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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-100,
99.91019439697266,
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] | 91.900002 | 2,757 | 95 | 264,713 | 0 | |||
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] | forward home return (free/parking) | move_free | 0.089046 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | forward home return (free/parking) | move_free | 0.099265 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | forward home return (free/parking) | move_free | 0.109635 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 92 | 2,760 | 95 | 264,716 | 0 | |||
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] | forward home return (free/parking) | move_free | 0.121579 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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0.8025127053260803,
1.1688286066055298,
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0
] | forward home return (free/parking) | move_free | 0.134024 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 92.066666 | 2,762 | 95 | 264,718 | 0 | |||
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1.1652414798736572,
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0
] | forward home return (free/parking) | move_free | 0.14514 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 92.099998 | 2,763 | 95 | 264,719 | 0 | |||
[
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1.1615489721298218,
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0
] | forward home return (free/parking) | move_free | 0.156717 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 92.133331 | 2,764 | 95 | 264,720 | 0 | |||
[
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69.10922241210938,
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3.1016643047332764,
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0.8423725366592407,
1.157757043838501,
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0
] | forward home return (free/parking) | move_free | 0.170742 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 92.166664 | 2,765 | 95 | 264,721 | 0 | |||
[
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71.28116607666016,
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55.94171905517578,
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0.03910356014966965,
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0.8563562035560608,
1.1538728475570679,
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0
] | forward home return (free/parking) | move_free | 0.184153 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 92.199997 | 2,766 | 95 | 264,722 | 0 | |||
[
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71.0232162475586,
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2.2832648754119873,
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56.78871536254883,
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1.1498939990997314,
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0
] | forward home return (free/parking) | move_free | 0.197562 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 92.23333 | 2,767 | 95 | 264,723 | 0 | |||
[
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0.8852816224098206,
1.1458382606506348,
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0
] | forward home return (free/parking) | move_free | 0.211124 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 92.26667 | 2,768 | 95 | 264,724 | 0 | |||
[
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2.378366708755493,
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68.2093276977539,
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3.100464344024658,
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0.04108896106481552,
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0.900170624256134,
1.1417027711868286,
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0
] | forward home return (free/parking) | move_free | 0.225861 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 92.300003 | 2,769 | 95 | 264,725 | 0 | |||
[
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2.4273324012756348,
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59.43022155761719,
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0.04177699238061905,
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0.9153542518615723,
1.1374852657318115,
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0
] | forward home return (free/parking) | move_free | 0.240388 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
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3.0888450145721436,
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] | 92.333336 | 2,770 | 95 | 264,726 | 0 | |||
[
1.5283843278884888,
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2.477003335952759,
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0.18924406170845032,
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1.1734952926635742,
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0.042474932968616486,
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0.9307566285133362,
1.133207082748413,
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0
] | forward home return (free/parking) | move_free | 0.255377 | [
4.635108470916748,
-100,
99.91019439697266,
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4.635108470916748,
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99.91019439697266,
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] | forward home return (free/parking) | move_free | 0.302126 | [
4.635108470916748,
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99.91019439697266,
57.313941955566406,
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] | forward home return (free/parking) | move_free | 0.31752 | [
4.635108470916748,
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99.91019439697266,
57.313941955566406,
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] | forward home return (free/parking) | move_free | 0.333838 | [
4.635108470916748,
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99.91019439697266,
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] | forward home return (free/parking) | move_free | 0.352134 | [
4.635108470916748,
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99.91019439697266,
57.313941955566406,
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[
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] | forward home return (free/parking) | move_free | 0.367985 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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[
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1.0971214771270752,
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] | forward home return (free/parking) | move_free | 0.384553 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 92.633331 | 2,779 | 95 | 264,735 | 0 | |||
[
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0
] | forward home return (free/parking) | move_free | 0.40198 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 92.666664 | 2,780 | 95 | 264,736 | 0 | |||
[
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0
] | forward home return (free/parking) | move_free | 0.419404 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 92.699997 | 2,781 | 95 | 264,737 | 0 | |||
