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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-1.9062966108322144,
-0.9864681959152222,
1.502527117729187,
-2.085569143295288,
-1.5707234144210815,
2.810283660888672,
1
] | [
-1.9062262773513794,
-0.9837943315505981,
1.504830241203308,
-2.090625762939453,
-1.5707215070724487,
2.8102962970733643,
1
] | move_to_position | 0.641019 | [
-1.9061859846115112,
-0.9650881886482239,
1.5194141864776611,
-2.1239280700683594,
-1.5707488059997559,
2.810336112976074,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09530527144670486,
-0.681980550289154,
0.058251239359378815,
-3.1412806510925293,
-0.00013218798267189413,
3.1413331031799316
] | 0 | 34.599998 | 346 | 19 | 8,300 | 0 |
[
-1.906234622001648,
-0.9801016449928284,
1.5079044103622437,
-2.0973174571990967,
-1.5707043409347534,
2.810276508331299,
1
] | [
-1.906212568283081,
-0.9777565002441406,
1.5100443363189697,
-2.101881742477417,
-1.5707300901412964,
2.810309886932373,
1
] | move_to_position | 0.750889 | [
-1.9061859846115112,
-0.9650881886482239,
1.5194141864776611,
-2.1239280700683594,
-1.5707488059997559,
2.810336112976074,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09525790810585022,
-0.6819403767585754,
0.052547331899404526,
-3.141293525695801,
-0.00012405416055116802,
3.141345262527466
] | 0 | 34.700001 | 347 | 19 | 8,301 | 0 |
[
-1.906201720237732,
-0.9752381443977356,
1.5121430158615112,
-2.106588125228882,
-1.570724368095398,
2.810307502746582,
1
] | [
-1.9062035083770752,
-0.9736536145210266,
1.5134047269821167,
-2.1093478202819824,
-1.570736050605774,
2.810318946838379,
1
] | move_to_position | 0.836971 | [
-1.9061859846115112,
-0.9650881886482239,
1.5194141864776611,
-2.1239280700683594,
-1.5707488059997559,
2.810336112976074,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09523143619298935,
-0.681869387626648,
0.04863402992486954,
-3.141350746154785,
-0.00009970497194444761,
3.1413629055023193
] | 0 | 34.799999 | 348 | 19 | 8,302 | 0 |
[
-1.9062103033065796,
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1.5149792432785034,
-2.1131174564361572,
-1.5707439184188843,
2.8103039264678955,
1
] | [
-1.906195878982544,
-0.9700400829315186,
1.5161259174346924,
-2.115684747695923,
-1.5707414150238037,
2.810326337814331,
1
] | move_to_position | 0.898216 | [
-1.9061859846115112,
-0.9650881886482239,
1.5194141864776611,
-2.1239280700683594,
-1.5707488059997559,
2.810336112976074,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09522253274917603,
-0.6818711161613464,
0.04567750543355942,
-3.1413872241973877,
-0.00007367890066234395,
3.1413676738739014
] | 0 | 34.900002 | 349 | 19 | 8,303 | 0 |
[
-1.9062212705612183,
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1.5173181295394897,
-2.1185367107391357,
-1.570712924003601,
2.8103511333465576,
1
] | [
-1.9061903953552246,
-0.9673253893852234,
1.5180065631866455,
-2.12028169631958,
-1.5707454681396484,
2.8103318214416504,
1
] | move_to_position | 0.949329 | [
-1.9061859846115112,
-0.9650881886482239,
1.5194141864776611,
-2.1239280700683594,
-1.5707488059997559,
2.810336112976074,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09521463513374329,
-0.6818596720695496,
0.043174248188734055,
-3.14139723777771,
-0.00011277622979832813,
3.141327142715454
] | 0 | 35 | 350 | 19 | 8,304 | 0 |
[
-1.9062246084213257,
-0.9663611054420471,
1.5186752080917358,
-2.121997594833374,
-1.5707329511642456,
2.8103511333465576,
1
] | [
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1.5190889835357666,
-2.1230576038360596,
-1.570747971534729,
2.810335159301758,
1
] | move_to_position | 0.981475 | [
-1.9061859846115112,
-0.9650881886482239,
1.5194141864776611,
-2.1239280700683594,
-1.5707488059997559,
2.810336112976074,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09522158652544022,
-0.6818612217903137,
0.04171404242515564,
-3.141355514526367,
-0.00013831448450218886,
3.141334056854248
] | 0 | 35.099998 | 351 | 19 | 8,305 | 0 |
[
-1.9061893224716187,
-0.9652289748191833,
1.5192097425460815,
-2.1237494945526123,
-1.5707439184188843,
2.8103318214416504,
1
] | [
-1.9061859846115112,
-0.9650891423225403,
1.519413709640503,
-2.1239264011383057,
-1.5707488059997559,
2.810336112976074,
1
] | move_to_position | 0.997666 | [
-1.9061859846115112,
-0.9650881886482239,
1.5194141864776611,
-2.1239280700683594,
-1.5707488059997559,
2.810336112976074,
1
] | [
0.09519022703170776,
0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.04100000113248825,
0,
0,
0
] | 1 | pick second pie and place it on the second plate: descend to red plate_2 | [
-0.09523088485002518,
-0.6819854974746704,
0.04118535295128822,
3.1415719985961914,
-0.000050483438826631755,
3.14138126373291
] | 0 | 35.200001 | 352 | 19 | 8,306 | 0 |
[
-1.9061893224716187,
-0.9652482271194458,
1.5191749334335327,
-2.1238300800323486,
-1.5707401037216187,
2.8103628158569336,
1
] | [
-1.9061859846115112,
