observation.state listlengths 7 7 | action listlengths 7 7 | skill.type large_stringclasses 4
values | skill.progress float32 0 1 | skill.goal_position.joint listlengths 7 7 | skill.goal_position.world_xyzrpy listlengths 6 6 | skill.goal_position.robot_xyzrpy listlengths 6 6 | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 61
values | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | timestamp float32 0 46.1 | frame_index int64 0 461 | episode_index int64 0 24 | index int64 0 10.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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[
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] | move_to_joint_state | 0.786192 | [
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] | 1 | 2.7 | 27 | 22 | 9,301 | 0 |
[
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] | move_to_joint_state | 0.8521 | [
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] | 0 | level TCP before picking first pie | [
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] | 1 | 2.8 | 28 | 22 | 9,302 | 0 |
[
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] | move_to_joint_state | 0.924709 | [
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] | 1 | 2.9 | 29 | 22 | 9,303 | 0 |
[
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] | move_to_joint_state | 0.962628 | [
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[
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] | move_to_joint_state | 0.98163 | [
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] | 1 | 3.1 | 31 | 22 | 9,305 | 0 |
[
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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 | 3.2 | 32 | 22 | 9,306 | 0 |
[
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] | move_to_position | 0.000029 | [
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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 | 3.3 | 33 | 22 | 9,307 | 0 |
[
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] | move_to_position | 0.000581 | [
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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 | 3.4 | 34 | 22 | 9,308 | 0 |
[
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] | move_to_position | 0.012506 | [
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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 | 3.5 | 35 | 22 | 9,309 | 0 |
[
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] | [
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] | move_to_position | 0.040963 | [
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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 | 3.6 | 36 | 22 | 9,310 | 0 |
[
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] | move_to_position | 0.088371 | [
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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 | 22 | 9,311 | 0 |
[
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] | move_to_position | 0.145915 | [
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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 | 22 | 9,312 | 0 |
[
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] | [
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] | move_to_position | 0.216234 | [
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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 | 22 | 9,313 | 0 |
[
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] | [
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] | move_to_position | 0.291682 | [
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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 | 22 | 9,314 | 0 |
[
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] | [
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] | move_to_position | 0.372435 | [
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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 | 4.1 | 41 | 22 | 9,315 | 0 |
[
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] | move_to_position | 0.456472 | [
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] | [
0.3017856776714325,
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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 | 22 | 9,316 | 0 |
[
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-1.7871716022491455,
-1.5703579187393188,
3.1607415676116943,
0
] | move_to_position | 0.541609 | [
-1.3208093643188477,
-0.9760164022445679,
1.4158079624176025,
-2.0096466541290283,
-1.5707615613937378,
3.395503520965576,
0
] | [
-0.3017856776714325,
0.6380871534347534,
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0,
0,
0
] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.1361566036939621,
-0.5919234156608582,
0.22901810705661774,
-3.141488552093506,
0.00005531389979296364,
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] | 1 | 4.3 | 43 | 22 | 9,317 | 0 |
[
-1.5274614095687866,
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0
] | [
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1.493674874305725,
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0
] | move_to_position | 0.630637 | [
-1.3208093643188477,
-0.9760164022445679,
1.4158079624176025,
-2.0096466541290283,
-1.5707615613937378,
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0
] | [
-0.3017856776714325,
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0,
0,
0
] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.1636073738336563,
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0.20516444742679596,
-3.1412174701690674,
0.00006917247810633853,
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] | 1 | 4.4 | 44 | 22 | 9,318 | 0 |
[
-1.4849575757980347,
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0
] | [
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1.4752005338668823,
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0
] | move_to_position | 0.706597 | [
-1.3208093643188477,
-0.9760164022445679,
1.4158079624176025,
-2.0096466541290283,
-1.5707615613937378,
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0
] | [
-0.3017856776714325,
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0,
0,
0
] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.19368460774421692,
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0.17911338806152344,
-3.1411519050598145,
0.00012603546201717108,
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] | 1 | 4.5 | 45 | 22 | 9,319 | 0 |
[
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] | [
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-1.9112993478775024,
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0
] | move_to_position | 0.783586 | [
-1.3208093643188477,
-0.9760164022445679,
1.4158079624176025,
-2.0096466541290283,
-1.5707615613937378,
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] | [
-0.3017856776714325,
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0,
0,
0
] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.2221316248178482,
