observation.state listlengths 7 7 | action listlengths 7 7 | skill.type large_stringclasses 4
values | skill.progress float32 0 1 | skill.goal_position.joint listlengths 7 7 | skill.goal_position.world_xyzrpy listlengths 6 6 | skill.goal_position.robot_xyzrpy listlengths 6 6 | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 61
values | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | timestamp float32 0 46.1 | frame_index int64 0 461 | episode_index int64 0 24 | index int64 0 10.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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1
] | [
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1
] | move_to_position | 0.061322 | [
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] | [
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0
] | [
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0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
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] | 0 | 13.7 | 137 | 21 | 9,000 | 0 |
[
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] | [
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1
] | move_to_position | 0.115342 | [
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] | [
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0
] | [
0.02807430550456047,
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0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
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] | 0 | 13.8 | 138 | 21 | 9,001 | 0 |
[
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] | [
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1
] | move_to_position | 0.181993 | [
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] | [
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0
] | [
0.02807430550456047,
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0.04699999839067459,
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0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
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] | 0 | 13.9 | 139 | 21 | 9,002 | 0 |
[
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] | [
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1
] | move_to_position | 0.261077 | [
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] | [
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0
] | [
0.02807430550456047,
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0.04699999839067459,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
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] | 0 | 14 | 140 | 21 | 9,003 | 0 |
[
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] | [
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1
] | move_to_position | 0.364727 | [
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] | [
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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 | [
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] | 0 | 14.1 | 141 | 21 | 9,004 | 0 |
[
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] | [
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1
] | move_to_position | 0.488042 | [
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1.5345560312271118,
-2.119600772857666,
-1.5709084272384644,
2.988325357437134,
1
] | [
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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 | [
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0.00010724699677666649,
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] | 0 | 14.2 | 142 | 21 | 9,005 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.615924 | [
-1.7280051708221436,
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1.5345560312271118,
-2.119600772857666,
-1.5709084272384644,
2.988325357437134,
1
] | [
-0.02807430550456047,
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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 | [
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0.06477449089288712,
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0.0001180779145215638,
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] | 0 | 14.3 | 143 | 21 | 9,006 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.744715 | [
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1
] | [
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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 | [
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] | 0 | 14.4 | 144 | 21 | 9,007 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.840431 | [
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1.5345560312271118,
-2.119600772857666,
-1.5709084272384644,
2.988325357437134,
1
] | [
-0.02807430550456047,
0.6820584535598755,
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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 | [
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0.054280251264572144,
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0.00010491842840565369,
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] | 0 | 14.5 | 145 | 21 | 9,008 | 0 |
[
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1
] | [
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1.5342130661010742,
-2.1135458946228027,
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2.9895057678222656,
1
] | move_to_position | 0.91187 | [
-1.7280051708221436,
-0.9844024777412415,
1.5345560312271118,
-2.119600772857666,
-1.5709084272384644,
2.988325357437134,
1
] | [
-0.02807430550456047,
0.6820584535598755,
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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 | [
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0.05097735673189163,
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0.0001647579192649573,
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] | 0 | 14.6 | 146 | 21 | 9,009 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.95881 | [
-1.7280051708221436,
-0.9844024777412415,
1.5345560312271118,
-2.119600772857666,
-1.5709084272384644,
2.988325357437134,
1
] | [
-0.02807430550456047,
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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 | [
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0.048858169466257095,
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0.00015352456830441952,
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] | 0 | 14.7 | 147 | 21 | 9,010 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.987099 | [
-1.7280051708221436,
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1.5345560312271118,
-2.119600772857666,
-1.5709084272384644,
2.988325357437134,
1
] | [
-0.02807430550456047,
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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 | [
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0.04745829850435257,
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0.00007295875548152253,
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] | 0 | 14.8 | 148 | 21 | 9,011 | 0 |
[
-1.7278894186019897,
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1
] | [
-1.7280051708221436,
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1.5345560312271118,
-2.119600772857666,
-1.5709084272384644,
2.988325357437134,
1
] | move_to_position | 0.99825 | [
-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 | [
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0.04702034965157509,
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0.00006895325350342318,
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] | 0 | 14.9 | 149 | 21 | 9,012 | 0 |
[
-1.727946162223816,
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1
] | [
-1.7280051708221436,
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1.5345560312271118,
-2.119600772857666,
-1.5709084272384644,
2.988325357437134,
0
] | gripper_open | 0 | [
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1.5345028638839722,
-2.119516134262085,
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0
] | [
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] | [
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0.04701567068696022,
