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 | pick second pie and place it on the second plate: retract after place | [
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] | 1 | 32.599998 | 326 | 22 | 9,600 | 0 |
[
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] | move_to_position | 0.638864 | [
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] | [
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] | [
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] | 0 | pick second pie and place it on the second plate: retract after place | [
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] | 1 | 32.700001 | 327 | 22 | 9,601 | 0 |
[
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] | [
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] | move_to_position | 0.751207 | [
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] | [
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] | [
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] | 0 | pick second pie and place it on the second plate: retract after place | [
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] | 1 | 32.799999 | 328 | 22 | 9,602 | 0 |
[
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] | [
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] | move_to_position | 0.834772 | [
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] | [
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] | [
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] | 0 | pick second pie and place it on the second plate: retract after place | [
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] | 1 | 32.900002 | 329 | 22 | 9,603 | 0 |
[
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] | move_to_position | 0.898269 | [
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] | [
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] | [
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] | 0 | pick second pie and place it on the second plate: retract after place | [
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] | 1 | 33 | 330 | 22 | 9,604 | 0 |
[
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] | [
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] | move_to_position | 0.947828 | [
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] | [
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0
] | [
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0,
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] | 0 | pick second pie and place it on the second plate: retract after place | [
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] | 1 | 33.099998 | 331 | 22 | 9,605 | 0 |
[
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] | [
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] | move_to_position | 0.982834 | [
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] | [
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0
] | [
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0,
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] | 0 | pick second pie and place it on the second plate: retract after place | [
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] | 1 | 33.200001 | 332 | 22 | 9,606 | 0 |
[
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] | [
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] | move_to_position | 0.997272 | [
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] | [
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0
] | [
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0,
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] | 0 | pick second pie and place it on the second plate: retract after place | [
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] | 1 | 33.299999 | 333 | 22 | 9,607 | 0 |
[
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] | [
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1.4642305374145508,
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] | move_to_position | 0 | [
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] | [
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0,
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] | [
0,
-0.4399999976158142,
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0,
0
] | 0 | return to home after task completion | [
-0.09517702460289001,
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] | 1 | 33.400002 | 334 | 22 | 9,608 | 0 |
[
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0
] | [
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0
] | move_to_position | 0 | [
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1.647330403327942,
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] | [
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0.4399999976158142,
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] | [
0,
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0,
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] | 0 | return to home after task completion | [
-0.09512894600629807,
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0.09472127258777618,
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] | 1 | 33.5 | 335 | 22 | 9,609 | 0 |
[
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] | [
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] | move_to_position | 0.000186 | [
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] | [
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] | [
0,
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] | 0 | return to home after task completion | [
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] | 1 | 33.599998 | 336 | 22 | 9,610 | 0 |
[
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] | [
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] | move_to_position | 0.001667 | [
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] | [
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] | [
0,
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] | 0 | return to home after task completion | [
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] | 1 | 33.700001 | 337 | 22 | 9,611 | 0 |
[
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] | [
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] | move_to_position | 0.004085 | [
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] | [
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] | [
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0,
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] | 0 | return to home after task completion | [
-0.09471612423658371,
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] | 1 | 33.799999 | 338 | 22 | 9,612 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.007961 | [
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1.647330403327942,
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] | [
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0.4399999976158142,
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0,
0,
0
] | [
0,
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0,