-0.6273653507232666,
0.1543545424938202,
-3.1412532329559326,
0.00009873190720099956,
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] | 1 | 4.6 | 46 | 22 | 9,320 | 0 |
[
-1.402521014213562,
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] | [
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0
] | move_to_position | 0.853934 | [
-1.3208093643188477,
-0.9760164022445679,
1.4158079624176025,
-2.0096466541290283,
-1.5707615613937378,
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] | [
-0.3017856776714325,
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0,
0
] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.24861158430576324,
-0.6330026388168335,
0.13088564574718475,
-3.1410558223724365,
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] | 1 | 4.7 | 47 | 22 | 9,321 | 0 |
[
-1.370357871055603,
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0
] | [
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1.4312469959259033,
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3.3586130142211914,
0
] | move_to_position | 0.911494 | [
-1.3208093643188477,
-0.9760164022445679,
1.4158079624176025,
-2.0096466541290283,
-1.5707615613937378,
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0
] | [
-0.3017856776714325,
0.6380871534347534,
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0,
0
] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.27040454745292664,
-0.6360792517662048,
0.11147194355726242,
-3.141153573989868,
0.00009100109309656546,
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] | 1 | 4.8 | 48 | 22 | 9,322 | 0 |
[
-1.3454526662826538,
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0
] | [
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-1.9938400983810425,
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0
] | move_to_position | 0.95597 | [
-1.3208093643188477,
-0.9760164022445679,
1.4158079624176025,
-2.0096466541290283,
-1.5707615613937378,
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0
] | [
-0.3017856776714325,
0.6380871534347534,
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0,
0
] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.28705039620399475,
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0.09644345939159393,
-3.1412551403045654,
0.00012263811368029565,
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] | 1 | 4.9 | 49 | 22 | 9,323 | 0 |
[
-1.3279403448104858,
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-2.0028536319732666,
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3.388359546661377,
0
] | [
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1.417081356048584,
-2.0067989826202393,
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3.392502784729004,
0
] | move_to_position | 0.987231 | [
-1.3208093643188477,
-0.9760164022445679,
1.4158079624176025,
-2.0096466541290283,
-1.5707615613937378,
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] | [
-0.3017856776714325,
0.6380871534347534,
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0,
0
] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.29828110337257385,
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0.08625997602939606,
-3.1414263248443604,
0.00007910387648735195,
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] | 1 | 5 | 50 | 22 | 9,324 | 0 |
[
-1.3208826780319214,
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-2.009504556655884,
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3.395324945449829,
0
] | [
-1.3208132982254028,
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1.4158096313476562,
-2.0096428394317627,
-1.5707615613937378,
3.3954997062683105,
0
] | move_to_position | 0.999756 | [
-1.3208093643188477,
-0.9760164022445679,
1.4158079624176025,
-2.0096466541290283,
-1.5707615613937378,
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0
] | [
-0.3017856776714325,
0.6380871534347534,
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0,
0
] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.30182594060897827,
-0.6380205154418945,
0.08308852463960648,
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0.000029647400879184715,
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] | 1 | 5.1 | 51 | 22 | 9,325 | 0 |
[
-1.3208054304122925,
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1.41588294506073,
-2.009625196456909,
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0
] | [
-1.3208093643188477,
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1.4158079624176025,
-2.0096466541290283,
-1.5707615613937378,
3.395503520965576,
0
] | move_to_position | 0.999931 | [
-1.3208093643188477,
-0.9760164022445679,
1.4158079624176025,
-2.0096466541290283,
-1.5707615613937378,
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0
] | [
-0.3017856776714325,
0.6380871534347534,
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0,
0
] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.3017629384994507,
-0.6380569934844971,
0.08312822878360748,
-3.141547679901123,
0.000014876349268888589,
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] | 1 | 5.2 | 52 | 22 | 9,326 | 0 |
[
-1.3207987546920776,
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1.4158862829208374,
-2.009617567062378,
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3.3954808712005615,
0
] | [
-1.3208093643188477,
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1.4158079624176025,
-2.0096466541290283,
-1.5707615613937378,
3.395503520965576,
0
] | gripper_open | 1 | [
-1.3207987546920776,
-0.9760324358940125,
1.4158862829208374,
-2.009617567062378,
-1.570776343345642,
3.3954808712005615,
0
] | [
-0.3017726242542267,
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] | [
0.3017726242542267,
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0.08310545235872269,
-3.141493082046509,
0.00004463744699023664,
3.141561508178711
] | 0 | pick first pie and place it on the first plate: open gripper | [
0.30174505710601807,
-0.6380612254142761,
0.08312235027551651,
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0.00003075505810556933,
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] | 1 | 5.3 | 53 | 22 | 9,327 | 0 |
[
-1.3208173513412476,
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3.395516872406006,
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] | [
-1.3208093643188477,
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1.4158079624176025,
-2.0096466541290283,
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0
] | gripper_open | 1 | [
-1.3207987546920776,
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1.4158862829208374,
-2.009617567062378,
-1.570776343345642,
3.3954808712005615,
0
] | [
-0.3017726242542267,
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] | [
0.3017726242542267,
-0.6380351781845093,
0.08310545235872269,
-3.141493082046509,
0.00004463744699023664,
3.141561508178711
] | 0 | pick first pie and place it on the first plate: open gripper | [
