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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] | move_to_joint_state | 0.974662 | [
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] | [
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] | [
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] | 0 | level TCP before picking first pie | [
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] | 1 | 3 | 30 | 23 | 9,700 | 0 |
[
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] | move_to_joint_state | 0.998053 | [
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] | [
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] | [
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] | 0 | level TCP before picking first pie | [
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] | 1 | 3.1 | 31 | 23 | 9,701 | 0 |
[
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] | [
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] | move_to_position | 0.00009 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 3.2 | 32 | 23 | 9,702 | 0 |
[
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] | move_to_position | 0.00007 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 3.3 | 33 | 23 | 9,703 | 0 |
[
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] | move_to_position | 0.000133 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 3.4 | 34 | 23 | 9,704 | 0 |
[
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] | [
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] | move_to_position | 0.006338 | [
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] | [
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] | [
0.24625612795352936,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 3.5 | 35 | 23 | 9,705 | 0 |
[
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] | [
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] | move_to_position | 0.027927 | [
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] | [
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] | [
0.24625612795352936,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 3.6 | 36 | 23 | 9,706 | 0 |
[
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] | [
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] | move_to_position | 0.063061 | [
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] | [
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] | [
0.24625612795352936,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 3.7 | 37 | 23 | 9,707 | 0 |
[
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] | [
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] | move_to_position | 0.109327 | [
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] | [
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] | [
0.24625612795352936,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.022967495024204254,
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] | 1 | 3.8 | 38 | 23 | 9,708 | 0 |
[
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] | [
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] | move_to_position | 0.165015 | [
-1.4141901731491089,
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] | [
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] | [
0.24625612795352936,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 3.9 | 39 | 23 | 9,709 | 0 |
[
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] | [
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] | move_to_position | 0.228453 | [
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] | [
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] | [
0.24625612795352936,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4 | 40 | 23 | 9,710 | 0 |
[
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] | [
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] | move_to_position | 0.295 | [
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] | [
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] | [
0.24625612795352936,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4.1 | 41 | 23 | 9,711 | 0 |
[
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] | [
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] | move_to_position | 0.371394 | [
-1.4141901731491089,
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] | [
-0.24625612795352936,
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] | [
0.24625612795352936,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4.2 | 42 | 23 | 9,712 | 0 |
[
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] | [
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0
] | move_to_position | 0.44614 | [
-1.4141901731491089,
-0.9336890578269958,
1.2399157285690308,
-1.8760673999786377,
-1.5707252025604248,
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0
] | [
-0.24625612795352936,
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] | [
0.24625612795352936,
-0.6968010067939758,
0.1215563416481018,
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0,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4.3 | 43 | 23 | 9,713 | 0 |
[
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] | [
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0
] | move_to_position | 0.518962 | [
-1.4141901731491089,
-0.9336890578269958,
1.2399157285690308,
-1.8760673999786377,
-1.5707252025604248,
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] | [
-0.24625612795352936,
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] | [
0.24625612795352936,
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0.1215563416481018,
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0,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4.4 | 44 | 23 | 9,714 | 0 |
[
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] | [
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] | move_to_position | 0.597466 | [
-1.4141901731491089,
-0.9336890578269958,
1.2399157285690308,
-1.8760673999786377,
-1.5707252025604248,
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] | [
-0.24625612795352936,
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] | [
0.24625612795352936,
-0.6968010067939758,
0.1215563416481018,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4.5 | 45 | 23 | 9,715 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.670922 | [
-1.4141901731491089,
-0.9336890578269958,
1.2399157285690308,
-1.8760673999786377,
-1.5707252025604248,
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] | [
-0.24625612795352936,
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] | [
0.24625612795352936,
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0.1215563416481018,