0
] | 0 | return to home after task completion | [
-0.09430987387895584,
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] | 1 | 33.900002 | 339 | 22 | 9,613 | 0 |
[
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2.8104753494262695,
0
] | [
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] | move_to_position | 0.013614 | [
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] | [
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0.4399999976158142,
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] | [
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] | 0 | return to home after task completion | [
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] | 1 | 34 | 340 | 22 | 9,614 | 0 |
[
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0
] | [
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] | move_to_position | 0.021642 | [
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] | [
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0.4399999976158142,
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] | [
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] | 0 | return to home after task completion | [
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] | 1 | 34.099998 | 341 | 22 | 9,615 | 0 |
[
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] | [
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] | move_to_position | 0.031293 | [
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] | [
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] | [
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] | 0 | return to home after task completion | [
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] | 1 | 34.200001 | 342 | 22 | 9,616 | 0 |
[
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0
] | [
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] | move_to_position | 0.999507 | [
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[
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] | move_to_joint_state | 0.019528 | [
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[
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] | move_to_joint_state | 0 | [
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] | 0 | restore TCP orientation after returning home | [
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] | 1 | 38.099998 | 381 | 22 | 9,655 | 0 |
[
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] | move_to_joint_state | 0.005998 | [
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] | 0 | restore TCP orientation after returning home | [
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] | 1 | 38.200001 | 382 | 22 | 9,656 | 0 |
[
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] | move_to_joint_state | 0.048803 | [
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] | 0 | restore TCP orientation after returning home | [
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] | 1 | 38.299999 | 383 | 22 | 9,657 | 0 |
[
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] | move_to_joint_state | 0.103626 | [
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] | 0 | restore TCP orientation after returning home | [
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] | 1 | 38.400002 | 384 | 22 | 9,658 | 0 |
[
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] | move_to_joint_state | 0.16542 | [
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] | [
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] | 0 | restore TCP orientation after returning home | [
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] | 1 | 38.5 | 385 | 22 | 9,659 | 0 |
[
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] | 0 | restore TCP orientation after returning home | [
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-3.1411261558532715,
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] | 1 | 38.599998 | 386 | 22 | 9,660 | 0 |
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] | move_to_joint_state | 0.344151 | [
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] | 1 | 38.700001 | 387 | 22 | 9,661 | 0 |
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] | move_to_joint_state | 0.473099 | [
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] | 1 | 38.799999 | 388 | 22 | 9,662 | 0 |
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] | move_to_joint_state | 0.550448 | [
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] | [
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] | 0 | restore TCP orientation after returning home | [
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] | 1 | 38.900002 | 389 | 22 | 9,663 | 0 |
[
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] | move_to_joint_state | 0.659055 | [
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] | 1 | 39 | 390 | 22 | 9,664 | 0 |
[
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] | move_to_joint_state | 0.746506 | [
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] | 0 | restore TCP orientation after returning home | [
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] | 1 | 39.099998 | 391 | 22 | 9,665 | 0 |
[
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] | move_to_joint_state | 0.83723 | [
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] | [
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] | 0 | restore TCP orientation after returning home | [
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] | 1 | 39.200001 | 392 | 22 | 9,666 | 0 |
[
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] | move_to_joint_state | 0.89273 | [
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] | [
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] | 0 | restore TCP orientation after returning home | [
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0.3529379665851593,
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] | 1 | 39.299999 | 393 | 22 | 9,667 | 0 |
[
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] | [
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] | move_to_joint_state | 0.932065 | [
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] | [
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] | [
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] | 0 | restore TCP orientation after returning home | [
-0.00005557721669902094,
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-3.1415696144104004,
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] | 1 | 39.400002 | 394 | 22 | 9,668 | 0 |
[
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] | [
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] | move_to_joint_state | 0.962108 | [
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] | [
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] | [
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] | 0 | restore TCP orientation after returning home | [
-0.00005758159386459738,
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] | 1 | 39.5 | 395 | 22 | 9,669 | 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 | move to initial position to start the task | [
