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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0
] | move_to_position | 0.969844 | [
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] | [
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0,
0
] | [
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0,
0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
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0.02559659257531166,
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0.00008717002492630854,
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] | 1 | 22.6 | 226 | 22 | 9,500 | 0 |
[
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] | [
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] | move_to_position | 0.993286 | [
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] | [
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0,
0
] | [
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0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
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] | 1 | 22.700001 | 227 | 22 | 9,501 | 0 |
[
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] | [
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] | move_to_position | 0.99842 | [
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] | [
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0,
0
] | [
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0,
0
] | 0 | pick second pie and place it on the second plate: descend to chocolate pie_2 | [
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] | 1 | 22.799999 | 228 | 22 | 9,502 | 0 |
[
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] | [
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1
] | gripper_close | 0 | [
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] | [
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] | [
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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] | 1 | 22.9 | 229 | 22 | 9,503 | 0 |
[
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] | [
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] | gripper_close | 0.011765 | [
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] | [
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] | [
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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] | 1 | 23 | 230 | 22 | 9,504 | 0 |
[
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] | [
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1
] | gripper_close | 0.047059 | [
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] | [
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] | [
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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] | 1 | 23.1 | 231 | 22 | 9,505 | 0 |
[
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] | [
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1
] | gripper_close | 0.172549 | [
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] | [
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] | [
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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] | 1 | 23.200001 | 232 | 22 | 9,506 | 0 |
[
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] | [
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1
] | gripper_close | 0.309804 | [
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] | [
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] | [
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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] | 1 | 23.299999 | 233 | 22 | 9,507 | 0 |
[
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] | [
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1
] | gripper_close | 0.556863 | [
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1
] | [
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] | [
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0.024048414081335068,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.024155136197805405,
3.141160726547241,
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] | 0 | 23.4 | 234 | 22 | 9,508 | 0 |
[
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] | [
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1
] | gripper_close | 0.643137 | [
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] | [
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] | [
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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3.141021490097046,
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] | 0 | 23.5 | 235 | 22 | 9,509 | 0 |
[
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] | [
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1
] | gripper_close | 0.721568 | [
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1
] | [
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] | [
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.024293122813105583,
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] | 0 | 23.6 | 236 | 22 | 9,510 | 0 |
[
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] | [
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1
] | gripper_close | 0.77647 | [
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1
] | [
-0.1693791151046753,
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] | [
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0.024048414081335068,
3.141580581665039,
0.000054480467952089384,
3.1414215564727783
] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.02425789274275303,
3.1409826278686523,
0.000058140165492659435,
3.14150071144104
] | 0 | 23.700001 | 237 | 22 | 9,511 | 0 |
[
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] | [
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1
] | gripper_close | 0.803921 | [
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1
] | [
-0.1693791151046753,
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] | [
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0.024048414081335068,
3.141580581665039,
0.000054480467952089384,
3.1414215564727783
] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.023984484374523163,
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0.00007757143612252548,
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] | 0 | 23.799999 | 238 | 22 | 9,512 | 0 |
[
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3.206820249557495,
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] | [
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1
] | gripper_close | 0.807843 | [
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1
] | [
-0.1693791151046753,
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] | [
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0.024048414081335068,
3.141580581665039,
0.000054480467952089384,
3.1414215564727783
] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.02391582727432251,
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0.0000706110949977301,
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] | 0 | 23.9 | 239 | 22 | 9,513 | 0 |
[
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3.2067928314208984,
0.8078431487083435
] | [
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3.2068088054656982,
1
] | gripper_close | 0.807843 | [
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1
] | [
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] | [
0.1693791151046753,
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0.024048414081335068,
3.141580581665039,
0.000054480467952089384,
3.1414215564727783
] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.023872431367635727,
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0.00006053800098015927,
3.1415841579437256
] | 0 | 24 | 240 | 22 | 9,514 | 0 |
[
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0.8078431487083435
] | [
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1
] | gripper_close | 0.807843 | [
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] | [
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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] | 0 | 24.1 | 241 | 22 | 9,515 | 0 |
[
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] | [
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] | gripper_close | 0.807843 | [
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] | [
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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] | 0 | 24.200001 | 242 | 22 | 9,516 | 0 |
