observation.state list | action list | skill.type stringclasses 4
values | skill.progress float32 0 1 | skill.goal_position.joint list | skill.goal_position.world_xyzrpy list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 1 | skill.natural_language stringclasses 61
values | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | timestamp float32 0 45.5 | frame_index int64 0 455 | episode_index int64 0 19 | index int64 0 8.4k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | move_to_position | 0.126362 | [
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] | [
0.15485583245754242,
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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 | 4.6 | 46 | 19 | 8,000 | 0 |
[
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] | [
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] | move_to_position | 0.151602 | [
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] | [
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0
] | [
0.15485583245754242,
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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 | 4.7 | 47 | 19 | 8,001 | 0 |
[
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] | [
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] | move_to_position | 0.177559 | [
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] | [
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0
] | [
0.15485583245754242,
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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 | 4.8 | 48 | 19 | 8,002 | 0 |
[
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] | [
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] | move_to_position | 0.207587 | [
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] | [
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0,
0
] | [
0.15485583245754242,
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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 | 4.9 | 49 | 19 | 8,003 | 0 |
[
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] | [
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] | move_to_position | 0.239309 | [
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] | [
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] | [
0.15485583245754242,
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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 | 5 | 50 | 19 | 8,004 | 0 |
[
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] | [
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] | move_to_position | 0.272091 | [
-1.5365681648254395,
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1.762304425239563,
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] | [
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0,
0
] | [
0.15485583245754242,
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0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 5.1 | 51 | 19 | 8,005 | 0 |
[
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] | [
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] | move_to_position | 0.305725 | [
-1.5365681648254395,
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1.762304425239563,
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] | [
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0,
0
] | [
0.15485583245754242,
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0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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0.2515489161014557,
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] | 1 | 5.2 | 52 | 19 | 8,006 | 0 |
[
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] | [
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] | move_to_position | 0.342369 | [
-1.5365681648254395,
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] | [
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0,
0
] | [
0.15485583245754242,
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0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 5.3 | 53 | 19 | 8,007 | 0 |
[
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] | [
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] | move_to_position | 0.377123 | [
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] | [
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0,
0
] | [
0.15485583245754242,
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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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0.22997097671031952,
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] | 1 | 5.4 | 54 | 19 | 8,008 | 0 |
[
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] | [
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] | move_to_position | 0.416656 | [
-1.5365681648254395,
-1.118052363395691,
1.762304425239563,
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] | [
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] | [
0.15485583245754242,
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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 | 5.5 | 55 | 19 | 8,009 | 0 |
[
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] | [
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] | move_to_position | 0.454067 | [
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] | [
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] | [
0.15485583245754242,
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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 | 5.6 | 56 | 19 | 8,010 | 0 |
[
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] | [
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] | move_to_position | 0.492456 | [
-1.5365681648254395,
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] | [
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] | [
0.15485583245754242,
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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 | 5.7 | 57 | 19 | 8,011 | 0 |
[
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] | [
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] | move_to_position | 0.532437 | [
-1.5365681648254395,
-1.118052363395691,
1.762304425239563,
-2.2140958309173584,
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0
] | [
-0.15485583245754242,
0.5943240523338318,
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0,
0
] | [
0.15485583245754242,
-0.5943240523338318,
0.04466724395751953,
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0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 5.8 | 58 | 19 | 8,012 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.570011 | [
-1.5365681648254395,
-1.118052363395691,
1.762304425239563,
-2.2140958309173584,
-1.5705316066741943,
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0
] | [
-0.15485583245754242,
0.5943240523338318,
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0,
0
] | [
0.15485583245754242,
-0.5943240523338318,
0.04466724395751953,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 5.9 | 59 | 19 | 8,013 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.609892 | [
-1.5365681648254395,
-1.118052363395691,
1.762304425239563,
-2.2140958309173584,
-1.5705316066741943,
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] | [
-0.15485583245754242,
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0,
0
] | [
0.15485583245754242,
-0.5943240523338318,
0.04466724395751953,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 6 | 60 | 19 | 8,014 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.647399 | [