-0.9650881886482239,
1.5194141864776611,
-2.1239280700683594,
-1.5707488059997559,
2.810336112976074,
0
] | gripper_open | 0 | [
-1.9061893224716187,
-0.9652482271194458,
1.5191749334335327,
-2.1238300800323486,
-1.5707401037216187,
2.8103628158569336,
0
] | [
0.09523002058267593,
0.6819804310798645,
0.04115590080618858,
-3.141592264175415,
-0.00005425386189017445,
3.141357421875
] | [
-0.09523002058267593,
-0.6819804310798645,
0.04115590080618858,
-3.141592264175415,
-0.00005425386189017445,
3.141357421875
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.0952194482088089,
-0.6819654107093811,
0.041168153285980225,
-3.141576051712036,
-0.000046661996748298407,
3.1413936614990234
] | 0 | 35.299999 | 353 | 19 | 8,307 | 0 |
[
-1.9062246084213257,
-0.9651941061019897,
1.5192769765853882,
-2.123929738998413,
-1.5707439184188843,
2.810340166091919,
0.8509804010391235
] | [
-1.9061859846115112,
-0.9650881886482239,
1.5194141864776611,
-2.1239280700683594,
-1.5707488059997559,
2.810336112976074,
0
] | gripper_open | 0.14902 | [
-1.9061893224716187,
-0.9652482271194458,
1.5191749334335327,
-2.1238300800323486,
-1.5707401037216187,
2.8103628158569336,
0
] | [
0.09523002058267593,
0.6819804310798645,
0.04115590080618858,
-3.141592264175415,
-0.00005425386189017445,
3.141357421875
] | [
-0.09523002058267593,
-0.6819804310798645,
0.04115590080618858,
-3.141592264175415,
-0.00005425386189017445,
3.141357421875
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.0952361524105072,
-0.681956946849823,
0.04114692285656929,
-3.1415817737579346,
-0.00002455178946547676,
3.141354560852051
] | 0 | 35.400002 | 354 | 19 | 8,308 | 0 |
[
-1.9061931371688843,
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1.5193990468978882,
-2.1239259243011475,
-1.57077157497406,
2.8103628158569336,
0.8235294222831726
] | [
-1.9061859846115112,
-0.9650881886482239,
1.5194141864776611,
-2.1239280700683594,
-1.5707488059997559,
2.810336112976074,
0
] | gripper_open | 0.176471 | [
-1.9061893224716187,
-0.9652482271194458,
1.5191749334335327,
-2.1238300800323486,
-1.5707401037216187,
2.8103628158569336,
0
] | [
0.09523002058267593,
0.6819804310798645,
0.04115590080618858,
-3.141592264175415,
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3.141357421875
] | [
-0.09523002058267593,
-0.6819804310798645,
0.04115590080618858,
-3.141592264175415,
-0.00005425386189017445,
3.141357421875
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09519841521978378,
-0.6818954944610596,
0.04103710129857063,
-3.1413981914520264,
-0.00009586690430296585,
3.1413793563842773
] | 0 | 35.5 | 355 | 19 | 8,309 | 0 |
[
-1.9062165021896362,
-0.9650921821594238,
1.5194286108016968,
-2.1239259243011475,
-1.570752501487732,
2.8103556632995605,
0.7098039388656616
] | [
-1.9061859846115112,
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1.5194141864776611,
-2.1239280700683594,
-1.5707488059997559,
2.810336112976074,
0
] | gripper_open | 0.290196 | [
-1.9061893224716187,
-0.9652482271194458,
1.5191749334335327,
-2.1238300800323486,
-1.5707401037216187,
2.8103628158569336,
0
] | [
0.09523002058267593,
0.6819804310798645,
0.04115590080618858,
-3.141592264175415,
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3.141357421875
] | [
-0.09523002058267593,
-0.6819804310798645,
0.04115590080618858,
-3.141592264175415,
-0.00005425386189017445,
3.141357421875
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09519971907138824,
-0.6819011569023132,
0.04098975285887718,
-3.141359329223633,
-0.00012208768748678267,
3.141382932662964
] | 0 | 35.599998 | 356 | 19 | 8,310 | 0 |
[
-1.9061774015426636,
-0.9650644659996033,
1.5193556547164917,
-2.123922109603882,
-1.5707834959030151,
2.810328245162964,
0.5843137502670288
] | [
-1.9061859846115112,
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1.5194141864776611,
-2.1239280700683594,
-1.5707488059997559,
2.810336112976074,
0
] | gripper_open | 0.415686 | [
-1.9061893224716187,
-0.9652482271194458,
1.5191749334335327,
-2.1238300800323486,
-1.5707401037216187,
2.8103628158569336,
0
] | [
0.09523002058267593,
0.6819804310798645,
0.04115590080618858,
-3.141592264175415,
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3.141357421875
] | [
-0.09523002058267593,
-0.6819804310798645,
0.04115590080618858,
-3.141592264175415,
-0.00005425386189017445,
3.141357421875
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09518947452306747,
-0.6819061636924744,
0.04097700119018555,
-3.1413583755493164,
-0.00010583472612779588,
3.141385555267334
] | 0 | 35.700001 | 357 | 19 | 8,311 | 0 |
[
-1.9061659574508667,
-0.9651076793670654,
1.5194023847579956,
-2.1239569187164307,
-1.5707558393478394,
2.8103437423706055,
0.4627451002597809
] | [
-1.9061859846115112,
-0.9650881886482239,
1.5194141864776611,
-2.1239280700683594,
-1.5707488059997559,
2.810336112976074,
0
] | gripper_open | 0.537255 | [
-1.9061893224716187,
-0.9652482271194458,