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0.00010583255789242685,
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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] | 0 | 15 | 150 | 21 | 9,013 | 0 |
[
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] | [
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0
] | gripper_open | 0.180392 | [
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0
] | [
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] | [
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0.04701567068696022,
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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] | 0 | 15.1 | 151 | 21 | 9,014 | 0 |
[
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] | [
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0
] | gripper_open | 0.294118 | [
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0
] | [
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] | [
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0.04701567068696022,
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0.00010583255789242685,
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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] | 0 | 15.2 | 152 | 21 | 9,015 | 0 |
[
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] | [
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0
] | gripper_open | 0.415686 | [
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] | [
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] | [
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0.04701567068696022,
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
0.02803833968937397,
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] | 0 | 15.3 | 153 | 21 | 9,016 | 0 |
[
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] | [
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] | gripper_open | 0.541176 | [
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] | [
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] | [
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0.04701567068696022,
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
0.028062136843800545,
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] | 1 | 15.4 | 154 | 21 | 9,017 | 0 |
[
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] | [
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] | gripper_open | 0.662745 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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0.047001585364341736,
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] | 1 | 15.5 | 155 | 21 | 9,018 | 0 |
[
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] | [
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] | gripper_open | 0.784314 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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] | 1 | 15.6 | 156 | 21 | 9,019 | 0 |
[
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] | [
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] | gripper_open | 0.905882 | [
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] | [
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] | [
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0.04701567068696022,
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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0.046984970569610596,
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] | 1 | 15.7 | 157 | 21 | 9,020 | 0 |
[
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] | [
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0
] | gripper_open | 0.988235 | [
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] | [
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] | [
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0.04701567068696022,
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0.00010583255789242685,
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
0.02804551273584366,
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0.0469960980117321,
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] | 1 | 15.8 | 158 | 21 | 9,021 | 0 |
[
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] | [
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0
] | gripper_open | 0.988234 | [
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] | [
-0.028087351471185684,
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] | [
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0.04701567068696022,
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0.00010583255789242685,
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
0.028022803366184235,
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0.046991847455501556,
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0.00012483719910960644,
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] | 1 | 15.9 | 159 | 21 | 9,022 | 0 |
[
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] | [
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0
] | gripper_open | 0.988235 | [
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0
] | [
-0.028087351471185684,
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] | [
0.028087351471185684,
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0.04701567068696022,
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0.00010583255789242685,
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
0.028039364144206047,
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0.04700741544365883,
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0.00011633840040303767,
3.1415719985961914
] | 1 | 16 | 160 | 21 | 9,023 | 0 |
[
-1.727990984916687,
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0
] | [
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1.5345560312271118,
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0
] | move_to_position | 0 | [
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1.4823037385940552,
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0
] | [
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0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.09700000286102295,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.028050290420651436,
-0.6820600628852844,
0.046984605491161346,
-3.1411683559417725,
0.00006301412940956652,
3.14158034324646
] | 1 | 16.1 | 161 | 21 | 9,024 | 0 |
[
-1.727990984916687,
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0
] | [
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0
] | move_to_position | 0.000272 | [
-1.7279175519943237,
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1.4823037385940552,
-2.0112626552581787,
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0
] | [
-0.02807430550456047,
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0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.09700000286102295,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.02802707813680172,
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0.04699030891060829,
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0.00015457889821846038,
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] | 1 | 16.200001 | 162 | 21 | 9,025 | 0 |
[
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0
] | [
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1.533437728881836,
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0
] | move_to_position | 0.011829 | [
-1.7279175519943237,
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1.4823037385940552,
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0
] | [
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0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.09700000286102295,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.028064614161849022,
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0.047846127301454544,
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0.00008261334733106196,
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] | 1 | 16.299999 | 163 | 21 | 9,026 | 0 |
[
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0
] | [
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1.531362533569336,