0.3017647862434387,
-0.6380600929260254,
0.08311932533979416,
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] | 1 | 5.4 | 54 | 22 | 9,328 | 0 |
[
-1.3208359479904175,
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] | [
-1.3208093643188477,
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1.4158079624176025,
-2.0096466541290283,
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0
] | gripper_open | 1 | [
-1.3207987546920776,
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1.4158862829208374,
-2.009617567062378,
-1.570776343345642,
3.3954808712005615,
0
] | [
-0.3017726242542267,
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] | [
0.3017726242542267,
-0.6380351781845093,
0.08310545235872269,
-3.141493082046509,
0.00004463744699023664,
3.141561508178711
] | 0 | pick first pie and place it on the first plate: open gripper | [
0.30176272988319397,
-0.6380886435508728,
0.0831451416015625,
3.141561269760132,
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] | 1 | 5.5 | 55 | 22 | 9,329 | 0 |
[
-1.32079017162323,
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-2.0096566677093506,
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] | [
-1.3208093643188477,
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1.4158079624176025,
-2.0096466541290283,
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3.395503520965576,
0
] | gripper_open | 1 | [
-1.3207987546920776,
-0.9760324358940125,
1.4158862829208374,
-2.009617567062378,
-1.570776343345642,
3.3954808712005615,
0
] | [
-0.3017726242542267,
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] | [
0.3017726242542267,
-0.6380351781845093,
0.08310545235872269,
-3.141493082046509,
0.00004463744699023664,
3.141561508178711
] | 0 | pick first pie and place it on the first plate: open gripper | [
0.3017663359642029,
-0.6380735635757446,
0.08314952254295349,
3.1415915489196777,
0.00003849510176223703,
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] | 1 | 5.6 | 56 | 22 | 9,330 | 0 |
[
-1.3207834959030151,
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1.41582190990448,
-2.009669065475464,
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3.39548921585083,
0
] | [
-1.3208093643188477,
-0.9760164022445679,
1.4158079624176025,
-2.0096466541290283,
-1.5707615613937378,
3.395503520965576,
0
] | move_to_position | 0 | [
-1.379995346069336,
-0.8697986006736755,
1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
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0
] | [
-0.26740774512290955,
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0,
0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.026000000536441803,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.30175405740737915,
-0.6380811333656311,
0.08314076066017151,
-3.1415855884552,
0.0000208450983336661,
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] | 1 | 5.7 | 57 | 22 | 9,331 | 0 |
[
-1.3207868337631226,
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1.4158071279525757,
-2.0096962451934814,
-1.5707749128341675,
3.39548921585083,
0
] | [
-1.321020483970642,
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1.4158087968826294,
-2.009965658187866,
-1.5707614421844482,
3.395317316055298,
0
] | move_to_position | 0.000179 | [
-1.379995346069336,
-0.8697986006736755,
1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
0
] | [
-0.26740774512290955,
0.6747609376907349,
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0,
0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.026000000536441803,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.3017347455024719,
-0.6381468772888184,
0.08311384916305542,
3.1414635181427,
0.0000015068565062392736,
3.1415014266967773
] | 1 | 5.8 | 58 | 22 | 9,332 | 0 |
[
-1.3219326734542847,
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1.4157956838607788,
-2.0112931728363037,
-1.5707834959030151,
3.3945741653442383,
0
] | [
-1.322523593902588,
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1.4157612323760986,
-2.01230788230896,
-1.57076895236969,
3.3938395977020264,
0
] | move_to_position | 0.016806 | [
-1.379995346069336,
-0.8697986006736755,
1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
0
] | [
-0.26740774512290955,
0.6747609376907349,
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0,
0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.026000000536441803,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.30094462633132935,
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0.08184002339839935,
-3.1415603160858154,
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3.141296148300171
] | 1 | 5.9 | 59 | 22 | 9,333 | 0 |
[
-1.3241180181503296,
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1.4156755208969116,
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0
] | [
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1.4155718088150024,
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0
] | move_to_position | 0.054163 | [
-1.379995346069336,
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1.3956513404846191,
-2.0957112312316895,
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0
] | [
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0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.026000000536441803,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.29957735538482666,
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0.07942332327365875,
3.141569137573242,
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] | 1 | 6 | 60 | 22 | 9,334 | 0 |
[
-1.3275784254074097,
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1.4153183698654175,
-2.020146608352661,
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0
] | [
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1.415083885192871,
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0
] | move_to_position | 0.108878 | [
-1.379995346069336,
-0.8697986006736755,
1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
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] | [
-0.26740774512290955,
0.6747609376907349,
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0,
0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.026000000536441803,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.29751908779144287,
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0.07626468688249588,
3.1412994861602783,
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] | 1 | 6.1 | 61 | 22 | 9,335 | 0 |
[
-1.3318508863449097,
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1.4145807027816772,
-2.0268023014068604,
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] | [
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1.4143942594528198,
-2.0293235778808594,
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0
] | move_to_position | 0.180809 | [
-1.379995346069336,
-0.8697986006736755,
1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
0
] | [
-0.26740774512290955,