[
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] | [
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1
] | gripper_close | 0.807843 | [
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] | [
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] | [
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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] | 0 | 24.299999 | 243 | 22 | 9,517 | 0 |
[
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] | [
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1
] | gripper_close | 0.807843 | [
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] | [
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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] | 0 | 24.4 | 244 | 22 | 9,518 | 0 |
[
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] | gripper_close | 0.807843 | [
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] | [
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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] | 0 | 24.5 | 245 | 22 | 9,519 | 0 |
[
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1
] | gripper_close | 0.807843 | [
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] | [
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] | [
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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] | 0 | 24.6 | 246 | 22 | 9,520 | 0 |
[
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] | [
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1
] | gripper_close | 0.807843 | [
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] | [
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] | [
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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] | 0 | 24.700001 | 247 | 22 | 9,521 | 0 |
[
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] | [
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] | gripper_close | 0.807843 | [
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] | [
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] | [
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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] | 0 | 24.799999 | 248 | 22 | 9,522 | 0 |
[
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] | [
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1
] | gripper_close | 0.807843 | [
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] | [
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] | [
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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] | 0 | 24.9 | 249 | 22 | 9,523 | 0 |
[
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] | [
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1
] | gripper_close | 0.807843 | [
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] | [
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] | [
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0.024048414081335068,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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] | 0 | 25 | 250 | 22 | 9,524 | 0 |
[
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] | [
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1
] | gripper_close | 0.807843 | [
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] | [
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] | [
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0.024048414081335068,
3.141580581665039,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.024006105959415436,
3.141580820083618,
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] | 0 | 25.1 | 251 | 22 | 9,525 | 0 |
[
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] | [
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1
] | gripper_close | 0.807843 | [
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] | [
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] | [
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0.024048414081335068,
3.141580581665039,
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] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.023986538872122765,
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] | 0 | 25.200001 | 252 | 22 | 9,526 | 0 |
[
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] | [
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1
] | gripper_close | 0.807843 | [
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1
] | [
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] | [
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0.024048414081335068,
3.141580581665039,
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3.1414215564727783
] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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] | 0 | 25.299999 | 253 | 22 | 9,527 | 0 |
[
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] | [
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1
] | gripper_close | 0.807843 | [
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1
] | [
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] | [
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0.024048414081335068,
3.141580581665039,
0.000054480467952089384,
3.1414215564727783
] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.02398740127682686,
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0.000050052141887135804,
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] | 0 | 25.4 | 254 | 22 | 9,528 | 0 |
[
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0.8078431487083435
] | [
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1
] | gripper_close | 0.807843 | [
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1
] | [
-0.1693791151046753,
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] | [
0.1693791151046753,
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0.024048414081335068,
3.141580581665039,
0.000054480467952089384,
3.1414215564727783
] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
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0.023981481790542603,
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0.00005755929305450991,
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] | 0 | 25.5 | 255 | 22 | 9,529 | 0 |
[
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0.8078431487083435
] | [
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3.2068088054656982,
1
] | gripper_close | 0.807843 | [
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1
] | [
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0.024048414081335068,
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] | [
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0.024048414081335068,
3.141580581665039,
0.000054480467952089384,
3.1414215564727783
] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
0.16944484412670135,
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0.023988541215658188,
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0.000044000655179843307,
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] | 0 | 25.6 | 256 | 22 | 9,530 | 0 |
[
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] | [
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1
] | gripper_close | 0.807843 | [
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] | [
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] | [
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0.024048414081335068,
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3.1414215564727783
] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
0.16945232450962067,
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0.024008596315979958,
3.1415722370147705,
0.000054212599934544414,
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] | 0 | 25.700001 | 257 | 22 | 9,531 | 0 |
[
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] | [
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1
] | gripper_close | 0.807843 | [
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] | [
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] | [
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0.024048414081335068,
3.141580581665039,
0.000054480467952089384,
3.1414215564727783
] | 1 | pick second pie and place it on the second plate: grasp chocolate pie_2 | [
0.16944386065006256,
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0.023993629962205887,
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0.00005661420073010959,