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2.988314390182495,
0
] | move_to_position | 0.046523 | [
-1.7279175519943237,
-1.0404905080795288,
1.4823037385940552,
-2.0112626552581787,
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0
] | [
-0.02807430550456047,
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0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.09700000286102295,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.028042126446962357,
-0.6820355653762817,
0.049809325486421585,
-3.1411962509155273,
0.00009689806756796315,
3.141557216644287
] | 1 | 16.4 | 164 | 21 | 9,027 | 0 |
[
-1.7280014753341675,
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0
] | [
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0
] | move_to_position | 0.104533 | [
-1.7279175519943237,
-1.0404905080795288,
1.4823037385940552,
-2.0112626552581787,
-1.5707975625991821,
2.988323450088501,
0
] | [
-0.02807430550456047,
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0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.09700000286102295,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.02805756777524948,
-0.6819968819618225,
0.05289027467370033,
-3.141064167022705,
0.00008297333988593891,
3.1415867805480957
] | 1 | 16.5 | 165 | 21 | 9,028 | 0 |
[
-1.7279661893844604,
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0
] | [
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-2.096696615219116,
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2.988316535949707,
0
] | move_to_position | 0.173808 | [
-1.7279175519943237,
-1.0404905080795288,
1.4823037385940552,
-2.0112626552581787,
-1.5707975625991821,
2.988323450088501,
0
] | [
-0.02807430550456047,
0.6820584535598755,
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0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.09700000286102295,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.02807018719613552,
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0.05658598989248276,
-3.1411800384521484,
0.0000655995900160633,
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] | 1 | 16.6 | 166 | 21 | 9,029 | 0 |
[
-1.7280014753341675,
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2.988316535949707,
0
] | [
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1.5203596353530884,
-2.08766770362854,
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0
] | move_to_position | 0.259968 | [
-1.7279175519943237,
-1.0404905080795288,
1.4823037385940552,
-2.0112626552581787,
-1.5707975625991821,
2.988323450088501,
0
] | [
-0.02807430550456047,
0.6820584535598755,
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0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.09700000286102295,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.028051679953932762,
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0.061122626066207886,
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0.00010552578896749765,
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] | 1 | 16.700001 | 167 | 21 | 9,030 | 0 |
[
-1.727962851524353,
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0
] | [
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1.5138225555419922,
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2.988318681716919,
0
] | move_to_position | 0.37123 | [
-1.7279175519943237,
-1.0404905080795288,
1.4823037385940552,
-2.0112626552581787,
-1.5707975625991821,
2.988323450088501,
0
] | [
-0.02807430550456047,
0.6820584535598755,
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0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.09700000286102295,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.028029466047883034,
-0.6822097897529602,
0.06683940440416336,
-3.141221523284912,
0.0001123869078583084,
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] | 1 | 16.799999 | 168 | 21 | 9,031 | 0 |
[
-1.7279733419418335,
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2.988335371017456,
0
] | [
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0
] | move_to_position | 0.505356 | [
-1.7279175519943237,
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] | [
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0
] | [
0.02807430550456047,
-0.6820584535598755,
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0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.02803315408527851,
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0.0730530396103859,
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] | 1 | 16.9 | 169 | 21 | 9,032 | 0 |
[
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] | [
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] | move_to_position | 0.636513 | [
-1.7279175519943237,
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] | [
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0
] | [
0.02807430550456047,
-0.6820584535598755,
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0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.02803974784910679,
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0.08024972677230835,
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] | 1 | 17 | 170 | 21 | 9,033 | 0 |
[
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] | [
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] | move_to_position | 0.751167 | [
-1.7279175519943237,
-1.0404905080795288,
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-2.0112626552581787,
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] | [
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] | [
0.02807430550456047,
-0.6820584535598755,
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0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
0.028064226731657982,
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] | 1 | 17.1 | 171 | 21 | 9,034 | 0 |
[
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] | [
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] | move_to_position | 0.835594 | [
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] | [
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] | [
0.02807430550456047,
-0.6820584535598755,
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0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
0.02807541750371456,
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] | 1 | 17.200001 | 172 | 21 | 9,035 | 0 |
[
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] | [
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] | move_to_position | 0.899439 | [
-1.7279175519943237,
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] | [
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] | [
0.02807430550456047,
-0.6820584535598755,
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0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
0.028070511296391487,
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] | 1 | 17.299999 | 173 | 21 | 9,036 | 0 |
[
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] | [
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] | move_to_position | 0.949768 | [
-1.7279175519943237,
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-2.0112626552581787,
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] | [
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0
] | [
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-0.6820584535598755,
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0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
0.028081513941287994,
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] | 1 | 17.4 | 174 | 21 | 9,037 | 0 |
[
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] | [
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] | move_to_position | 0.981948 | [
-1.7279175519943237,
-1.0404905080795288,
1.4823037385940552,
-2.0112626552581787,
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] | [
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0
] | [
0.02807430550456047,
-0.6820584535598755,
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0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
0.028071746230125427,
