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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] | 80.433334 | 2,413 | 0 | 2,413 | 0 | |||
[
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] | place blue block | move | 0 | [
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0,
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] | 80.466667 | 2,414 | 0 | 2,414 | 0 | |||
[
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] | place blue block | move | 0 | [
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] | [
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0,
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] | 80.5 | 2,415 | 0 | 2,415 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 30 | [
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0,
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] | 80.533333 | 2,416 | 0 | 2,416 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 80.566666 | 2,417 | 0 | 2,417 | 0 | |||
[
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 80.599998 | 2,418 | 0 | 2,418 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 80.633331 | 2,419 | 0 | 2,419 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 80.666664 | 2,420 | 0 | 2,420 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 80.699997 | 2,421 | 0 | 2,421 | 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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] | 80.76667 | 2,423 | 0 | 2,423 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 80.800003 | 2,424 | 0 | 2,424 | 0 | |||
[
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] | [
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] | [
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] | [
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] | 80.833336 | 2,425 | 0 | 2,425 | 0 | |||
[
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] | [
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] | [
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] | [
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] | 80.866669 | 2,426 | 0 | 2,426 | 0 | |||
[
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] | [
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] | [
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] | 80.900002 | 2,427 | 0 | 2,427 | 0 | |||
[
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 30 | [
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0,
0
] | 80.933334 | 2,428 | 0 | 2,428 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 30 | [
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0,
0
] | 80.966667 | 2,429 | 0 | 2,429 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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0,
0
] | 81 | 2,430 | 0 | 2,430 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 30 | [
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0,
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] | 81.033333 | 2,431 | 0 | 2,431 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 30 | [
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0,
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] | 81.066666 | 2,432 | 0 | 2,432 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 30 | [
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0,
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] | 81.099998 | 2,433 | 0 | 2,433 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 30 | [
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] | 81.133331 | 2,434 | 0 | 2,434 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 30 | [
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0,
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] | 81.166664 | 2,435 | 0 | 2,435 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 81.199997 | 2,436 | 0 | 2,436 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 30 | [
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] | 81.23333 | 2,437 | 0 | 2,437 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 30 | [
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] | 81.26667 | 2,438 | 0 | 2,438 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 30 | [
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0,
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] | 81.300003 | 2,439 | 0 | 2,439 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 30 | [
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] | 81.333336 | 2,440 | 0 | 2,440 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 30 | [
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] | 81.366669 | 2,441 | 0 | 2,441 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 30 | [
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0,
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] | 81.400002 | 2,442 | 0 | 2,442 | 0 | |||
[
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] | [
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] | 1 | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 30 | [
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0,
0
] | 81.433334 | 2,443 | 0 | 2,443 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 30 | [
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0,
0
] | 81.466667 | 2,444 | 0 | 2,444 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 30 | [
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0,
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] | 81.5 | 2,445 | 0 | 2,445 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 81.533333 | 2,446 | 0 | 2,446 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 81.566666 | 2,447 | 0 | 2,447 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0.03148 | [
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] | [
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] | 81.599998 | 2,448 | 0 | 2,448 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0.043241 | [
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] | [
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] | 81.633331 | 2,449 | 0 | 2,449 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0.066717 | [
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] | [
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] | 30 | [
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] | 81.666664 | 2,450 | 0 | 2,450 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0.090126 | [
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] | [
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] | 81.699997 | 2,451 | 0 | 2,451 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0.090126 | [
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] | [
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] | 30 | [
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] | 81.73333 | 2,452 | 0 | 2,452 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0.101804 | [
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] | [
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] | 81.76667 | 2,453 | 0 | 2,453 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0.101804 | [
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] | [
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] | 30 | [
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] | 81.800003 | 2,454 | 0 | 2,454 | 0 | |||
[
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30
] | [
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] | [
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] | place blue block | move | 0.101804 | [
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] | [
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] | 30 | [
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] | 81.833336 | 2,455 | 0 | 2,455 | 0 | |||
[
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] | [
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] | place blue block | move | 0.101804 | [
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] | [
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] | 30 | [
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] | 81.866669 | 2,456 | 0 | 2,456 | 0 | |||
[
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] | [
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] | place blue block | move | 0.101804 | [
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] | [
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] | 30 | [