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] | 0 | 25.799999 | 258 | 22 | 9,532 | 0 |
[
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] | [
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1
] | move_to_position | 0 | [
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1.782831072807312,
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1
] | [
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0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
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0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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0.023985730484128,
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] | 0 | 25.9 | 259 | 22 | 9,533 | 0 |
[
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] | [
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1
] | move_to_position | 0.000035 | [
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] | [
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0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
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0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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0.02403472363948822,
3.141576051712036,
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] | 0 | 26 | 260 | 22 | 9,534 | 0 |
[
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] | [
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1
] | move_to_position | 0.011448 | [
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1.782831072807312,
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1
] | [
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0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
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0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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0.025114187970757484,
3.1414613723754883,
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] | 0 | 26.1 | 261 | 22 | 9,535 | 0 |
[
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] | [
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1
] | move_to_position | 0.042961 | [
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1.782831072807312,
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1
] | [
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0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.08900000154972076,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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0.02734406106173992,
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] | 0 | 26.200001 | 262 | 22 | 9,536 | 0 |
[
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] | [
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1
] | move_to_position | 0.0936 | [
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1.782831072807312,
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1
] | [
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0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.08900000154972076,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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0.030982596799731255,
3.1414833068847656,
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] | 0 | 26.299999 | 263 | 22 | 9,537 | 0 |
[
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] | [
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1
] | move_to_position | 0.168519 | [
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1.782831072807312,
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1
] | [
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0.5677342414855957,
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0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.08900000154972076,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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0.03573669493198395,
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] | 0 | 26.4 | 264 | 22 | 9,538 | 0 |
[
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1
] | [
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3.206775665283203,
1
] | move_to_position | 0.267621 | [
-1.5095160007476807,
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1.782831072807312,
-2.130368709564209,
-1.5704458951950073,
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1
] | [
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0.5677342414855957,
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0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.08900000154972076,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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0.0427979938685894,
3.1415421962738037,
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] | 0 | 26.5 | 265 | 22 | 9,539 | 0 |
[
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3.2067646980285645,
1
] | [
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3.20676326751709,
1
] | move_to_position | 0.385654 | [
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1.782831072807312,
-2.130368709564209,
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3.206704616546631,
1
] | [
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0.5677342414855957,
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0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.08900000154972076,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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0.050601836293935776,
3.141564130783081,
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] | 0 | 26.6 | 266 | 22 | 9,540 | 0 |
[
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1
] | [
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3.2067508697509766,
1
] | move_to_position | 0.5124 | [
-1.5095160007476807,
-1.2223169803619385,
1.782831072807312,
-2.130368709564209,
-1.5704458951950073,
3.206704616546631,
1
] | [
-0.16945616900920868,
0.5677342414855957,
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0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.08900000154972076,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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-0.5678552389144897,
0.058839380741119385,
3.1414952278137207,
0.00007278774137375876,
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] | 0 | 26.700001 | 267 | 22 | 9,541 | 0 |
[
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3.2067065238952637,
1
] | [
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3.206739902496338,
1
] | move_to_position | 0.626472 | [
-1.5095160007476807,
-1.2223169803619385,
1.782831072807312,
-2.130368709564209,
-1.5704458951950073,
3.206704616546631,
1
] | [
-0.16945616900920868,
0.5677342414855957,
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0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.08900000154972076,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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0.06599649786949158,
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0.00004796780558535829,
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] | 0 | 26.799999 | 268 | 22 | 9,542 | 0 |
[
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1
] | [
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-2.1664280891418457,
-1.570475697517395,
3.2067294120788574,
1
] | move_to_position | 0.735444 | [
-1.5095160007476807,
-1.2223169803619385,
1.782831072807312,
-2.130368709564209,
-1.5704458951950073,
3.206704616546631,
1
] | [
-0.16945616900920868,
0.5677342414855957,
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0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.08900000154972076,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
0.16943064332008362,
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0.07283136993646622,
3.141524314880371,
0.00007290233043022454,
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] | 0 | 26.9 | 269 | 22 | 9,543 | 0 |
[
-1.5095456838607788,
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3.206705331802368,
1
] | [
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1.792954683303833,
-2.1519670486450195,
-1.5704634189605713,
3.2067196369171143,
1
] | move_to_position | 0.833426 | [
-1.5095160007476807,
-1.2223169803619385,
1.782831072807312,
-2.130368709564209,
-1.5704458951950073,
3.206704616546631,
1
] | [
-0.16945616900920868,
0.5677342414855957,
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0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.08900000154972076,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
