observation.state listlengths 7 7 | action listlengths 7 7 | skill.type large_stringclasses 4
values | skill.progress float32 0 1 | skill.goal_position.joint listlengths 7 7 | skill.goal_position.world_xyzrpy listlengths 6 6 | skill.goal_position.robot_xyzrpy listlengths 6 6 | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 61
values | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | timestamp float32 0 46.1 | frame_index int64 0 461 | episode_index int64 0 24 | index int64 0 10.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | [
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] | move_to_position | 0.390599 | [
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] | [
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0,
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] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 12.6 | 126 | 22 | 9,400 | 0 |
[
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] | [
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] | move_to_position | 0.510478 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 12.7 | 127 | 22 | 9,401 | 0 |
[
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] | [
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1
] | move_to_position | 0.627634 | [
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] | [
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0
] | [
0.047057926654815674,
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0.049856606870889664,
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0,
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] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 12.8 | 128 | 22 | 9,402 | 0 |
[
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] | [
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] | move_to_position | 0.7344 | [
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] | [
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] | [
0.047057926654815674,
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] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 12.9 | 129 | 22 | 9,403 | 0 |
[
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] | [
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1
] | move_to_position | 0.835445 | [
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] | [
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0
] | [
0.047057926654815674,
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0.049856606870889664,
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0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 13 | 130 | 22 | 9,404 | 0 |
[
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] | [
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1
] | move_to_position | 0.916368 | [
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-1.0508173704147339,
1.6371231079101562,
-2.155784845352173,
-1.570816159248352,
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] | [
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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 | 13.1 | 131 | 22 | 9,405 | 0 |
[
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] | [
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1
] | move_to_position | 0.970594 | [
-1.7063578367233276,
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1.6371231079101562,
-2.155784845352173,
-1.570816159248352,
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] | [
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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 | 13.2 | 132 | 22 | 9,406 | 0 |
[
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] | [
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1
] | move_to_position | 0.998423 | [
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] | [
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0,
0
] | [
0.047057926654815674,
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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 | 13.3 | 133 | 22 | 9,407 | 0 |
[
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] | [
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1.6371231079101562,
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1
] | move_to_position | 0.999871 | [
-1.7063578367233276,
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1.6371231079101562,
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1
] | [
-0.047057926654815674,
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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 | [
0.04705290496349335,
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0.04981474578380585,
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0.00008036776125663891,
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] | 0 | 13.4 | 134 | 22 | 9,408 | 0 |
[
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1
] | [
-1.7063578367233276,
-1.0508173704147339,
1.6371231079101562,
-2.155784845352173,
-1.570816159248352,
3.0100951194763184,
1
] | move_to_position | 0 | [
-1.7279248237609863,
-0.9831598401069641,
1.5354423522949219,
-2.1217315196990967,
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1
] | [
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0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.04600000008940697,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
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0.049807917326688766,
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] | 0 | 13.5 | 135 | 22 | 9,409 | 0 |
[
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] | [
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1
] | move_to_position | 0.002656 | [
-1.7279248237609863,
-0.9831598401069641,
1.5354423522949219,
-2.1217315196990967,
-1.5709044933319092,
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1
] | [
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0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.04600000008940697,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
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] | 0 | 13.6 | 136 | 22 | 9,410 | 0 |
[
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] | [
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1
] | move_to_position | 0.023982 | [
-1.7279248237609863,
-0.9831598401069641,
1.5354423522949219,
-2.1217315196990967,
-1.5709044933319092,
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1
] | [
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0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.04600000008940697,
0,
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 | 22 | 9,411 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.062054 | [
-1.7279248237609863,
-0.9831598401069641,
1.5354423522949219,
-2.1217315196990967,
-1.5709044933319092,
2.988532781600952,
1
] | [
-0.02807430550456047,
0.6820584535598755,
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0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.04600000008940697,
0,
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 | 22 | 9,412 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.11368 | [
-1.7279248237609863,
-0.9831598401069641,