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0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.13823962211608887,
-0.626386284828186,
0.2292831987142563,
-3.141042709350586,
0.00004634289143723436,
3.1414577960968018
] | 1 | 4.6 | 46 | 23 | 9,716 | 0 |
[
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0
] | [
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1.3629083633422852,
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0
] | move_to_position | 0.740958 | [
-1.4141901731491089,
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1.2399157285690308,
-1.8760673999786377,
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] | [
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0,
0
] | [
0.24625612795352936,
-0.6968010067939758,
0.1215563416481018,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.15986274182796478,
-0.6452529430389404,
0.20825423300266266,
-3.1409077644348145,
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3.141495704650879
] | 1 | 4.7 | 47 | 23 | 9,717 | 0 |
[
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] | [
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0
] | move_to_position | 0.805981 | [
-1.4141901731491089,
-0.9336890578269958,
1.2399157285690308,
-1.8760673999786377,
-1.5707252025604248,
3.3021795749664307,
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] | [
-0.24625612795352936,
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0,
0,
0
] | [
0.24625612795352936,
-0.6968010067939758,
0.1215563416481018,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.18052959442138672,
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0.1879398226737976,
-3.141019821166992,
0.000011795980753959157,
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] | 1 | 4.8 | 48 | 23 | 9,718 | 0 |
[
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] | [
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0
] | move_to_position | 0.865561 | [
-1.4141901731491089,
-0.9336890578269958,
1.2399157285690308,
-1.8760673999786377,
-1.5707252025604248,
3.3021795749664307,
0
] | [
-0.24625612795352936,
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0,
0
] | [
0.24625612795352936,
-0.6968010067939758,
0.1215563416481018,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.20099368691444397,
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0.1674416959285736,
-3.140902519226074,
0.00007778224971843883,
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] | 1 | 4.9 | 49 | 23 | 9,719 | 0 |
[
-1.453708529472351,
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] | [
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0
] | move_to_position | 0.917433 | [
-1.4141901731491089,
-0.9336890578269958,
1.2399157285690308,
-1.8760673999786377,
-1.5707252025604248,
3.3021795749664307,
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] | [
-0.24625612795352936,
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0,
0
] | [
0.24625612795352936,
-0.6968010067939758,
0.1215563416481018,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.2173231840133667,
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0.15095296502113342,
-3.1408944129943848,
0.0000252910285780672,
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] | 1 | 5 | 50 | 23 | 9,720 | 0 |
[
-1.4347642660140991,
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-1.8583937883377075,
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] | [
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-1.864592432975769,
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0
] | move_to_position | 0.957127 | [
-1.4141901731491089,
-0.9336890578269958,
1.2399157285690308,
-1.8760673999786377,
-1.5707252025604248,
3.3021795749664307,
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] | [
-0.24625612795352936,
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0,
0
] | [
0.24625612795352936,
-0.6968010067939758,
0.1215563416481018,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.23169143497943878,
-0.6903721690177917,
0.1363314837217331,
-3.141045093536377,
0.000004698038537753746,
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] | 1 | 5.1 | 51 | 23 | 9,721 | 0 |
[
-1.4219807386398315,
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1.2486523389816284,
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3.2943477630615234,
0
] | [
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0
] | move_to_position | 0.983816 | [
-1.4141901731491089,
-0.9336890578269958,
1.2399157285690308,
-1.8760673999786377,
-1.5707252025604248,
3.3021795749664307,
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] | [
-0.24625612795352936,
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0,
0
] | [
0.24625612795352936,
-0.6968010067939758,
0.1215563416481018,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.24173644185066223,
-0.6948824524879456,
0.12609626352787018,
-3.1412954330444336,
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] | 1 | 5.2 | 52 | 23 | 9,722 | 0 |
[
-1.4149240255355835,
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3.3013722896575928,
0
] | [
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1.2400100231170654,
-1.8759952783584595,
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3.302095413208008,
0
] | move_to_position | 0.99836 | [
-1.4141901731491089,
-0.9336890578269958,
1.2399157285690308,
-1.8760673999786377,
-1.5707252025604248,
3.3021795749664307,
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] | [
-0.24625612795352936,
0.6968010067939758,
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0,
0
] | [
0.24625612795352936,
-0.6968010067939758,
0.1215563416481018,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.2460598349571228,
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0.12180249392986298,
-3.141552686691284,
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3.1414966583251953
] | 1 | 5.3 | 53 | 23 | 9,723 | 0 |
[
-1.4142206907272339,
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1.2399452924728394,
-1.8760029077529907,
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3.3021368980407715,
0
] | [
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1.2399156093597412,
-1.8760675191879272,
-1.5707250833511353,
3.3021793365478516,
0
] | move_to_position | 0.999914 | [
-1.4141901731491089,
-0.9336890578269958,
1.2399157285690308,
-1.8760673999786377,
-1.5707252025604248,
3.3021795749664307,
0
] | [
-0.24625612795352936,
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0,
0
] | [
0.24625612795352936,
-0.6968010067939758,
0.1215563416481018,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.24625064432621002,