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] | 1 | 17.5 | 175 | 21 | 9,038 | 0 |
[
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] | [
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] | move_to_position | 0.997267 | [
-1.7279175519943237,
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1.4823037385940552,
-2.0112626552581787,
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] | [
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] | [
0.02807430550456047,
-0.6820584535598755,
0.09700000286102295,
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0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.028092311695218086,
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] | 1 | 17.6 | 176 | 21 | 9,039 | 0 |
[
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] | [
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] | move_to_joint_state | 0 | [
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] | [
0,
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] | [
0,
0,
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0,
0
] | 0 | level TCP before picking second pie | [
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0.09676071256399155,
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] | 1 | 17.700001 | 177 | 21 | 9,040 | 0 |
[
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] | [
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] | move_to_joint_state | 0 | [
-1.7279659509658813,
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] | [
0,
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0
] | [
0,
0,
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0,
0,
0
] | 0 | level TCP before picking second pie | [
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0.09672864526510239,
-3.140721321105957,
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] | 1 | 17.799999 | 178 | 21 | 9,041 | 0 |
[
-1.7279380559921265,
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] | [
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] | move_to_joint_state | 0 | [
-1.7279659509658813,
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] | [
0,
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] | [
0,
0,
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0,
0
] | 0 | level TCP before picking second pie | [
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0.09675855934619904,
-3.140861988067627,
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] | 1 | 17.9 | 179 | 21 | 9,042 | 0 |
[
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0
] | [
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] | move_to_joint_state | 0.09363 | [
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] | [
0,
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] | [
0,
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0
] | 0 | level TCP before picking second pie | [
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-3.140866279602051,
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] | 1 | 18 | 180 | 21 | 9,043 | 0 |
[
-1.7279132604599,
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] | [
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0
] | move_to_joint_state | 0.118522 | [
-1.7279659509658813,
-1.0403189659118652,
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] | [
0,
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0,
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] | [
0,
0,
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0,
0
] | 0 | level TCP before picking second pie | [
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-3.1409730911254883,
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] | 1 | 18.1 | 181 | 21 | 9,044 | 0 |
[
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] | [
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0
] | move_to_joint_state | 0.203359 | [
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] | [
0,
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] | [
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0,
0
] | 0 | level TCP before picking second pie | [
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0.09675036370754242,
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] | 1 | 18.200001 | 182 | 21 | 9,045 | 0 |
[
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0
] | [
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-2.0117106437683105,
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0
] | move_to_joint_state | 0.278723 | [
-1.7279659509658813,
-1.0403189659118652,
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-2.0123767852783203,
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] | [
0,
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] | [
0,
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0,
0
] | 0 | level TCP before picking second pie | [
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-3.1410751342773438,
0.00002019628300331533,
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] | 1 | 18.299999 | 183 | 21 | 9,046 | 0 |
[
-1.727906584739685,
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0
] | [
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0
] | move_to_joint_state | 0.369018 | [
-1.7279659509658813,
-1.0403189659118652,
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-2.0123767852783203,
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] | [
0,
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] | [
0,
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0,
0
] | 0 | level TCP before picking second pie | [
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0.09679100662469864,
-3.141223669052124,
0.00003629274578997865,
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] | 1 | 18.4 | 184 | 21 | 9,047 | 0 |
[
-1.7279099225997925,
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-2.0118420124053955,
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0
] | [
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-2.011915445327759,
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0
] | move_to_joint_state | 0.464774 | [
-1.7279659509658813,
-1.0403189659118652,
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] | [
0,
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] | [
0,
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0,
0
] | 0 | level TCP before picking second pie | [
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0.09677509218454361,
-3.1412367820739746,
0.00003835983443423174,
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] | 1 | 18.5 | 185 | 21 | 9,048 | 0 |
[
-1.727918028831482,
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0
] | [
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-2.0120131969451904,
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0
] | move_to_joint_state | 0.565755 | [
-1.7279659509658813,
-1.0403189659118652,
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-2.0123767852783203,
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] | [
0,
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] | [
0,
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0,
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0,
0
] | 0 | level TCP before picking second pie | [
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0.0967501550912857,
-3.1412901878356934,
0.00004573367186821997,
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] | 1 | 18.6 | 186 | 21 | 9,049 | 0 |
[
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0
] | [
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-2.0121097564697266,
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0
] | move_to_joint_state | 0.649168 | [
-1.7279659509658813,
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2.988264799118042,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking second pie | [
0.028115035966038704,
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0.09675432741641998,
-3.1413989067077637,
0.000011617336895142216,
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] | 1 | 18.700001 | 187 | 21 | 9,050 | 0 |
[
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-2.0121448040008545,
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0