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0,
0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.026000000536441803,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.2950035035610199,
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0.07196056842803955,
3.14140248298645,
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] | 1 | 6.2 | 62 | 22 | 9,336 | 0 |
[
-1.3367069959640503,
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1.4136399030685425,
-2.033940553665161,
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0
] | [
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1.4130903482437134,
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0
] | move_to_position | 0.261568 | [
-1.379995346069336,
-0.8697986006736755,
1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
0
] | [
-0.26740774512290955,
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0,
0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.026000000536441803,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.29213398694992065,
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0.06698478013277054,
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0.00002433838562865276,
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] | 1 | 6.3 | 63 | 22 | 9,337 | 0 |
[
-1.3429845571517944,
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1.4117883443832397,
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3.373304843902588,
0
] | [
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1.4108471870422363,
-2.0473010540008545,
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0
] | move_to_position | 0.367228 | [
-1.379995346069336,
-0.8697986006736755,
1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
0
] | [
-0.26740774512290955,
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0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.026000000536441803,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.2884325683116913,
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0.06080905720591545,
-3.1415276527404785,
0.00005477627564687282,
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] | 1 | 6.4 | 64 | 22 | 9,338 | 0 |
[
-1.3507789373397827,
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3.3655266761779785,
0
] | [
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1.4080264568328857,
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0
] | move_to_position | 0.498471 | [
-1.379995346069336,
-0.8697986006736755,
1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
0
] | [
-0.26740774512290955,
0.6747609376907349,
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0,
0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.026000000536441803,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.2838681936264038,
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0.05316077172756195,
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0.00007918309711385518,
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] | 1 | 6.5 | 65 | 22 | 9,339 | 0 |
[
-1.3585203886032104,
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0
] | [
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1.4049956798553467,
-2.0701072216033936,
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0
] | move_to_position | 0.629242 | [
-1.379995346069336,
-0.8697986006736755,
1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
0
] | [
-0.26740774512290955,
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0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.026000000536441803,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.2792724370956421,
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0.045698028057813644,
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0.00006497487629530951,
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] | 1 | 6.6 | 66 | 22 | 9,340 | 0 |
[
-1.3657387495040894,
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1.4033335447311401,
-2.07607102394104,
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3.3506877422332764,
0
] | [
-1.3679254055023193,
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1.4024831056594849,
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3.3484649658203125,
0
] | move_to_position | 0.751661 | [
-1.379995346069336,
-0.8697986006736755,
1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
0
] | [
-0.26740774512290955,
0.6747609376907349,
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0,
0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.026000000536441803,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.2755313515663147,
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0.03949073702096939,
3.1414635181427,
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] | 1 | 6.7 | 67 | 22 | 9,341 | 0 |
[
-1.3709043264389038,
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1.4012397527694702,
-2.0833442211151123,
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3.3455214500427246,
0
] | [
-1.3724875450134277,
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1.4004707336425781,
-2.085622787475586,
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3.343909978866577,
0
] | move_to_position | 0.839623 | [
-1.379995346069336,
-0.8697986006736755,
1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
0
] | [
-0.26740774512290955,
0.6747609376907349,
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0,
0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.026000000536441803,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.272577166557312,
-0.6691513061523438,
0.034641966223716736,
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0.00008698000601725653,
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] | 1 | 6.8 | 68 | 22 | 9,342 | 0 |
[
-1.374398112297058,
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1.3994139432907104,
-2.0883371829986572,
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3.341948986053467,
0
] | [
-1.3755745887756348,
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1.3987921476364136,
-2.08988356590271,
-1.570937991142273,
3.340827703475952,
0
] | move_to_position | 0.901325 | [
-1.379995346069336,
-0.8697986006736755,
1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
0
] | [
-0.26740774512290955,
0.6747609376907349,
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0,
0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.026000000536441803,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.27033889293670654,
-0.6715336441993713,
0.0309409499168396,
3.141505241394043,
0.000013345963452593423,
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] | 1 | 6.9 | 69 | 22 | 9,343 | 0 |
[
-1.3772615194320679,
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1.3977388143539429,
-2.0921242237091064,
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3.3391778469085693,
0
] | [
-1.3780710697174072,
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1.397169828414917,