-0.696793794631958,
0.12156645208597183,
-3.1415534019470215,
-0.00006893101090099663,
3.1414873600006104
] | 1 | 5.4 | 54 | 23 | 9,724 | 0 |
[
-1.414193034172058,
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1.2399567365646362,
-1.8760472536087036,
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3.3021504878997803,
0
] | [
-1.4141901731491089,
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1.2399157285690308,
-1.8760673999786377,
-1.5707252025604248,
3.3021795749664307,
0
] | move_to_position | 0.999956 | [
-1.4141901731491089,
-0.9336890578269958,
1.2399157285690308,
-1.8760673999786377,
-1.5707252025604248,
3.3021795749664307,
0
] | [
-0.24625612795352936,
0.6968010067939758,
0.1215563416481018,
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0,
0
] | [
0.24625612795352936,
-0.6968010067939758,
0.1215563416481018,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.24624890089035034,
-0.6968026161193848,
0.12153634428977966,
-3.141547679901123,
-0.00005602167220786214,
3.1414291858673096
] | 1 | 5.5 | 55 | 23 | 9,725 | 0 |
[
-1.4142206907272339,
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1.2399529218673706,
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3.3021881580352783,
0
] | [
-1.4141901731491089,
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1.2399157285690308,
-1.8760673999786377,
-1.5707252025604248,
3.3021795749664307,
0
] | gripper_open | 1 | [
-1.4142206907272339,
-0.9337349534034729,
1.2399529218673706,
-1.8760749101638794,
-1.5707248449325562,
3.3021881580352783,
0
] | [
-0.24625781178474426,
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] | [
0.24625781178474426,
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0.121514692902565,
-3.1415419578552246,
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3.1413862705230713
] | 0 | pick first pie and place it on the first plate: open gripper | [
0.24624277651309967,
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0.12149544060230255,
-3.1414945125579834,
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] | 1 | 5.6 | 56 | 23 | 9,726 | 0 |
[
-1.4142431020736694,
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3.3021812438964844,
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] | [
-1.4141901731491089,
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1.2399157285690308,
-1.8760673999786377,
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3.3021795749664307,
0
] | gripper_open | 1 | [
-1.4142206907272339,
-0.9337349534034729,
1.2399529218673706,
-1.8760749101638794,
-1.5707248449325562,
3.3021881580352783,
0
] | [
-0.24625781178474426,
0.6968029737472534,
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] | [
0.24625781178474426,
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0.121514692902565,
-3.1415419578552246,
-0.00007927029946586117,
3.1413862705230713
] | 0 | pick first pie and place it on the first plate: open gripper | [
0.24625219404697418,
-0.6968088150024414,
0.12151800096035004,
-3.141543388366699,
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] | 1 | 5.7 | 57 | 23 | 9,727 | 0 |
[
-1.414202094078064,
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1.2399414777755737,
-1.8760629892349243,
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3.3021812438964844,
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] | [
-1.4141901731491089,
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1.2399157285690308,
-1.8760673999786377,
-1.5707252025604248,
3.3021795749664307,
0
] | gripper_open | 1 | [
-1.4142206907272339,
-0.9337349534034729,
1.2399529218673706,
-1.8760749101638794,
-1.5707248449325562,
3.3021881580352783,
0
] | [
-0.24625781178474426,
0.6968029737472534,
0.121514692902565,
-3.1415419578552246,
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3.1413862705230713
] | [
0.24625781178474426,
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0.121514692902565,
-3.1415419578552246,
-0.00007927029946586117,
3.1413862705230713
] | 0 | pick first pie and place it on the first plate: open gripper | [
0.2462656944990158,
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0.12155401706695557,
3.1415841579437256,
-0.00006791870691813529,
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] | 1 | 5.8 | 58 | 23 | 9,728 | 0 |
[
-1.4142173528671265,
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1.2399252653121948,
-1.8760820627212524,
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3.3021812438964844,
0.0117647061124444
] | [
-1.4141901731491089,
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1.2399157285690308,
-1.8760673999786377,
-1.5707252025604248,
3.3021795749664307,
0
] | gripper_open | 1 | [
-1.4142206907272339,
-0.9337349534034729,
1.2399529218673706,
-1.8760749101638794,
-1.5707248449325562,
3.3021881580352783,
0
] | [
-0.24625781178474426,
0.6968029737472534,
0.121514692902565,
-3.1415419578552246,
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] | [
0.24625781178474426,
-0.6968029737472534,
0.121514692902565,
-3.1415419578552246,
-0.00007927029946586117,
3.1413862705230713
] | 0 | pick first pie and place it on the first plate: open gripper | [
0.24626615643501282,
-0.6968204975128174,
0.12156680226325989,
3.1415727138519287,
-0.00007844422361813486,
3.141404867172241
] | 1 | 5.9 | 59 | 23 | 9,729 | 0 |
[
-1.414194941520691,
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1.2399052381515503,
-1.876043438911438,
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3.3021812438964844,
0
] | [
-1.4141901731491089,
-0.9336890578269958,
1.2399157285690308,
-1.8760673999786377,
-1.5707252025604248,
3.3021795749664307,
0
] | move_to_position | 0.000089 | [
-1.427074670791626,
-0.7650090456008911,
1.2089686393737793,
-2.013798713684082,
-1.5709773302078247,
3.2894155979156494,
0
] | [
-0.2422521561384201,
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0,
0,
0
] | [
0.2422521561384201,
-0.7335855960845947,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.24625009298324585,
-0.6968165636062622,
0.12155230343341827,
-3.1415836811065674,
-0.00005791439252789132,
3.1413862705230713
] | 1 | 6 | 60 | 23 | 9,730 | 0 |
[
-1.4141777753829956,
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1.2398937940597534,
-1.8761416673660278,
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3.3021812438964844,
0
] | [
-1.414228081703186,
-0.9334166049957275,
1.239928126335144,
-1.876573085784912,
-1.5707404613494873,
3.3021554946899414,
0
] | move_to_position | 0.000333 | [
-1.427074670791626,
-0.7650090456008911,
1.2089686393737793,
-2.013798713684082,
-1.5709773302078247,