-1.5365681648254395,
-1.118052363395691,
1.762304425239563,
-2.2140958309173584,
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0
] | [
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0,
0
] | [
0.15485583245754242,
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0.04466724395751953,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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3.1414809226989746,
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] | 1 | 6.1 | 61 | 19 | 8,015 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.681741 | [
-1.5365681648254395,
-1.118052363395691,
1.762304425239563,
-2.2140958309173584,
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0
] | [
-0.15485583245754242,
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] | [
0.15485583245754242,
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0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.10992315411567688,
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0.13960419595241547,
3.1415793895721436,
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] | 1 | 6.2 | 62 | 19 | 8,016 | 0 |
[
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] | [
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] | move_to_position | 0.719216 | [
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] | [
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0,
0
] | [
0.15485583245754242,
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0.04466724395751953,
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0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.11511591821908951,
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0.1286395788192749,
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] | 1 | 6.3 | 63 | 19 | 8,017 | 0 |
[
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] | [
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] | move_to_position | 0.753392 | [
-1.5365681648254395,
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1.762304425239563,
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] | [
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0,
0
] | [
0.15485583245754242,
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0.04466724395751953,
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0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.11991310864686966,
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0.11841074377298355,
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] | 1 | 6.4 | 64 | 19 | 8,018 | 0 |
[
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] | [
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] | move_to_position | 0.786511 | [
-1.5365681648254395,
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1.762304425239563,
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] | [
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0,
0
] | [
0.15485583245754242,
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0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.12433987855911255,
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0.10901288688182831,
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] | 1 | 6.5 | 65 | 19 | 8,019 | 0 |
[
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] | [
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] | move_to_position | 0.817664 | [
-1.5365681648254395,
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1.762304425239563,
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] | [
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0
] | [
0.15485583245754242,
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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 | 6.6 | 66 | 19 | 8,020 | 0 |
[
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] | [
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] | move_to_position | 0.844204 | [
-1.5365681648254395,
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] | [
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0
] | [
0.15485583245754242,
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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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0.09072989225387573,
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] | 1 | 6.7 | 67 | 19 | 8,021 | 0 |
[
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] | [
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] | move_to_position | 0.870073 | [
-1.5365681648254395,
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1.762304425239563,
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] | [
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0
] | [
0.15485583245754242,
-0.5943240523338318,
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0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 6.8 | 68 | 19 | 8,022 | 0 |
[
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] | [
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] | move_to_position | 0.894351 | [
-1.5365681648254395,
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1.762304425239563,
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] | [
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] | [
0.15485583245754242,
-0.5943240523338318,
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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 | [
0.14005251228809357,
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0.07595789432525635,
3.1415231227874756,
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] | 1 | 6.9 | 69 | 19 | 8,023 | 0 |
[
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] | [
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] | move_to_position | 0.915197 | [
-1.5365681648254395,
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1.762304425239563,
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] | [
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] | [
0.15485583245754242,
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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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0.06970176845788956,
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] | 1 | 7 | 70 | 19 | 8,024 | 0 |
[
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] | [
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] | move_to_position | 0.934062 | [
-1.5365681648254395,
-1.118052363395691,
1.762304425239563,
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] | [
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0
] | [
0.15485583245754242,
-0.5943240523338318,
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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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0.06419093161821365,
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] | 1 | 7.1 | 71 | 19 | 8,025 | 0 |
[
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] | [
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] | move_to_position | 0.949693 | [
-1.5365681648254395,
-1.118052363395691,
1.762304425239563,
-2.2140958309173584,
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] | [
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] | [
0.15485583245754242,
-0.5943240523338318,
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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 | 7.2 | 72 | 19 | 8,026 | 0 |
[
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] | [
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] | move_to_position | 0.963174 | [
-1.5365681648254395,