0.16942337155342102,
-0.5677533745765686,
0.07939071208238602,
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0.00005039458483224735,
3.1415207386016846
] | 0 | 27 | 270 | 22 | 9,544 | 0 |
[
-1.5095270872116089,
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-2.1439449787139893,
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3.2067363262176514,
1
] | [
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-2.1405231952667236,
-1.5704541206359863,
3.206711530685425,
1
] | move_to_position | 0.91464 | [
-1.5095160007476807,
-1.2223169803619385,
1.782831072807312,
-2.130368709564209,
-1.5704458951950073,
3.206704616546631,
1
] | [
-0.16945616900920868,
0.5677342414855957,
0.08900000154972076,
0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.08900000154972076,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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-0.5677976012229919,
0.08431167155504227,
3.1415131092071533,
0.00005898382732993923,
3.141541004180908
] | 0 | 27.1 | 271 | 22 | 9,545 | 0 |
[
-1.5095423460006714,
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1.7852228879928589,
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3.2066969871520996,
1
] | [
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1.7840733528137207,
-2.13299560546875,
-1.5704480409622192,
3.2067062854766846,
1
] | move_to_position | 0.968916 | [
-1.5095160007476807,
-1.2223169803619385,
1.782831072807312,
-2.130368709564209,
-1.5704458951950073,
3.206704616546631,
1
] | [
-0.16945616900920868,
0.5677342414855957,
0.08900000154972076,
0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.08900000154972076,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
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0.08737459033727646,
-3.141437530517578,
0.00008064366556936875,
3.1415257453918457
] | 0 | 27.200001 | 272 | 22 | 9,546 | 0 |
[
-1.5095576047897339,
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3.2067244052886963,
1
] | [
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1.7829771041870117,
-2.1306772232055664,
-1.5704461336135864,
3.20670485496521,
1
] | move_to_position | 0.993569 | [
-1.5095160007476807,
-1.2223169803619385,
1.782831072807312,
-2.130368709564209,
-1.5704458951950073,
3.206704616546631,
1
] | [
-0.16945616900920868,
0.5677342414855957,
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0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.08900000154972076,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
0.16942816972732544,
-0.5677579045295715,
0.08874618262052536,
-3.141573429107666,
0.00005931451960350387,
3.141550064086914
] | 0 | 27.299999 | 273 | 22 | 9,547 | 0 |
[
-1.5095304250717163,
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1.7830666303634644,
-2.130481004714966,
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3.2067317962646484,
1
] | [
-1.5095160007476807,
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1.782831072807312,
-2.130368709564209,
-1.5704458951950073,
3.206704616546631,
1
] | move_to_position | 0.998295 | [
-1.5095160007476807,
-1.2223169803619385,
1.782831072807312,
-2.130368709564209,
-1.5704458951950073,
3.206704616546631,
1
] | [
-0.16945616900920868,
0.5677342414855957,
0.08900000154972076,
0,
0,
0
] | [
0.16945616900920868,
-0.5677342414855957,
0.08900000154972076,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: retract with chocolate pie_2 | [
0.16941975057125092,
-0.5676729679107666,
0.08882896602153778,
-3.141270875930786,
0.00008245575008913875,
3.1415464878082275
] | 0 | 27.4 | 274 | 22 | 9,548 | 0 |
[
-1.5094999074935913,
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1.7828353643417358,
-2.1303822994232178,
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3.2066867351531982,
1
] | [
-1.5095160007476807,
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1.782831072807312,
-2.130368709564209,
-1.5704458951950073,
3.206704616546631,
1
] | move_to_position | 0.000036 | [
-1.8860392570495605,
-1.1247165203094482,
1.6031521558761597,
-2.047945499420166,
-1.570716381072998,
2.8302249908447266,
1
] | [
0.06793912500143051,
0.6418188810348511,
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0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
0.1694341003894806,
-0.5677642226219177,
0.08902109414339066,
-3.141590118408203,
0.00008178521238733083,
3.141585350036621
] | 0 | 27.5 | 275 | 22 | 9,549 | 0 |
[
-1.5095304250717163,
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1.7828978300094604,
-2.1303622722625732,
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3.206700563430786,
1
] | [
-1.509562373161316,
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1.7830232381820679,
-2.130396604537964,
-1.57045316696167,
3.2067198753356934,
1
] | move_to_position | 0.000037 | [
-1.8860392570495605,
-1.1247165203094482,
1.6031521558761597,
-2.047945499420166,
-1.570716381072998,
2.8302249908447266,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
0.16943977773189545,
-0.5677454471588135,
0.08897731453180313,
-3.141500234603882,
0.00006155185110401362,
3.1415889263153076
] | 0 | 27.6 | 276 | 22 | 9,550 | 0 |
[
-1.5112899541854858,
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1.7821673154830933,
-2.1300265789031982,
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3.2050838470458984,
1
] | [
-1.514635682106018,
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1.7805492877960205,
-2.1292243003845215,
-1.5704567432403564,
3.2016468048095703,
1
] | move_to_position | 0.004489 | [
-1.8860392570495605,
-1.1247165203094482,
1.6031521558761597,
-2.047945499420166,
-1.570716381072998,
2.8302249908447266,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
0.16772638261318207,
-0.5686522126197815,
0.08896596729755402,
-3.141273260116577,
0.0000922891340451315,
3.141451597213745
] | 0 | 27.700001 | 277 | 22 | 9,551 | 0 |
[
-1.5226625204086304,
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-2.127445936203003,
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3.193544864654541,
1
] | [
-1.5325920581817627,
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1.7719029188156128,
-2.1252074241638184,
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3.183690071105957,
1
] | move_to_position | 0.035087 | [
-1.8860392570495605,
-1.1247165203094482,
1.6031521558761597,
-2.047945499420166,
-1.570716381072998,
2.8302249908447266,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
0.16013357043266296,
-0.5729209184646606,
0.0894693061709404,
-3.141277313232422,
0.00005918242459301837,
3.1415600776672363
] | 0 | 27.799999 | 278 | 22 | 9,552 | 0 |
[
-1.5464872121810913,
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1.7651475667953491,
-2.122117757797241,
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3.169778823852539,
1
] | [
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1.7589948177337646,
-2.119276762008667,
-1.5704880952835083,
3.1567153930664062,
1
] | move_to_position | 0.098323 | [
-1.8860392570495605,
-1.1247165203094482,
1.6031521558761597,
-2.047945499420166,
-1.570716381072998,
2.8302249908447266,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
0.14520882070064545,
-0.5807340741157532,
0.0902988612651825,
-3.141101837158203,
0.00006932600808795542,
3.1414954662323
] | 0 | 27.9 | 279 | 22 | 9,553 | 0 |
[
-1.5769966840744019,
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1.750611662864685,
-2.1154682636260986,
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3.1391336917877197,
1
] | [
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1.7422702312469482,
-2.1116230487823486,
-1.5705125331878662,
3.121680736541748,
1
] | move_to_position | 0.179514 | [
-1.8860392570495605,
-1.1247165203094482,
1.6031521558761597,
-2.047945499420166,
-1.570716381072998,
2.8302249908447266,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
0.1265227496623993,
-0.58982253074646,
0.09138660132884979,
-3.141129970550537,
0.00006678574573015794,
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] | 0 | 28 | 280 | 22 | 9,554 | 0 |
[
-1.615211844444275,
-1.1946015357971191,
1.7324074506759644,
-2.10710072517395,
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3.101045608520508,
1
] | [
-1.6308413743972778,
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-2.1037302017211914,
-1.5705376863479614,
3.0854318141937256,
1
] | move_to_position | 0.280831 | [
-1.8860392570495605,
-1.1247165203094482,
1.6031521558761597,
-2.047945499420166,
-1.570716381072998,