3.2894155979156494,
0
] | [
-0.2422521561384201,
0.7335855960845947,
0.024000000208616257,
0,
0,
0
] | [
0.2422521561384201,
-0.7335855960845947,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.24625572562217712,
-0.6968889236450195,
0.1215030625462532,
3.141430139541626,
-0.00010140787344425917,
3.1413724422454834
] | 1 | 6.1 | 61 | 23 | 9,731 | 0 |
[
-1.4142531156539917,
-0.9319596886634827,
1.2399176359176636,
-1.8780733346939087,
-1.5707162618637085,
3.3021130561828613,
0
] | [
-1.4145030975341797,
-0.9304152131080627,
1.2399133443832397,
-1.8799645900726318,
-1.5707471370697021,
3.3018834590911865,
0
] | move_to_position | 0.011876 | [
-1.427074670791626,
-0.7650090456008911,
1.2089686393737793,
-2.013798713684082,
-1.5709773302078247,
3.2894155979156494,
0
] | [
-0.2422521561384201,
0.7335855960845947,
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0,
0,
0
] | [
0.2422521561384201,
-0.7335855960845947,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.24627675116062164,
-0.697478175163269,
0.12006935477256775,
3.141214370727539,
-0.00010762797319330275,
3.1414403915405273
] | 1 | 6.2 | 62 | 23 | 9,732 | 0 |
[
-1.4147127866744995,
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1.2399252653121948,
-1.8829442262649536,
-1.5707401037216187,
3.3016421794891357,
0
] | [
-1.4150711297988892,
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1.2398508787155151,
-1.8865052461624146,
-1.5707533359527588,
3.301321029663086,
0
] | move_to_position | 0.0412 | [
-1.427074670791626,
-0.7650090456008911,
1.2089686393737793,
-2.013798713684082,
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3.2894155979156494,
0
] | [
-0.2422521561384201,
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0,
0,
0
] | [
0.2422521561384201,
-0.7335855960845947,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.24609148502349854,
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0.11694150418043137,
3.140866279602051,
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] | 1 | 6.3 | 63 | 23 | 9,733 | 0 |
[
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1.2398251295089722,
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3.3009555339813232,
0
] | [
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1.2397282123565674,
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0
] | move_to_position | 0.092602 | [
-1.427074670791626,
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1.2089686393737793,
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3.2894155979156494,
0
] | [
-0.2422521561384201,
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0,
0
] | [
0.2422521561384201,
-0.7335855960845947,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.24586138129234314,
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0.11133988946676254,
3.1410837173461914,
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] | 1 | 6.4 | 64 | 23 | 9,734 | 0 |
[
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1.2395848035812378,
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] | [
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0
] | move_to_position | 0.162204 | [
-1.427074670791626,
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1.2089686393737793,
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] | [
-0.2422521561384201,
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0,
0
] | [
0.2422521561384201,
-0.7335855960845947,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.24550016224384308,
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0.1036972627043724,
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] | 1 | 6.5 | 65 | 23 | 9,735 | 0 |
[
-1.417742133140564,
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0
] | [
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1.2373771667480469,
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0
] | move_to_position | 0.261575 | [
-1.427074670791626,
-0.7650090456008911,
1.2089686393737793,
-2.013798713684082,
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3.2894155979156494,
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] | [
-0.2422521561384201,
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0,
0
] | [
0.2422521561384201,
-0.7335855960845947,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.24513788521289825,
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0.09352962672710419,
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] | 1 | 6.6 | 66 | 23 | 9,736 | 0 |
[
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0
] | [
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1.234584927558899,
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0
] | move_to_position | 0.386477 | [
-1.427074670791626,
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1.2089686393737793,
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] | [
-0.2422521561384201,
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0,
0
] | [
0.2422521561384201,
-0.7335855960845947,
0.024000000208616257,
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0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.24464258551597595,
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] | 1 | 6.7 | 67 | 23 | 9,737 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.507695 | [
-1.427074670791626,
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1.2089686393737793,
-2.013798713684082,
-1.5709773302078247,
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0
] | [
-0.2422521561384201,
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0,
0
] | [
0.2422521561384201,
-0.7335855960845947,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.2441142201423645,
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0.06931881606578827,
-3.1415038108825684,
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] | 1 | 6.8 | 68 | 23 | 9,738 | 0 |
[
-1.4224475622177124,
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0
] | [
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0
] | move_to_position | 0.621871 | [
-1.427074670791626,
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1.2089686393737793,
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] | [
-0.2422521561384201,
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0,
0
] | [
0.2422521561384201,
-0.7335855960845947,
0.024000000208616257,
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0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.24366417527198792,
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0.058248698711395264,
3.1414802074432373,
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] | 1 | 6.9 | 69 | 23 | 9,739 | 0 |
[