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1.762304425239563,
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] | [
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] | [
0.15485583245754242,
-0.5943240523338318,
0.04466724395751953,
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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 | 7.3 | 73 | 19 | 8,027 | 0 |
[
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] | [
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] | move_to_position | 0.974026 | [
-1.5365681648254395,
-1.118052363395691,
1.762304425239563,
-2.2140958309173584,
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] | [
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] | [
0.15485583245754242,
-0.5943240523338318,
0.04466724395751953,
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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 | [
0.15140807628631592,
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0.05202269181609154,
3.1415252685546875,
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] | 1 | 7.4 | 74 | 19 | 8,028 | 0 |
[
-1.5405501127243042,
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0
] | [
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] | move_to_position | 0.98273 | [
-1.5365681648254395,
-1.118052363395691,
1.762304425239563,
-2.2140958309173584,
-1.5705316066741943,
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] | [
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] | [
0.15485583245754242,
-0.5943240523338318,
0.04466724395751953,
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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 | [
0.1525709480047226,
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0.049514006823301315,
-3.1415855884552,
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] | 1 | 7.5 | 75 | 19 | 8,029 | 0 |
[
-1.538920283317566,
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] | [
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0
] | move_to_position | 0.989792 | [
-1.5365681648254395,
-1.118052363395691,
1.762304425239563,
-2.2140958309173584,
-1.5705316066741943,
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] | [
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0
] | [
0.15485583245754242,
-0.5943240523338318,
0.04466724395751953,
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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 | [
0.15353406965732574,
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0.04745631292462349,
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] | 1 | 7.6 | 76 | 19 | 8,030 | 0 |
[
-1.537777304649353,
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] | [
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0
] | move_to_position | 0.994667 | [
-1.5365681648254395,
-1.118052363395691,
1.762304425239563,
-2.2140958309173584,
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] | [
-0.15485583245754242,
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0
] | [
0.15485583245754242,
-0.5943240523338318,
0.04466724395751953,
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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 | [
0.15416240692138672,
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0.04617288336157799,
3.1414761543273926,
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] | 1 | 7.7 | 77 | 19 | 8,031 | 0 |
[
-1.5372084379196167,
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3.1793203353881836,
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] | [
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0
] | move_to_position | 0.997679 | [
-1.5365681648254395,
-1.118052363395691,
1.762304425239563,
-2.2140958309173584,
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] | [
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0,
0
] | [
0.15485583245754242,
-0.5943240523338318,
0.04466724395751953,
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0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.15450382232666016,
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0.04527903348207474,
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] | 1 | 7.8 | 78 | 19 | 8,032 | 0 |
[
-1.5368674993515015,
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0
] | [
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0
] | move_to_position | 0.999205 | [
-1.5365681648254395,
-1.118052363395691,
1.762304425239563,
-2.2140958309173584,
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] | [
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] | [
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0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.1546933948993683,
-0.5941410064697266,
0.04480999335646629,
-3.1414127349853516,
-0.000021742485841969028,
3.141348361968994
] | 1 | 7.9 | 79 | 19 | 8,033 | 0 |
[
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1.7625645399093628,
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3.179828643798828,
0
] | [
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1.7623120546340942,
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3.179868221282959,
0
] | move_to_position | 0.999639 | [
-1.5365681648254395,
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1.762304425239563,
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] | [
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0,
0,
0
] | [
0.15485583245754242,
-0.5943240523338318,
0.04466724395751953,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.15482591092586517,
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0.04474103823304176,
-3.141545295715332,
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] | 1 | 8 | 80 | 19 | 8,034 | 0 |
[
-1.536572813987732,
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] | [
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0
] | gripper_open | 1 | [
-1.536572813987732,
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1.7624257802963257,
-2.214075803756714,
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3.179868698120117,
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] | [
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] | [
0.15482911467552185,
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0.044772762805223465,
3.141470193862915,
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3.141447067260742
] | 0 | pick first pie and place it on the first plate: open gripper | [
0.15481051802635193,
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0.04476179555058479,
3.141488552093506,
0.000010920043678197544,
3.141404867172241
] | 1 | 8.1 | 81 | 19 | 8,035 | 0 |
[
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3.1798648834228516,
0.0117647061124444
] | [
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0
] | gripper_open | 1 | [
-1.536572813987732,
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1.7624257802963257,
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3.179868698120117,
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] | [
-0.15482911467552185,
0.5943090319633484,
0.044772762805223465,
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] | [
0.15482911467552185,
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0.044772762805223465,
3.141470193862915,
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3.141447067260742
] | 0 | pick first pie and place it on the first plate: open gripper | [
0.1548537313938141,
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0.044693365693092346,
3.1415669918060303,
