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 blue block | move | 0.006895 | [
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] | [
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] | place blue block | move | 0.006895 | [
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] | [
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[
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] | [
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] | place blue block | move | 0.006895 | [
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] | [
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[
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] | [
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] | place blue block | move | 0.006895 | [
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] | [
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[
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] | [
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] | place blue block | move | 0.006895 | [
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] | [
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[
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] | [
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] | [
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] | place blue block | move | 0.006895 | [
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] | [
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] | 85.433334 | 2,563 | 95 | 264,519 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0.006895 | [
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] | [
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] | 85.466667 | 2,564 | 95 | 264,520 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0.006895 | [
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] | [
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[
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] | place blue block | move | 0.006895 | [
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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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] | 85.633331 | 2,569 | 95 | 264,525 | 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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] | 30 | [
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] | 85.73333 | 2,572 | 95 | 264,528 | 0 | |||
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] | place blue block | move | 0.006895 | [
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] | 85.76667 | 2,573 | 95 | 264,529 | 0 | |||
[
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] | [
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] | place blue block | move | 0.006895 | [
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] | [
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] | 85.800003 | 2,574 | 95 | 264,530 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0.006895 | [
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] | [
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] | 85.833336 | 2,575 | 95 | 264,531 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0.006895 | [
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] | [
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] | 85.866669 | 2,576 | 95 | 264,532 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0.018657 | [
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] | [
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] | 85.900002 | 2,577 | 95 | 264,533 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0.018657 | [
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] | [
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[
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] | [
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] | [
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] | [
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] | 85.966667 | 2,579 | 95 | 264,535 | 0 | |||
[
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] | [
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] | [
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] | [
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] | 86 | 2,580 | 95 | 264,536 | 0 | |||
[
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] | [
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] | [
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] | 86.033333 | 2,581 | 95 | 264,537 | 0 | |||
[
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] | [
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] | 86.066666 | 2,582 | 95 | 264,538 | 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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] | 86.133331 | 2,584 | 95 | 264,540 | 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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] | 30 | [
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0,
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] | 86.23333 | 2,587 | 95 | 264,543 | 0 | |||
[
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] | [
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] | place blue block | move | 0.018657 | [
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] | [
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] | 86.26667 | 2,588 | 95 | 264,544 | 0 | |||
[
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] | [
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] | place blue block | move | 0.018657 | [
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] | [
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] | 86.300003 | 2,589 | 95 | 264,545 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0.018657 | [
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] | [
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] | 86.333336 | 2,590 | 95 | 264,546 | 0 | |||
[
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] | [
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] | place blue block | move | 0.059597 | [
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] | [
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] | 86.366669 | 2,591 | 95 | 264,547 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0.105912 | [
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] | [
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] | 86.400002 | 2,592 | 95 | 264,548 | 0 | |||
[
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] | [
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] | place blue block | move | 0.15731 | [
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] | [
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] | 86.433334 | 2,593 | 95 | 264,549 | 0 | |||
[
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] | [
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] | place blue block | move | 0.217936 | [
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] | [
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] | 86.466667 | 2,594 | 95 | 264,550 | 0 | |||
[
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] | [
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] | place blue block | move | 0.255974 | [
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] | [
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] | 86.5 | 2,595 | 95 | 264,551 | 0 | |||
[
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] | [
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] | place blue block | move | 0.284003 | [
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] | [
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] | 86.533333 | 2,596 | 95 | 264,552 | 0 | |||
[
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] | [
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] | place blue block | move | 0.290712 | [
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] | [