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] | [
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1.221160888671875,
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0
] | move_to_position | 0.726772 | [
-1.427074670791626,
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1.2089686393737793,
-2.013798713684082,
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3.2894155979156494,
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] | [
-0.2422521561384201,
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0,
0
] | [
0.2422521561384201,
-0.7335855960845947,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.2432575672864914,
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0.04811973497271538,
3.141467809677124,
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] | 1 | 7 | 70 | 23 | 9,740 | 0 |
[
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0
] | [
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1.2164984941482544,
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0
] | move_to_position | 0.827668 | [
-1.427074670791626,
-0.7650090456008911,
1.2089686393737793,
-2.013798713684082,
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3.2894155979156494,
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] | [
-0.2422521561384201,
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0,
0
] | [
0.2422521561384201,
-0.7335855960845947,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.24290555715560913,
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0.03871070221066475,
3.141417980194092,
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] | 1 | 7.1 | 71 | 23 | 9,741 | 0 |
[
-1.4260486364364624,
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0
] | [
-1.4263856410980225,
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1.2125970125198364,
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3.290100336074829,
0
] | move_to_position | 0.915802 | [
-1.427074670791626,
-0.7650090456008911,
1.2089686393737793,
-2.013798713684082,
-1.5709773302078247,
3.2894155979156494,
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] | [
-0.2422521561384201,
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0,
0
] | [
0.2422521561384201,
-0.7335855960845947,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.2425713837146759,
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0.031180787831544876,
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] | 1 | 7.2 | 72 | 23 | 9,742 | 0 |
[
-1.4266012907028198,
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0
] | [
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1.2103753089904785,
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0
] | move_to_position | 0.967521 | [
-1.427074670791626,
-0.7650090456008911,
1.2089686393737793,
-2.013798713684082,
-1.5709773302078247,
3.2894155979156494,
0
] | [
-0.2422521561384201,
0.7335855960845947,
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0,
0
] | [
0.2422521561384201,
-0.7335855960845947,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.24243801832199097,
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0.026367761194705963,
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] | 1 | 7.3 | 73 | 23 | 9,743 | 0 |
[
-1.4268821477890015,
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0
] | [
-1.427048921585083,
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1.2092560529708862,
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3.2894411087036133,
0
] | move_to_position | 0.992419 | [
-1.427074670791626,
-0.7650090456008911,
1.2089686393737793,
-2.013798713684082,
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3.2894155979156494,
0
] | [
-0.2422521561384201,
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0,
0
] | [
0.2422521561384201,
-0.7335855960845947,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.2423594444990158,
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0.024407465010881424,
-3.1415867805480957,
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] | 1 | 7.4 | 74 | 23 | 9,744 | 0 |
[
-1.4270190000534058,
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3.289401054382324,
0
] | [
-1.427074670791626,
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1.2089686393737793,
-2.013798713684082,
-1.5709773302078247,
3.2894155979156494,
0
] | move_to_position | 0.998678 | [
-1.427074670791626,
-0.7650090456008911,
1.2089686393737793,
-2.013798713684082,
-1.5709773302078247,
3.2894155979156494,
0
] | [
-0.2422521561384201,
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0,
0
] | [
0.2422521561384201,
-0.7335855960845947,
0.024000000208616257,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.24222512543201447,
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0.023986708372831345,
-3.14143443107605,
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] | 1 | 7.5 | 75 | 23 | 9,745 | 0 |
[
-1.4270929098129272,
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1.2091888189315796,
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3.2894234657287598,
0
] | [
-1.427074670791626,
-0.7650090456008911,
1.2089686393737793,
-2.013798713684082,
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3.2894155979156494,
1
] | gripper_close | 0 | [
-1.4270929098129272,
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1.2091888189315796,
-2.013780355453491,
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3.2894234657287598,
1
] | [
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] | [
0.242213174700737,
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0.023975612595677376,
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-0.00006393382500391454,
3.141399621963501
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
0.24222613871097565,
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0.023961469531059265,
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] | 1 | 7.6 | 76 | 23 | 9,746 | 0 |
[
-1.4270590543746948,
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] | [
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1.2089686393737793,
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3.2894155979156494,
1
] | gripper_close | 0.011765 | [
-1.4270929098129272,
-0.7651638984680176,
1.2091888189315796,
-2.013780355453491,
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3.2894234657287598,
1
] | [
-0.242213174700737,
0.7335041165351868,
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] | [
0.242213174700737,
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0.023975612595677376,
-3.1414575576782227,
-0.00006393382500391454,
3.141399621963501