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0.2906993329524994,
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] | 1 | 0 | 0 | 23 | 9,670 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.29073747992515564,
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] | 1 | 0.1 | 1 | 23 | 9,671 | 0 |
[
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] | [
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0
] | move_to_position | 0.010099 | [
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] | [
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] | [
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0
] | 0 | move to initial position to start the task | [
0.01924999989569187,
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0.29167628288269043,
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0.06096312403678894,
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] | 1 | 0.2 | 2 | 23 | 9,672 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.041117 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
0.018589740619063377,
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0.29391905665397644,
2.792698383331299,
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] | 1 | 0.3 | 3 | 23 | 9,673 | 0 |
[
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0
] | [
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] | move_to_position | 0.091889 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
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0.29707059264183044,
2.7928273677825928,
0.06094888597726822,
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] | 1 | 0.4 | 4 | 23 | 9,674 | 0 |
[
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0
] | [
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] | move_to_position | 0.162462 | [
-1.900505781173706,
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] | [
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0,
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] | [
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-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
0.015836015343666077,
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0.3023224174976349,
2.792855739593506,
0.06093743443489075,
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] | 1 | 0.5 | 5 | 23 | 9,675 | 0 |
[
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] | [
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] | move_to_position | 0.266103 | [
-1.900505781173706,
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] | [
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0,
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] | [
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-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
0.013698662631213665,
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0.309054434299469,
2.79272198677063,
0.06092675402760506,
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] | 1 | 0.6 | 6 | 23 | 9,676 | 0 |
[
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] | [
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] | move_to_position | 0.383514 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
0.011433715000748634,
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0.3164269030094147,
2.792806625366211,
0.06090763211250305,
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] | 1 | 0.7 | 7 | 23 | 9,677 | 0 |
[
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] | [
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] | move_to_position | 0.500297 | [
-1.900505781173706,
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] | [
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0,
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] | [
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-0.4399999976158142,
0.3529999852180481,
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0,
0
] | 0 | move to initial position to start the task | [
0.009168514981865883,
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0.3237121105194092,
2.7927565574645996,
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] | 1 | 0.8 | 8 | 23 | 9,678 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.626112 | [
-1.900505781173706,
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] | [
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0,
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] | [
0,
-0.4399999976158142,
0.3529999852180481,
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0,
0
] | 0 | move to initial position to start the task | [
0.0065820165909826756,
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0.3315780758857727,
2.792825698852539,
0.06089230254292488,
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] | 1 | 0.9 | 9 | 23 | 9,679 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.740944 | [
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] | [
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0.4399999976158142,
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0,
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] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.004373257048428059,
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0.3386320471763611,
2.792893409729004,
0.06091292202472687,
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] | 1 | 1 | 10 | 23 | 9,680 | 0 |
[
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2.896921157836914,
0
] | [
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0
] | move_to_position | 0.843738 | [
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1.931422233581543,
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] | [
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0.4399999976158142,
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0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.002683000871911645,
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0.34444060921669006,
2.792698860168457,
0.060937244445085526,
3.0696136951446533
] | 1 | 1.1 | 11 | 23 | 9,681 | 0 |
[
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2.8905189037323,
0
] | [
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0
] | move_to_position | 0.912146 | [
-1.900505781173706,
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] | [
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0.4399999976158142,
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0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.0014487080043181777,
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0.3483227491378784,
2.7927539348602295,
0.060951799154281616,
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] | 1 | 1.2 | 12 | 23 | 9,682 | 0 |
[
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2.8857743740081787,
0
] | [
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2.884038209915161,
0
] | move_to_position | 0.960974 | [