1.5354423522949219,
-2.1217315196990967,
-1.5709044933319092,
2.988532781600952,
1
] | [
-0.02807430550456047,
0.6820584535598755,
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0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.04600000008940697,
0,
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 | 22 | 9,413 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.185215 | [
-1.7279248237609863,
-0.9831598401069641,
1.5354423522949219,
-2.1217315196990967,
-1.5709044933319092,
2.988532781600952,
1
] | [
-0.02807430550456047,
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0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.04600000008940697,
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 | 22 | 9,414 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.263289 | [
-1.7279248237609863,
-0.9831598401069641,
1.5354423522949219,
-2.1217315196990967,
-1.5709044933319092,
2.988532781600952,
1
] | [
-0.02807430550456047,
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0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.04600000008940697,
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 | 22 | 9,415 | 0 |
[
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1
] | [
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-1.5708476305007935,
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1
] | move_to_position | 0.363103 | [
-1.7279248237609863,
-0.9831598401069641,
1.5354423522949219,
-2.1217315196990967,
-1.5709044933319092,
2.988532781600952,
1
] | [
-0.02807430550456047,
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0,
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] | [
0.02807430550456047,
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0.04600000008940697,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.03961461782455444,
-0.6625773310661316,
0.04838257655501366,
-3.141153335571289,
0.0001234013616340235,
3.14144229888916
] | 0 | 14.2 | 142 | 22 | 9,416 | 0 |
[
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1
] | [
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1.5807908773422241,
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1
] | move_to_position | 0.490642 | [
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1.5354423522949219,
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1
] | [
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0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.04600000008940697,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
0.03719174861907959,
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0.04791397228837013,
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0.00009382652933709323,
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] | 0 | 14.3 | 143 | 22 | 9,417 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.623721 | [
-1.7279248237609863,
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1.5354423522949219,
-2.1217315196990967,
-1.5709044933319092,
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1
] | [
-0.02807430550456047,
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0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.04600000008940697,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
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0.04730355367064476,
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0.00010374606790719554,
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] | 0 | 14.4 | 144 | 22 | 9,418 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.749144 | [
-1.7279248237609863,
-0.9831598401069641,
1.5354423522949219,
-2.1217315196990967,
-1.5709044933319092,
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1
] | [
-0.02807430550456047,
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0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.04600000008940697,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
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0.04687550663948059,
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] | 0 | 14.5 | 145 | 22 | 9,419 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.841705 | [
-1.7279248237609863,
-0.9831598401069641,
1.5354423522949219,
-2.1217315196990967,
-1.5709044933319092,
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1
] | [
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0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.04600000008940697,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
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0.04658679664134979,
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] | 0 | 14.6 | 146 | 22 | 9,420 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.905421 | [
-1.7279248237609863,
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1.5354423522949219,
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-1.5709044933319092,
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1
] | [
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0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.04600000008940697,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
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0.04627222567796707,
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0.00005596748451353051,
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] | 0 | 14.7 | 147 | 22 | 9,421 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.952884 | [
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1.5354423522949219,
-2.1217315196990967,
-1.5709044933319092,
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1
] | [
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0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.04600000008940697,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
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0.046127934008836746,
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] | 0 | 14.8 | 148 | 22 | 9,422 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.983429 | [
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1.5354423522949219,
-2.1217315196990967,
-1.5709044933319092,
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1
] | [
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0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.04600000008940697,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
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0.04594600200653076,
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] | 0 | 14.9 | 149 | 22 | 9,423 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.997589 | [
-1.7279248237609863,
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1.5354423522949219,
-2.1217315196990967,
-1.5709044933319092,
2.988532781600952,
1
] | [
-0.02807430550456047,
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0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.04600000008940697,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: descend to red plate_1 | [
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0.04606649652123451,
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] | 0 | 15 | 150 | 22 | 9,424 | 0 |
[