-2.093230724334717,
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3.338334798812866,
0
] | move_to_position | 0.950025 | [
-1.379995346069336,
-0.8697986006736755,
1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
0
] | [
-0.26740774512290955,
0.6747609376907349,
0.026000000536441803,
0,
0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.026000000536441803,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.2687925696372986,
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0.0283595472574234,
3.1415657997131348,
0.00002947250504803378,
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] | 1 | 7 | 70 | 22 | 9,344 | 0 |
[
-1.3790510892868042,
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1.3964227437973022,
-2.0945217609405518,
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3.337350845336914,
0
] | [
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1.3960654735565186,
-2.0951099395751953,
-1.5709527730941772,
3.3368897438049316,
0
] | move_to_position | 0.982445 | [
-1.379995346069336,
-0.8697986006736755,
1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
0
] | [
-0.26740774512290955,
0.6747609376907349,
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0,
0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.026000000536441803,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.26783931255340576,
-0.6742926836013794,
0.026769226416945457,
3.141483783721924,
0.000004503112904785667,
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] | 1 | 7.1 | 71 | 22 | 9,345 | 0 |
[
-1.379764437675476,
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1.3958386182785034,
-2.0955164432525635,
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3.336578369140625,
0
] | [
-1.379995346069336,
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1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
0
] | move_to_position | 0.996991 | [
-1.379995346069336,
-0.8697986006736755,
1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
0
] | [
-0.26740774512290955,
0.6747609376907349,
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0,
0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.026000000536441803,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.26752638816833496,
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0.025993449613451958,
-3.141453742980957,
0.00007819876191206276,
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] | 1 | 7.2 | 72 | 22 | 9,346 | 0 |
[
-1.3797730207443237,
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1.3958386182785034,
-2.0956175327301025,
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3.3364858627319336,
0
] | [
-1.379995346069336,
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1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
1
] | gripper_close | 0 | [
-1.3797730207443237,
-0.8699060678482056,
1.3958386182785034,
-2.0956175327301025,
-1.5709284543991089,
3.3364858627319336,
1
] | [
-0.2675297260284424,
0.6746140122413635,
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] | [
0.2675297260284424,
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0.02597811631858349,
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0.00006647063855780289,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
0.2675367295742035,
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0.025998882949352264,
-3.1415088176727295,
0.00004313166573410854,
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] | 1 | 7.3 | 73 | 22 | 9,347 | 0 |
[
-1.3798273801803589,
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1.395790934562683,
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-1.5709904432296753,
3.3363983631134033,
0.05098039284348488
] | [
-1.379995346069336,
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1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
1
] | gripper_close | 0.05098 | [
-1.3797730207443237,
-0.8699060678482056,
1.3958386182785034,
-2.0956175327301025,
-1.5709284543991089,
3.3364858627319336,
1
] | [
-0.2675297260284424,
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] | [
0.2675297260284424,
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0.02597811631858349,
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0.00006647063855780289,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
0.2675011157989502,
-0.6746958494186401,
0.02601478435099125,
3.141570806503296,
0.00004677227479987778,
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] | 1 | 7.4 | 74 | 22 | 9,348 | 0 |
[
-1.3799961805343628,
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1.39566171169281,
-2.095700979232788,
-1.5709680318832397,
3.3363983631134033,
0.1764705926179886
] | [
-1.379995346069336,
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1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
1
] | gripper_close | 0.176471 | [
-1.3797730207443237,
-0.8699060678482056,
1.3958386182785034,
-2.0956175327301025,
-1.5709284543991089,
3.3364858627319336,
1
] | [
-0.2675297260284424,
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] | [
0.2675297260284424,
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0.02597811631858349,
-3.141448736190796,
0.00006647063855780289,
-3.1415059566497803
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
0.26741769909858704,
-0.6747676134109497,
0.02607102505862713,
3.141493082046509,
0.000003978294444095809,
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] | 1 | 7.5 | 75 | 22 | 9,349 | 0 |
[
-1.380024790763855,
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1.3956459760665894,
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3.3364295959472656,
0.3137255012989044
] | [
-1.379995346069336,
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1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
1
] | 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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] | 1 | 7.6 | 76 | 22 | 9,350 | 0 |
[
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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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] | 1 | 7.7 | 77 | 22 | 9,351 | 0 |
[
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] | gripper_close | 0.552941 | [
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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 | 7.8 | 78 | 22 | 9,352 | 0 |
[
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] | gripper_close | 0.647058 | [
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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 | 7.9 | 79 | 22 | 9,353 | 0 |
[
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] | gripper_close | 0.737255 | [
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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 | 80 | 22 | 9,354 | 0 |
[
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1
] | gripper_close | 0.819607 | [