2.8302249908447266,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
0.10306902229785919,
-0.5999865531921387,
0.09261946380138397,
-3.140929937362671,
0.00003693962571560405,
3.141538619995117
] | 0 | 28.1 | 281 | 22 | 9,555 | 0 |
[
-1.6574853658676147,
-1.183786392211914,
1.71219003200531,
-2.097965955734253,
-1.5706394910812378,
3.0588271617889404,
1
] | [
-1.6784673929214478,
-1.1783816814422607,
1.7023054361343384,
-2.0933775901794434,
-1.5705708265304565,
3.037801742553711,
1
] | move_to_position | 0.392996 | [
-1.8860392570495605,
-1.1247165203094482,
1.6031521558761597,
-2.047945499420166,
-1.570716381072998,
2.8302249908447266,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
0.07669482380151749,
-0.6101436018943787,
0.09421932697296143,
-3.1413934230804443,
0.00011852299940073863,
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] | 0 | 28.200001 | 282 | 22 | 9,556 | 0 |
[
-1.700809359550476,
-1.172686219215393,
1.6916559934616089,
-2.0885093212127686,
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3.015321969985962,
1
] | [
-1.7177009582519531,
-1.1683098077774048,
1.6836211681365967,
-2.0848541259765625,
-1.5705980062484741,
2.998565912246704,
1
] | move_to_position | 0.508145 | [
-1.8860392570495605,
-1.1247165203094482,
1.6031521558761597,
-2.047945499420166,
-1.570716381072998,
2.8302249908447266,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
0.04917489364743233,
-0.6190816164016724,
0.09557594358921051,
-3.141284942626953,
0.00012678404164034873,
3.1415019035339355
] | 0 | 28.299999 | 283 | 22 | 9,557 | 0 |
[
-1.7449830770492554,
-1.161270260810852,
1.6706575155258179,
-2.078965902328491,
-1.5706151723861694,
2.9712610244750977,
1
] | [
-1.7611757516860962,
-1.157142996788025,
1.6629109382629395,
-2.0754034519195557,
-1.570628046989441,
2.9550890922546387,
1
] | move_to_position | 0.625253 | [
-1.8860392570495605,
-1.1247165203094482,
1.6031521558761597,
-2.047945499420166,
-1.570716381072998,
2.8302249908447266,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
0.02142309956252575,
-0.6266466975212097,
0.0969163030385971,
-3.1412951946258545,
0.00011498438834678382,
3.141522169113159
] | 0 | 28.4 | 284 | 22 | 9,558 | 0 |
[
-1.7874869108200073,
-1.1504170894622803,
1.6502665281295776,
-2.069645643234253,
-1.5706685781478882,
2.9286704063415527,
1
] | [
-1.8014931678771973,
-1.1467686891555786,
1.643687129020691,
-2.0666229724884033,
-1.5706560611724854,
2.9147698879241943,
1
] | move_to_position | 0.738252 | [
-1.8860392570495605,
-1.1247165203094482,
1.6031521558761597,
-2.047945499420166,
-1.570716381072998,
2.8302249908447266,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.004067475441843271,
-0.632408618927002,
0.09822508692741394,
-3.1414763927459717,
0.00011314108996884897,
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] | 0 | 28.5 | 285 | 22 | 9,559 | 0 |
[
-1.8219550848007202,
-1.141524314880371,
1.6339110136032104,
-2.062138795852661,
-1.570656657218933,
2.8942573070526123,
1
] | [
-1.8394930362701416,
-1.1369549036026,
1.6255372762680054,
-2.0583152770996094,
-1.5706826448440552,
2.8767693042755127,
1
] | move_to_position | 0.829661 | [
-1.8860392570495605,
-1.1247165203094482,
1.6031521558761597,
-2.047945499420166,
-1.570716381072998,
2.8302249908447266,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.028967412188649178,
-0.6368875503540039,
0.099288210272789,
-3.141415596008301,
0.00012238921772222966,
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] | 0 | 28.6 | 286 | 22 | 9,560 | 0 |
[
-1.853385329246521,
-1.1333097219467163,
1.618848204612732,
-2.0552375316619873,
-1.5707162618637085,
2.862820863723755,
1
] | [
-1.8632993698120117,
-1.1307671070098877,
1.614137887954712,
-2.053075075149536,
-1.5706995725631714,
2.8529629707336426,
1
] | move_to_position | 0.913204 | [
-1.8860392570495605,
-1.1247165203094482,
1.6031521558761597,
-2.047945499420166,
-1.570716381072998,
2.8302249908447266,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.049160320311784744,
-0.6397775411605835,
0.10016929358243942,
-3.1414315700531006,
0.00012741066166199744,
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] | 0 | 28.700001 | 287 | 22 | 9,561 | 0 |
[
-1.8749994039535522,
-1.1276979446411133,
1.6085914373397827,
-2.0504891872406006,
-1.5706957578659058,
2.8413774967193604,
1
] | [
-1.880645751953125,
-1.1261857748031616,
1.605782389640808,
-2.049192190170288,
-1.5707123279571533,
2.835618019104004,
1
] | move_to_position | 0.97039 | [
-1.8860392570495605,
-1.1247165203094482,
1.6031521558761597,
-2.047945499420166,
-1.570716381072998,
2.8302249908447266,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.062474656850099564,
-0.6412369608879089,
0.10065924376249313,
-3.141209840774536,
0.00006006014518789016,
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] | 0 | 28.799999 | 288 | 22 | 9,562 | 0 |
[
-1.8854812383651733,
-1.124892234802246,
1.6034702062606812,
-2.0480968952178955,
-1.5707229375839233,
2.830843687057495,
1
] | [
-1.8860121965408325,
-1.1247239112854004,
1.6031653881072998,
-2.0479516983032227,
-1.570716381072998,
2.830252170562744,
1
] | move_to_position | 0.998401 | [
-1.8860392570495605,
-1.1247165203094482,
1.6031521558761597,
-2.047945499420166,
-1.570716381072998,
2.8302249908447266,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.06796108186244965,
-0.641828179359436,
0.10095938295125961,
-3.1413414478302,
0.000125431120977737,
3.1414334774017334
] | 0 | 28.9 | 289 | 22 | 9,563 | 0 |
[
-1.8861159086227417,
-1.1248152256011963,
1.6031864881515503,
-2.0480268001556396,
-1.5707076787948608,
2.830221652984619,
1
] | [
-1.8860392570495605,
-1.1247165203094482,
1.6031521558761597,
-2.047945499420166,
-1.570716381072998,
2.8302249908447266,
1
] | move_to_position | 0.999734 | [
-1.8860392570495605,
-1.1247165203094482,
1.6031521558761597,
-2.047945499420166,
-1.570716381072998,
2.8302249908447266,
1
] | [
0.06793912500143051,
0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | [
-0.06793912500143051,
-0.6418188810348511,
0.1009414792060852,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: approach above red plate_2 | [
-0.06795760989189148,
-0.6417996287345886,
0.10095776617527008,
-3.1412670612335205,
0.00006574644794454798,
3.1414990425109863
] | 0 | 29 | 290 | 22 | 9,564 | 0 |
[
-1.8861039876937866,
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1.603220820426941,
-2.0479252338409424,
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2.830221652984619,
1
] | [
-1.8860392570495605,
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1.6031521558761597,
-2.047945499420166,
-1.570716381072998,
2.8302249908447266,
1
] | move_to_position | 0.000009 | [
-1.9060969352722168,
-0.9699479341506958,
1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
1
] | [
0.09519022703170776,
0.6818943023681641,
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0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.06797491014003754,
-0.6417829990386963,
0.10094768553972244,
-3.141221284866333,
0.00008996017277240753,
3.1415083408355713
] | 0 | 29.1 | 291 | 22 | 9,565 | 0 |
[
-1.8860701322555542,
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1.6031774282455444,
-2.047955274581909,
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2.8302340507507324,
1
] | [
-1.886112093925476,
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1.6030405759811401,
-2.048165798187256,
-1.5707215070724487,
2.830103635787964,
1
] | move_to_position | 0.000242 | [
-1.9060969352722168,
-0.9699479341506958,
1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.06798243522644043,
-0.6418120861053467,
0.10091598331928253,
-3.141225576400757,
0.00008416707714786753,
3.1415011882781982
] | 0 | 29.200001 | 292 | 22 | 9,566 | 0 |
[
-1.8861936330795288,
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1.6023939847946167,
-2.0488178730010986,
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2.8298864364624023,
1
] | [
-1.886568307876587,
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1.6016714572906494,
-2.049941062927246,
-1.57072913646698,
2.8296234607696533,
1
] | move_to_position | 0.011294 | [
-1.9060969352722168,
-0.9699479341506958,
1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
1
] | [
0.09519022703170776,
0.6818943023681641,
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0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.06828838586807251,
-0.6424244046211243,
0.10000146925449371,
-3.141129493713379,
0.0000489180711156223,
