observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 16
values | skill.verification_question stringclasses 1
value | skill.type stringclasses 5
values | skill.progress float32 0 1 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 1
value | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 104 | frame_index int64 0 3.11k | episode_index int64 0 99 | index int64 0 276k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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0
] | place green block | move | 0 | [
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] | [
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] | 30 | [
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0,
0
] | 51.866665 | 1,556 | 0 | 1,556 | 0 | |||
[
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30
] | [
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] | [
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] | [
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] | place green block | move | 0 | [
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] | [
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] | 30 | [
0,
0,
0
] | 51.900002 | 1,557 | 0 | 1,557 | 0 | |||
[
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30
] | [
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] | [
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] | [
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] | place green block | move | 0 | [
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] | [
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] | 30 | [
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0,
0
] | 51.933334 | 1,558 | 0 | 1,558 | 0 | |||
[
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30
] | [
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] | [
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] | [
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] | place green block | move | 0 | [
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] | [
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] | 30 | [
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0,
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] | 51.966667 | 1,559 | 0 | 1,559 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0 | [
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] | [
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] | 30 | [
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] | 52 | 1,560 | 0 | 1,560 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0 | [
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] | [
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] | 30 | [
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0,
0
] | 52.033333 | 1,561 | 0 | 1,561 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0 | [
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] | [
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] | 30 | [
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0,
0
] | 52.066666 | 1,562 | 0 | 1,562 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0 | [
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] | [
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] | 30 | [
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0,
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] | 52.099998 | 1,563 | 0 | 1,563 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0 | [
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] | [
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] | 30 | [
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] | 52.133335 | 1,564 | 0 | 1,564 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0 | [
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] | [
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] | 30 | [
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] | 52.166668 | 1,565 | 0 | 1,565 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0 | [
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] | [
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] | 30 | [
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0,
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] | 52.200001 | 1,566 | 0 | 1,566 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0 | [
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] | [
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] | 30 | [
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] | 52.233334 | 1,567 | 0 | 1,567 | 0 | |||
[
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30
] | [
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] | [
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] | [
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] | place green block | move | 0 | [
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] | [
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] | 30 | [
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] | 52.266666 | 1,568 | 0 | 1,568 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0 | [
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] | [
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] | 30 | [
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] | 52.299999 | 1,569 | 0 | 1,569 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0 | [
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] | [
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] | 30 | [
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] | 52.333332 | 1,570 | 0 | 1,570 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0 | [
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] | [
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0
] | 52.366665 | 1,571 | 0 | 1,571 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0 | [
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] | [
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] | 30 | [
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0,
0
] | 52.400002 | 1,572 | 0 | 1,572 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0 | [
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] | [
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] | 30 | [
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] | 52.433334 | 1,573 | 0 | 1,573 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0 | [
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] | [
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] | 30 | [
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] | 52.466667 | 1,574 | 0 | 1,574 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.008691 | [
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] | [
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] | 30 | [
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] | 52.5 | 1,575 | 0 | 1,575 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.019588 | [
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] | [
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] | 30 | [
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] | 52.533333 | 1,576 | 0 | 1,576 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.025036 | [
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] | [
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] | 30 | [
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] | 52.566666 | 1,577 | 0 | 1,577 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.030483 | [
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] | [
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] | 30 | [
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] | 52.599998 | 1,578 | 0 | 1,578 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.030483 | [
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] | [
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] | 30 | [
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] | 52.633335 | 1,579 | 0 | 1,579 | 0 | |||
[
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30
] | [
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] | [
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] | place green block | move | 0.035929 | [
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] | [
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] | 30 | [
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] | 52.666668 | 1,580 | 0 | 1,580 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.035929 | [
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] | [
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] | 30 | [
