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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] | place green block | move | 0.358685 | [
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[
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] | place green block | move | 0.364075 | [
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] | place green block | move | 0.401748 | [
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] | 53.5 | 1,605 | 0 | 1,605 | 0 | |||
[
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] | place green block | move | 0.433741 | [
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] | 53.533333 | 1,606 | 0 | 1,606 | 0 | |||
[
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[
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[
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] | place green block | move | 0.546617 | [
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] | 53.666668 | 1,610 | 0 | 1,610 | 0 | |||
[
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] | place green block | move | 0.546617 | [
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[
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[
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[
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] | place green block | move | 0.546617 | [
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] | [
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] | 53.799999 | 1,614 | 0 | 1,614 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.546617 | [
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] | [
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] | 53.833332 | 1,615 | 0 | 1,615 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.546617 | [
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] | [
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] | 53.866665 | 1,616 | 0 | 1,616 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.546617 | [
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] | [
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] | 53.900002 | 1,617 | 0 | 1,617 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.546617 | [
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] | [
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] | 53.933334 | 1,618 | 0 | 1,618 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.546617 | [
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] | [
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] | 30 | [
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] | 53.966667 | 1,619 | 0 | 1,619 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.546617 | [
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] | [
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] | 54 | 1,620 | 0 | 1,620 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.546617 | [
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] | [
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] | 54.033333 | 1,621 | 0 | 1,621 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.546617 | [
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] | [
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] | 54.066666 | 1,622 | 0 | 1,622 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.551895 | [
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] | [
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] | 54.099998 | 1,623 | 0 | 1,623 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.588675 | [
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] | [
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] | 54.133335 | 1,624 | 0 | 1,624 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.619915 | [
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] | [
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] | 30 | [
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] | 54.166668 | 1,625 | 0 | 1,625 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.666114 | [
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] | [
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] | 54.200001 | 1,626 | 0 | 1,626 | 0 | |||
[
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] | [
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] | [
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] | [
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] | 54.233334 | 1,627 | 0 | 1,627 | 0 | |||
[
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] | [
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] | place green block | move | 0.725173 | [
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] | [
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] | 30 | [
0,
0,
0
] | 54.266666 | 1,628 | 0 | 1,628 | 0 | |||
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.2511774003505707,
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0
] | place green block | move | 0.74231 | [
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18.46278953552246,
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30
] | [
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] | 30 | [
0,
0,
0
] | 54.299999 | 1,629 | 0 | 1,629 | 0 | |||
[
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30
] | [
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30
] | [
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3.0424885749816895,
1.0294303894042969,
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] | 1 | [
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] | [
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0
] | place green block | move | 0.743321 | [
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18.46278953552246,
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30
] | [
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] | 30 | [
0,
0,
0
] | 54.333332 | 1,630 | 0 | 1,630 | 0 | |||
[
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30
] | [
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] | [
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0.11453244090080261,
3.0431711673736572,
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] | 1 | [
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] | [
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0
] | place green block | move | 0.744982 | [
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30
] | [
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] | 30 | [
0,
0,
0
] | 54.366665 | 1,631 | 0 | 1,631 | 0 | |||
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.2519221901893616,
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] | place green block | move | 0.745631 | [
2.1668498516082764,
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23.128108978271484,
18.46278953552246,
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30
] | [
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] | 30 | [
0,
0,
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] | 54.400002 | 1,632 | 0 | 1,632 | 0 | |||
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | place green block | move | 0.745631 | [
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30
] | [
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] | 30 | [
0,
0,
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] | 54.433334 | 1,633 | 0 | 1,633 | 0 | |||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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0.24697089195251465,
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0
] | initial state (pre-redetect) | move_initial | 0 | [
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72.75862121582031,
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] | [
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] | 0 | [
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] | 54.466667 | 1,634 | 0 | 1,634 | 0 | |||
[
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] | 1 | [
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] | [
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] | initial state (pre-redetect) | move_initial | 0 | [
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] | [
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] | 0 | [
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] | 54.5 | 1,635 | 0 | 1,635 | 0 | |||
[
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] | 1 | [
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] | [
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0
] | initial state (pre-redetect) | move_initial | 0 | [
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42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 54.533333 | 1,636 | 0 | 1,636 | 0 | |||
[
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] | 1 | [
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] | [
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0
] | initial state (pre-redetect) | move_initial | 0 | [
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42.141231536865234,
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] | [
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] | 0 | [
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] | 54.566666 | 1,637 | 0 | 1,637 | 0 | |||
[
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] | [
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] | 1 | [
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] | [
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0.2517576515674591,
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0
] | initial state (pre-redetect) | move_initial | 0 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
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] | 54.599998 | 1,638 | 0 | 1,638 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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0
] | initial state (pre-redetect) | move_initial | 0 | [
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] | [
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] | 0 | [
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] | 54.633335 | 1,639 | 0 | 1,639 | 0 | |||
[
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] | [
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] | 1 | [
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] | [
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0
] | initial state (pre-redetect) | move_initial | 0.000192 | [
2.2691292762756348,
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] | [
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] | 0 | [
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] | 54.666668 | 1,640 | 0 | 1,640 | 0 | |||
[
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] | [
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] | [
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3.045834541320801,
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] | 1 | [
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] | [
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0
] | initial state (pre-redetect) | move_initial | 0.001408 | [
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42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 54.700001 | 1,641 | 0 | 1,641 | 0 | |||
[
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] | [
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] | [
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1.0096172094345093,
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] | 1 | [
0.02761165425181389,
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] | [
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0
] | initial state (pre-redetect) | move_initial | 0.00269 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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0
] | [
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] | 0 | [
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] | 54.733334 | 1,642 | 0 | 1,642 | 0 | |||
[
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] | [
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] | [
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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] | initial state (pre-redetect) | move_initial | 0.583021 | [
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[
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] | initial state (pre-redetect) | move_initial | 0.600989 | [
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[
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] | initial state (pre-redetect) | move_initial | 0.617967 | [
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[
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] | initial state (pre-redetect) | move_initial | 0.632019 | [
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[
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] | initial state (pre-redetect) | move_initial | 0.647738 | [
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[
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] | initial state (pre-redetect) | move_initial | 0.664661 | [
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] | 56.433334 | 1,693 | 0 | 1,693 | 0 | |||
[
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] | initial state (pre-redetect) | move_initial | 0.681735 | [
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] | 56.466667 | 1,694 | 0 | 1,694 | 0 | |||
[
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] | initial state (pre-redetect) | move_initial | 0.700665 | [
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] | 56.5 | 1,695 | 0 | 1,695 | 0 | |||
[
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] | initial state (pre-redetect) | move_initial | 0.717654 | [
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] | [
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] | 0 | [
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] | 56.533333 | 1,696 | 0 | 1,696 | 0 | |||
[
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] | initial state (pre-redetect) | move_initial | 0.734956 | [
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] | [
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] | 0 | [
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] | 56.566666 | 1,697 | 0 | 1,697 | 0 | |||
[
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] | [
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] | 1 | [
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0
] | initial state (pre-redetect) | move_initial | 0.75114 | [
2.2691292762756348,
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72.75862121582031,
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] | [
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] | 0 | [
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] | 56.599998 | 1,698 | 0 | 1,698 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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0
] | initial state (pre-redetect) | move_initial | 0.765694 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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0
] | 56.633335 | 1,699 | 0 | 1,699 | 0 |
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