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] | 0 | 29.299999 | 293 | 22 | 9,567 | 0 |
[
-1.886971354484558,
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1.6003884077072144,
-2.0513813495635986,
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2.829233407974243,
1
] | [
-1.8874512910842896,
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1.5987865924835205,
-2.053271532058716,
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2.82877516746521,
1
] | move_to_position | 0.040826 | [
-1.9060969352722168,
-0.9699479341506958,
1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
1
] | [
0.09519022703170776,
0.6818943023681641,
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0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.06933894008398056,
-0.6437436938285828,
0.0980442464351654,
-3.1411380767822266,
0.00005200401210458949,
3.1415603160858154
] | 0 | 29.4 | 294 | 22 | 9,568 | 0 |
[
-1.8881758451461792,
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1.5963577032089233,
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2.828104257583618,
1
] | [
-1.8886288404464722,
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1.5945732593536377,
-2.0575802326202393,
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2.8276419639587402,
1
] | move_to_position | 0.094484 | [
-1.9060969352722168,
-0.9699479341506958,
1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.07083133608102798,
-0.6459168791770935,
0.09502127766609192,
-3.141153335571289,
0.00006266566197155043,
3.141484260559082
] | 0 | 29.5 | 295 | 22 | 9,569 | 0 |
[
-1.8895853757858276,
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1.5907691717147827,
-2.061049222946167,
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2.8266828060150146,
1
] | [
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1.5880846977233887,
-2.063469886779785,
-1.5707640647888184,
2.826002359390259,
1
] | move_to_position | 0.164173 | [
-1.9060969352722168,
-0.9699479341506958,
1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.07294962555170059,
-0.6491374373435974,
0.09075580537319183,
-3.1411967277526855,
0.00008232083200709894,
3.1414988040924072
] | 0 | 29.6 | 296 | 22 | 9,570 | 0 |
[
-1.8914884328842163,
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1.5833123922348022,
-2.067640542984009,
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2.8248183727264404,
1
] | [
-1.8925940990447998,
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1.5788359642028809,
-2.0715560913085938,
-1.5707913637161255,
2.8237154483795166,
1
] | move_to_position | 0.254164 | [
-1.9060969352722168,
-0.9699479341506958,
1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.07567393779754639,
-0.6531971096992493,
0.08536079525947571,
-3.141345739364624,
0.0001331106759607792,
3.141507148742676
] | 0 | 29.700001 | 297 | 22 | 9,571 | 0 |
[
-1.8941301107406616,
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1.572640299797058,
-2.076902151107788,
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2.822230339050293,
1
] | [
-1.8950821161270142,
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1.5686644315719604,
-2.080219268798828,
-1.5708210468292236,
2.8212454319000244,
1
] | move_to_position | 0.382971 | [
-1.9060969352722168,
-0.9699479341506958,
1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.07924706488847733,
-0.658504068851471,
0.07788550853729248,
-3.1412010192871094,
0.00008250054088421166,
3.1414854526519775
] | 0 | 29.799999 | 298 | 22 | 9,572 | 0 |
[
-1.8966597318649292,
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1.5617822408676147,
-2.0858571529388428,
-1.570839762687683,
2.819636106491089,
1
] | [
-1.8976669311523438,
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1.5577821731567383,
-2.0890941619873047,
-1.570852279663086,
2.818679094314575,
1
] | move_to_position | 0.510136 | [
-1.9060969352722168,
-0.9699479341506958,
1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.082670196890831,
-0.6635611057281494,
0.07072818279266357,
-3.1412246227264404,
0.00003716881838045083,
3.1415884494781494
] | 0 | 29.9 | 299 | 22 | 9,573 | 0 |
[
-1.8990672826766968,
-1.027648687362671,
1.5518063306808472,
-2.0935966968536377,
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2.81732177734375,
1
] | [
-1.8998008966445923,
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1.5482630729675293,
-2.096205472946167,
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2.8165600299835205,
1
] | move_to_position | 0.625013 | [
-1.9060969352722168,
-0.9699479341506958,
1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.08571562170982361,
-0.6679590940475464,
0.0644792914390564,
-3.1412901878356934,
0.00008776797767495736,
3.141555070877075
] | 0 | 30 | 300 | 22 | 9,574 | 0 |
[
-1.900974154472351,
-1.011863350868225,
1.5424116849899292,
-2.100092649459839,
-1.570841670036316,
2.815375804901123,
1
] | [
-1.902065634727478,
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1.5372235774993896,
-2.103379011154175,
-1.5709075927734375,
2.8143107891082764,
1
] | move_to_position | 0.727239 | [
-1.9060969352722168,
-0.9699479341506958,
1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.08841153234243393,
-0.6719895005226135,
0.05877479165792465,
-3.1412179470062256,
0.00004513265594141558,
3.1415722370147705
] | 0 | 30.1 | 301 | 22 | 9,575 | 0 |
[
-1.902901530265808,
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1.5330408811569214,
-2.105890989303589,
-1.5709198713302612,
2.813511371612549,
1
] | [
-1.9036155939102173,
-0.9906613230705261,
1.529219150543213,
-2.1081080436706543,
-1.5709279775619507,
2.8127708435058594,
1
] | move_to_position | 0.825683 | [
-1.9060969352722168,
-0.9699479341506958,
1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09105101972818375,
-0.6757804751396179,
0.05355537682771683,
-3.1412911415100098,
0.0000987278763204813,
3.14151668548584
] | 0 | 30.200001 | 302 | 22 | 9,576 | 0 |
[
-1.904486060142517,
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1.5246375799179077,
-2.110698938369751,
-1.5709317922592163,
2.811937093734741,
1
] | [
-1.904870629310608,
-0.9802210927009583,
1.522513747215271,
-2.111844539642334,
-1.5709446668624878,
2.811523914337158,
1
] | move_to_position | 0.911213 | [
-1.9060969352722168,
-0.9699479341506958,
1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09319384396076202,
-0.6789977550506592,
0.04909859225153923,
-3.141289472579956,
0.00006547628436237574,
3.141503095626831
] | 0 | 30.299999 | 303 | 22 | 9,577 | 0 |
[
-1.9054521322250366,
-0.9751468300819397,
1.5191773176193237,
-2.1136205196380615,
-1.5709866285324097,
2.8109803199768066,
1
] | [
-1.9057718515396118,
-0.9726729989051819,
1.5176010131835938,
-2.114480972290039,
-1.5709567070007324,
2.8106284141540527,
1
] | move_to_position | 0.966132 | [
-1.9060969352722168,
-0.9699479341506958,
1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09443381428718567,
-0.6808781623840332,
0.04642140120267868,
-3.141206741333008,
0.00004067038025823422,
3.1415317058563232
] | 0 | 30.4 | 304 | 22 | 9,578 | 0 |
[
-1.905760645866394,
-0.9708595275878906,
1.5164121389389038,
-2.115065813064575,
-1.5709589719772339,
2.810478925704956,
1
] | [
-1.9060512781143188,
-0.9703310132026672,
1.516074776649475,
-2.1152970790863037,
-1.570960521697998,
2.8103506565093994,
1
] | move_to_position | 0.993734 | [
-1.9060969352722168,
-0.9699479341506958,
1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09491882473230362,
-0.6817375421524048,
0.04523712024092674,
-3.1411917209625244,
0.00006543412746395916,
-3.1414926052093506
] | 0 | 30.5 | 305 | 22 | 9,579 | 0 |
[
-1.9059571027755737,
-0.9700900912284851,
1.5159834623336792,
-2.1153619289398193,
-1.570945143699646,
2.810319423675537,
1
] | [
-1.9060969352722168,
-0.9699479341506958,
1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
1
] | move_to_position | 0.998624 | [
-1.9060969352722168,
-0.9699479341506958,
1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04500000178813934,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09511600434780121,
-0.6818479299545288,
0.04499892145395279,
-3.141162872314453,
0.00006404442683560774,
-3.1415913105010986
] | 0 | 30.6 | 306 | 22 | 9,580 | 0 |
[
-1.9060496091842651,
-0.9701092839241028,
1.5159991979599,
-2.115382432937622,
-1.570952296257019,
2.8103156089782715,
1
] | [
-1.9060969352722168,
-0.9699479341506958,
1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
0
] | gripper_open | 0 | [
-1.9060496091842651,
-0.9701092839241028,
1.5159991979599,
-2.115382432937622,
-1.570952296257019,
