0635831356048584,
1.5213202238082886,
-2.027204990386963,
-1.5708187818527222,
3.0057897567749023,
1
] | move_to_position | 0.002533 | [
-1.7280051708221436,
-0.9844024777412415,
1.5345560312271118,
-2.119600772857666,
-1.5709084272384644,
2.988325357437134,
1
] | [
-0.02807430550456047,
0.6820584535598755,
0.04699999839067459,
0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.04699999839067459,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.04161481559276581,
-0.6703393459320068,
0.096527598798275,
-3.1415188312530518,
0.00016842155309859663,
-3.1415419578552246
] | 0 | 13.5 | 135 | 21 | 8,998 | 0 |
[
-1.710574984550476,
-1.0627646446228027,
1.5217841863632202,
-2.028613328933716,
-1.570827841758728,
3.005533218383789,
1
] | [
-1.7109676599502563,
-1.061431884765625,
1.522006630897522,
-2.0300419330596924,
-1.5708210468292236,
3.005267381668091,
1
] | move_to_position | 0.020986 | [
-1.7280051708221436,
-0.9844024777412415,
1.5345560312271118,
-2.119600772857666,
-1.5709084272384644,
2.988325357437134,
1
] | [
-0.02807430550456047,
0.6820584535598755,
0.04699999839067459,
0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.04699999839067459,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.041293345391750336,
-0.6704992055892944,
0.09527498483657837,
-3.1412441730499268,
0.00015032626106403768,
-3.141524076461792
] | 0 | 13.6 | 136 | 21 | 8,999 | 0 |
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