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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[
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[
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[
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[
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] | free state (clear view for redetect) | move_free | 0.017108 | [
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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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] | free state (clear view for redetect) | move_free | 0.327206 | [
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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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] | free state (clear view for redetect) | move_free | 0.797942 | [
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[
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] | free state (clear view for redetect) | move_free | 0.811033 | [
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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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1.5833003520965576,
0.9522714614868164,
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0
] | free state (clear view for redetect) | move_free | 0.953326 | [
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-100,
99.91019439697266,
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] | 0.065361 | [
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0,
0
] | 30.933332 | 928 | 95 | 262,884 | 0 | |||
[
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] | 1 | [
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] | [
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0
] | free state (clear view for redetect) | move_free | 0.955453 | [
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-100,
99.91019439697266,
57.313941955566406,
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] | 0.065361 | [
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0,
0
] | 30.966667 | 929 | 95 | 262,885 | 0 | |||
[
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] | 1 | [
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] | [
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0
] | free state (clear view for redetect) | move_free | 0.956106 | [
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-100,
99.91019439697266,
57.313941955566406,
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] | [
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3.0888450145721436,
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] | 0.065361 | [
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0,
0
] | 31 | 930 | 95 | 262,886 | 0 | |||
[
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] | [
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99,
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] | [
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3.0847606658935547,
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] | 1 | [
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0
] | [
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1.5845638513565063,
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0
] | free state (clear view for redetect) | move_free | 0.956738 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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0.06536102294921875
] | [
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] | 0.065361 | [
0,
0,
0
] | 31.033333 | 931 | 95 | 262,887 | 0 | |||
[
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] | [
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] | 1 | [
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] | [
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0
] | free state (clear view for redetect) | move_free | 0.956738 | [
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-100,
99.91019439697266,
57.313941955566406,
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0.06536102294921875
] | [
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] | 0.065361 | [
0,
0,
0
] | 31.066668 | 932 | 95 | 262,888 | 0 | |||
[
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] | [
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] | [
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3.0847606658935547,
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] | 1 | [
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0
] | [
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0
] | free state (clear view for redetect) | move_free | 0.956738 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | [
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] | 0.065361 | [
0,
0,
0
] | 31.1 | 933 | 95 | 262,889 | 0 | |||
[
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] | [
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] | [
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3.0847606658935547,
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] | 1 | [
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0
] | [
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1.5845638513565063,
0.9475827217102051,
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0
] | free state (clear view for redetect) | move_free | 0.956738 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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0.06536102294921875
] | [
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3.0888450145721436,
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] | 0.065361 | [
0,
0,
0
] | 31.133333 | 934 | 95 | 262,890 | 0 | |||
[
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98.54875183105469,
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] | [
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99,
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] | [
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3.0845861434936523,
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] | 1 | [
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0.9756118059158325,
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0
] | [
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1.5845638513565063,
0.9473745822906494,
-0.0015356106450781226,
0
] | free state (clear view for redetect) | move_free | 0.957346 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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0.06536102294921875
] | [
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3.0888450145721436,
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] | 0.065361 | [
0,
0,
0
] | 31.166666 | 935 | 95 | 262,891 | 0 | |||
[
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98.63945770263672,
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] | [
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] | [
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3.084235906600952,
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] | 1 | [
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0
] | [
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1.5784662961959839,
0.9710098505020142,
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0
] | pick green block | gripper_open | 0 | [
3.930130958557129,
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98.63945770263672,