1.5191749334335327,
-2.1238300800323486,
-1.5707401037216187,
2.8103628158569336,
0
] | [
0.09523002058267593,
0.6819804310798645,
0.04115590080618858,
-3.141592264175415,
-0.00005425386189017445,
3.141357421875
] | [
-0.09523002058267593,
-0.6819804310798645,
0.04115590080618858,
-3.141592264175415,
-0.00005425386189017445,
3.141357421875
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.0951874628663063,
-0.6819050908088684,
0.04100947827100754,
-3.141385793685913,
-0.00011286269000265747,
3.141378164291382
] | 1 | 35.799999 | 358 | 19 | 8,312 | 0 |
[
-1.9061893224716187,
-0.9650921821594238,
1.5194171667099,
-2.1239187717437744,
-1.5707453489303589,
2.8103246688842773,
0.21568627655506134
] | [
-1.9061859846115112,
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1.5194141864776611,
-2.1239280700683594,
-1.5707488059997559,
2.810336112976074,
0
] | gripper_open | 0.784313 | [
-1.9061893224716187,
-0.9652482271194458,
1.5191749334335327,
-2.1238300800323486,
-1.5707401037216187,
2.8103628158569336,
0
] | [
0.09523002058267593,
0.6819804310798645,
0.04115590080618858,
-3.141592264175415,
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3.141357421875
] | [
-0.09523002058267593,
-0.6819804310798645,
0.04115590080618858,
-3.141592264175415,
-0.00005425386189017445,
3.141357421875
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09521420300006866,
-0.681898832321167,
0.04101380705833435,
-3.1413862705230713,
-0.00007437248132191598,
3.1414060592651367
] | 1 | 35.900002 | 359 | 19 | 8,313 | 0 |
[
-1.9062093496322632,
-0.9650536179542542,
1.5193990468978882,
-2.1239259243011475,
-1.570759654045105,
2.8103628158569336,
0.0941176488995552
] | [
-1.9061859846115112,
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1.5194141864776611,
-2.1239280700683594,
-1.5707488059997559,
2.810336112976074,
0
] | gripper_open | 0.905882 | [
-1.9061893224716187,
-0.9652482271194458,
1.5191749334335327,
-2.1238300800323486,
-1.5707401037216187,
2.8103628158569336,
0
] | [
0.09523002058267593,
0.6819804310798645,
0.04115590080618858,
-3.141592264175415,
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3.141357421875
] | [
-0.09523002058267593,
-0.6819804310798645,
0.04115590080618858,
-3.141592264175415,
-0.00005425386189017445,
3.141357421875
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09520933032035828,
-0.6818976402282715,
0.041001953184604645,
-3.141366958618164,
-0.0000785630545578897,
3.1413917541503906
] | 1 | 36 | 360 | 19 | 8,314 | 0 |
[
-1.9062165021896362,
-0.9651040434837341,
1.5193952322006226,
-2.1239421367645264,
-1.5707401037216187,
2.810347318649292,
0.0117647061124444
] | [
-1.9061859846115112,
-0.9650881886482239,
1.5194141864776611,
-2.1239280700683594,
-1.5707488059997559,
2.810336112976074,
0
] | gripper_open | 0.988232 | [
-1.9061893224716187,
-0.9652482271194458,
1.5191749334335327,
-2.1238300800323486,
-1.5707401037216187,
2.8103628158569336,
0
] | [
0.09523002058267593,
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3.141357421875
] | [
-0.09523002058267593,
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0.04115590080618858,
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3.141357421875
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09517648071050644,
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0.04098393768072128,
-3.14132022857666,
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3.1414055824279785
] | 1 | 36.099998 | 361 | 19 | 8,315 | 0 |
[
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1.5194209814071655,
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] | [
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0
] | gripper_open | 0.988231 | [
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] | [
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] | [
-0.09523002058267593,
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0.04115590080618858,
-3.141592264175415,
-0.00005425386189017445,
3.141357421875
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09520258754491806,
-0.6818891763687134,
0.04099004343152046,
-3.1413376331329346,
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] | 1 | 36.200001 | 362 | 19 | 8,316 | 0 |
[
-1.9061425924301147,
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] | [
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0
] | gripper_open | 0.988231 | [
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1.5191749334335327,
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] | [
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] | [
-0.09523002058267593,
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0.04115590080618858,
-3.141592264175415,
-0.00005425386189017445,
3.141357421875
] | 0 | pick second pie and place it on the second plate: release at red plate_2 | [
-0.09522403031587601,
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0.040990207344293594,
-3.1413612365722656,