] | [
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1.4827792644500732,
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0
] | move_to_joint_state | 0.75659 | [
-1.7279659509658813,
-1.0403189659118652,
1.4828437566757202,
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] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking second pie | [
0.02810901775956154,
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0.09675631672143936,
-3.14143443107605,
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3.1415915489196777
] | 1 | 18.799999 | 188 | 21 | 9,051 | 0 |
[
-1.7279547452926636,
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1.4827960729599,
-2.0122597217559814,
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] | [
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1.4828053712844849,
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0
] | move_to_joint_state | 0.870155 | [
-1.7279659509658813,
-1.0403189659118652,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking second pie | [
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0.09673046320676804,
-3.1414871215820312,
-0.000014144043234409764,
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] | 1 | 18.9 | 189 | 21 | 9,052 | 0 |
[
-1.7279027700424194,
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1.4828227758407593,
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] | [
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0
] | move_to_joint_state | 0.889105 | [
-1.7279659509658813,
-1.0403189659118652,
1.4828437566757202,
-2.0123767852783203,
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] | [
0,
0,
0,
0,
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0
] | [
0,
0,
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0,
0,
0
] | 0 | level TCP before picking second pie | [
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0.0967678427696228,
-3.141580104827881,
0.000007738029125903267,
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] | 1 | 19 | 190 | 21 | 9,053 | 0 |
[
-1.727946162223816,
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1.482800841331482,
-2.0123789310455322,
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0
] | [
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-2.0123636722564697,
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0
] | move_to_joint_state | 0.931448 | [
-1.7279659509658813,
-1.0403189659118652,
1.4828437566757202,
-2.0123767852783203,
-1.570646047592163,
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] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking second pie | [
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0.0967312902212143,
-3.141550064086914,
0.000006839199613750679,
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] | 1 | 19.1 | 191 | 21 | 9,054 | 0 |
[
-1.7279309034347534,
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-2.01236891746521,
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0
] | [
-1.7279659509658813,
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-2.0123767852783203,
-1.570646047592163,
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] | move_to_joint_state | 0.95008 | [
-1.7279659509658813,
-1.0403189659118652,
1.4828437566757202,
-2.0123767852783203,
-1.570646047592163,
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] | [
0,
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0,
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0
] | [
0,
0,
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0,
0,
0
] | 0 | level TCP before picking second pie | [
0.028108056634664536,
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0.09675037860870361,
3.1415743827819824,
-0.000027499538191477768,
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] | 1 | 19.200001 | 192 | 21 | 9,055 | 0 |
[
-1.727965235710144,
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-2.0123722553253174,
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0
] | [
-1.7279659509658813,
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-2.0123767852783203,
-1.570646047592163,
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0
] | move_to_position | 0.000015 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
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] | [
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0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.0281001515686512,
-0.6821138262748718,
0.09674373269081116,
-3.141578435897827,
-0.000021031926735304296,
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] | 1 | 19.299999 | 193 | 21 | 9,056 | 0 |
[
-1.7279771566390991,
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] | [
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0
] | move_to_position | 0.000048 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
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] | [
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0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.02808997966349125,
-0.6821161508560181,
0.09675919264554977,
3.1415703296661377,
0.000013232470337243285,
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] | 1 | 19.4 | 194 | 21 | 9,057 | 0 |
[
-1.7291263341903687,
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-2.0112712383270264,
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] | [
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0
] | move_to_position | 0.003774 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
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] | [
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0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.026546552777290344,
-0.6830511093139648,
0.09719999879598618,
3.141439437866211,
0.00002872645745810587,
3.1415274143218994
] | 1 | 19.5 | 195 | 21 | 9,058 | 0 |
[
-1.7376059293746948,
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0
] | [
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-1.9972103834152222,
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0
] | move_to_position | 0.031177 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
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] | [
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0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.0188596248626709,
-0.6879323124885559,
0.09877360612154007,
-3.141587972640991,
-0.00002497812602086924,
3.1415209770202637
] | 1 | 19.6 | 196 | 21 | 9,059 | 0 |
[
-1.7529410123825073,
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0
] | [
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-1.9823601245880127,
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0
] | move_to_position | 0.077785 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
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] | [
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0.6730436086654663,
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0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.007599676959216595,
-0.6947702169418335,
0.10121416300535202,
-3.1414928436279297,
-0.000041297462303191423,
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] | 1 | 19.700001 | 197 | 21 | 9,060 | 0 |
[
-1.7728327512741089,
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2.943403959274292,
0
] | [
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-1.9586964845657349,
-1.5706515312194824,
2.9333949089050293,
0
] | move_to_position | 0.130541 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
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0.6730436086654663,
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0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.010114547796547413,
-0.7046396732330322,
0.1048370897769928,
-3.1413991451263428,
-0.00009466139454161748,
3.141559600830078
] | 1 | 19.799999 | 198 | 21 | 9,061 | 0 |
[
-1.7950114011764526,
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1.3616055250167847,
-1.9467235803604126,
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2.9211273193359375,
0
] | [
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1.3407843112945557,