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1
] | [
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1.5354423522949219,
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2.988532781600952,
0
] | gripper_open | 0 | [
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1.5356072187423706,
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0
] | [
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] | [
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0.04604049399495125,
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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0.046034958213567734,
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] | 0 | 15.1 | 151 | 22 | 9,425 | 0 |
[
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] | [
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0
] | gripper_open | 0.145098 | [
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1.5356072187423706,
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] | [
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] | [
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0.04604049399495125,
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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 | 22 | 9,426 | 0 |
[
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] | [
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0
] | gripper_open | 0.172549 | [
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1.5356072187423706,
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] | [
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] | [
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0.04604049399495125,
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0.00013125079567544162,
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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 | 15.3 | 153 | 22 | 9,427 | 0 |
[
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] | [
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0
] | gripper_open | 0.286274 | [
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1.5356072187423706,
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] | [
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] | [
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0.04604049399495125,
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0.00013125079567544162,
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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 | 15.4 | 154 | 22 | 9,428 | 0 |
[
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] | [
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-2.1217315196990967,
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0
] | gripper_open | 0.533333 | [
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1.5356072187423706,
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] | [
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] | [
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0.04604049399495125,
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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 | 15.5 | 155 | 22 | 9,429 | 0 |
[
-1.7279218435287476,
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-2.121722936630249,
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] | [
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-2.1217315196990967,
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0
] | gripper_open | 0.654902 | [
-1.7278379201889038,
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1.5356072187423706,
-2.12178635597229,
-1.5709079504013062,
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0
] | [
-0.02815580740571022,
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] | [
0.02815580740571022,
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0.04604049399495125,
-3.141221523284912,
0.00013125079567544162,
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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 | 22 | 9,430 | 0 |
[
-1.7279380559921265,
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] | [
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-2.1217315196990967,
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0
] | gripper_open | 0.780392 | [
-1.7278379201889038,
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1.5356072187423706,
-2.12178635597229,
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0
] | [
-0.02815580740571022,
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] | [
0.02815580740571022,
-0.6820172071456909,
0.04604049399495125,
-3.141221523284912,
0.00013125079567544162,
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
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-0.6820561289787292,
0.04599428176879883,
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0.00011437989451223984,
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] | 1 | 15.7 | 157 | 22 | 9,431 | 0 |
[
-1.727906584739685,
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] | [
-1.7279248237609863,
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1.5354423522949219,
-2.1217315196990967,
-1.5709044933319092,
2.988532781600952,
0
] | gripper_open | 0.905882 | [
-1.7278379201889038,
-0.9833442568778992,
1.5356072187423706,
-2.12178635597229,
-1.5709079504013062,
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0
] | [
-0.02815580740571022,
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0.04604049399495125,
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] | [
0.02815580740571022,
-0.6820172071456909,
0.04604049399495125,
-3.141221523284912,
0.00013125079567544162,
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] | 0 | pick first pie and place it on the first plate: release at red plate_1 | [
0.028076205402612686,
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0.045966897159814835,
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0.00010732052760431543,
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] | 1 | 15.8 | 158 | 22 | 9,432 | 0 |
[
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] | [
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] | gripper_open | 0.988232 | [
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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 | 15.9 | 159 | 22 | 9,433 | 0 |
[
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] | gripper_open | 0.988232 | [
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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 | 16 | 160 | 22 | 9,434 | 0 |
[
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] | gripper_open | 0.988231 | [
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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 | 16.1 | 161 | 22 | 9,435 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 16.200001 | 162 | 22 | 9,436 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 16.299999 | 163 | 22 | 9,437 | 0 |
[
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] | [
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] | move_to_position | 0.008779 | [
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] | [
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] | [