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] | 1 | 36.299999 | 363 | 19 | 8,317 | 0 |
[
-1.9062126874923706,
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1.5194171667099,
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0
] | [
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1.5194141864776611,
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0
] | move_to_position | 0.000315 | [
-1.9511890411376953,
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1.5089863538742065,
-2.099909782409668,
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] | [
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0,
0,
0
] | [
-0.12583549320697784,
-0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.0952010229229927,
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0.04100170359015465,
-3.141395330429077,
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3.141390323638916
] | 1 | 36.400002 | 364 | 19 | 8,318 | 0 |
[
-1.9061692953109741,
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1.5193990468978882,
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0
] | [
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0
] | move_to_position | 0 | [
-1.9511890411376953,
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1.5089863538742065,
-2.099909782409668,
-1.5707558393478394,
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0
] | [
0.12583549320697784,
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0,
0,
0
] | [
-0.12583549320697784,
-0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09521692246198654,
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0.04102605953812599,
-3.1414098739624023,
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3.1413776874542236
] | 1 | 36.5 | 365 | 19 | 8,319 | 0 |
[
-1.9069851636886597,
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1.5193589925765991,
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0
] | [
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0
] | move_to_position | 0.015115 | [
-1.9511890411376953,
-0.9786615967750549,
1.5089863538742065,
-2.099909782409668,
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2.7653348445892334,
0
] | [
0.12583549320697784,
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0,
0,
0
] | [
-0.12583549320697784,
-0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09595754742622375,
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0.04108523204922676,
-3.1410775184631348,
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] | 1 | 36.599998 | 366 | 19 | 8,320 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.062521 | [
-1.9511890411376953,
-0.9786615967750549,
1.5089863538742065,
-2.099909782409668,
-1.5707558393478394,
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0
] | [
0.12583549320697784,
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0,
0,
0
] | [
-0.12583549320697784,
-0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.0975891649723053,
-0.6814907193183899,
0.04173806309700012,
-3.1412012577056885,
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] | 1 | 36.700001 | 367 | 19 | 8,321 | 0 |
[
-1.9127720594406128,
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0
] | [
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0
] | move_to_position | 0.142461 | [
-1.9511890411376953,
-0.9786615967750549,
1.5089863538742065,
-2.099909782409668,
-1.5707558393478394,
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0
] | [
0.12583549320697784,
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0,
0,
0
] | [
-0.12583549320697784,
-0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.1002078503370285,
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0.04275742173194885,
-3.141342878341675,
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] | 1 | 36.799999 | 368 | 19 | 8,322 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.238799 | [
-1.9511890411376953,
-0.9786615967750549,
1.5089863538742065,
-2.099909782409668,
-1.5707558393478394,
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0
] | [
0.12583549320697784,
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0,
0,
0
] | [
-0.12583549320697784,
-0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.1029239073395729,
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0.04381116107106209,
-3.14135479927063,
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] | 1 | 36.900002 | 369 | 19 | 8,323 | 0 |
[
-1.9213827848434448,
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0
] | [
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0
] | move_to_position | 0.33442 | [
-1.9511890411376953,
-0.9786615967750549,
1.5089863538742065,
-2.099909782409668,
-1.5707558393478394,
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0
] | [
0.12583549320697784,
0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | [
-0.12583549320697784,
