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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] | release object on green block | gripper_open | 0.889601 | [
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] | release object on green block | gripper_open | 0.912611 | [
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] | release object on green block | gripper_open | 0.935611 | [
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] | release object on green block | gripper_open | 0.981346 | [
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] | [
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] | place green block | move | 0.002263 | [
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] | 55.099998 | 1,653 | 95 | 263,609 | 0 | |||
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] | 55.133335 | 1,654 | 95 | 263,610 | 0 | |||
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] | 55.200001 | 1,656 | 95 | 263,612 | 0 | |||
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] | 55.233334 | 1,657 | 95 | 263,613 | 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
] | 55.266666 | 1,658 | 95 | 263,614 | 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
] | 55.299999 | 1,659 | 95 | 263,615 | 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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] | 55.333332 | 1,660 | 95 | 263,616 | 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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] | 55.366665 | 1,661 | 95 | 263,617 | 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
] | 55.400002 | 1,662 | 95 | 263,618 | 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
] | 55.433334 | 1,663 | 95 | 263,619 | 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
] | 55.466667 | 1,664 | 95 | 263,620 | 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
] | 55.5 | 1,665 | 95 | 263,621 | 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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] | 55.533333 | 1,666 | 95 | 263,622 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.002812 | [
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] | [
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] | 30 | [
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] | 55.566666 | 1,667 | 95 | 263,623 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.006646 | [
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] | [
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] | 30 | [
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] | 55.599998 | 1,668 | 95 | 263,624 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.006646 | [
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] | [
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] | 30 | [
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] | 55.633335 | 1,669 | 95 | 263,625 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.006646 | [
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] | [
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] | 30 | [
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] | 55.666668 | 1,670 | 95 | 263,626 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.006646 | [
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] | [
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] | 30 | [
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] | 55.700001 | 1,671 | 95 | 263,627 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.006646 | [
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] | [
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] | 30 | [
0,
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] | 55.733334 | 1,672 | 95 | 263,628 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.014311 | [
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] | [
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0,
0
] | 55.766666 | 1,673 | 95 | 263,629 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.014311 | [
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] | [
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] | 30 | [
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0,
0
] | 55.799999 | 1,674 | 95 | 263,630 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.014311 | [
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] | [
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] | 30 | [
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0,
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] | 55.833332 | 1,675 | 95 | 263,631 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.014311 | [
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] | [
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] | 30 | [
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] | 55.866665 | 1,676 | 95 | 263,632 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.014311 | [
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] | [
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] | 30 | [
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] | 55.900002 | 1,677 | 95 | 263,633 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.033455 | [
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] | [
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] | 30 | [
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] | 55.933334 | 1,678 | 95 | 263,634 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.056389 | [
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] | [
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] | 30 | [
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0,
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] | 55.966667 | 1,679 | 95 | 263,635 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.083091 | [
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] | [
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] | 30 | [
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] | 56 | 1,680 | 95 | 263,636 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.102123 | [
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] | [
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] | 30 | [
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0,
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] | 56.033333 | 1,681 | 95 | 263,637 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.121121 | [
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] | [
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] | 30 | [
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] | 56.066666 | 1,682 | 95 | 263,638 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.137535 | [
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] | [
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] | 30 | [
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] | 56.099998 | 1,683 | 95 | 263,639 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | place green block | move | 0.152703 | [
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] | [
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] | 30 | [
0,
0,
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] | 56.133335 | 1,684 | 95 | 263,640 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.167845 | [
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] | [
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] | 30 | [
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] | 56.166668 | 1,685 | 95 | 263,641 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.179183 | [
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] | [
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] | 30 | [
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] | 56.200001 | 1,686 | 95 | 263,642 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.194276 | [
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] | [
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] | 56.233334 | 1,687 | 95 | 263,643 | 0 | |||
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] | [
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] | place green block | move | 0.213098 | [
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] | [
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] | 56.266666 | 1,688 | 95 | 263,644 | 0 | |||
[
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] | [
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] | place green block | move | 0.224368 | [
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] | [
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] | 56.299999 | 1,689 | 95 | 263,645 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.243108 | [
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] | [
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] | 56.333332 | 1,690 | 95 | 263,646 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.243108 | [
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] | [
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] | 56.366665 | 1,691 | 95 | 263,647 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.243108 | [
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] | [
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] | 56.400002 | 1,692 | 95 | 263,648 | 0 | |||
[
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] | [
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] | place green block | move | 0.243108 | [
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] | [
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] | 30 | [
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] | 56.433334 | 1,693 | 95 | 263,649 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.250588 | [
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] | [
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] | 30 | [
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] | 56.466667 | 1,694 | 95 | 263,650 | 0 | |||
[
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] | [
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] | [
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] | 56.5 | 1,695 | 95 | 263,651 | 0 | |||
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] | place green block | move | 0.310064 | [
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] | [
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] | 56.533333 | 1,696 | 95 | 263,652 | 0 | |||
[
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] | [
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] | [
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] | 56.566666 | 1,697 | 95 | 263,653 | 0 | |||
[
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] | [
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] | place green block | move | 0.354173 | [
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] | [