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0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 16.4 | 164 | 22 | 9,438 | 0 |
[
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] | [
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] | move_to_position | 0.046353 | [
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] | [
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] | [
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0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 16.5 | 165 | 22 | 9,439 | 0 |
[
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] | [
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] | move_to_position | 0.102282 | [
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] | [
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] | [
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0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 16.6 | 166 | 22 | 9,440 | 0 |
[
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] | [
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] | move_to_position | 0.172443 | [
-1.7279471158981323,
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] | [
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] | [
0.02807430550456047,
-0.6820584535598755,
0.09600000083446503,
0,
0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 16.700001 | 167 | 22 | 9,441 | 0 |
[
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] | [
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] | move_to_position | 0.252004 | [
-1.7279471158981323,
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] | [
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0
] | [
0.02807430550456047,
-0.6820584535598755,
0.09600000083446503,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.028102362528443336,
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] | 1 | 16.799999 | 168 | 22 | 9,442 | 0 |
[
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] | [
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] | move_to_position | 0.371293 | [
-1.7279471158981323,
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1.483493685722351,
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] | [
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] | [
0.02807430550456047,
-0.6820584535598755,
0.09600000083446503,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 16.9 | 169 | 22 | 9,443 | 0 |
[
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] | [
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] | move_to_position | 0.500168 | [
-1.7279471158981323,
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1.483493685722351,
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] | [
-0.02807430550456047,
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0
] | [
0.02807430550456047,
-0.6820584535598755,
0.09600000083446503,
0,
0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 17 | 170 | 22 | 9,444 | 0 |
[
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] | [
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0
] | move_to_position | 0.62901 | [
-1.7279471158981323,
-1.0394630432128906,
1.483493685722351,
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] | [
-0.02807430550456047,
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0
] | [
0.02807430550456047,
-0.6820584535598755,
0.09600000083446503,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 17.1 | 171 | 22 | 9,445 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.74923 | [
-1.7279471158981323,
-1.0394630432128906,
1.483493685722351,
-2.0134799480438232,
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] | [
-0.02807430550456047,
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0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.09600000083446503,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.028073715046048164,
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] | 1 | 17.200001 | 172 | 22 | 9,446 | 0 |
[
-1.727887511253357,
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0
] | [
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0
] | move_to_position | 0.831409 | [
-1.7279471158981323,
-1.0394630432128906,
1.483493685722351,
-2.0134799480438232,
-1.570801854133606,
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0
] | [
-0.02807430550456047,
0.6820584535598755,
0.09600000083446503,
0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.09600000083446503,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.028082668781280518,
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0.00010302272130502388,
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] | 1 | 17.299999 | 173 | 22 | 9,447 | 0 |
[
-1.7279099225997925,
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] | [
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0
] | move_to_position | 0.896029 | [
-1.7279471158981323,
-1.0394630432128906,
1.483493685722351,
-2.0134799480438232,
-1.570801854133606,
2.988459825515747,
0
] | [
-0.02807430550456047,
0.6820584535598755,
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0,
0,
0
] | [
0.02807430550456047,
-0.6820584535598755,
0.09600000083446503,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: retract after place | [
0.028100095689296722,
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0.09142868965864182,
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] | 1 | 17.4 | 174 | 22 | 9,448 | 0 |
[
-1.7279027700424194,
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0
] | [
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-2.017110824584961,
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0
] | move_to_position | 0.945449 | [
-1.7279471158981323,
-1.0394630432128906,
1.483493685722351,
-2.0134799480438232,
-1.570801854133606,
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0
] | [
-0.02807430550456047,
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0,
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] | [
0.02807430550456047,
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0,
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] | 0 | pick first pie and place it on the first plate: retract after place | [
0.02809232473373413,
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] | 1 | 17.5 | 175 | 22 | 9,449 | 0 |
[
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] | move_to_position | 0.98084 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 17.6 | 176 | 22 | 9,450 | 0 |
[
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] | move_to_position | 0.997112 | [
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] | [
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] | 0 | pick first pie and place it on the first plate: retract after place | [
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] | 1 | 17.700001 | 177 | 22 | 9,451 | 0 |
[
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] | [
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] | move_to_joint_state | 0.042858 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 17.799999 | 178 | 22 | 9,452 | 0 |
[