-0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.10608717799186707,
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0.04497983679175377,
-3.141362190246582,
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] | 1 | 37 | 370 | 19 | 8,324 | 0 |
[
-1.9260214567184448,
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0
] | [
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0
] | move_to_position | 0.436744 | [
-1.9511890411376953,
-0.9786615967750549,
1.5089863538742065,
-2.099909782409668,
-1.5707558393478394,
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0
] | [
0.12583549320697784,
0.6770084500312805,
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0,
0,
0
] | [
-0.12583549320697784,
-0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.10918198525905609,
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0.04613691195845604,
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] | 1 | 37.099998 | 371 | 19 | 8,325 | 0 |
[
-1.9296883344650269,
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0
] | [
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1.5143126249313354,
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0
] | move_to_position | 0.519839 | [
-1.9511890411376953,
-0.9786615967750549,
1.5089863538742065,
-2.099909782409668,
-1.5707558393478394,
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0
] | [
0.12583549320697784,
0.6770084500312805,
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0,
0,
0
] | [
-0.12583549320697784,
-0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.1116141602396965,
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0.047056421637535095,
-3.1412978172302246,
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] | 1 | 37.200001 | 372 | 19 | 8,326 | 0 |
[
-1.9331969022750854,
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0
] | [
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1.51345956325531,
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0
] | move_to_position | 0.598318 | [
-1.9511890411376953,
-0.9786615967750549,
1.5089863538742065,
-2.099909782409668,
-1.5707558393478394,
2.7653348445892334,
0
] | [
0.12583549320697784,
0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | [
-0.12583549320697784,
-0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.1138329952955246,
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0.04782506078481674,
-3.141252040863037,
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3.14133882522583
] | 1 | 37.299999 | 373 | 19 | 8,327 | 0 |
[
-1.9368213415145874,
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0
] | [
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1.51249098777771,
-2.1069416999816895,
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2.778062343597412,
0
] | move_to_position | 0.679599 | [
-1.9511890411376953,
-0.9786615967750549,
1.5089863538742065,
-2.099909782409668,
-1.5707558393478394,
2.7653348445892334,
0
] | [
0.12583549320697784,
0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | [
-0.12583549320697784,
-0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.11656294018030167,
-0.6784941554069519,
0.048905372619628906,
-3.1413633823394775,
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3.1413557529449463
] | 1 | 37.400002 | 374 | 19 | 8,328 | 0 |
[
-1.9405244588851929,
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2.775968074798584,
0
] | [
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1.5114469528198242,
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0
] | move_to_position | 0.761927 | [
-1.9511890411376953,
-0.9786615967750549,
1.5089863538742065,
-2.099909782409668,
-1.5707558393478394,
2.7653348445892334,
0
] | [
0.12583549320697784,
0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | [
-0.12583549320697784,
-0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.11899916082620621,
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0.04976006597280502,
-3.1412785053253174,
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3.141430616378784
] | 1 | 37.5 | 375 | 19 | 8,329 | 0 |
[
-1.9441550970077515,
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1.511008620262146,
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2.7724051475524902,
0
] | [
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1.5105223655700684,
-2.10294246673584,
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2.770799398422241,
0
] | move_to_position | 0.842087 | [
-1.9511890411376953,
-0.9786615967750549,
1.5089863538742065,
-2.099909782409668,
-1.5707558393478394,
2.7653348445892334,
0
] | [
0.12583549320697784,
0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | [
-0.12583549320697784,
-0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.1214582771062851,
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0.050687871873378754,
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3.141356945037842