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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 | 22 | 9,355 | 0 |
[
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1
] | gripper_close | 0.854902 | [
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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 | 22 | 9,356 | 0 |
[
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1
] | gripper_close | 0.854902 | [
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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 | 22 | 9,357 | 0 |
[
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1
] | gripper_close | 0.854902 | [
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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 | 8.4 | 84 | 22 | 9,358 | 0 |
[
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1
] | gripper_close | 0.854902 | [
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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 | 22 | 9,359 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 8.6 | 86 | 22 | 9,360 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 8.7 | 87 | 22 | 9,361 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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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 | 8.8 | 88 | 22 | 9,362 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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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 | 8.9 | 89 | 22 | 9,363 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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1
] | [
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] | [
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0.00006647063855780289,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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0.02598477713763714,
3.1415743827819824,
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] | 0 | 9 | 90 | 22 | 9,364 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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1
] | [
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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 | 22 | 9,365 | 0 |
[
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1
] | gripper_close | 0.854902 | [
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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 | 22 | 9,366 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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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 | 9.3 | 93 | 22 | 9,367 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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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 | 22 | 9,368 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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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 | 22 | 9,369 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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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 | 9.6 | 96 | 22 | 9,370 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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] | [
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] | [
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0.02597811631858349,
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0.00006647063855780289,
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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 | 22 | 9,371 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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1
] | [
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] | [
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0.02597811631858349,
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0.00006647063855780289,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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0.02599381096661091,
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] | 0 | 9.8 | 98 | 22 | 9,372 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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1
] | [
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] | [
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0.02597811631858349,
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0.00006647063855780289,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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0.02599474787712097,
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] | 0 | 9.9 | 99 | 22 | 9,373 | 0 |
[
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] | [
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1
] | gripper_close | 0.854902 | [
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1
] | [
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] | [
0.2675297260284424,
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0.02597811631858349,
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0.00006647063855780289,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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0.000029134076612535864,
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] | 0 | 10 | 100 | 22 | 9,374 | 0 |
[
-1.3799890279769897,
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3.336406946182251,
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] | [
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1
] | gripper_close | 0.854902 | [
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1
] | [
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0.6746140122413635,
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] | [
0.2675297260284424,
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0.02597811631858349,
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0.00006647063855780289,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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0.0259941965341568,
3.141575813293457,
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] | 0 | 10.1 | 101 | 22 | 9,375 | 0 |
[
-1.3800042867660522,
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1.395642638206482,
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3.336394786834717,
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] | [
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-2.0957112312316895,
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3.3364131450653076,
1
] | gripper_close | 0.854902 | [
-1.3797730207443237,
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1.3958386182785034,
-2.0956175327301025,
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3.3364858627319336,
1
] | [
-0.2675297260284424,
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] | [
0.2675297260284424,
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0.02597811631858349,