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] | [
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] | move_to_joint_state | 0 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 17.9 | 179 | 22 | 9,453 | 0 |
[
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] | [
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] | move_to_joint_state | 0 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 18 | 180 | 22 | 9,454 | 0 |
[
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] | [
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] | move_to_joint_state | 0.038918 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 18.1 | 181 | 22 | 9,455 | 0 |
[
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] | [
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] | move_to_joint_state | 0.094225 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 18.200001 | 182 | 22 | 9,456 | 0 |
[
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] | [
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] | move_to_joint_state | 0.188028 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 18.299999 | 183 | 22 | 9,457 | 0 |
[
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] | [
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] | move_to_joint_state | 0.267493 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 18.4 | 184 | 22 | 9,458 | 0 |
[
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] | [
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] | move_to_joint_state | 0.382759 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 18.5 | 185 | 22 | 9,459 | 0 |
[
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] | [
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] | move_to_joint_state | 0.506143 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 18.6 | 186 | 22 | 9,460 | 0 |
[
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] | [
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] | move_to_joint_state | 0.571011 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 18.700001 | 187 | 22 | 9,461 | 0 |
[
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] | [
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] | move_to_joint_state | 0.664732 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 18.799999 | 188 | 22 | 9,462 | 0 |
[
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] | [
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] | move_to_joint_state | 0.760624 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 18.9 | 189 | 22 | 9,463 | 0 |
[
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] | [
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] | move_to_joint_state | 0.827847 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 19 | 190 | 22 | 9,464 | 0 |
[
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] | [
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] | move_to_joint_state | 0.88273 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 19.1 | 191 | 22 | 9,465 | 0 |
[
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] | [
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0
] | move_to_joint_state | 0.928178 | [
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] | [
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] | [
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] | 0 | level TCP before picking second pie | [
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] | 1 | 19.200001 | 192 | 22 | 9,466 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
0.1502104550600052,
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0,
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] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
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] | 1 | 19.299999 | 193 | 22 | 9,467 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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0
] | [
0.1502104550600052,
-0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.028079800307750702,
-0.6820988059043884,
0.09577298164367676,
-3.1415629386901855,
0.0000067570181272458285,
3.141561508178711
] | 1 | 19.4 | 194 | 22 | 9,468 | 0 |
[
-1.727117896080017,
-1.0405287742614746,
1.485643744468689,
-2.0151784420013428,
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2.9890551567077637,
0
] | [
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1.4890345335006714,
-2.016357183456421,
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0
] | move_to_position | 0.004536 | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
-2.1460647583007812,
-1.5703325271606445,
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0
] | [
-0.1502104550600052,
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0,
0,
0
] | [
0.1502104550600052,
-0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.028961118310689926,
-0.681429922580719,
0.09591645002365112,
3.141383171081543,
0.000046467706852126867,
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] | 1 | 19.5 | 195 | 22 | 9,469 | 0 |
[
-1.7216609716415405,
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1.4967707395553589,
-2.019117593765259,
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2.994727611541748,
0
] | [
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-2.0224006175994873,
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0
] | move_to_position | 0.034367 | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
-2.1460647583007812,
-1.5703325271606445,
3.174398899078369,
0
] | [
-0.1502104550600052,
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0,
0,
0
] | [
0.1502104550600052,
-0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.03422902524471283,
-0.6771633625030518,
0.09614458680152893,
3.1412532329559326,
0.000041591596527723595,
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] | 1 | 19.6 | 196 | 22 | 9,470 | 0 |
[
-1.7103294134140015,
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1.5190523862838745,
-2.0270650386810303,
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3.005845069885254,
0
] | [
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1.533109188079834,
-2.0319483280181885,
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0
] | move_to_position | 0.094073 | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
-2.1460647583007812,
-1.5703325271606445,
3.174398899078369,
0
] | [
-0.1502104550600052,
0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | [
0.1502104550600052,
-0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.04364118352532387,
-0.6693721413612366,
0.09638038277626038,
3.141319513320923,
0.000003281400495325215,
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] | 1 | 19.700001 | 197 | 22 | 9,471 | 0 |
[
-1.6940287351608276,
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1.5517834424972534,
-2.0385820865631104,
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3.022123336791992,
0
] | [
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-2.042837142944336,
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3.028235912322998,
0
] | move_to_position | 0.181588 | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