-1.9354759454727173,
-1.5706509351730347,
2.909639835357666,
0
] | move_to_position | 0.177903 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
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] | [
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0.6730436086654663,
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0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.0279736015945673,
-0.7137848138809204,
0.10851722210645676,
-3.141552686691284,
-0.00010429471149109304,
3.1415843963623047
] | 1 | 19.9 | 199 | 21 | 9,062 | 0 |
[
-1.8216594457626343,
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1.313322901725769,
-1.9206920862197876,
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2.894470691680908,
0
] | [
-1.8332685232162476,
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1.2924810647964478,
-1.9094178676605225,
-1.570650339126587,
2.882981538772583,
0
] | move_to_position | 0.215664 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
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0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.04830707609653473,
-0.7231726050376892,
0.11254224181175232,
3.141584873199463,
-0.00009424483869224787,
-3.141519784927368
] | 1 | 20 | 200 | 21 | 9,063 | 0 |
[
-1.8469771146774292,
-0.9414389133453369,
1.2674225568771362,
-1.895896077156067,
-1.5706480741500854,
2.8691556453704834,
0
] | [
-1.8568931818008423,
-0.9333288669586182,
1.2496949434280396,
-1.8863351345062256,
-1.5706499814987183,
2.8593668937683105,
0
] | move_to_position | 0.229545 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.07158707827329636,
-0.7326565384864807,
0.11695301532745361,
3.1414079666137695,
-0.000132828950881958,
-3.141523838043213
] | 1 | 20.1 | 201 | 21 | 9,064 | 0 |
[
-1.871700644493103,
-0.9210914969444275,
1.222976565361023,
-1.871961236000061,
-1.5706709623336792,
2.8445959091186523,
0
] | [
-1.8845561742782593,
-0.9103938937187195,
1.1996219158172607,
-1.8593063354492188,
-1.5706499814987183,
2.8317153453826904,
0
] | move_to_position | 0.221812 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.09194141626358032,
-0.7398138642311096,
0.12060657888650894,
3.1414284706115723,
-0.00013154475891496986,
3.1415162086486816
] | 1 | 20.200001 | 202 | 21 | 9,065 | 0 |
[
-1.8951653242111206,
-0.9016342163085938,
1.1804856061935425,
-1.8489896059036255,
-1.570656657218933,
2.8211963176727295,
0
] | [
-1.9054484367370605,
-0.8930647373199463,
1.1618465185165405,
-1.8388919830322266,
-1.5706502199172974,
2.81083083152771,
0
] | move_to_position | 0.194834 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.11209405213594437,
-0.7460453510284424,
0.12423336505889893,
3.141197919845581,
-0.00012783448619302362,
3.141472339630127
] | 1 | 20.299999 | 203 | 21 | 9,066 | 0 |
[
-1.9158629179000854,
-0.8843485713005066,
1.142973780632019,
-1.8287311792373657,
-1.5706599950790405,
2.800374746322632,
0
] | [
-1.9207732677459717,
-0.880343496799469,
1.1341795921325684,
-1.8239165544509888,
-1.5706506967544556,
2.795511245727539,
0
] | move_to_position | 0.156914 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.1282244622707367,
-0.7503877878189087,
0.12689940631389618,
3.14129900932312,
-0.00015651382273063064,
3.1415770053863525
] | 1 | 20.4 | 204 | 21 | 9,067 | 0 |
[
-1.9292973279953003,
-0.8733158111572266,
1.118942141532898,
-1.8156439065933228,
-1.5706323385238647,
2.7870585918426514,
0
] | [
-1.9330952167510986,
-0.8700985312461853,
1.1120002269744873,
-1.8118739128112793,
-1.5706511735916138,
2.7831931114196777,
0
] | move_to_position | 0.126411 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
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0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.14015060663223267,
-0.7531849145889282,
0.1288655400276184,
3.1413321495056152,
-0.00013345092884264886,
3.1414077281951904
] | 1 | 20.5 | 205 | 21 | 9,068 | 0 |
[
-1.93732488155365,
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1.104469656944275,
-1.8077298402786255,
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2.778968095779419,
0
] | [
-1.9378718137741089,
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1.1034891605377197,
-1.8072036504745483,
-1.5706515312194824,
2.7784178256988525,
0
] | move_to_position | 0.105886 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.14561448991298676,
-0.7543347477912903,
0.1296725571155548,
3.141547679901123,
-0.0002474822977092117,
3.141434669494629
] | 1 | 20.6 | 206 | 21 | 9,069 | 0 |
[
-1.937944769859314,
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1.1033295392990112,
-1.8070741891860962,
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2.7783186435699463,
0
] | [
-1.9379745721817017,
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1.103306531906128,
-1.8071030378341675,
-1.5706515312194824,
2.7783150672912598,
0
] | move_to_position | 0.104141 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.14586827158927917,
-0.7544044256210327,
0.12970784306526184,
3.141575574874878,
-0.00026024668477475643,
3.141497850418091
] | 1 | 20.700001 | 207 | 21 | 9,070 | 0 |
[
-1.9379690885543823,
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1.103340983390808,
-1.807101845741272,
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2.7783496379852295,
0
] | [
-1.9379745721817017,
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1.103306531906128,
-1.8071030378341675,
-1.5706515312194824,
2.7783150672912598,
0
] | move_to_position | 0.104184 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.1458883136510849,
-0.7544024586677551,
0.12972988188266754,
3.141537666320801,
-0.00027370324824005365,
3.1414475440979004
] | 1 | 20.799999 | 208 | 21 | 9,071 | 0 |
[
-1.9379600286483765,
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1.1033772230148315,
-1.8071619272232056,
-1.570656657218933,
2.7782859802246094,
0
] | [
-1.938501000404358,
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1.1044986248016357,
-1.8079689741134644,
-1.5706520080566406,
2.7777888774871826,
0
] | move_to_position | 0.104338 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.14595729112625122,
-0.7543530464172363,
0.12963861227035522,
3.141511917114258,
-0.00027293566381558776,
3.1415319442749023
] | 1 | 20.9 | 209 | 21 | 9,072 | 0 |
[
-1.9406832456588745,
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1.1092098951339722,
-1.8114501237869263,
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2.7756361961364746,
0
] | [
-1.942901611328125,
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1.114560604095459,
-1.8152494430541992,
-1.570656180381775,
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0
] | move_to_position | 0.120923 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.1483483910560608,
-0.7526151537895203,
0.1281547248363495,
3.1412723064422607,
-0.00014633615501224995,
3.1414318084716797
] | 1 | 21 | 210 | 21 | 9,073 | 0 |
[
-1.9479717016220093,
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1.1263259649276733,
-1.8237029314041138,
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2.7683160305023193,
0
] | [
-1.9521098136901855,
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1.1359038352966309,
-1.8306158781051636,
-1.5706650018692017,
2.7641794681549072,
0
] | move_to_position | 0.168429 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.1532958447933197,
-0.7485259175300598,
0.12436433136463165,
3.1413772106170654,
-0.00017294110148213804,
3.1414473056793213
] | 1 | 21.1 | 211 | 21 | 9,074 | 0 |
[
-1.9597080945968628,
-0.8803092241287231,
1.1534308195114136,
-1.8432203531265259,
-1.5706533193588257,
2.756654739379883,
0
] | [
-1.965125322341919,
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1.1661900281906128,
-1.8524014949798584,
-1.5706777572631836,
2.7511634826660156,
0
] | move_to_position | 0.243984 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.16073104739189148,
-0.7421408295631409,
0.11880200356245041,
3.1413187980651855,
-0.00011072278721258044,
3.141451835632324
] | 1 | 21.200001 | 212 | 21 | 9,075 | 0 |
[
-1.9734281301498413,
-0.8892239928245544,
1.185634970664978,
-1.866435170173645,