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] | 81.900002 | 2,457 | 0 | 2,457 | 0 | |||
[
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] | place blue block | move | 0.101804 | [
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[
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] | place blue block | move | 0.101804 | [
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] | place blue block | move | 0.101804 | [
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] | 82 | 2,460 | 0 | 2,460 | 0 | |||
[
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] | place blue block | move | 0.125104 | [
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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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] | place blue block | move | 0.341248 | [
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] | [
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0,
0
] | 82.400002 | 2,472 | 0 | 2,472 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0.341248 | [
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] | [
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0,
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] | 82.433334 | 2,473 | 0 | 2,473 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0.341248 | [
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] | [
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] | 30 | [
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] | 82.466667 | 2,474 | 0 | 2,474 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0.341248 | [
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] | [
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] | 82.5 | 2,475 | 0 | 2,475 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0.341248 | [
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] | [
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] | 82.533333 | 2,476 | 0 | 2,476 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0.341248 | [
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] | [
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] | 30 | [
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] | 82.566666 | 2,477 | 0 | 2,477 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0.341248 | [
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] | [
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] | 82.599998 | 2,478 | 0 | 2,478 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0.341248 | [
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] | [
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] | 30 | [
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] | 82.633331 | 2,479 | 0 | 2,479 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0.341248 | [
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] | [
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] | 82.666664 | 2,480 | 0 | 2,480 | 0 | |||
[
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] | [
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] | place blue block | move | 0.37414 | [
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] | [
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] | 82.699997 | 2,481 | 0 | 2,481 | 0 | |||
[
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] | [
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] | place blue block | move | 0.406536 | [
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] | [
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] | 82.73333 | 2,482 | 0 | 2,482 | 0 | |||
[
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] | [
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] | place blue block | move | 0.459188 | [
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] | [
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] | 82.76667 | 2,483 | 0 | 2,483 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0.499797 | [
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] | [
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] | 82.800003 | 2,484 | 0 | 2,484 | 0 | |||
[
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] | [
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] | place blue block | move | 0.529143 | [
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] | [
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] | 30 | [
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] | 82.833336 | 2,485 | 0 | 2,485 | 0 | |||
[
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] | [
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] | place blue block | move | 0.548074 | [
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] | [
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] | 82.866669 | 2,486 | 0 | 2,486 | 0 | |||
[
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] | [
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] | place blue block | move | 0.557326 | [
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[
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] | place blue block | move | 0.557326 | [
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[
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] | place blue block | move | 0.557326 | [
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[
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] | forward home return (initial) | move_initial | 0 | [
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] | 83 | 2,490 | 0 | 2,490 | 0 | |||
[
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] | forward home return (initial) | move_initial | 0 | [
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] | 83.033333 | 2,491 | 0 | 2,491 | 0 | |||
[
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] | forward home return (initial) | move_initial | 0 | [
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] | 83.066666 | 2,492 | 0 | 2,492 | 0 | |||
[
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] | forward home return (initial) | move_initial | 0 | [
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] | 83.099998 | 2,493 | 0 | 2,493 | 0 | |||
[
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] | forward home return (initial) | move_initial | 0 | [
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] | [
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] | 83.133331 | 2,494 | 0 | 2,494 | 0 | |||
[
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] | forward home return (initial) | move_initial | 0 | [
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] | 83.166664 | 2,495 | 0 | 2,495 | 0 | |||
[
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] | 1 | [
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] | forward home return (initial) | move_initial | 0 | [
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] | [
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] | 0 | [
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] | 83.199997 | 2,496 | 0 | 2,496 | 0 | |||
[
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] | [
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0
] | forward home return (initial) | move_initial | 0.000319 | [
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] | [
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] | 0 | [
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] | 83.23333 | 2,497 | 0 | 2,497 | 0 | |||
[
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] | [
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3.0407512187957764,
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] | forward home return (initial) | move_initial | 0.00155 | [
2.2691292762756348,
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] | [
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] | 0 | [
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] | 83.26667 | 2,498 | 0 | 2,498 | 0 | |||
[
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] | [
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0
] | forward home return (initial) | move_initial | 0.002247 | [
2.2691292762756348,
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72.75862121582031,
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] | [
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] | 0 | [
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0
] | 83.300003 | 2,499 | 0 | 2,499 | 0 |
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