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] | 86.566666 | 2,597 | 95 | 264,553 | 0 | |||
[
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] | [
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] | place blue block | move | 0.307522 | [
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] | [
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] | 86.599998 | 2,598 | 95 | 264,554 | 0 | |||
[
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] | [
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] | place blue block | move | 0.325427 | [
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] | [
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] | 86.633331 | 2,599 | 95 | 264,555 | 0 | |||
[
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] | [
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] | place blue block | move | 0.339972 | [
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] | [
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] | 86.666664 | 2,600 | 95 | 264,556 | 0 | |||
[
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] | place blue block | move | 0.360113 | [
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] | [
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] | 86.699997 | 2,601 | 95 | 264,557 | 0 | |||
[
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] | [
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[
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] | place blue block | move | 0.398826 | [
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] | [
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] | 86.76667 | 2,603 | 95 | 264,559 | 0 | |||
[
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] | [
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] | place blue block | move | 0.402376 | [
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] | [
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] | 86.800003 | 2,604 | 95 | 264,560 | 0 | |||
[
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] | [
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] | place blue block | move | 0.405866 | [
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] | [
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] | 86.833336 | 2,605 | 95 | 264,561 | 0 | |||
[
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] | [
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] | place blue block | move | 0.409297 | [
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] | [
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] | 86.866669 | 2,606 | 95 | 264,562 | 0 | |||
[
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] | [
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] | place blue block | move | 0.409297 | [
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] | [
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] | 86.900002 | 2,607 | 95 | 264,563 | 0 | |||
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] | [
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] | place blue block | move | 0.425911 | [
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] | [
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] | 86.933334 | 2,608 | 95 | 264,564 | 0 | |||
[
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] | [
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] | place blue block | move | 0.447795 | [
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] | [
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] | 86.966667 | 2,609 | 95 | 264,565 | 0 | |||
[
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] | [
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] | 87 | 2,610 | 95 | 264,566 | 0 | |||
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] | 87.033333 | 2,611 | 95 | 264,567 | 0 | |||
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] | [
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] | 87.133331 | 2,614 | 95 | 264,570 | 0 | |||
[
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] | [
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] | 87.166664 | 2,615 | 95 | 264,571 | 0 | |||
[
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] | place blue block | move | 0.593885 | [
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] | [
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] | 87.23333 | 2,617 | 95 | 264,573 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0.593885 | [
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] | [
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] | 87.26667 | 2,618 | 95 | 264,574 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0.593885 | [
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] | [
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] | 87.300003 | 2,619 | 95 | 264,575 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0.593885 | [
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] | [
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] | 87.333336 | 2,620 | 95 | 264,576 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0.59773 | [
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] | [
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] | 30 | [
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] | 87.366669 | 2,621 | 95 | 264,577 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0.601491 | [
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] | [
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] | 30 | [
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] | 87.400002 | 2,622 | 95 | 264,578 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0.601491 | [
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] | [
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] | 30 | [
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] | 87.433334 | 2,623 | 95 | 264,579 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0.601491 | [
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] | [
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] | 30 | [
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] | 87.466667 | 2,624 | 95 | 264,580 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0.601491 | [
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] | [
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] | 30 | [
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] | 87.5 | 2,625 | 95 | 264,581 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | place blue block | move | 0.601491 | [
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] | [
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] | 30 | [
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] | 87.533333 | 2,626 | 95 | 264,582 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0.601491 | [
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] | [
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] | 30 | [
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] | 87.566666 | 2,627 | 95 | 264,583 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | place blue block | move | 0.601491 | [
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] | [
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] | 30 | [
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] | 87.599998 | 2,628 | 95 | 264,584 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | place blue block | move | 0.601491 | [
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] | [
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] | 30 | [
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] | 87.633331 | 2,629 | 95 | 264,585 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place blue block | move | 0.601491 | [
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] | [
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] | 30 | [
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] | 87.666664 | 2,630 | 95 | 264,586 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | place blue block | move | 0.601491 | [