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] | 56.599998 | 1,698 | 95 | 263,654 | 0 | |||
[
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] | [
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] | [
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] | 30 | [
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] | 56.633335 | 1,699 | 95 | 263,655 | 0 | |||
[
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] | [
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] | [
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] | 30 | [
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] | 56.666668 | 1,700 | 95 | 263,656 | 0 | |||
[
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] | [
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] | 56.700001 | 1,701 | 95 | 263,657 | 0 | |||
[
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] | place green block | move | 0.419301 | [
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] | [
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] | 56.733334 | 1,702 | 95 | 263,658 | 0 | |||
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] | place green block | move | 0.437274 | [
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] | [
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] | 56.766666 | 1,703 | 95 | 263,659 | 0 | |||
[
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] | place green block | move | 0.45696 | [
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] | [
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] | 56.799999 | 1,704 | 95 | 263,660 | 0 | |||
[
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] | [
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] | place green block | move | 0.487222 | [
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] | [
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] | 56.833332 | 1,705 | 95 | 263,661 | 0 | |||
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] | [
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] | place green block | move | 0.515686 | [
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] | [
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] | 56.866665 | 1,706 | 95 | 263,662 | 0 | |||
[
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] | place green block | move | 0.533559 | [
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] | [
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] | 56.900002 | 1,707 | 95 | 263,663 | 0 | |||
[
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] | [
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] | place green block | move | 0.555537 | [
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] | [
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] | 56.933334 | 1,708 | 95 | 263,664 | 0 | |||
[
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] | [
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] | place green block | move | 0.559181 | [
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] | [
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] | 56.966667 | 1,709 | 95 | 263,665 | 0 | |||
[
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] | [
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] | place green block | move | 0.577316 | [
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] | 57 | 1,710 | 95 | 263,666 | 0 | |||
[
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] | [
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] | place green block | move | 0.595292 | [
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] | [
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] | 57.033333 | 1,711 | 95 | 263,667 | 0 | |||
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] | [
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] | place green block | move | 0.613086 | [
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] | [
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] | 30 | [
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] | 57.066666 | 1,712 | 95 | 263,668 | 0 | |||
[
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] | place green block | move | 0.627174 | [
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] | [
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] | 57.099998 | 1,713 | 95 | 263,669 | 0 | |||
[
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] | [
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] | place green block | move | 0.640023 | [
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] | [
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] | 30 | [
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] | 57.133335 | 1,714 | 95 | 263,670 | 0 | |||
[
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] | place green block | move | 0.64356 | [
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] | [
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] | 30 | [
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] | 57.166668 | 1,715 | 95 | 263,671 | 0 | |||
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] | place green block | move | 0.659585 | [
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] | [
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] | 30 | [
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] | 57.200001 | 1,716 | 95 | 263,672 | 0 | |||
[
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] | [
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] | place green block | move | 0.67207 | [
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] | place green block | move | 0.716352 | [
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] | place green block | move | 0.716352 | [
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] | place green block | move | 0.716352 | [
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] | 57.5 | 1,725 | 95 | 263,681 | 0 | |||
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] | 57.566666 | 1,727 | 95 | 263,683 | 0 | |||
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] | 57.599998 | 1,728 | 95 | 263,684 | 0 | |||
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] | 57.633335 | 1,729 | 95 | 263,685 | 0 | |||
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] | 57.666668 | 1,730 | 95 | 263,686 | 0 | |||
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] | 57.700001 | 1,731 | 95 | 263,687 | 0 | |||
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] | place green block | move | 0.716352 | [
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] | [
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0,
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] | 57.733334 | 1,732 | 95 | 263,688 | 0 | |||
[
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] | [
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] | place green block | move | 0.716352 | [
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] | 57.766666 | 1,733 | 95 | 263,689 | 0 | |||
[
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] | place green block | move | 0.716352 | [
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] | 57.799999 | 1,734 | 95 | 263,690 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.716352 | [
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] | [
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] | 30 | [
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0,
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] | 57.833332 | 1,735 | 95 | 263,691 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.716352 | [
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] | [
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] | 30 | [
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0,
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] | 57.866665 | 1,736 | 95 | 263,692 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.716352 | [
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] | [
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] | 30 | [
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0,
0
] | 57.900002 | 1,737 | 95 | 263,693 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.740069 | [
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] | [
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] | 30 | [
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] | 57.933334 | 1,738 | 95 | 263,694 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | place green block | move | 0.76858 | [
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] | [
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] | 30 | [
0,
0,
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] | 57.966667 | 1,739 | 95 | 263,695 | 0 | |||
[
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] | [
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] | [
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] | [
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0
] | place green block | move | 0.804447 | [
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30.031322479248047,
16.672531127929688,
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] | [
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] | 30 | [
0,
0,
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] | 58 | 1,740 | 95 | 263,696 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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0
] | place green block | move | 0.845001 | [
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30.031322479248047,
16.672531127929688,
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] | [
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] | 30 | [
0,
0,
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] | 58.033333 | 1,741 | 95 | 263,697 | 0 | |||
[
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] | [
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] | [
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] | [
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0
] | place green block | move | 0.865028 | [
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30.031322479248047,
16.672531127929688,
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30
] | [
0.32824307680130005,
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] | 30 | [
0,
0,
0
] | 58.066666 | 1,742 | 95 | 263,698 | 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
] | place green block | move | 0.88139 | [
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30.031322479248047,
16.672531127929688,
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30
] | [
0.32824307680130005,
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0.1843716949224472,
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1.2923200130462646,
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] | 30 | [
0,
0,
0
] | 58.099998 | 1,743 | 95 | 263,699 | 0 |
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