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] | 1 | 8.2 | 82 | 19 | 8,036 | 0 |
[
-1.5365570783615112,
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3.1798887252807617,
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] | [
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0
] | gripper_open | 1 | [
-1.536572813987732,
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1.7624257802963257,
-2.214075803756714,
-1.5705212354660034,
3.179868698120117,
0
] | [
-0.15482911467552185,
0.5943090319633484,
0.044772762805223465,
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] | [
0.15482911467552185,
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0.044772762805223465,
3.141470193862915,
-0.000009253652933693957,
3.141447067260742
] | 0 | pick first pie and place it on the first plate: open gripper | [
0.1548331081867218,
-0.5943384766578674,
0.04469328373670578,
3.1415750980377197,
-0.00005542259168578312,
3.141406774520874
] | 1 | 8.3 | 83 | 19 | 8,037 | 0 |
[
-1.5365947484970093,
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-2.214153528213501,
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3.1798958778381348,
0.0117647061124444
] | [
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1.762304425239563,
-2.2140958309173584,
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3.1798717975616455,
0
] | gripper_open | 1 | [
-1.536572813987732,
-1.11827552318573,
1.7624257802963257,
-2.214075803756714,
-1.5705212354660034,
3.179868698120117,
0
] | [
-0.15482911467552185,
0.5943090319633484,
0.044772762805223465,
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] | [
0.15482911467552185,
-0.5943090319633484,
0.044772762805223465,
3.141470193862915,
-0.000009253652933693957,
3.141447067260742
] | 0 | pick first pie and place it on the first plate: open gripper | [
0.15486200153827667,
-0.5943406224250793,
0.04468405991792679,
3.141584634780884,
-0.00008614373655291274,
3.1414449214935303
] | 1 | 8.4 | 84 | 19 | 8,038 | 0 |
[
-1.5365914106369019,
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1.7622979879379272,
-2.2141034603118896,
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3.1798648834228516,
0
] | [
-1.5365681648254395,
-1.118052363395691,
1.762304425239563,
-2.2140958309173584,
-1.5705316066741943,
3.1798717975616455,
0
] | move_to_position | 0 | [
-1.531973123550415,
-1.0869423151016235,
1.7822669744491577,
-2.265170097351074,
-1.5705903768539429,
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0
] | [
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0,
0,
0
] | [
0.15758423507213593,
-0.5929813385009766,
0.023000000044703484,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15483678877353668,
-0.594322144985199,
0.04466624557971954,
-3.141572952270508,
-0.00001930240250658244,
3.1414365768432617
] | 1 | 8.5 | 85 | 19 | 8,039 | 0 |
[
-1.5365914106369019,
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1.7622941732406616,
-2.214134454727173,
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3.17987322807312,
0
] | [
-1.5365842580795288,
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1.7623487710952759,
-2.2142691612243652,
-1.5705386400222778,
3.1799063682556152,
0
] | move_to_position | 0 | [
-1.531973123550415,
-1.0869423151016235,
1.7822669744491577,
-2.265170097351074,
-1.5705903768539429,
3.1845438480377197,
0
] | [
-0.15758423507213593,
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0,
0,
0
] | [
0.15758423507213593,
-0.5929813385009766,
0.023000000044703484,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15484388172626495,
-0.5943405628204346,
0.044674161821603775,
3.1415789127349854,
-0.000044853135477751493,
3.1414246559143066
] | 1 | 8.6 | 86 | 19 | 8,040 | 0 |
[
-1.5365523099899292,
-1.1172994375228882,
1.7624691724777222,
-2.214988946914673,
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3.179957151412964,
0
] | [
-1.5364595651626587,
-1.1169790029525757,
1.7629151344299316,
-2.2156522274017334,
-1.5705430507659912,
3.1800317764282227,
0
] | move_to_position | 0.017404 | [
-1.531973123550415,
-1.0869423151016235,
1.7822669744491577,
-2.265170097351074,
-1.5705903768539429,
3.1845438480377197,
0
] | [
-0.15758423507213593,
0.5929813385009766,
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0,
0,
0
] | [
0.15758423507213593,
-0.5929813385009766,
0.023000000044703484,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15486446022987366,
-0.5943600535392761,
0.04411857947707176,
-3.141418695449829,
-0.00003106350777670741,
3.1413345336914062
] | 1 | 8.7 | 87 | 19 | 8,041 | 0 |
[
-1.536324381828308,
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1.7634977102279663,
-2.217329740524292,
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3.1801917552948,
0
] | [
-1.5361460447311401,
-1.1148873567581177,
1.76433527469635,
-2.2191286087036133,
-1.5705475807189941,
3.180347204208374,
0
] | move_to_position | 0.064947 | [
-1.531973123550415,
-1.0869423151016235,
1.7822669744491577,
-2.265170097351074,
-1.5705903768539429,
3.1845438480377197,
0
] | [
-0.15758423507213593,
0.5929813385009766,
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0,
0,
0
] | [
0.15758423507213593,
-0.5929813385009766,
0.023000000044703484,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.155038982629776,
-0.5942521095275879,
0.042887113988399506,
-3.141345262527466,
0.000022013076886651106,
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] | 1 | 8.8 | 88 | 19 | 8,042 | 0 |
[
-1.5359920263290405,
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1.7650126218795776,
-2.2208826541900635,
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3.1804842948913574,
0
] | [
-1.5357977151870728,
-1.11262047290802,
1.7659080028533936,
-2.222989797592163,
-1.570550799369812,
3.180697441101074,
0
] | move_to_position | 0.132579 | [
-1.531973123550415,
-1.0869423151016235,
1.7822669744491577,
-2.265170097351074,
-1.5705903768539429,
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0
] | [
-0.15758423507213593,
0.5929813385009766,
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0,
0,
0
] | [
0.15758423507213593,
-0.5929813385009766,
0.023000000044703484,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15523692965507507,
-0.5941400527954102,
0.0414012148976326,
-3.1415200233459473,
0.00000869348514243029,
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] | 1 | 8.9 | 89 | 19 | 8,043 | 0 |
[
-1.5355514287948608,
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1.7670892477035522,
-2.2260091304779053,
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3.1809279918670654,
0
] | [
-1.5353680849075317,
-1.1098426580429077,
1.7678396701812744,
-2.2277514934539795,
-1.5705540180206299,
3.1811296939849854,
0
] | move_to_position | 0.232457 | [
-1.531973123550415,
-1.0869423151016235,
1.7822669744491577,
-2.265170097351074,
-1.5705903768539429,
3.1845438480377197,
0
] | [
-0.15758423507213593,
0.5929813385009766,
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0,
0,
0
] | [
0.15758423507213593,
-0.5929813385009766,
0.023000000044703484,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15552371740341187,
-0.5940554141998291,
0.03942108526825905,
-3.141587018966675,
-0.00007144644041545689,
3.141434907913208
] | 1 | 9 | 90 | 19 | 8,044 | 0 |
[
-1.5351399183273315,
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1.7689770460128784,
-2.230466604232788,
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3.1813321113586426,
0
] | [
-1.5349105596542358,
-1.1068795919418335,
1.7698814868927002,
-2.2328169345855713,
-1.5705573558807373,