-1.5706652402877808,
2.742811441421509,
0
] | [
-1.980097770690918,
-0.893551766872406,
1.2011044025421143,
-1.8775029182434082,
-1.5706920623779297,
2.736191987991333,
0
] | move_to_position | 0.333535 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.16892123222351074,
-0.734486997127533,
0.11222049593925476,
3.141472339630127,
-0.00017034531629178673,
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] | 1 | 21.299999 | 213 | 21 | 9,076 | 0 |
[
-1.9904249906539917,
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1.2252224683761597,
-1.8947826623916626,
-1.5706666707992554,
2.725867986679077,
0
] | [
-1.997556447982788,
-0.9049066305160522,
1.2418619394302368,
-1.906794548034668,
-1.5707091093063354,
2.7187342643737793,
0
] | move_to_position | 0.443499 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.17792825400829315,
-0.7255645394325256,
0.10498396307229996,
-3.1415908336639404,
-0.00014308666868600994,
3.1415374279022217
] | 1 | 21.4 | 214 | 21 | 9,077 | 0 |
[
-2.0065653324127197,
-0.9108132719993591,
1.2630466222763062,
-1.9221330881118774,
-1.570689082145691,
2.7096142768859863,
0
] | [
-2.013550043106079,
-0.9153058528900146,
1.279209017753601,
-1.9336345195770264,
-1.5707249641418457,
2.7027406692504883,
0
] | move_to_position | 0.548798 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.18733857572078705,
-0.7153173685073853,
0.09704294800758362,
3.141536235809326,
-0.00012281439558137208,
-3.1415865421295166
] | 1 | 21.5 | 215 | 21 | 9,078 | 0 |
[
-2.0242602825164795,
-0.9222226142883301,
1.304080843925476,
-1.9515539407730103,
-1.570731520652771,
2.692054033279419,
0
] | [
-2.0305423736572266,
-0.9263557195663452,
1.3188717365264893,
-1.9621449708938599,
-1.570741891860962,
2.6857478618621826,
0
] | move_to_position | 0.662841 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.1961173415184021,
-0.7048543095588684,
0.08934642374515533,
-3.141503095626831,
-0.00014169170754030347,
3.1415114402770996
] | 1 | 21.6 | 216 | 21 | 9,079 | 0 |
[
-2.0401408672332764,
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1.3414524793624878,
-1.9784103631973267,
-1.570712924003601,
2.676042318344116,
0
] | [
-2.0456507205963135,
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1.3540953397750854,
-1.9874769449234009,
-1.5707571506500244,
2.6706395149230957,
0
] | move_to_position | 0.7667 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.20384332537651062,
-0.6947130560874939,
0.08220843970775604,
-3.1413156986236572,
-0.00020387575204949826,
-3.1415388584136963
] | 1 | 21.700001 | 217 | 21 | 9,080 | 0 |
[
-2.0547292232513428,
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1.375090479850769,
-2.002453088760376,
-1.570764422416687,
2.6616783142089844,
0
] | [
-2.058917999267578,
-0.9448292851448059,
1.384961485862732,
-2.009690523147583,
-1.570770263671875,
2.657372236251831,
0
] | move_to_position | 0.860103 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.21034081280231476,
-0.6856458783149719,
0.07607249170541763,
-3.141148567199707,
-0.0002696958836168051,
3.1414897441864014
] | 1 | 21.799999 | 218 | 21 | 9,081 | 0 |
[
-2.066349744796753,
-0.9496700167655945,
1.4022225141525269,
-2.0221292972564697,
-1.5707916021347046,
2.6499006748199463,
0
] | [
-2.069878578186035,
-0.9519923329353333,
1.4103680849075317,
-2.0279927253723145,
-1.5707809925079346,
2.646411418914795,
0
] | move_to_position | 0.935828 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.21483837068080902,
-0.6790152788162231,
0.07178103923797607,
-3.1413097381591797,
-0.0001688299817033112,
3.141556739807129
] | 1 | 21.9 | 219 | 21 | 9,082 | 0 |
[
-2.0736892223358154,
-0.9544616937637329,
1.4191592931747437,
-2.0343072414398193,
-1.5708073377609253,
2.6426310539245605,
0
] | [
-2.0752201080322266,
-0.955518364906311,
1.4226138591766357,
-2.036849021911621,
-1.5707862377166748,
2.6410696506500244,
0
] | move_to_position | 0.983001 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.21807114779949188,
-0.6741369366645813,
0.06875743716955185,
-3.1414592266082764,
-0.0000609857561357785,
3.141517400741577
] | 1 | 22 | 220 | 21 | 9,083 | 0 |
[
-2.0763866901397705,
-0.9563037157058716,
1.4252504110336304,
-2.0387303829193115,
-1.5707796812057495,
2.6399807929992676,
0
] | [
-2.07635498046875,
-0.9562759399414062,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | move_to_position | 0.99981 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.21874386072158813,
-0.6729875802993774,
0.06803035736083984,
-3.1414377689361572,
-0.00007518642087234184,
3.1415340900421143
] | 1 | 22.1 | 221 | 21 | 9,084 | 0 |
[
-2.0762979984283447,
-0.9562522768974304,
1.425167441368103,
-2.0387017726898193,
-1.570738673210144,
2.639976978302002,
0
] | [
-2.076354742050171,
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1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | move_to_position | 0.99982 | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | [
0.21872933208942413,
0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | [
-0.21872933208942413,
-0.6730436086654663,
0.06812898814678192,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
-0.2187175303697586,
-0.6730366349220276,
0.06810832023620605,
-3.141561269760132,
-0.0000287339116766816,
3.141583204269409
] | 1 | 22.200001 | 222 | 21 | 9,085 | 0 |
[
-2.0762789249420166,
-0.9562644362449646,
1.4251831769943237,
-2.038728952407837,
-1.5708345174789429,
2.639965295791626,
0
] | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | gripper_open | 1 | [
-2.0762789249420166,
-0.9562644362449646,
1.4251831769943237,
-2.038728952407837,
-1.5708345174789429,
2.639965295791626,
0
] | [
0.2187042236328125,
0.6730483174324036,
0.06809088587760925,
-3.1415414810180664,
-0.000057258403103332967,
-3.1415364742279053
] | [
-0.2187042236328125,
-0.6730483174324036,
0.06809088587760925,
-3.1415414810180664,
-0.000057258403103332967,
-3.1415364742279053
] | 0 | pick second pie and place it on the second plate: open gripper | [
-0.21871846914291382,
-0.673049807548523,
0.06811543554067612,
-3.1415717601776123,
-0.0000012341587307673763,
-3.1415438652038574
] | 1 | 22.299999 | 223 | 21 | 9,086 | 0 |
[
-2.076310396194458,
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1.4252017736434937,
-2.038691282272339,
-1.5708035230636597,
2.6399331092834473,
0.0117647061124444
] | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | gripper_open | 1 | [
-2.0762789249420166,
-0.9562644362449646,
1.4251831769943237,
-2.038728952407837,
-1.5708345174789429,
2.639965295791626,
0
] | [
0.2187042236328125,
0.6730483174324036,
0.06809088587760925,
-3.1415414810180664,
-0.000057258403103332967,
-3.1415364742279053
] | [
-0.2187042236328125,
-0.6730483174324036,
0.06809088587760925,
-3.1415414810180664,
-0.000057258403103332967,
-3.1415364742279053
] | 0 | pick second pie and place it on the second plate: open gripper | [
-0.21872827410697937,
-0.6730343699455261,
0.06809868663549423,
-3.141554355621338,
-0.000024443375878036022,
-3.141571521759033
] | 1 | 22.4 | 224 | 21 | 9,087 | 0 |
[
-2.0763375759124756,
-0.9562450051307678,
1.425197958946228,
-2.0387070178985596,
-1.5707730054855347,
2.639925956726074,
0.0117647061124444
] | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | gripper_open | 1 | [
-2.0762789249420166,
-0.9562644362449646,
1.4251831769943237,
-2.038728952407837,
-1.5708345174789429,
2.639965295791626,
0
] | [
0.2187042236328125,
0.6730483174324036,
0.06809088587760925,
-3.1415414810180664,
-0.000057258403103332967,
-3.1415364742279053
] | [
-0.2187042236328125,
-0.6730483174324036,
0.06809088587760925,
-3.1415414810180664,
-0.000057258403103332967,
-3.1415364742279053
] | 0 | pick second pie and place it on the second plate: open gripper | [
-0.21873486042022705,
-0.6730177998542786,
0.06808275729417801,
-3.1415047645568848,
-0.00003827115870080888,
-3.1415677070617676
] | 1 | 22.5 | 225 | 21 | 9,088 | 0 |
[
-2.076334238052368,
-0.9562799334526062,
1.4251641035079956,
-2.0387070178985596,
-1.5708378553390503,
2.6399450302124023,
0.0117647061124444
] | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | gripper_open | 1 | [
-2.0762789249420166,