-2.1460647583007812,
-1.5703325271606445,
3.174398899078369,
0
] | [
-0.1502104550600052,
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0.09180232137441635,
0,
0,
0
] | [
0.1502104550600052,
-0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.055943410843610764,
-0.6584412455558777,
0.09669166058301926,
3.141204833984375,
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] | 1 | 19.799999 | 198 | 22 | 9,472 | 0 |
[
-1.6748369932174683,
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1.5906294584274292,
-2.052116632461548,
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3.041379928588867,
0
] | [
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1.6070746183395386,
-2.057863473892212,
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3.0495336055755615,
0
] | move_to_position | 0.285115 | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
-2.1460647583007812,
-1.5703325271606445,
3.174398899078369,
0
] | [
-0.1502104550600052,
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0,
0,
0
] | [
0.1502104550600052,
-0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.06899338215589523,
-0.6460571885108948,
0.09677702933549881,
3.1412947177886963,
0.00009010357462102547,
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] | 1 | 19.9 | 199 | 22 | 9,473 | 0 |
[
-1.6539591550827026,
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1.6328543424606323,
-2.0668203830718994,
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0
] | [
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1.646804928779602,
-2.0717544555664062,
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3.069230318069458,
0
] | move_to_position | 0.397582 | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
-2.1460647583007812,
-1.5703325271606445,
3.174398899078369,
0
] | [
-0.1502104550600052,
0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | [
0.1502104550600052,
-0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.08388688415288925,
-0.6308203935623169,
0.09650593250989914,
-3.141573667526245,
0.00008167936175595969,
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] | 1 | 20 | 200 | 22 | 9,474 | 0 |
[
-1.6332648992538452,
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3.0828447341918945,
0
] | [
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-2.087205410003662,
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3.0911412239074707,
0
] | move_to_position | 0.508214 | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
-2.1460647583007812,
-1.5703325271606445,
3.174398899078369,
0
] | [
-0.1502104550600052,
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0.09180232137441635,
0,
0,
0
] | [
0.1502104550600052,
-0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.09855827689170837,
-0.6148098111152649,
0.0961955264210701,
3.141456365585327,
0.000002857441359083168,
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] | 1 | 20.1 | 201 | 22 | 9,475 | 0 |
[
-1.6115769147872925,
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1.7181752920150757,
-2.0966784954071045,
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3.104569673538208,
0
] | [
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-2.1023240089416504,
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3.112578868865967,
0
] | move_to_position | 0.625259 | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
-2.1460647583007812,
-1.5703325271606445,
3.174398899078369,
0
] | [
-0.1502104550600052,
0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | [
0.1502104550600052,
-0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.11256622523069382,
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0.09537044912576675,
-3.1412951946258545,
0.00003117450978606939,
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] | 1 | 20.200001 | 202 | 22 | 9,476 | 0 |
[
-1.5906051397323608,
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1.7605112791061401,
-2.111483335494995,
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3.1256542205810547,
0
] | [
-1.583692193031311,
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1.7743511199951172,
-2.116363286972046,
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3.1324760913848877,
0
] | move_to_position | 0.738162 | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
-2.1460647583007812,
-1.5703325271606445,
3.174398899078369,
0
] | [
-0.1502104550600052,
0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | [
0.1502104550600052,
-0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.1239529401063919,
-0.5833634734153748,
0.0946081131696701,
-3.141362428665161,
0.000019793609681073576,
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] | 1 | 20.299999 | 203 | 22 | 9,477 | 0 |
[
-1.5728782415390015,
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1.7960995435714722,
-2.123967409133911,
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3.1432089805603027,
0
] | [
-1.5667285919189453,
-1.2497444152832031,
1.8084877729415894,
-2.1283419132232666,
-1.5703741312026978,
3.1494367122650146,
0
] | move_to_position | 0.833147 | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
-2.1460647583007812,
-1.5703325271606445,
3.174398899078369,
0
] | [
-0.1502104550600052,
0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | [
0.1502104550600052,
-0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.1350230723619461,
-0.5681984424591064,
0.0936499834060669,
-3.141479969024658,
-0.00000610998449701583,
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] | 1 | 20.4 | 204 | 22 | 9,478 | 0 |
[
-1.5585116147994995,
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-2.134140729904175,
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3.157668113708496,
0
] | [
-1.5531185865402222,
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-2.1379711627960205,
-1.5703516006469727,
3.1630444526672363,
0
] | move_to_position | 0.910381 | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
-2.1460647583007812,
-1.5703325271606445,
3.174398899078369,
0
] | [
-0.1502104550600052,
0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | [
0.1502104550600052,
-0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.142617866396904,
-0.557077944278717,
0.09277144074440002,
-3.141422986984253,
0.000032304484193446115,
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] | 1 | 20.5 | 205 | 22 | 9,479 | 0 |
[
-1.547329306602478,
-1.2750308513641357,
1.8474715948104858,
-2.1420657634735107,
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3.1687333583831787,
0
] | [
-1.5448484420776367,
-1.2782409191131592,
1.8523361682891846,
-2.1438517570495605,
-1.5703377723693848,
3.171313762664795,
0
] | move_to_position | 0.970364 | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
-2.1460647583007812,
-1.5703325271606445,
3.174398899078369,
0
] | [
-0.1502104550600052,
0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | [
0.1502104550600052,
-0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.14806753396987915,
-0.5487055778503418,
0.09206672757863998,
-3.1414506435394287,
0.00007120972441043705,
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] | 1 | 20.6 | 206 | 22 | 9,480 | 0 |