3.1815898418426514,
0
] | move_to_position | 0.320464 | [
-1.531973123550415,
-1.0869423151016235,
1.7822669744491577,
-2.265170097351074,
-1.5705903768539429,
3.1845438480377197,
0
] | [
-0.15758423507213593,
0.5929813385009766,
0.023000000044703484,
0,
0,
0
] | [
0.15758423507213593,
-0.5929813385009766,
0.023000000044703484,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.1557612121105194,
-0.5938680768013,
0.037229206413030624,
-3.1414833068847656,
-0.00000771498162066564,
3.1413917541503906
] | 1 | 9.1 | 91 | 19 | 8,045 | 0 |
[
-1.5347293615341187,
-1.1055017709732056,
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-2.235102415084839,
-1.5705679655075073,
3.1817831993103027,
0
] | [
-1.5345056056976318,
-1.104225754737854,
1.7716683149337769,
-2.2372968196868896,
-1.5705606937408447,
3.181997060775757,
0
] | move_to_position | 0.410385 | [
-1.531973123550415,
-1.0869423151016235,
1.7822669744491577,
-2.265170097351074,
-1.5705903768539429,
3.1845438480377197,
0
] | [
-0.15758423507213593,
0.5929813385009766,
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0,
0,
0
] | [
0.15758423507213593,
-0.5929813385009766,
0.023000000044703484,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.1559865027666092,
-0.5937670469284058,
0.03539159521460533,
-3.1415765285491943,
-0.000010743852726591285,
3.1413605213165283
] | 1 | 9.2 | 92 | 19 | 8,046 | 0 |
[
-1.5343397855758667,
-1.1029276847839355,
1.7725986242294312,
-2.23952317237854,
-1.5705760717391968,
3.1821558475494385,
0
] | [
-1.5341895818710327,
-1.1021080017089844,
1.7730348110198975,
-2.2407851219177246,
-1.5705641508102417,
3.182314872741699,
0
] | move_to_position | 0.496262 | [
-1.531973123550415,
-1.0869423151016235,
1.7822669744491577,
-2.265170097351074,
-1.5705903768539429,
3.1845438480377197,
0
] | [
-0.15758423507213593,
0.5929813385009766,
0.023000000044703484,
0,
0,
0
] | [
0.15758423507213593,
-0.5929813385009766,
0.023000000044703484,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15619012713432312,
-0.5936819911003113,
0.03365473449230194,
3.1414968967437744,
-0.000012911636986245867,
3.141340494155884
] | 1 | 9.3 | 93 | 19 | 8,047 | 0 |
[
-1.533957839012146,
-1.1004663705825806,
1.7740710973739624,
-2.243476629257202,
-1.570595145225525,
3.1825690269470215,
0
] | [
-1.533742904663086,
-1.0990755558013916,
1.7749272584915161,
-2.2457072734832764,
-1.570569396018982,
3.1827640533447266,
0
] | move_to_position | 0.573878 | [
-1.531973123550415,
-1.0869423151016235,
1.7822669744491577,
-2.265170097351074,
-1.5705903768539429,
3.1845438480377197,
0
] | [
-0.15758423507213593,
0.5929813385009766,
0.023000000044703484,
0,
0,
0
] | [
0.15758423507213593,
-0.5929813385009766,
0.023000000044703484,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15644396841526031,
-0.5935395956039429,
0.03185480460524559,
-3.141585111618042,
-0.00002559857239248231,
3.1413683891296387
] | 1 | 9.4 | 94 | 19 | 8,048 | 0 |
[
-1.5335239171981812,
-1.097409725189209,
1.7759588956832886,
-2.2484471797943115,
-1.5705574750900269,
3.183021306991577,
0
] | [
-1.5333442687988281,
-1.0963548421859741,
1.7765965461730957,
-2.2500951290130615,
-1.570574164390564,
3.1831650733947754,
0
] | move_to_position | 0.671203 | [
-1.531973123550415,
-1.0869423151016235,
1.7822669744491577,
-2.265170097351074,
-1.5705903768539429,
3.1845438480377197,
0
] | [
-0.15758423507213593,
0.5929813385009766,
0.023000000044703484,
0,
0,
0
] | [
0.15758423507213593,
-0.5929813385009766,
0.023000000044703484,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15669947862625122,
-0.5934388637542725,
0.02984173223376274,
3.1415202617645264,
-0.000006452705292758765,
3.141387939453125
] | 1 | 9.5 | 95 | 19 | 8,049 | 0 |
[
-1.533054232597351,
-1.0944715738296509,
1.777685523033142,
-2.2530133724212646,
-1.5705622434616089,
3.183413505554199,
0
] | [
-1.5328656435012817,
-1.0930770635604858,
1.7785862684249878,
-2.255359649658203,
-1.5705797672271729,
3.1836462020874023,
0
] | move_to_position | 0.761659 | [
-1.531973123550415,
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0
] | [
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0,
0,
0
] | [
0.15758423507213593,
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0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
0.15696752071380615,
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0.027703450992703438,
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] | 1 | 9.6 | 96 | 19 | 8,050 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.853122 | [
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0
] | [
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0,
0
] | [
0.15758423507213593,
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0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
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0.025871220976114273,
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] | 1 | 9.7 | 97 | 19 | 8,051 | 0 |
[
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] | [
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0
] | move_to_position | 0.924651 | [
-1.531973123550415,
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1.7822669744491577,
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] | [
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0,
0
] | [
0.15758423507213593,
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0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
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] | 1 | 9.8 | 98 | 19 | 8,052 | 0 |
[
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] | [
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0
] | move_to_position | 0.978932 | [
-1.531973123550415,
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1.7822669744491577,
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0
] | [
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0,
0
] | [
0.15758423507213593,
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0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
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] | 1 | 9.9 | 99 | 19 | 8,053 | 0 |
[
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0
] | [
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1.7822669744491577,
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0
] | move_to_position | 0.994726 | [
-1.531973123550415,
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1.7822669744491577,
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] | [
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0,
0
] | [
0.15758423507213593,
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0,
0,
0
] | 0 | pick first pie and place it on the first plate: descend to chocolate pie_1 | [
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] | 1 | 10 | 100 | 19 | 8,054 | 0 |
[
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] | [
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1.7822669744491577,
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1
] | gripper_close | 0 | [
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] | [
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] | [
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0.023241793736815453,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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3.141148567199707,
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] | 1 | 10.1 | 101 | 19 | 8,055 | 0 |
[
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] | [
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1