] | 1 | 37.599998 | 376 | 19 | 8,330 | 0 |
[
-1.9473408460617065,
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2.7690958976745605,
0
] | [
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1.5098152160644531,
-2.1015377044677734,
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2.768263578414917,
0
] | move_to_position | 0.914757 | [
-1.9511890411376953,
-0.9786615967750549,
1.5089863538742065,
-2.099909782409668,
-1.5707558393478394,
2.7653348445892334,
0
] | [
0.12583549320697784,
0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | [
-0.12583549320697784,
-0.6770084500312805,
0.05231093615293503,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.12354748696088791,
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0.05144592747092247,
-3.1412720680236816,
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3.1414003372192383
] | 1 | 37.700001 | 377 | 19 | 8,331 | 0 |
[
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0.00000812287089502206,
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] | 1 | 43.099998 | 431 | 19 | 8,385 | 0 |
[
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[
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] | 1 | 43.299999 | 433 | 19 | 8,387 | 0 |
[
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[
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] | move_to_joint_state | 0.130442 | [
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] | 1 | 43.5 | 435 | 19 | 8,389 | 0 |
[
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] | move_to_joint_state | 0.194143 | [
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] | 1 | 43.599998 | 436 | 19 | 8,390 | 0 |
[
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] | move_to_joint_state | 0.227467 | [
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] | 1 | 43.700001 | 437 | 19 | 8,391 | 0 |
[
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] | move_to_joint_state | 0.373717 | [
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] | 1 | 43.799999 | 438 | 19 | 8,392 | 0 |
[
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] | move_to_joint_state | 0.45267 | [
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] | 1 | 43.900002 | 439 | 19 | 8,393 | 0 |
[
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] | move_to_joint_state | 0.531612 | [
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] | [
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] | 0 | restore TCP orientation after returning home | [
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] | 1 | 44 | 440 | 19 | 8,394 | 0 |
[
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] | [
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] | move_to_joint_state | 0.690683 | [
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] | [
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] | 0 | restore TCP orientation after returning home | [
-0.000020988742107874714,
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] | 1 | 44.099998 | 441 | 19 | 8,395 | 0 |
[
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] | [
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] | move_to_joint_state | 0.716438 | [
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] | [
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] | 0 | restore TCP orientation after returning home | [
-0.00003670807200251147,
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] | 1 | 44.200001 | 442 | 19 | 8,396 | 0 |
[
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] | move_to_joint_state | 0.781407 | [
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] | [
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] | 0 | restore TCP orientation after returning home | [
-0.00005183586836210452,
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] | 1 | 44.299999 | 443 | 19 | 8,397 | 0 |
[
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] | [
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] | move_to_joint_state | 0.905837 | [
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] | [
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] | [
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] | 0 | restore TCP orientation after returning home | [
-0.00003419925269554369,
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] | 1 | 44.400002 | 444 | 19 | 8,398 | 0 |
[
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] | [
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] | move_to_joint_state | 0.860213 | [
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0
] | [
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] | 0 | restore TCP orientation after returning home | [
-0.00005479726314661093,
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3.141576051712036,
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] | 1 | 44.5 | 445 | 19 | 8,399 | 0 |
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