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
0.24224822223186493,
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0.024036670103669167,
3.141538381576538,
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] | 1 | 7.7 | 77 | 23 | 9,747 | 0 |
[
-1.4270862340927124,
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1.2089813947677612,
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3.289407968521118,
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] | [
-1.427074670791626,
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1.2089686393737793,
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3.2894155979156494,
1
] | gripper_close | 0.054902 | [
-1.4270929098129272,
-0.7651638984680176,
1.2091888189315796,
-2.013780355453491,
-1.5709837675094604,
3.2894234657287598,
1
] | [
-0.242213174700737,
0.7335041165351868,
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] | [
0.242213174700737,
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0.023975612595677376,
-3.1414575576782227,
-0.00006393382500391454,
3.141399621963501
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
0.2422376126050949,
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0.02399906888604164,
3.1415700912475586,
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] | 1 | 7.8 | 78 | 23 | 9,748 | 0 |
[
-1.4271167516708374,
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1.2090009450912476,
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3.289426803588867,
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] | [
-1.427074670791626,
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1.2089686393737793,
-2.013798713684082,
-1.5709773302078247,
3.2894155979156494,
1
] | gripper_close | 0.180392 | [
-1.4270929098129272,
-0.7651638984680176,
1.2091888189315796,
-2.013780355453491,
-1.5709837675094604,
3.2894234657287598,
1
] | [
-0.242213174700737,
0.7335041165351868,
0.023975612595677376,
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] | [
0.242213174700737,
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0.023975612595677376,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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3.14155912399292,
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] | 1 | 7.9 | 79 | 23 | 9,749 | 0 |
[
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1
] | gripper_close | 0.313725 | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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[
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1
] | gripper_close | 0.439215 | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 1 | 8.1 | 81 | 23 | 9,751 | 0 |
[
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] | gripper_close | 0.545098 | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 8.2 | 82 | 23 | 9,752 | 0 |
[
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] | gripper_close | 0.729411 | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 8.3 | 83 | 23 | 9,753 | 0 |
[
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1
] | gripper_close | 0.803921 | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 8.4 | 84 | 23 | 9,754 | 0 |
[
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1
] | gripper_close | 0.827451 | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 8.5 | 85 | 23 | 9,755 | 0 |
[
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1
] | gripper_close | 0.827451 | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 8.6 | 86 | 23 | 9,756 | 0 |
[
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1
] | gripper_close | 0.827451 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 8.7 | 87 | 23 | 9,757 | 0 |
[
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] | [
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1
] | gripper_close | 0.827451 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 8.8 | 88 | 23 | 9,758 | 0 |
[
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] | [
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1
] | gripper_close | 0.827451 | [
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1
] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 8.9 | 89 | 23 | 9,759 | 0 |
[
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] | [
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1
] | gripper_close | 0.827451 | [
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1
] | [
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] | [
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0.023975612595677376,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 9 | 90 | 23 | 9,760 | 0 |
[
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] | [
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1
] | gripper_close | 0.827451 | [
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1
] | [
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] | [
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0.023975612595677376,
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3.141399621963501
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 9.1 | 91 | 23 | 9,761 | 0 |
[
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] | [
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1
] | gripper_close | 0.827451 | [
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1
] | [
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] | [
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0.023975612595677376,
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3.141399621963501
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 9.2 | 92 | 23 | 9,762 | 0 |
[
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] | [
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1
] | gripper_close | 0.827451 | [
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1
] | [
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] | [
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0.023975612595677376,
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3.141399621963501
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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0.02396087348461151,
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] | 0 | 9.3 | 93 | 23 | 9,763 | 0 |
[
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] | [
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1.2089686393737793,
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3.2894155979156494,
1
] | gripper_close | 0.827451 | [
-1.4270929098129272,
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1.2091888189315796,
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1
] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 9.4 | 94 | 23 | 9,764 | 0 |
[
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1
] | gripper_close | 0.827451 | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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[
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1
] | gripper_close | 0.827451 | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 9.6 | 96 | 23 | 9,766 | 0 |
[
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] | gripper_close | 0.827451 | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 9.7 | 97 | 23 | 9,767 | 0 |
[
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1
] | gripper_close | 0.827451 | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 9.8 | 98 | 23 | 9,768 | 0 |
[
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1
] | gripper_close | 0.827451 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 9.9 | 99 | 23 | 9,769 | 0 |
[
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1
] | gripper_close | 0.827451 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 10 | 100 | 23 | 9,770 | 0 |
[
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] | [
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1
] | gripper_close | 0.827451 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 10.1 | 101 | 23 | 9,771 | 0 |
[
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] | [
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1
] | gripper_close | 0.827451 | [
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1
] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 10.2 | 102 | 23 | 9,772 | 0 |
[
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] | [
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1
] | gripper_close | 0.827451 | [
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1
] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 10.3 | 103 | 23 | 9,773 | 0 |
[
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] | [
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1
] | gripper_close | 0.827451 | [
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1
] | [
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] | [
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0.023975612595677376,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 10.4 | 104 | 23 | 9,774 | 0 |
[
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] | [
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1
] | gripper_close | 0.827451 | [
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1
] | [
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] | [
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0.023975612595677376,
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3.141399621963501
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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0.023987088352441788,
3.1415724754333496,
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] | 0 | 10.5 | 105 | 23 | 9,775 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.000022 | [
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1
] | [
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0,
0,
0
] | [
0.2422521561384201,
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0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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0.023973459377884865,
3.141592502593994,
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] | 0 | 10.6 | 106 | 23 | 9,776 | 0 |
[
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1
] | [
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1
] | move_to_position | 0 | [
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1
] | [
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0,
0,
0
] | [
0.2422521561384201,
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0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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0.02399812452495098,
3.1415674686431885,
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] | 0 | 10.7 | 107 | 23 | 9,777 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.012246 | [
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1
] | [
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0,
0,
0
] | [
0.2422521561384201,
-0.7335855960845947,
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0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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0.025150571018457413,
3.1413657665252686,
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] | 0 | 10.8 | 108 | 23 | 9,778 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.04399 | [
-1.4270262718200684,
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1
] | [
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0,
0,
0
] | [
0.2422521561384201,
-0.7335855960845947,
0.08900000154972076,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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0.02756035514175892,
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] | 0 | 10.9 | 109 | 23 | 9,779 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.098434 | [
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] | [
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] | [
0.2422521561384201,
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0,
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] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 11 | 110 | 23 | 9,780 | 0 |
[
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] | [
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1
] | move_to_position | 0.169082 | [
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] | [
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] | [
0.2422521561384201,
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] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 11.1 | 111 | 23 | 9,781 | 0 |
[
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] | [
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] | move_to_position | 0.259343 | [
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] | [
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] | [
0.2422521561384201,
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] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 11.2 | 112 | 23 | 9,782 | 0 |
[
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] | move_to_position | 0.375916 | [
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] | [
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] | [
0.2422521561384201,
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] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 11.3 | 113 | 23 | 9,783 | 0 |