] | gripper_close | 0.011765 | [
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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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] | 1 | 10.2 | 102 | 19 | 8,056 | 0 |
[
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] | [
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1
] | gripper_close | 0.054902 | [
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] | [
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] | [
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0.023241793736815453,
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3.1414167881011963
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 1 | 10.3 | 103 | 19 | 8,057 | 0 |
[
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] | [
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1
] | gripper_close | 0.180392 | [
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1.7820676565170288,
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] | [
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] | [
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0.023241793736815453,
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] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 1 | 10.4 | 104 | 19 | 8,058 | 0 |
[
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] | [
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1
] | gripper_close | 0.309804 | [
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1.7820676565170288,
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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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] | 1 | 10.5 | 105 | 19 | 8,059 | 0 |
[
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] | [
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1
] | gripper_close | 0.541176 | [
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1.7820676565170288,
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1
] | [
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] | [
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3.1414167881011963
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 10.6 | 106 | 19 | 8,060 | 0 |
[
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] | [
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1
] | gripper_close | 0.623529 | [
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1.7820676565170288,
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1
] | [
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] | [
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0.023241793736815453,
3.1411454677581787,
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3.1414167881011963
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 10.7 | 107 | 19 | 8,061 | 0 |
[
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] | [
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1.7822669744491577,
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1
] | gripper_close | 0.705882 | [
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1.7820676565170288,
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1
] | [
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] | [
0.15758830308914185,
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0.023241793736815453,
3.1411454677581787,
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3.1414167881011963
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 10.8 | 108 | 19 | 8,062 | 0 |
[
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] | [
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1.7822669744491577,
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3.1845438480377197,
1
] | gripper_close | 0.768627 | [
-1.5319732427597046,
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1.7820676565170288,
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1
] | [
-0.15758830308914185,
0.5931063294410706,
0.023241793736815453,
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3.1414167881011963
] | [
0.15758830308914185,
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0.023241793736815453,
3.1411454677581787,
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3.1414167881011963
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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3.1411125659942627,
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] | 0 | 10.9 | 109 | 19 | 8,063 | 0 |
[
-1.5320333242416382,
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3.184540271759033,
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] | [
-1.531973123550415,
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1.7822669744491577,
-2.265170097351074,
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3.1845438480377197,
1
] | gripper_close | 0.8 | [
-1.5319732427597046,
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1.7820676565170288,
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-1.5705622434616089,
3.1845474243164062,
1
] | [
-0.15758830308914185,
0.5931063294410706,
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3.1414167881011963
] | [
0.15758830308914185,
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0.023241793736815453,
3.1411454677581787,
-0.00006603499059565365,
3.1414167881011963
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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0.023029157891869545,
3.141531229019165,
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] | 0 | 11 | 110 | 19 | 8,064 | 0 |
[
-1.5320175886154175,
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3.1845366954803467,
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] | [
-1.531973123550415,
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1.7822669744491577,
-2.265170097351074,
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3.1845438480377197,
1
] | gripper_close | 0.803921 | [
-1.5319732427597046,
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1.7820676565170288,
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3.1845474243164062,
1
] | [
-0.15758830308914185,
0.5931063294410706,
0.023241793736815453,
3.1411454677581787,
-0.00006603499059565365,
3.1414167881011963
] | [
0.15758830308914185,
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0.023241793736815453,
3.1411454677581787,
-0.00006603499059565365,
3.1414167881011963
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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0.02293788641691208,
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3.1413729190826416
] | 0 | 11.1 | 111 | 19 | 8,065 | 0 |
[
-1.5319851636886597,
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] | [
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1
] | gripper_close | 0.803921 | [
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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 | 11.2 | 112 | 19 | 8,066 | 0 |
[
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] | [
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1
] | gripper_close | 0.803921 | [
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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 | 11.3 | 113 | 19 | 8,067 | 0 |
[
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] | [
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1
] | gripper_close | 0.803921 | [
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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 | 11.4 | 114 | 19 | 8,068 | 0 |
[
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] | [