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0
] | [
0.09514293074607849,
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] | [
-0.09514293074607849,
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0.044981326907873154,
-3.1411659717559814,
0.00006508980732178316,
3.1415271759033203
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09517166763544083,
-0.6818386912345886,
0.044990189373493195,
-3.1411805152893066,
0.000073613366112113,
3.1415202617645264
] | 0 | 30.700001 | 307 | 22 | 9,581 | 0 |
[
-1.906105875968933,
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1.5159348249435425,
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2.810307502746582,
0.7764706015586853
] | [
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1.5158251523971558,
-2.1154305934906006,
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2.81030535697937,
0
] | gripper_open | 0.223529 | [
-1.9060496091842651,
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1.5159991979599,
-2.115382432937622,
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0
] | [
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] | [
-0.09514293074607849,
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0.044981326907873154,
-3.1411659717559814,
0.00006508980732178316,
3.1415271759033203
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09518939256668091,
-0.6818709969520569,
0.04502655565738678,
-3.1412410736083984,
0.000054771837312728167,
3.1414735317230225
] | 0 | 30.799999 | 308 | 22 | 9,582 | 0 |
[
-1.906124472618103,
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1.5158270597457886,
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2.81030011177063,
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] | [
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1.5158251523971558,
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2.81030535697937,
0
] | gripper_open | 0.337255 | [
-1.9060496091842651,
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1.5159991979599,
-2.115382432937622,
-1.570952296257019,
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0
] | [
0.09514293074607849,
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] | [
-0.09514293074607849,
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0.044981326907873154,
-3.1411659717559814,
0.00006508980732178316,
3.1415271759033203
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09521645307540894,
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0.045039497315883636,
-3.1413016319274902,
0.00011553597869351506,
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] | 0 | 30.9 | 309 | 22 | 9,583 | 0 |
[
-1.906112551689148,
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1.5158394575119019,
-2.115422010421753,
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2.810319423675537,
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] | [
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1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
0
] | gripper_open | 0.458823 | [
-1.9060496091842651,
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1.5159991979599,
-2.115382432937622,
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0
] | [
0.09514293074607849,
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] | [
-0.09514293074607849,
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0.044981326907873154,
-3.1411659717559814,
0.00006508980732178316,
3.1415271759033203
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09523169696331024,
-0.681921660900116,
0.04503684863448143,
-3.1413238048553467,
0.00012673776654992253,
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] | 0 | 31 | 310 | 22 | 9,584 | 0 |
[
-1.906093955039978,
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1.5158075094223022,
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2.8103229999542236,
0.41960784792900085
] | [
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1.5158251523971558,
-2.1154305934906006,
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2.81030535697937,
0
] | gripper_open | 0.580392 | [
-1.9060496091842651,
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1.5159991979599,
-2.115382432937622,
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0
] | [
0.09514293074607849,
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] | [
-0.09514293074607849,
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0.044981326907873154,
-3.1411659717559814,
0.00006508980732178316,
3.1415271759033203
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09521573781967163,
-0.6818998456001282,
0.04499112069606781,
-3.1412229537963867,
0.00010130926239071414,
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] | 1 | 31.1 | 311 | 22 | 9,585 | 0 |
[
-1.9060782194137573,
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1.5158270597457886,
-2.1154305934906006,
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2.810314655303955,
0.2980392277240753
] | [
-1.9060969352722168,
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1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
0
] | gripper_open | 0.701961 | [
-1.9060496091842651,
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1.5159991979599,
-2.115382432937622,
-1.570952296257019,
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0
] | [
0.09514293074607849,
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] | [
-0.09514293074607849,
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0.044981326907873154,
-3.1411659717559814,
0.00006508980732178316,
3.1415271759033203
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09522684663534164,
-0.6818994879722595,
0.04499237984418869,
-3.1412341594696045,
0.00009611965651856735,
3.1414976119995117
] | 1 | 31.200001 | 312 | 22 | 9,586 | 0 |
[
-1.9061282873153687,
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1.5158146619796753,
-2.115433931350708,
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2.810314655303955,
0.1725490242242813
] | [
-1.9060969352722168,
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1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
0
] | gripper_open | 0.827451 | [
-1.9060496091842651,
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1.5159991979599,
-2.115382432937622,
-1.570952296257019,
2.8103156089782715,
0
] | [
0.09514293074607849,
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0.00006508980732178316,
3.1415271759033203
] | [
-0.09514293074607849,
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0.044981326907873154,
-3.1411659717559814,
0.00006508980732178316,
3.1415271759033203
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09521126002073288,
-0.6819027662277222,
0.04498527571558952,
-3.1412434577941895,
0.00008772760338615626,
3.1415131092071533
] | 1 | 31.299999 | 313 | 22 | 9,587 | 0 |
[
-1.9060972929000854,
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1.515830397605896,
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2.8103110790252686,
0.05098039284348488
] | [
-1.9060969352722168,
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1.5158251523971558,
-2.1154305934906006,
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2.81030535697937,
0
] | gripper_open | 0.949019 | [
-1.9060496091842651,
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1.5159991979599,
-2.115382432937622,
-1.570952296257019,
2.8103156089782715,
0
] | [
0.09514293074607849,
0.681846022605896,
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0.00006508980732178316,
3.1415271759033203
] | [
-0.09514293074607849,
-0.681846022605896,
0.044981326907873154,
-3.1411659717559814,
0.00006508980732178316,
3.1415271759033203
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.0952070876955986,
-0.6818976998329163,
0.04498088359832764,
-3.1412193775177,
0.00007028675463516265,
3.1414856910705566
] | 1 | 31.4 | 314 | 22 | 9,588 | 0 |
[
-1.9061006307601929,
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1.5158146619796753,
-2.1154372692108154,
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2.810314655303955,
0.0117647061124444
] | [
-1.9060969352722168,
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1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
0
] | gripper_open | 0.988233 | [
-1.9060496091842651,
-0.9701092839241028,
1.5159991979599,
-2.115382432937622,
-1.570952296257019,
2.8103156089782715,
0
] | [
0.09514293074607849,
0.681846022605896,
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0.00006508980732178316,
3.1415271759033203
] | [