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0.00006647063855780289,
-3.1415059566497803
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
0.2674258351325989,
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0.025991899892687798,
3.141568422317505,
0.00003350316546857357,
3.14151930809021
] | 0 | 10.2 | 102 | 22 | 9,376 | 0 |
[
-1.3800004720687866,
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1
] | [
-1.379995346069336,
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1.3956513404846191,
-2.0957112312316895,
-1.57095468044281,
3.3364131450653076,
1
] | move_to_position | 0 | [
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-1.9626137018203735,
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1
] | [
-0.26740774512290955,
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0,
0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.09099999815225601,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
0.26741960644721985,
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0.026010675355792046,
3.1415538787841797,
0.000008881744179234374,
3.1415538787841797
] | 0 | 10.3 | 103 | 22 | 9,377 | 0 |
[
-1.3799771070480347,
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1.395607352256775,
-2.0956923961639404,
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3.3363757133483887,
1
] | [
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1.3954697847366333,
-2.0953714847564697,
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1
] | move_to_position | 0.000371 | [
-1.379943609237671,
-0.9390731453895569,
1.3318567276000977,
-1.9626137018203735,
-1.5708264112472534,
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1
] | [
-0.26740774512290955,
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0,
0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.09099999815225601,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
0.2674310505390167,
-0.6747729778289795,
0.026096712797880173,
3.1415250301361084,
0.000006827810011600377,
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] | 0 | 10.4 | 104 | 22 | 9,378 | 0 |
[
-1.379973292350769,
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1.3948429822921753,
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3.3363709449768066,
1
] | [
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1.3943463563919067,
-2.0924184322357178,
-1.5709127187728882,
3.33638858795166,
1
] | move_to_position | 0.013954 | [
-1.379943609237671,
-0.9390731453895569,
1.3318567276000977,
-1.9626137018203735,
-1.5708264112472534,
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1
] | [
-0.26740774512290955,
0.6747609376907349,
0.09099999815225601,
0,
0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.09099999815225601,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
0.26745280623435974,
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0.027172189205884933,
3.1414239406585693,
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3.1415884494781494
] | 0 | 10.5 | 105 | 22 | 9,379 | 0 |
[
-1.3799413442611694,
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1.3932722806930542,
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-1.570776343345642,
3.3363828659057617,
1
] | [
-1.3799842596054077,
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1.3922405242919922,
-2.0869028568267822,
-1.5709093809127808,
3.3363897800445557,
1
] | move_to_position | 0.045161 | [
-1.379943609237671,
-0.9390731453895569,
1.3318567276000977,
-1.9626137018203735,
-1.5708264112472534,
3.3364083766937256,
1
] | [
-0.26740774512290955,
0.6747609376907349,
0.09099999815225601,
0,
0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.09099999815225601,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
0.26750102639198303,
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0.02960369549691677,
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] | 0 | 10.6 | 106 | 22 | 9,380 | 0 |
[
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] | [
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1
] | move_to_position | 0.095778 | [
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] | [
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0
] | [
0.26740774512290955,
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0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 10.7 | 107 | 22 | 9,381 | 0 |
[
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] | [
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1
] | move_to_position | 0.170224 | [
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1
] | [
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0,
0
] | [
0.26740774512290955,
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0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 10.8 | 108 | 22 | 9,382 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.259662 | [
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] | [
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0,
0
] | [
0.26740774512290955,
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0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 10.9 | 109 | 22 | 9,383 | 0 |
[
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] | [
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1
] | move_to_position | 0.384929 | [
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] | [
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0,
0
] | [
0.26740774512290955,
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0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 11 | 110 | 22 | 9,384 | 0 |
[
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] | [
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1
] | move_to_position | 0.513718 | [
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] | [
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0,
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] | [
0.26740774512290955,
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0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 11.1 | 111 | 22 | 9,385 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.634984 | [
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1
] | [
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0,
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] | [
0.26740774512290955,
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0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 11.2 | 112 | 22 | 9,386 | 0 |
[
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] | [
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1
] | move_to_position | 0.74111 | [
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1
] | [
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] | [
0.26740774512290955,
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0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 11.3 | 113 | 22 | 9,387 | 0 |
[
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] | [
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1