[
-1.5420578718185425,
-1.28184974193573,
1.8578165769577026,
-2.1457927227020264,
-1.5703262090682983,
3.1740808486938477,
0
] | [
-1.5417811870574951,
-1.2822117805480957,
1.8583924770355225,
-2.1460516452789307,
-1.5703325271606445,
3.1743807792663574,
0
] | move_to_position | 0.998343 | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
-2.1460647583007812,
-1.5703325271606445,
3.174398899078369,
0
] | [
-0.1502104550600052,
0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | [
0.1502104550600052,
-0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.15020351111888885,
-0.5454736351966858,
0.09183847904205322,
3.141587257385254,
0.000012036301086482126,
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] | 1 | 20.700001 | 207 | 22 | 9,481 | 0 |
[
-1.5417894124984741,
-1.2821627855300903,
1.8584221601486206,
-2.146001100540161,
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3.1743454933166504,
0
] | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
-2.1460647583007812,
-1.5703325271606445,
3.174398899078369,
0
] | move_to_position | 0.999788 | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
-2.1460647583007812,
-1.5703325271606445,
3.174398899078369,
0
] | [
-0.1502104550600052,
0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | [
0.1502104550600052,
-0.5454344153404236,
0.09180232137441635,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: approach above chocolate pie_2 | [
0.150186687707901,
-0.5454342365264893,
0.09178522229194641,
-3.1415300369262695,
-0.0000011800412949014571,
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] | 1 | 20.799999 | 208 | 22 | 9,482 | 0 |
[
-1.5418046712875366,
-1.2821544408798218,
1.8584383726119995,
-2.1460602283477783,
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3.174377202987671,
0
] | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
-2.1460647583007812,
-1.5703325271606445,
3.174398899078369,
0
] | gripper_open | 1 | [
-1.5418046712875366,
-1.2821544408798218,
1.8584383726119995,
-2.1460602283477783,
-1.5703486204147339,
3.174377202987671,
0
] | [
-0.15020902454853058,
0.5454245805740356,
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] | [
0.15020902454853058,
-0.5454245805740356,
0.09177570790052414,
-3.141524076461792,
0.000017584463421371765,
-3.141576051712036
] | 0 | pick second pie and place it on the second plate: open gripper | [
0.15021909773349762,
-0.5454303026199341,
0.09177704900503159,
-3.1415345668792725,
-0.0000013497832469511195,
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] | 1 | 20.9 | 209 | 22 | 9,483 | 0 |
[
-1.5417665243148804,
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1.8584221601486206,
-2.1460683345794678,
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] | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
-2.1460647583007812,
-1.5703325271606445,
3.174398899078369,
0
] | gripper_open | 1 | [
-1.5418046712875366,
-1.2821544408798218,
1.8584383726119995,
-2.1460602283477783,
-1.5703486204147339,
3.174377202987671,
0
] | [
-0.15020902454853058,
0.5454245805740356,
0.09177570790052414,
-3.141524076461792,
0.000017584463421371765,
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] | [
0.15020902454853058,
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0.09177570790052414,
-3.141524076461792,
0.000017584463421371765,
-3.141576051712036
] | 0 | pick second pie and place it on the second plate: open gripper | [
0.1501961499452591,
-0.545446515083313,
0.0917837992310524,
-3.141587972640991,
0.000012297067769395653,
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] | 1 | 21 | 210 | 22 | 9,484 | 0 |
[
-1.5417784452438354,
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-2.146080732345581,
-1.5703638792037964,
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] | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
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3.174398899078369,
0
] | gripper_open | 1 | [
-1.5418046712875366,
-1.2821544408798218,
1.8584383726119995,
-2.1460602283477783,
-1.5703486204147339,
3.174377202987671,
0
] | [
-0.15020902454853058,
0.5454245805740356,
0.09177570790052414,
-3.141524076461792,
0.000017584463421371765,
-3.141576051712036
] | [
0.15020902454853058,
-0.5454245805740356,
0.09177570790052414,
-3.141524076461792,
0.000017584463421371765,
-3.141576051712036
] | 0 | pick second pie and place it on the second plate: open gripper | [
0.1501774787902832,
-0.5454481840133667,
0.09180805832147598,
3.141589641571045,
0.00004313329191063531,
3.141566514968872
] | 1 | 21.1 | 211 | 22 | 9,485 | 0 |
[
-1.5417855978012085,
-1.282193899154663,
1.8584345579147339,
-2.1460459232330322,
-1.5703057050704956,
3.174435615539551,
0.0117647061124444
] | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
-2.1460647583007812,
-1.5703325271606445,
3.174398899078369,
0
] | gripper_open | 1 | [
-1.5418046712875366,
-1.2821544408798218,
1.8584383726119995,
-2.1460602283477783,
-1.5703486204147339,
3.174377202987671,
0
] | [
-0.15020902454853058,
0.5454245805740356,
0.09177570790052414,
-3.141524076461792,
0.000017584463421371765,
-3.141576051712036
] | [
0.15020902454853058,
-0.5454245805740356,
0.09177570790052414,
-3.141524076461792,
0.000017584463421371765,
-3.141576051712036
] | 0 | pick second pie and place it on the second plate: open gripper | [
0.15019604563713074,
-0.5454434156417847,
0.09179696440696716,
-3.141587972640991,
0.000012330561730777845,
3.141554594039917
] | 1 | 21.200001 | 212 | 22 | 9,486 | 0 |
[
-1.5417894124984741,
-1.2822558879852295,
1.8584469556808472,
-2.146080732345581,
-1.5703023672103882,
3.1744320392608643,
0
] | [
-1.5417630672454834,
-1.2822352647781372,
1.8584282398223877,
-2.1460647583007812,
-1.5703325271606445,
3.174398899078369,
0
] | move_to_position | 0 | [
-1.509548306465149,
-1.128288745880127,
1.846582055091858,
-2.2881274223327637,
-1.5705960988998413,
3.2068088054656982,
0
] | [
-0.16945616900920868,
0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
0.15018492937088013,
-0.545451819896698,
0.09181074053049088,
3.141554355621338,
0.000053987037972547114,
3.141566514968872
] | 1 | 21.299999 | 213 | 22 | 9,487 | 0 |
[
-1.5417927503585815,
-1.2822248935699463,
1.8584507703781128,
-2.146092176437378,
-1.5703519582748413,
3.1744022369384766,
0
] | [
-1.5416933298110962,
-1.2818151712417603,
1.8584529161453247,
-2.146517276763916,
-1.570314884185791,
3.1745054721832275,
0
] | move_to_position | 0 | [
-1.509548306465149,
-1.128288745880127,
1.846582055091858,
-2.2881274223327637,
-1.5705960988998413,
3.2068088054656982,
0
] | [
-0.16945616900920868,
0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
0.15020956099033356,
-0.5454605221748352,
0.09178280830383301,
3.141521453857422,
0.00003429025673540309,
-3.141580820083618
] | 1 | 21.4 | 214 | 22 | 9,488 | 0 |
[
-1.5413812398910522,
-1.2806639671325684,
1.8584469556808472,
-2.147963285446167,
-1.570309042930603,
3.1748533248901367,
0
] | [
-1.541079044342041,
-1.2792181968688965,
1.8585376739501953,
-2.1493282318115234,
-1.570319414138794,
3.1751229763031006,
0
] | move_to_position | 0.011524 | [