58.64144515991211,
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30
] | [
0.18180231750011444,
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3.084235906600952,
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] | 30 | [
0,
0,
0
] | 31.200001 | 936 | 95 | 262,892 | 0 | |||
[
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98.63945770263672,
58.64144515991211,
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] | [
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] | [
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0.042588651180267334,
3.084235906600952,
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] | 1 | [
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0
] | [
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0.9710098505020142,
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0
] | pick green block | gripper_open | 0.012321 | [
3.930130958557129,
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98.63945770263672,
58.64144515991211,
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30
] | [
0.18180231750011444,
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] | 30 | [
0,
0,
0
] | 31.233334 | 937 | 95 | 262,893 | 0 | |||
[
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] | [
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] | [
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3.084235906600952,
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] | 1 | [
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0
] | [
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0.9710098505020142,
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0
] | pick green block | gripper_open | 0.029099 | [
3.930130958557129,
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98.63945770263672,
58.64144515991211,
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30
] | [
0.18180231750011444,
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] | 30 | [
0,
0,
0
] | 31.266666 | 938 | 95 | 262,894 | 0 | |||
[
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1.5663058757781982
] | [
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] | [
0.18180231750011444,
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3.084235906600952,
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] | 1 | [
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0
] | [
0.06289321184158325,
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1.5784662961959839,
0.9710098505020142,
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0
] | pick green block | gripper_open | 0.0459 | [
3.930130958557129,
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98.63945770263672,
58.64144515991211,
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30
] | [
0.18180231750011444,
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] | 30 | [
0,
0,
0
] | 31.299999 | 939 | 95 | 262,895 | 0 | |||
[
3.930130958557129,
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98.63945770263672,
58.64144515991211,
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2.0662081241607666
] | [
3.930130958557129,
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98.63945770263672,
58.64144515991211,
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2.0662081241607666
] | [
0.18180231750011444,
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0.042588651180267334,
3.084235906600952,
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] | 1 | [
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0.9710098505020142,
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0
] | [
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1.5784662961959839,
0.9710098505020142,
-0.010737866163253784,
0
] | pick green block | gripper_open | 0.062674 | [
3.930130958557129,
-97.80867767333984,
98.63945770263672,
58.64144515991211,
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30
] | [
0.18180231750011444,
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3.084235906600952,
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] | 30 | [
0,
0,
0
] | 31.333334 | 940 | 95 | 262,896 | 0 | |||
[
3.930130958557129,
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98.63945770263672,
58.64144515991211,
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2.5662317276000977
] | [
3.930130958557129,
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98.63945770263672,
58.64144515991211,
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2.5662317276000977
] | [
0.18180231750011444,
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0.042588651180267334,
3.084235906600952,
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] | 1 | [
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0
] | [
0.06289321184158325,
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1.5784662961959839,
0.9710098505020142,
-0.010737866163253784,
0
] | pick green block | gripper_open | 0.079453 | [
3.930130958557129,
-97.80867767333984,
98.63945770263672,
58.64144515991211,
-0.3174603283405304,
30
] | [
0.18180231750011444,
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] | 30 | [
0,
0,
0
] | 31.366667 | 941 | 95 | 262,897 | 0 | |||
[
3.930130958557129,
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98.63945770263672,
58.64144515991211,
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3.0668582916259766
] | [
3.930130958557129,
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98.63945770263672,
58.64144515991211,
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3.0668582916259766
] | [
0.18180231750011444,
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0.042588651180267334,
3.084235906600952,
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] | 1 | [
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1.5784662961959839,
0.9710098505020142,
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0
] | [
0.06289321184158325,
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1.5784662961959839,
0.9710098505020142,
-0.010737866163253784,
0
] | pick green block | gripper_open | 0.096251 | [
3.930130958557129,
-97.80867767333984,
98.63945770263672,
58.64144515991211,
-0.3174603283405304,
30
] | [
0.18180231750011444,
-0.008963542059063911,
0.042588651180267334,
3.084235906600952,
0.7668280601501465,
2.9961471557617188
] | 30 | [
0,
0,
0
] | 31.4 | 942 | 95 | 262,898 | 0 | |||
[
3.930130958557129,
-97.80867767333984,
98.63945770263672,
58.64144515991211,
-0.3174603283405304,
3.56669282913208
] | [
3.930130958557129,
-97.80867767333984,
98.63945770263672,
58.64144515991211,
-0.3174603283405304,
3.56669282913208
] | [
0.18180231750011444,
-0.008963542059063911,
0.042588651180267334,
3.084235906600952,
0.7668280601501465,
2.9961471557617188
] | 1 | [
0.06289321184158325,
-1.747204065322876,
1.5784662961959839,
0.9710098505020142,
-0.010737866163253784,
0
] | [
0.06289321184158325,
-1.747204065322876,
1.5784662961959839,
0.9710098505020142,
-0.010737866163253784,
0
] | pick green block | gripper_open | 0.113024 | [
3.930130958557129,
-97.80867767333984,
98.63945770263672,
58.64144515991211,
-0.3174603283405304,
30
] | [
0.18180231750011444,
-0.008963542059063911,
0.042588651180267334,
3.084235906600952,
0.7668280601501465,
2.9961471557617188
] | 30 | [
0,
0,
0
] | 31.433332 | 943 | 95 | 262,899 | 0 |
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