-0.09514293074607849,
-0.681846022605896,
0.044981326907873154,
-3.1411659717559814,
0.00006508980732178316,
3.1415271759033203
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09519772231578827,
-0.6819056272506714,
0.044994790107011795,
-3.141261339187622,
0.0000480100788990967,
3.141511917114258
] | 1 | 31.5 | 315 | 22 | 9,589 | 0 |
[
-1.9061158895492554,
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1.515846610069275,
-2.115433931350708,
-1.5709680318832397,
2.8102920055389404,
0.0117647061124444
] | [
-1.9060969352722168,
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1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
0
] | gripper_open | 0.988233 | [
-1.9060496091842651,
-0.9701092839241028,
1.5159991979599,
-2.115382432937622,
-1.570952296257019,
2.8103156089782715,
0
] | [
0.09514293074607849,
0.681846022605896,
0.044981326907873154,
-3.1411659717559814,
0.00006508980732178316,
3.1415271759033203
] | [
-0.09514293074607849,
-0.681846022605896,
0.044981326907873154,
-3.1411659717559814,
0.00006508980732178316,
3.1415271759033203
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09520445764064789,
-0.6818971037864685,
0.04500643163919449,
-3.1412301063537598,
0.0001240481942659244,
3.141495704650879
] | 1 | 31.6 | 316 | 22 | 9,590 | 0 |
[
-1.9060972929000854,
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1.5158427953720093,
-2.115433931350708,
-1.5709642171859741,
2.8103110790252686,
0.0117647061124444
] | [
-1.9060969352722168,
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1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
0
] | gripper_open | 0.988232 | [
-1.9060496091842651,
-0.9701092839241028,
1.5159991979599,
-2.115382432937622,
-1.570952296257019,
2.8103156089782715,
0
] | [
0.09514293074607849,
0.681846022605896,
0.044981326907873154,
-3.1411659717559814,
0.00006508980732178316,
3.1415271759033203
] | [
-0.09514293074607849,
-0.681846022605896,
0.044981326907873154,
-3.1411659717559814,
0.00006508980732178316,
3.1415271759033203
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.0952216163277626,
-0.6818873286247253,
0.04498622193932533,
-3.1412298679351807,
0.00006640630454057828,
3.1414730548858643
] | 1 | 31.700001 | 317 | 22 | 9,591 | 0 |
[
-1.9061092138290405,
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1.5158146619796753,
-2.115433931350708,
-1.5709518194198608,
2.8102920055389404,
0
] | [
-1.9060969352722168,
-0.9699479341506958,
1.5158251523971558,
-2.1154305934906006,
-1.5709611177444458,
2.81030535697937,
0
] | move_to_position | 0.00005 | [
-1.9060754776000977,
-1.0257548093795776,
1.4642305374145508,
-2.0080645084381104,
-1.5708614587783813,
2.8102681636810303,
0
] | [
0.09519022703170776,
0.6818943023681641,
0.0949999988079071,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.0949999988079071,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09521237760782242,
-0.6819089651107788,
0.04500279948115349,
-3.1412746906280518,
0.00012684115790762007,
3.141494035720825
] | 1 | 31.799999 | 318 | 22 | 9,592 | 0 |
[
-1.9060972929000854,
-0.9699784517288208,
1.5158270597457886,
-2.115422010421753,
-1.5709556341171265,
2.810307502746582,
0
] | [
-1.906097173690796,
-0.9701569080352783,
1.5157538652420044,
-2.1152124404907227,
-1.5709677934646606,
2.81032657623291,
0
] | move_to_position | 0.000164 | [
-1.9060754776000977,
-1.0257548093795776,
1.4642305374145508,
-2.0080645084381104,
-1.5708614587783813,
2.8102681636810303,
0
] | [
0.09519022703170776,
0.6818943023681641,
0.0949999988079071,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.0949999988079071,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.0952165275812149,
-0.6819053292274475,
0.045002393424510956,
-3.1412572860717773,
0.00006783277785871178,
3.1414387226104736
] | 1 | 31.9 | 319 | 22 | 9,593 | 0 |
[
-1.906112551689148,
-0.9707143306732178,
1.515252947807312,
-2.1142895221710205,
-1.5709484815597534,
2.81032657623291,
0
] | [
-1.9060965776443481,
-0.9717897772789001,
1.5147254467010498,
-2.1126296520233154,
-1.5709648132324219,
2.8103251457214355,
0
] | move_to_position | 0.011275 | [
-1.9060754776000977,
-1.0257548093795776,
1.4642305374145508,
-2.0080645084381104,
-1.5708614587783813,
2.8102681636810303,
0
] | [
0.09519022703170776,
0.6818943023681641,
0.0949999988079071,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.0949999988079071,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09523329138755798,
-0.6819708347320557,
0.04589737951755524,
-3.1414883136749268,
0.0001826683437684551,
3.141491174697876
] | 1 | 32 | 320 | 22 | 9,594 | 0 |
[
-1.9060887098312378,
-0.9731154441833496,
1.5136407613754272,
-2.1103079319000244,
-1.5709408521652222,
2.8103039264678955,
0
] | [
-1.9060955047607422,
-0.9743009805679321,
1.5129374265670776,
-2.1083128452301025,
-1.5709599256515503,
2.8103229999542236,
0
] | move_to_position | 0.048521 | [
-1.9060754776000977,
-1.0257548093795776,
1.4642305374145508,
-2.0080645084381104,
-1.5708614587783813,
2.8102681636810303,
0
] | [
0.09519022703170776,
0.6818943023681641,
0.0949999988079071,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.0949999988079071,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09519782662391663,
-0.6819169521331787,
0.04804757982492447,
-3.1414520740509033,
0.00017521063273306936,
3.1414835453033447
] | 1 | 32.099998 | 321 | 22 | 9,595 | 0 |
[
-1.9060972929000854,
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1.5113462209701538,
-2.104551076889038,
-1.5709518194198608,
2.8103156089782715,
0
] | [
-1.906093955039978,
-0.9781011939048767,
1.510021448135376,
-2.101534843444824,
-1.5709524154663086,
2.810319662094116,
0
] | move_to_position | 0.101524 | [
-1.9060754776000977,
-1.0257548093795776,
1.4642305374145508,
-2.0080645084381104,
-1.5708614587783813,
2.8102681636810303,
0
] | [
0.09519022703170776,
0.6818943023681641,
0.0949999988079071,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.0949999988079071,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09519435465335846,
-0.6818549633026123,
0.05084814876317978,
-3.1412577629089355,
0.00011031000030925497,
3.1414809226989746
] | 1 | 32.200001 | 322 | 22 | 9,596 | 0 |
[
-1.9060853719711304,
-0.9808182716369629,
1.5077794790267944,
-2.096517324447632,
-1.5709279775619507,
2.8103389739990234,
0
] | [
-1.9060920476913452,
-0.9826229214668274,
1.506284236907959,
-2.093226909637451,
-1.5709435939788818,
2.8103153705596924,
0
] | move_to_position | 0.176338 | [
-1.9060754776000977,
-1.0257548093795776,
1.4642305374145508,
-2.0080645084381104,
-1.5708614587783813,
2.8102681636810303,
0
] | [
0.09519022703170776,
0.6818943023681641,
0.0949999988079071,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.0949999988079071,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09519734978675842,
-0.6818861365318298,
0.054699428379535675,
-3.1412923336029053,
0.00012525029887910932,
3.1414740085601807
] | 1 | 32.299999 | 323 | 22 | 9,597 | 0 |
[
-1.906082034111023,
-0.9853202700614929,
1.5039061307907104,
-2.088129758834839,
-1.5709246397018433,
2.810300350189209,
0
] | [
-1.9060899019241333,
-0.9881345629692078,
1.50138521194458,
-2.082815408706665,
-1.5709329843521118,
2.810309648513794,
0
] | move_to_position | 0.254414 | [
-1.9060754776000977,
-1.0257548093795776,
1.4642305374145508,
-2.0080645084381104,
-1.5708614587783813,
2.8102681636810303,
0
] | [
0.09519022703170776,
0.6818943023681641,
0.0949999988079071,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.0949999988079071,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09523160755634308,
-0.681932806968689,
0.05883299931883812,
-3.1412394046783447,
0.0000926516586332582,
3.1414601802825928
] | 1 | 32.400002 | 324 | 22 | 9,598 | 0 |
[
-1.906112551689148,
-0.9920540452003479,
1.4978083372116089,
-2.0753133296966553,
-1.5709351301193237,
2.8103156089782715,
0
] | [
-1.9060872793197632,
-0.9949599504470825,
1.4951249361038208,
-2.0697338581085205,
-1.5709199905395508,
2.810302734375,
0
] | move_to_position | 0.373797 | [
-1.9060754776000977,
-1.0257548093795776,
1.4642305374145508,
-2.0080645084381104,
-1.5708614587783813,
2.8102681636810303,
0
] | [
0.09519022703170776,
0.6818943023681641,
0.0949999988079071,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.0949999988079071,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09525858610868454,
-0.6819911003112793,
0.06510334461927414,
-3.1412060260772705,
0.00010196228686254472,
3.1414432525634766
] | 1 | 32.5 | 325 | 22 | 9,599 | 0 |
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