-1.509548306465149,
-1.128288745880127,
1.846582055091858,
-2.2881274223327637,
-1.5705960988998413,
3.2068088054656982,
0
] | [
-0.16945616900920868,
0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
0.15055638551712036,
-0.545872688293457,
0.09083981812000275,
3.1412193775177,
-0.00003718912194017321,
3.1415696144104004
] | 1 | 21.5 | 215 | 22 | 9,489 | 0 |
[
-1.540099024772644,
-1.2756884098052979,
1.858479380607605,
-2.153066396713257,
-1.5703176259994507,
3.175940752029419,
0
] | [
-1.5397560596466064,
-1.2734968662261963,
1.858669400215149,
-2.1552886962890625,
-1.5703294277191162,
3.176453113555908,
0
] | move_to_position | 0.045507 | [
-1.509548306465149,
-1.128288745880127,
1.846582055091858,
-2.2881274223327637,
-1.5705960988998413,
3.2068088054656982,
0
] | [
-0.16945616900920868,
0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
0.15124666690826416,
-0.5466567277908325,
0.08852371573448181,
3.1411921977996826,
-0.000012007683835690841,
-3.1415092945098877
] | 1 | 21.6 | 216 | 22 | 9,490 | 0 |
[
-1.538558840751648,
-1.2681776285171509,
1.8586276769638062,
-2.1607892513275146,
-1.5703176259994507,
3.177677631378174,
0
] | [
-1.5377243757247925,
-1.264435887336731,
1.8587793111801147,
-2.1643805503845215,
-1.5703456401824951,
3.178495168685913,
0
] | move_to_position | 0.096611 | [
-1.509548306465149,
-1.128288745880127,
1.846582055091858,
-2.2881274223327637,
-1.5705960988998413,
3.2068088054656982,
0
] | [
-0.16945616900920868,
0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
0.15228092670440674,
-0.5479254722595215,
0.08466427028179169,
3.1412339210510254,
-0.000012517961295088753,
3.1415417194366455
] | 1 | 21.700001 | 217 | 22 | 9,491 | 0 |
[
-1.5362929105758667,
-1.258022427558899,
1.858794093132019,
-2.170722246170044,
-1.5703142881393433,
3.1799352169036865,
0
] | [
-1.535066843032837,
-1.2522010803222656,
1.8587390184402466,
-2.1762259006500244,
-1.5703678131103516,
3.181166410446167,
0
] | move_to_position | 0.164191 | [
-1.509548306465149,
-1.128288745880127,
1.846582055091858,
-2.2881274223327637,
-1.5705960988998413,
3.2068088054656982,
0
] | [
-0.16945616900920868,
0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
0.15363085269927979,
-0.5494321584701538,
0.07974104583263397,
3.141561985015869,
-0.000005712660367862554,
3.141538619995117
] | 1 | 21.799999 | 218 | 22 | 9,492 | 0 |
[
-1.5332821607589722,
-1.2439161539077759,
1.8586148023605347,
-2.1842200756073,
-1.5704001188278198,
3.183023691177368,
0
] | [
-1.531416416168213,
-1.235220193862915,
1.8581292629241943,
-2.192481517791748,
-1.5703986883163452,
3.184835195541382,
0
] | move_to_position | 0.2571 | [
-1.509548306465149,
-1.128288745880127,
1.846582055091858,
-2.2881274223327637,
-1.5705960988998413,
3.2068088054656982,
0
] | [
-0.16945616900920868,
0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
0.15553928911685944,
-0.5516040325164795,
0.07279516756534576,
-3.141206741333008,
0.000010505679711059202,
3.141500473022461
] | 1 | 21.9 | 219 | 22 | 9,493 | 0 |
[
-1.529187560081482,
-1.2246465682983398,
1.8576592206954956,
-2.202557325363159,
-1.5703858137130737,
3.187135934829712,
0
] | [
-1.5276209115982056,
-1.2174564599990845,
1.857159972190857,
-2.209357261657715,
-1.5704309940338135,
3.188649892807007,
0
] | move_to_position | 0.383803 | [
-1.509548306465149,
-1.128288745880127,
1.846582055091858,
-2.2881274223327637,
-1.5705960988998413,
3.2068088054656982,
0
] | [
-0.16945616900920868,
0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
0.15801675617694855,
-0.5546068549156189,
0.06409212946891785,
-3.141360282897949,
-0.000002223842557214084,
3.141505718231201
] | 1 | 22 | 220 | 22 | 9,494 | 0 |
[
-1.524906039237976,
-1.204693078994751,
1.8563331365585327,
-2.2213656902313232,
-1.5704926252365112,
3.191419839859009,
0
] | [
-1.5234596729278564,
-1.197801947593689,
1.8558090925216675,
-2.2278008460998535,
-1.5704668760299683,
3.1928319931030273,
0
] | move_to_position | 0.514561 | [
-1.509548306465149,
-1.128288745880127,
1.846582055091858,
-2.2881274223327637,
-1.5705960988998413,
3.2068088054656982,
0
] | [
-0.16945616900920868,
0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
0.16048480570316315,
-0.5574057698249817,
0.055457811802625656,
-3.141404151916504,
0.00006110218237154186,
3.1415343284606934
] | 1 | 22.1 | 221 | 22 | 9,495 | 0 |
[
-1.5211585760116577,
-1.1868218183517456,
1.8549398183822632,
-2.2378556728363037,
-1.570473074913025,
3.1951253414154053,
0
] | [
-1.519654393196106,
-1.1794748306274414,
1.8541814088821411,
-2.2445430755615234,
-1.5705004930496216,
3.196655750274658,
0
] | move_to_position | 0.630469 | [
-1.509548306465149,
-1.128288745880127,
1.846582055091858,
-2.2881274223327637,
-1.5705960988998413,
3.2068088054656982,
0
] | [
-0.16945616900920868,
0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
0.16267284750938416,
-0.5598422884941101,
0.04786558449268341,
-3.1414947509765625,
0.00003276015195297077,
-3.1415863037109375
] | 1 | 22.200001 | 222 | 22 | 9,496 | 0 |
[
-1.517919898033142,
-1.1709051132202148,
1.8531473875045776,
-2.2521049976348877,
-1.5705045461654663,
3.198363780975342,
0
] | [
-1.5165157318115234,
-1.1638962030410767,
1.8522508144378662,
-2.2582008838653564,
-1.5705294609069824,
3.1998095512390137,
0
] | move_to_position | 0.732507 | [
-1.509548306465149,
-1.128288745880127,
1.846582055091858,
-2.2881274223327637,
-1.5705960988998413,
3.2068088054656982,
0
] | [
-0.16945616900920868,
0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
0.16463366150856018,
-0.5621300935745239,
0.040972303599119186,
-3.1415610313415527,
-0.000007707775694143493,
3.1415317058563232
] | 1 | 22.299999 | 223 | 22 | 9,497 | 0 |
[
-1.5147851705551147,
-1.1552437543869019,
1.8509882688522339,
-2.265624761581421,
-1.5705126523971558,
3.2015273571014404,
0
] | [
-1.513594388961792,
-1.149101972579956,
1.8500598669052124,
-2.2708115577697754,
-1.5705569982528687,
3.202744483947754,
0
] | move_to_position | 0.83157 | [
-1.509548306465149,
-1.128288745880127,
1.846582055091858,
-2.2881274223327637,
-1.5705960988998413,
3.2068088054656982,
0
] | [
-0.16945616900920868,
0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
0.16655004024505615,
-0.5643525719642639,
0.034290969371795654,
3.141568899154663,
0.000018818354874383658,
3.1415865421295166
] | 1 | 22.4 | 224 | 22 | 9,498 | 0 |
[
-1.5122531652450562,
-1.1423259973526,
1.8489984273910522,
-2.276472330093384,
-1.5705608129501343,
3.2040939331054688,
0
] | [
-1.5113784074783325,
-1.1377321481704712,
1.848205327987671,
-2.2803165912628174,
-1.5705783367156982,
3.204970359802246,
0
] | move_to_position | 0.912439 | [
-1.509548306465149,
-1.128288745880127,
1.846582055091858,
-2.2881274223327637,
-1.5705960988998413,
3.2068088054656982,
0
] | [
-0.16945616900920868,
0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.024000000208616257,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
0.16800561547279358,
-0.5660306215286255,
0.029110053554177284,
-3.14154314994812,
0.000046087949158390984,
-3.141578197479248
] | 1 | 22.5 | 225 | 22 | 9,499 | 0 |
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