[
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] | move_to_position | 0.512791 | [
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] | [
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] | [
0.2422521561384201,
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] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 11.4 | 114 | 23 | 9,784 | 0 |
[
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] | move_to_position | 0.637964 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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[
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] | move_to_position | 0.737799 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 11.6 | 116 | 23 | 9,786 | 0 |
[
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] | move_to_position | 0.823639 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 11.7 | 117 | 23 | 9,787 | 0 |
[
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] | [
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] | move_to_position | 0.903163 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.961935 | [
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] | [
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] | [
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] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 11.9 | 119 | 23 | 9,789 | 0 |
[
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] | [
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] | move_to_position | 0.992234 | [
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] | [
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] | [
0.2422521561384201,
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] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 12 | 120 | 23 | 9,790 | 0 |
[
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] | [
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1
] | move_to_position | 0.997823 | [
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] | [
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] | [
0.2422521561384201,
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] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 12.1 | 121 | 23 | 9,791 | 0 |
[
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] | [
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1
] | move_to_position | 0 | [
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1
] | [
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] | [
-0.014305256307125092,
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0,
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] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 12.2 | 122 | 23 | 9,792 | 0 |
[
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1
] | [
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1
] | move_to_position | 0 | [
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1.523513913154602,
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1
] | [
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0,
0
] | [
-0.014305256307125092,
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0.08427318930625916,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 12.3 | 123 | 23 | 9,793 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.000508 | [
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1.523513913154602,
-2.0493481159210205,
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1
] | [
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0,
0,
0
] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 12.4 | 124 | 23 | 9,794 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.009038 | [
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1.523513913154602,
-2.0493481159210205,
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1
] | [
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0.6748452186584473,
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0,
0
] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 12.5 | 125 | 23 | 9,795 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.032039 | [
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1.523513913154602,
-2.0493481159210205,
-1.570682406425476,
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1
] | [
0.014305256307125092,
0.6748452186584473,
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0,
0,
0
] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
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] | 0 | 12.6 | 126 | 23 | 9,796 | 0 |
[
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1
] | [
-1.451975703239441,
-0.863113522529602,
1.1820015907287598,
-1.8883477449417114,
-1.570971131324768,
3.2644758224487305,
1
] | move_to_position | 0.070091 | [
-1.7925446033477783,
-1.0436015129089355,
1.523513913154602,
-2.0493481159210205,
-1.570682406425476,
2.923963785171509,
1
] | [
0.014305256307125092,
0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
0.22499631345272064,
-0.7281947135925293,
0.09687533974647522,
-3.1412312984466553,
0.0000607035581197124,
3.1414084434509277
] | 0 | 12.7 | 127 | 23 | 9,797 | 0 |
[
-1.4594658613204956,
-0.8741304874420166,
1.1939266920089722,
-1.8891445398330688,
-1.570957064628601,
3.2571048736572266,
1
] | [
-1.4661705493927002,
-0.8842177987098694,
1.2047183513641357,
-1.8899571895599365,
-1.5709915161132812,
3.25028133392334,
1
] | move_to_position | 0.110587 | [
-1.7925446033477783,
-1.0436015129089355,
1.523513913154602,
-2.0493481159210205,
-1.570682406425476,
2.923963785171509,
1
] | [
0.014305256307125092,
0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
0.21431207656860352,
-0.7244622111320496,
0.10182096064090729,
-3.141146659851074,
0.00010528298298595473,
3.1413166522979736
] | 0 | 12.8 | 128 | 23 | 9,798 | 0 |
[
-1.4750655889511108,
-0.8975408673286438,
1.219061255455017,
-1.8909674882888794,
-1.571003794670105,
3.241267204284668,
1
] | [
-1.4827593564987183,
-0.9088955521583557,
1.2312818765640259,
-1.8918325901031494,
-1.5710152387619019,
3.2336928844451904,
1
] | move_to_position | 0.163395 | [
-1.7925446033477783,
-1.0436015129089355,
1.523513913154602,
-2.0493481159210205,
-1.570682406425476,
2.923963785171509,
1
] | [
0.014305256307125092,
0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | [
-0.014305256307125092,
-0.6748452186584473,
0.08427318930625916,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: approach above red plate_1 | [
0.20189130306243896,
-0.7196860909461975,
0.10753457248210907,
-3.1411423683166504,
0.00018310346058569849,
3.1414711475372314
] | 0 | 12.9 | 129 | 23 | 9,799 | 0 |
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