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1
] | gripper_close | 0.803921 | [
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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 | 11.5 | 115 | 19 | 8,069 | 0 |
[
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] | [
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1
] | gripper_close | 0.803921 | [
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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 | 11.6 | 116 | 19 | 8,070 | 0 |
[
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] | [
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1
] | gripper_close | 0.803921 | [
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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 | 11.7 | 117 | 19 | 8,071 | 0 |
[
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] | [
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1
] | gripper_close | 0.803921 | [
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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 | 11.8 | 118 | 19 | 8,072 | 0 |
[
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] | [
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1
] | gripper_close | 0.803921 | [
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] | [
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] | [
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3.1414167881011963
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 11.9 | 119 | 19 | 8,073 | 0 |
[
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] | [
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1
] | gripper_close | 0.803921 | [
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1
] | [
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] | [
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3.1414167881011963
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 12 | 120 | 19 | 8,074 | 0 |
[
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] | [
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1
] | gripper_close | 0.803921 | [
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1
] | [
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] | [
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0.023241793736815453,
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3.1414167881011963
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 12.1 | 121 | 19 | 8,075 | 0 |
[
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] | [
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1
] | gripper_close | 0.803921 | [
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1
] | [
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] | [
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0.023241793736815453,
3.1411454677581787,
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3.1414167881011963
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 12.2 | 122 | 19 | 8,076 | 0 |
[
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] | [
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1
] | gripper_close | 0.803921 | [
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1.7820676565170288,
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1
] | [
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] | [
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0.023241793736815453,
3.1411454677581787,
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3.1414167881011963
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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] | 0 | 12.3 | 123 | 19 | 8,077 | 0 |
[
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0.8039215803146362
] | [
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3.1845438480377197,
1
] | gripper_close | 0.803921 | [
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1.7820676565170288,
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1
] | [
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0.5931063294410706,
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3.1414167881011963
] | [
0.15758830308914185,
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0.023241793736815453,
3.1411454677581787,
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3.1414167881011963
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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0.02299480140209198,
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] | 0 | 12.4 | 124 | 19 | 8,078 | 0 |
[
-1.5319145917892456,
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3.1845474243164062,
0.8039215803146362
] | [
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1.7822669744491577,
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3.1845438480377197,
1
] | gripper_close | 0.803921 | [
-1.5319732427597046,
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1.7820676565170288,
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3.1845474243164062,
1
] | [
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0.5931063294410706,
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3.1414167881011963
] | [
0.15758830308914185,
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0.023241793736815453,
3.1411454677581787,
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3.1414167881011963
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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0.023014655336737633,
3.141551971435547,
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] | 0 | 12.5 | 125 | 19 | 8,079 | 0 |
[
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3.18450927734375,
0.8039215803146362
] | [
-1.531973123550415,
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1.7822669744491577,
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3.1845438480377197,
1
] | gripper_close | 0.803921 | [
-1.5319732427597046,
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1.7820676565170288,
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3.1845474243164062,
1
] | [
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0.5931063294410706,
0.023241793736815453,
3.1411454677581787,
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3.1414167881011963
] | [
0.15758830308914185,
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0.023241793736815453,
3.1411454677581787,
-0.00006603499059565365,
3.1414167881011963
] | 1 | pick first pie and place it on the first plate: grasp chocolate pie_1 | [
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0.02299615740776062,
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3.141420364379883
] | 0 | 12.6 | 126 | 19 | 8,080 | 0 |
[
-1.5319455862045288,
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3.1845593452453613,
0.8039215803146362
] | [
-1.531973123550415,
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1.7822669744491577,
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3.1845438480377197,
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 | 12.7 | 127 | 19 | 8,081 | 0 |
[
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] | 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 | 12.8 | 128 | 19 | 8,082 | 0 |
[
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] | 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 | 12.9 | 129 | 19 | 8,083 | 0 |
[
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] | 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 | 13 | 130 | 19 | 8,084 | 0 |
[
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] | [
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1
] | move_to_position | 0 | [