] | move_to_position | 0.829204 | [
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1
] | [
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0,
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] | [
0.26740774512290955,
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0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 11.4 | 114 | 22 | 9,388 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.907022 | [
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1
] | [
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0,
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] | [
0.26740774512290955,
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0.09099999815225601,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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0.08589513599872589,
3.1415882110595703,
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] | 0 | 11.5 | 115 | 22 | 9,389 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.962172 | [
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1
] | [
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0,
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] | [
0.26740774512290955,
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0.09099999815225601,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 11.6 | 116 | 22 | 9,390 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.993436 | [
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1
] | [
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0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.09099999815225601,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 11.7 | 117 | 22 | 9,391 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.998102 | [
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1.3318567276000977,
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1
] | [
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0,
0,
0
] | [
0.26740774512290955,
-0.6747609376907349,
0.09099999815225601,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 11.8 | 118 | 22 | 9,392 | 0 |
[
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1
] | [
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1.3318567276000977,
-1.9626137018203735,
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1
] | move_to_position | 0 | [
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1
] | [
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0,
0,
0
] | [
0.047057926654815674,
-0.6498881578445435,
0.049856606870889664,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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0.0909520611166954,
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] | 0 | 11.9 | 119 | 22 | 9,393 | 0 |
[
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1
] | [
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1
] | move_to_position | 0 | [
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1.6371231079101562,
-2.155784845352173,
-1.570816159248352,
3.0100951194763184,
1
] | [
-0.047057926654815674,
0.6498881578445435,
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0,
0,
0
] | [
0.047057926654815674,
-0.6498881578445435,
0.049856606870889664,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 12 | 120 | 22 | 9,394 | 0 |
[
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1
] | [
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3.332021474838257,
1
] | move_to_position | 0.003681 | [
-1.7063578367233276,
-1.0508173704147339,
1.6371231079101562,
-2.155784845352173,
-1.570816159248352,
3.0100951194763184,
1
] | [
-0.047057926654815674,
0.6498881578445435,
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0,
0,
0
] | [
0.047057926654815674,
-0.6498881578445435,
0.049856606870889664,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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0.09045107662677765,
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] | 0 | 12.1 | 121 | 22 | 9,395 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.036875 | [
-1.7063578367233276,
-1.0508173704147339,
1.6371231079101562,
-2.155784845352173,
-1.570816159248352,
3.0100951194763184,
1
] | [
-0.047057926654815674,
0.6498881578445435,
0.049856606870889664,
0,
0,
0
] | [
0.047057926654815674,
-0.6498881578445435,
0.049856606870889664,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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0.0888327956199646,
-3.141357421875,
0.00007042797369649634,
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] | 0 | 12.2 | 122 | 22 | 9,396 | 0 |
[
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3.304417133331299,
1
] | [
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1.369511365890503,
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3.2963242530822754,
1
] | move_to_position | 0.097924 | [
-1.7063578367233276,
-1.0508173704147339,
1.6371231079101562,
-2.155784845352173,
-1.570816159248352,
3.0100951194763184,
1
] | [
-0.047057926654815674,
0.6498881578445435,
0.049856606870889664,
0,
0,
0
] | [
0.047057926654815674,
-0.6498881578445435,
0.049856606870889664,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
0.24114324152469635,
-0.6764703392982483,
0.08611132204532623,
-3.1414496898651123,
0.00009283199324272573,
3.1414783000946045
] | 0 | 12.3 | 123 | 22 | 9,397 | 0 |
[
-1.439531683921814,
-0.9594651460647583,
1.3877891302108765,
-1.9980298280715942,
-1.5708049535751343,
3.2767388820648193,
1
] | [
-1.4497582912445068,
-0.9628869891166687,
1.3972681760787964,
-2.0040194988250732,
-1.5708246231079102,
3.266623020172119,
1
] | move_to_position | 0.182775 | [
-1.7063578367233276,
-1.0508173704147339,
1.6371231079101562,
-2.155784845352173,
-1.570816159248352,
3.0100951194763184,
1
] | [
-0.047057926654815674,
0.6498881578445435,
0.049856606870889664,
0,
0,
0
] | [
0.047057926654815674,
-0.6498881578445435,
0.049856606870889664,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
0.22070656716823578,
-0.6770209074020386,
0.08249571919441223,
-3.141589403152466,
0.00008838731446303427,
-3.141557216644287
] | 0 | 12.4 | 124 | 22 | 9,398 | 0 |
[
-1.4700850248336792,
-0.9698430299758911,
1.4162882566452026,
-2.016052007675171,
-1.5708273649215698,
3.246249198913574,
1
] | [
-1.4872047901153564,
-0.9756871461868286,
1.4322576522827148,
-2.0261433124542236,
-1.5708229541778564,
3.2291836738586426,
1
] | move_to_position | 0.276221 | [
-1.7063578367233276,
-1.0508173704147339,
1.6371231079101562,
-2.155784845352173,
-1.570816159248352,
3.0100951194763184,
1
] | [
-0.047057926654815674,
0.6498881578445435,
0.049856606870889664,
0,
0,
0
] | [
0.047057926654815674,
-0.6498881578445435,
0.049856606870889664,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
0.19878073036670685,
-0.676723301410675,
0.07840870320796967,
-3.1413893699645996,
0.00011401049414416775,
-3.1415700912475586
] | 0 | 12.5 | 125 | 22 | 9,399 | 0 |
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