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] | [
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] | 30 | [
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] | 87.699997 | 2,631 | 95 | 264,587 | 0 | |||
[
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] | [
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] | [
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] | [
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0
] | place blue block | move | 0.601491 | [
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] | [
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] | 30 | [
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0,
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] | 87.73333 | 2,632 | 95 | 264,588 | 0 | |||
[
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] | [
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] | [
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] | [
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0
] | place blue block | move | 0.601491 | [
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] | [
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] | 30 | [
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0,
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] | 87.76667 | 2,633 | 95 | 264,589 | 0 | |||
[
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] | [
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] | [
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] | [
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0
] | place blue block | move | 0.601491 | [
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] | [
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] | 30 | [
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0,
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] | 87.800003 | 2,634 | 95 | 264,590 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | place blue block | move | 0.601491 | [
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] | [
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] | 30 | [
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0,
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] | 87.833336 | 2,635 | 95 | 264,591 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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0
] | place blue block | move | 0.601491 | [
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] | [
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] | 30 | [
0,
0,
0
] | 87.866669 | 2,636 | 95 | 264,592 | 0 | |||
[
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] | [
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30
] | [
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] | 1 | [
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] | [
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0
] | place blue block | move | 0.601491 | [
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] | [
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] | 30 | [
0,
0,
0
] | 87.900002 | 2,637 | 95 | 264,593 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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0
] | place blue block | move | 0.605168 | [
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22.63037872314453,
26.023813247680664,
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] | [
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] | 30 | [
0,
0,
0
] | 87.933334 | 2,638 | 95 | 264,594 | 0 | |||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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0.25081706047058105,
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0
] | place blue block | move | 0.615661 | [
2.0503249168395996,
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22.63037872314453,
26.023813247680664,
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] | [
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] | 30 | [
0,
0,
0
] | 87.966667 | 2,639 | 95 | 264,595 | 0 | |||
[
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26.483232498168945,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.2499956339597702,
0.3891870081424713,
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0
] | place blue block | move | 0.622185 | [
2.0503249168395996,
-19.142976760864258,
22.63037872314453,
26.023813247680664,
-0.3174603283405304,
30
] | [
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2.98816180229187,
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] | 30 | [
0,
0,
0
] | 88 | 2,640 | 95 | 264,596 | 0 | |||
[
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26.483232498168945,
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] | [
2.048809766769409,
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26.0248966217041,
-0.3174603283405304,
30
] | [
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0.1535978615283966,
3.0276236534118652,
1.0888125896453857,
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] | 1 | [
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] | [
0.036458272486925125,
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0.24916405975818634,
0.38912421464920044,
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0
] | place blue block | move | 0.671791 | [
2.0503249168395996,
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22.63037872314453,
26.023813247680664,
-0.3174603283405304,
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] | [
0.32920074462890625,
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2.98816180229187,
1.1995760202407837,
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] | 30 | [
0,
0,
0
] | 88.033333 | 2,641 | 95 | 264,597 | 0 | |||
[
1.5283843278884888,
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26.483232498168945,
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30
] | [
2.0503249168395996,
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20.023826599121094,
26.023813247680664,
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30
] | [
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3.024150848388672,
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] | 1 | [
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] | [
0.036479562520980835,
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0.24890784919261932,
0.3891048729419708,
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0
] | place blue block | move | 0.712316 | [
2.0503249168395996,
-19.142976760864258,
22.63037872314453,
26.023813247680664,
-0.3174603283405304,
30
] | [
0.32920074462890625,
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0.1818709671497345,
2.98816180229187,
1.1995760202407837,
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] | 30 | [
0,
0,
0
] | 88.066666 | 2,642 | 95 | 264,598 | 0 | |||
[
1.5283843278884888,
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26.483232498168945,
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30
] | [
2.0503249168395996,
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20.023826599121094,
26.023813247680664,
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30
] | [
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3.019094944000244,
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] | 1 | [
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0.3267379105091095,
0.3973010182380676,
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0
] | [
0.036479562520980835,
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0.24890784919261932,
0.3891048729419708,
-0.010737866163253784,
0
] | place blue block | move | 0.764989 | [
2.0503249168395996,
-19.142976760864258,
22.63037872314453,
26.023813247680664,
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30
] | [
0.32920074462890625,
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0.1818709671497345,
2.98816180229187,
1.1995760202407837,
2.9406731128692627
] | 30 | [
0,
0,
0
] | 88.099998 | 2,643 | 95 | 264,599 | 0 |
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