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] | [
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] | [
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0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 13.1 | 131 | 19 | 8,085 | 0 |
[
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] | [
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1
] | move_to_position | 0.000082 | [
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] | [
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] | [
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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 | 13.2 | 132 | 19 | 8,086 | 0 |
[
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] | [
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1
] | move_to_position | 0.012935 | [
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] | [
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] | [
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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 | 13.3 | 133 | 19 | 8,087 | 0 |
[
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] | [
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1
] | move_to_position | 0.058003 | [
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] | [
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] | [
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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 | 13.4 | 134 | 19 | 8,088 | 0 |
[
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] | [
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1
] | move_to_position | 0.129019 | [
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] | [
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] | [
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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 | 13.5 | 135 | 19 | 8,089 | 0 |
[
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] | [
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1
] | move_to_position | 0.209922 | [
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] | [
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] | [
0.15839779376983643,
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0.04620753601193428,
0,
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 | 13.6 | 136 | 19 | 8,090 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.303338 | [
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] | [
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] | [
0.15839779376983643,
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0.04620753601193428,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 13.7 | 137 | 19 | 8,091 | 0 |
[
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] | [
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1
] | move_to_position | 0.391036 | [
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] | [
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] | [
0.15839779376983643,
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0.04620753601193428,
0,
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 | 13.8 | 138 | 19 | 8,092 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.478536 | [
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1.7469969987869263,
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1
] | [
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0,
0,
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] | [
0.15839779376983643,
-0.5980141162872314,
0.04620753601193428,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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3.141515016555786,
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] | 0 | 13.9 | 139 | 19 | 8,093 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.576909 | [
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1.7469969987869263,
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1
] | [
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0,
0,
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] | [
0.15839779376983643,
-0.5980141162872314,
0.04620753601193428,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 14 | 140 | 19 | 8,094 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.694004 | [
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1.7469969987869263,
-2.2054073810577393,
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3.185556173324585,
1
] | [
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0,
0,
0
] | [
0.15839779376983643,
-0.5980141162872314,
0.04620753601193428,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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3.1415724754333496,
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] | 0 | 14.1 | 141 | 19 | 8,095 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.799352 | [
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1.7469969987869263,
-2.2054073810577393,
-1.5705325603485107,
3.185556173324585,
1
] | [
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0,
0,
0
] | [
0.15839779376983643,
-0.5980141162872314,
0.04620753601193428,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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] | 0 | 14.2 | 142 | 19 | 8,096 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.896337 | [
-1.5309185981750488,
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1.7469969987869263,
-2.2054073810577393,
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3.185556173324585,
1
] | [
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0.5980141162872314,
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0,
0,
0
] | [
0.15839779376983643,
-0.5980141162872314,
0.04620753601193428,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
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3.141507625579834,
-0.00003230742004234344,
3.1414101123809814
] | 0 | 14.3 | 143 | 19 | 8,097 | 0 |
[
-1.5309618711471558,
-1.110538363456726,
1.7484005689620972,
-2.207671880722046,
-1.5705407857894897,
3.185511589050293,
1
] | [
-1.530942678451538,
-1.1109615564346313,
1.7478219270706177,
-2.206756353378296,
-1.5705333948135376,
3.1855337619781494,
1
] | move_to_position | 0.961571 | [
-1.5309185981750488,
-1.111486792564392,
1.7469969987869263,
-2.2054073810577393,
-1.5705325603485107,
3.185556173324585,
1
] | [
-0.15839779376983643,
0.5980141162872314,
0.04620753601193428,
0,
0,
0
] | [
0.15839779376983643,
-0.5980141162872314,
0.04620753601193428,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
0.15837091207504272,
-0.5978692173957825,
0.045480988919734955,
3.1415796279907227,
-0.000042625990317901596,
3.1414382457733154
] | 0 | 14.4 | 144 | 19 | 8,098 | 0 |
[
-1.5309499502182007,
-1.1111797094345093,
1.7473286390304565,
-2.20581316947937,
-1.5705054998397827,
3.1855318546295166,
1
] | [
-1.5309218168258667,
-1.1114152669906616,
1.7471096515655518,
-2.2055914402008057,
-1.5705326795578003,
3.1855530738830566,
1
] | move_to_position | 0.991722 | [
-1.5309185981750488,
-1.111486792564392,
1.7469969987869263,
-2.2054073810577393,
-1.5705325603485107,
3.185556173324585,
1
] | [
-0.15839779376983643,
0.5980141162872314,
0.04620753601193428,
0,
0,
0
] | [
0.15839779376983643,
-0.5980141162872314,
0.04620753601193428,
0,
0,
0
] | 1 | pick first pie and place it on the first plate: retract with chocolate pie_1 | [
0.15838906168937683,
-0.5979021787643433,
0.04595840349793434,
-3.1413519382476807,
-0.00005728476389776915,
3.1414458751678467
] | 0 | 14.5 | 145 | 19 | 8,099 | 0 |
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