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] | [
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0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.0006060398300178349,
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0.351109117269516,
2.792748212814331,
0.06093429774045944,
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] | 1 | 1.3 | 13 | 23 | 9,683 | 0 |
[
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2.882624864578247,
0
] | [
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1.9316678047180176,
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0
] | move_to_position | 0.99192 | [
-1.900505781173706,
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] | [
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0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.00004536255437415093,
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0.352684885263443,
2.7927794456481934,
0.060982272028923035,
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] | 1 | 1.4 | 14 | 23 | 9,684 | 0 |
[
-1.9003547430038452,
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2.8819665908813477,
0
] | [
-1.900505781173706,
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1.931422233581543,
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-1.5380581617355347,
2.881842613220215,
0
] | move_to_position | 0.999016 | [
-1.900505781173706,
-1.958284616470337,
1.931422233581543,
-1.8955703973770142,
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] | [
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0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.00004088880814379081,
-0.4400089681148529,
0.3528616726398468,
2.7930004596710205,
0.06087246537208557,
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] | 1 | 1.5 | 15 | 23 | 9,685 | 0 |
[
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2.8818860054016113,
0
] | [
-1.900505781173706,
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1.931422233581543,
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-1.5380581617355347,
2.881842613220215,
0
] | move_to_joint_state | 0.000078 | [
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first pie | [
0.00004607445589499548,
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0.35285094380378723,
2.7930307388305664,
0.060861822217702866,
3.0697169303894043
] | 1 | 1.6 | 16 | 23 | 9,686 | 0 |
[
-1.900278925895691,
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-1.894109845161438,
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2.881624221801758,
0
] | [
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1.929975986480713,
-1.8910382986068726,
-1.5383951663970947,
2.881244659423828,
0
] | move_to_joint_state | 0.003669 | [
-1.891592264175415,
-1.8798166513442993,
1.778749942779541,
-1.4687881469726562,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first pie | [
0.00009774560749065131,
-0.43981248140335083,
0.35276201367378235,
2.794715404510498,
0.06060744822025299,
3.070129632949829
] | 1 | 1.7 | 17 | 23 | 9,687 | 0 |
[
-1.9001554250717163,
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-1.8837658166885376,
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2.8802480697631836,
0
] | [
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1.925294280052185,
-1.877966046333313,
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2.879457712173462,
0
] | move_to_joint_state | 0.027934 | [
-1.891592264175415,
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1.778749942779541,
-1.4687881469726562,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first pie | [
0.0004132286994718015,
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0.3521037697792053,
2.805324077606201,
0.05933833867311478,
3.072303533554077
] | 1 | 1.8 | 18 | 23 | 9,688 | 0 |
[
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2.8775367736816406,
0
] | [
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1.917263388633728,
-1.8555424213409424,
-1.541025161743164,
2.8763928413391113,
0
] | move_to_joint_state | 0.074757 | [
-1.891592264175415,
-1.8798166513442993,
1.778749942779541,
-1.4687881469726562,
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2.82352876663208,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first pie | [
0.000954281073063612,
-0.4360732138156891,
0.35098743438720703,
2.822840452194214,
0.05722544342279434,
3.0759530067443848
] | 1 | 1.9 | 19 | 23 | 9,689 | 0 |
[
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-1.8382426500320435,
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2.8740074634552,
0
] | [
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-1.8227802515029907,
-1.5434526205062866,
2.8719146251678467,
0
] | move_to_joint_state | 0.134552 | [
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1.778749942779541,
-1.4687881469726562,
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0
] | [
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[
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[
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[
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[
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] | 1 | 2.4 | 24 | 23 | 9,694 | 0 |
[
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] | move_to_joint_state | 0.606762 | [
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] | 0 | level TCP before picking first pie | [
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] | 1 | 2.5 | 25 | 23 | 9,695 | 0 |
[
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] | move_to_joint_state | 0.698457 | [
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] | 0 | level TCP before picking first pie | [
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] | 1 | 2.6 | 26 | 23 | 9,696 | 0 |
[
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] | move_to_joint_state | 0.790317 | [
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] | [
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] | 1 | 2.7 | 27 | 23 | 9,697 | 0 |
[
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] | [
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] | move_to_joint_state | 0.867333 | [
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] | [
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] | 0 | level TCP before picking first pie | [
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] | 1 | 2.8 | 28 | 23 | 9,698 | 0 |
[
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] | [
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] | move_to_joint_state | 0.928921 | [
-1.891592264175415,
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] | [
0,
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0,
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] | 0 | level TCP before picking first pie | [
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3.1207494735717773,
0.004816058557480574,
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] | 1 | 2.9 | 29 | 23 | 9,699 | 0 |
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