-0.9562644362449646,
1.4251831769943237,
-2.038728952407837,
-1.5708345174789429,
2.639965295791626,
0
] | [
0.2187042236328125,
0.6730483174324036,
0.06809088587760925,
-3.1415414810180664,
-0.000057258403103332967,
-3.1415364742279053
] | [
-0.2187042236328125,
-0.6730483174324036,
0.06809088587760925,
-3.1415414810180664,
-0.000057258403103332967,
-3.1415364742279053
] | 0 | pick second pie and place it on the second plate: open gripper | [
-0.2187582403421402,
-0.6730260848999023,
0.0680999904870987,
-3.1415300369262695,
0.000011130797247460578,
3.141590118408203
] | 1 | 22.6 | 226 | 21 | 9,089 | 0 |
[
-2.0763614177703857,
-0.9562608599662781,
1.4252132177352905,
-2.0386946201324463,
-1.5708192586898804,
2.6399331092834473,
0
] | [
-2.076354742050171,
-0.9562758803367615,
1.4251798391342163,
-2.038715124130249,
-1.5707874298095703,
2.639934778213501,
0
] | move_to_position | 0.000109 | [
-2.1570565700531006,
-0.9074845910072327,
1.4784471988677979,
-2.1407079696655273,
-1.5708703994750977,
2.5593149662017822,
0
] | [
0.2704928517341614,
0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | [
-0.2704928517341614,
-0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.21875087916851044,
-0.67302405834198,
0.06809105724096298,
-3.1415109634399414,
-0.000013067266991129145,
-3.1415798664093018
] | 1 | 22.700001 | 227 | 21 | 9,090 | 0 |
[
-2.0763771533966064,
-0.9562329649925232,
1.4251912832260132,
-2.0387818813323975,
-1.5708001852035522,
2.6399402618408203,
0
] | [
-2.0765380859375,
-0.956207275390625,
1.4253703355789185,
-2.039047956466675,
-1.5708035230636597,
2.639754295349121,
0
] | move_to_position | 0.000451 | [
-2.1570565700531006,
-0.9074845910072327,
1.4784471988677979,
-2.1407079696655273,
-1.5708703994750977,
2.5593149662017822,
0
] | [
0.2704928517341614,
0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | [
-0.2704928517341614,
-0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.21883007884025574,
-0.6730402708053589,
0.06806958466768265,
3.141509771347046,
0.000055909469665493816,
-3.1415555477142334
] | 1 | 22.799999 | 228 | 21 | 9,091 | 0 |
[
-2.077608346939087,
-0.9559522271156311,
1.4261478185653687,
-2.040231466293335,
-1.5708621740341187,
2.638908863067627,
0
] | [
-2.0784714221954346,
-0.9553605914115906,
1.4271183013916016,
-2.041700601577759,
-1.5708043575286865,
2.6378331184387207,
0
] | move_to_position | 0.014242 | [
-2.1570565700531006,
-0.9074845910072327,
1.4784471988677979,
-2.1407079696655273,
-1.5708703994750977,
2.5593149662017822,
0
] | [
0.2704928517341614,
0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | [
-0.2704928517341614,
-0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.21984542906284332,
-0.6725775599479675,
0.06732625514268875,
3.141494035720825,
0.00010829005623236299,
3.1413559913635254
] | 1 | 22.9 | 229 | 21 | 9,092 | 0 |
[
-2.0804035663604736,
-0.9545199871063232,
1.4287513494491577,
-2.0441854000091553,
-1.5707811117172241,
2.6360254287719727,
0
] | [
-2.0819637775421143,
-0.9537155032157898,
1.4301317930221558,
-2.046337366104126,
-1.5708060264587402,
2.6343417167663574,
0
] | move_to_position | 0.051583 | [
-2.1570565700531006,
-0.9074845910072327,
1.4784471988677979,
-2.1407079696655273,
-1.5708703994750977,
2.5593149662017822,
0
] | [
0.2704928517341614,
0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | [
-0.2704928517341614,
-0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.22175174951553345,
-0.6716848015785217,
0.06543540209531784,
3.1415388584136963,
0.0000768528479966335,
3.141467571258545
] | 1 | 23 | 230 | 21 | 9,093 | 0 |
[
-2.0848920345306396,
-0.9522629380226135,
1.4325278997421265,
-2.0501506328582764,
-1.5708311796188354,
2.631390333175659,
0
] | [
-2.0869078636169434,
-0.9512212872505188,
1.4341543912887573,
-2.05279803276062,
-1.5708088874816895,
2.62939453125,
0
] | move_to_position | 0.109342 | [
-2.1570565700531006,
-0.9074845910072327,
1.4784471988677979,
-2.1407079696655273,
-1.5708703994750977,
2.5593149662017822,
0
] | [
0.2704928517341614,
0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | [
-0.2704928517341614,
-0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.22454462945461273,
-0.6704395413398743,
0.06285186856985092,
3.1415748596191406,
0.00004684981104219332,
3.141561985015869
] | 1 | 23.1 | 231 | 21 | 9,094 | 0 |
[
-2.090266466140747,
-0.9494104385375977,
1.4367941617965698,
-2.0571954250335693,
-1.5707849264144897,
2.625969171524048,
0
] | [
-2.0927062034606934,
-0.9480763077735901,
1.4385361671447754,
-2.0602781772613525,
-1.5708128213882446,
2.623595714569092,
0
] | move_to_position | 0.177548 | [
-2.1570565700531006,
-0.9074845910072327,
1.4784471988677979,
-2.1407079696655273,
-1.5708703994750977,
2.5593149662017822,
0
] | [
0.2704928517341614,
0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | [
-0.2704928517341614,
-0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.228439599275589,
-0.6687414646148682,
0.05925173684954643,
-3.141544818878174,
-0.000041107759898295626,
3.1415727138519287
] | 1 | 23.200001 | 232 | 21 | 9,095 | 0 |
[
-2.0968101024627686,
-0.945749044418335,
1.4414299726486206,
-2.0655219554901123,
-1.5707935094833374,
2.619441032409668,
0
] | [
-2.1006922721862793,
-0.9434109330177307,
1.4440556764602661,
-2.0704495906829834,
-1.5708190202713013,
2.6156177520751953,
0
] | move_to_position | 0.258808 | [
-2.1570565700531006,
-0.9074845910072327,
1.4784471988677979,
-2.1407079696655273,
-1.5708703994750977,
2.5593149662017822,
0
] | [
0.2704928517341614,
0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | [
-0.2704928517341614,
-0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.23272660374641418,
-0.6670278310775757,
0.05540628731250763,
3.14156436920166,
0.0000029475677365553565,
-3.141568899154663
] | 1 | 23.299999 | 233 | 21 | 9,096 | 0 |
[
-2.105400323867798,
-0.9406039714813232,
1.4471653699874878,
-2.0765058994293213,
-1.5708001852035522,
2.6108720302581787,
0
] | [
-2.109311103820801,
-0.938225507736206,
1.4497849941253662,
-2.081355333328247,
-1.5708260536193848,
2.607008457183838,
0
] | move_to_position | 0.36564 | [
-2.1570565700531006,
-0.9074845910072327,
1.4784471988677979,
-2.1407079696655273,
-1.5708703994750977,
2.5593149662017822,
0
] | [
0.2704928517341614,
0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | [
-0.2704928517341614,
-0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.23876388370990753,
-0.664575457572937,
0.05002230405807495,
3.141545534133911,
0.000030468267141259275,
3.1415727138519287
] | 1 | 23.4 | 234 | 21 | 9,097 | 0 |
[
-2.1162869930267334,
-0.9340539574623108,
1.4541906118392944,
-2.090128183364868,
-1.5708588361740112,
2.600039005279541,
0
] | [
-2.1204066276550293,
-0.931460440158844,
1.4570261240005493,
-2.0953497886657715,
-1.5708354711532593,
2.5959250926971436,
0
] | move_to_position | 0.499511 | [
-2.1570565700531006,
-0.9074845910072327,
1.4784471988677979,
-2.1407079696655273,
-1.5708703994750977,
2.5593149662017822,
0
] | [
0.2704928517341614,
0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | [
-0.2704928517341614,
-0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.24532507359981537,
-0.6618193984031677,
0.04413965344429016,
3.1415021419525146,
0.00007281173748197034,
3.14151668548584
] | 1 | 23.5 | 235 | 21 | 9,098 | 0 |
[
-2.1268770694732666,
-0.9274206757545471,
1.4612568616867065,
-2.1035592555999756,
-1.5708364248275757,
2.5893936157226562,
0
] | [
-2.1306352615356445,
-0.9251591563224792,
1.4636025428771973,
-2.1082170009613037,
-1.570844292640686,
2.585707664489746,
0
] | move_to_position | 0.631508 | [
-2.1570565700531006,
-0.9074845910072327,
1.4784471988677979,
-2.1407079696655273,
-1.5708703994750977,
2.5593149662017822,
0
] | [
0.2704928517341614,
0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | [
-0.2704928517341614,
-0.6505159735679626,
0.020999999716877937,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
-0.2525162994861603,
-0.6585575938224792,
0.037348221987485886,
-3.1415205001831055,
-0.00004599934254656546,
-3.1415421962738037
] | 1 | 23.6 | 236 | 21 | 9,099 | 0 |
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