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] | 52.700001 | 1,581 | 0 | 1,581 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.035929 | [
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30
] | [
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] | 30 | [
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] | 52.733334 | 1,582 | 0 | 1,582 | 0 | |||
[
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30
] | [
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] | [
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] | place green block | move | 0.035929 | [
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] | [
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] | 30 | [
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] | 52.766666 | 1,583 | 0 | 1,583 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.035929 | [
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] | [
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] | 30 | [
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] | 52.799999 | 1,584 | 0 | 1,584 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.035929 | [
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] | [
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] | 30 | [
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] | 52.833332 | 1,585 | 0 | 1,585 | 0 | |||
[
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] | [
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30
] | [
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] | place green block | move | 0.062585 | [
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] | [
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] | 30 | [
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0,
0
] | 52.866665 | 1,586 | 0 | 1,586 | 0 | |||
[
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30
] | [
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] | [
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] | place green block | move | 0.095201 | [
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18.46278953552246,
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] | [
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] | 30 | [
0,
0,
0
] | 52.900002 | 1,587 | 0 | 1,587 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.138629 | [
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] | [
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] | 30 | [
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] | 52.933334 | 1,588 | 0 | 1,588 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.187407 | [
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] | [
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] | 52.966667 | 1,589 | 0 | 1,589 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.214461 | [
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] | [
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] | 30 | [
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] | 53 | 1,590 | 0 | 1,590 | 0 | |||
[
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30
] | [
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] | [
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] | place green block | move | 0.241478 | [
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] | [
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] | 30 | [
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0,
0
] | 53.033333 | 1,591 | 0 | 1,591 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.25767 | [
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30
] | [
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] | 30 | [
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0,
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] | 53.066666 | 1,592 | 0 | 1,592 | 0 | |||
[
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30
] | [
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] | [
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] | place green block | move | 0.279234 | [
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] | [
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] | 30 | [
0,
0,
0
] | 53.099998 | 1,593 | 0 | 1,593 | 0 | |||
[
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30
] | [
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] | [
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] | place green block | move | 0.295388 | [
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18.46278953552246,
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30
] | [
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] | 30 | [
0,
0,
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] | 53.133335 | 1,594 | 0 | 1,594 | 0 | |||
[
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30
] | [
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] | [
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] | [
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] | place green block | move | 0.311524 | [
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23.128108978271484,
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30
] | [
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] | 30 | [
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] | 53.166668 | 1,595 | 0 | 1,595 | 0 | |||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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0
] | place green block | move | 0.32227 | [
2.1668498516082764,
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23.128108978271484,
18.46278953552246,
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30
] | [
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] | 30 | [
0,
0,
0
] | 53.200001 | 1,596 | 0 | 1,596 | 0 | |||
[
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30
] | [
1.8074027299880981,
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30
] | [
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] | 1 | [
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] | [
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0.23966948688030243,
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0
] | place green block | move | 0.32764 | [
2.1668498516082764,
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23.128108978271484,
18.46278953552246,
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30
] | [
0.3469657301902771,
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] | 30 | [
0,
0,
0
] | 53.233334 | 1,597 | 0 | 1,597 | 0 | |||
[
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30
] | [
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] | [
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3.0614302158355713,
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] | 1 | [
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] | [
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0.24017387628555298,
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0
] | place green block | move | 0.345542 | [
2.1668498516082764,
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23.128108978271484,
18.46278953552246,
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30
] | [
0.3469657301902771,
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3.0199530124664307,
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] | 30 | [
0,
0,
0
] | 53.266666 | 1,598 | 0 | 1,598 | 0 | |||
[
1.4192140102386475,
2.654867172241211,
24.535146713256836,
17.110919952392578,
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30
] | [
1.832308053970337,
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30
] | [
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3.0614302158355713,
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] | 1 | [
0.02761165425181389,
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0.23009711503982544,
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0
] | [
0.03341614827513695,
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0.3052321672439575,
0.24067728221416473,
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0
] | place green block | move | 0.357934 | [
2.1668498516082764,
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23.128108978271484,
18.46278953552246,
-0.3663003742694855,
30
] | [
0.3469657301902771,
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0.13734354078769684,
3.0199530124664307,
1.1047664880752563,
2.967496633529663
] | 30 | [
0,
0,
0
] | 53.299999 | 1,599 | 0 | 1,599 | 0 |
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