[
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1.0831104516983032,
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0
] | forward home return (free/parking) | move_free | 0.436912 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 92.73333 | 2,782 | 95 | 264,738 | 0 | |||
[
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3.112994909286499,
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1.1279693841934204,
1.0784283876419067,
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0
] | forward home return (free/parking) | move_free | 0.453959 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 92.76667 | 2,783 | 95 | 264,739 | 0 | |||
[
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3.167375087738037,
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1.073744535446167,
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0
] | forward home return (free/parking) | move_free | 0.472005 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 92.800003 | 2,784 | 95 | 264,740 | 0 | |||
[
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3.221647024154663,
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1.1616610288619995,
1.0690699815750122,
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0
] | forward home return (free/parking) | move_free | 0.487336 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 92.833336 | 2,785 | 95 | 264,741 | 0 | |||
[
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99.91019439697266,
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99.91019439697266,
57.313941955566406,
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[
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] | forward home return (free/parking) | move_free | 0.542832 | [
4.635108470916748,
-100,
99.91019439697266,
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] | forward home return (free/parking) | move_free | 0.560245 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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[
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] | forward home return (free/parking) | move_free | 0.577924 | [
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-100,
99.91019439697266,
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[
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] | forward home return (free/parking) | move_free | 0.594479 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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[
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] | forward home return (free/parking) | move_free | 0.613634 | [
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99.91019439697266,
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[
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] | forward home return (free/parking) | move_free | 0.631084 | [
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-100,
99.91019439697266,
57.313941955566406,
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[
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0
] | forward home return (free/parking) | move_free | 0.647052 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 93.133331 | 2,794 | 95 | 264,750 | 0 | |||
[
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1.0240757465362549,
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0
] | forward home return (free/parking) | move_free | 0.665875 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 93.166664 | 2,795 | 95 | 264,751 | 0 | |||
[
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0
] | forward home return (free/parking) | move_free | 0.684822 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 93.199997 | 2,796 | 95 | 264,752 | 0 | |||
[
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1.353639006614685,
1.0157454013824463,
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0
] | forward home return (free/parking) | move_free | 0.697574 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 93.23333 | 2,797 | 95 | 264,753 | 0 | |||
[
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1.3681974411010742,
1.0117015838623047,
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0
] | forward home return (free/parking) | move_free | 0.712275 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 93.26667 | 2,798 | 95 | 264,754 | 0 | |||
[
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1.3824751377105713,
1.0077357292175293,
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0
] | forward home return (free/parking) | move_free | 0.728625 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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99.91019439697266,
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] | forward home return (free/parking) | move_free | 0.758429 | [
4.635108470916748,
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99.91019439697266,
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] | forward home return (free/parking) | move_free | 0.775561 | [
4.635108470916748,
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99.91019439697266,
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] | forward home return (free/parking) | move_free | 0.790491 | [
4.635108470916748,
-100,
99.91019439697266,
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[
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0
] | forward home return (free/parking) | move_free | 0.804684 | [
4.635108470916748,
-100,
99.91019439697266,
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[
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0
] | forward home return (free/parking) | move_free | 0.816249 | [
4.635108470916748,
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99.91019439697266,
57.313941955566406,
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[
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0
] | forward home return (free/parking) | move_free | 0.831645 | [
4.635108470916748,
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99.91019439697266,
57.313941955566406,
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] | 93.533333 | 2,806 | 95 | 264,762 | 0 | |||
[
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3.0887999534606934,
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1.483534336090088,
0.9796649813652039,
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0
] | forward home return (free/parking) | move_free | 0.845765 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 93.566666 | 2,807 | 95 | 264,763 | 0 | |||
[
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1.4942935705184937,
0.9766765236854553,
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0
] | forward home return (free/parking) | move_free | 0.855629 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 93.599998 | 2,808 | 95 | 264,764 | 0 | |||
[
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94.27141571044922,
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1.5045933723449707,
0.9738156199455261,
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0
] | forward home return (free/parking) | move_free | 0.867739 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 93.633331 | 2,809 | 95 | 264,765 | 0 | |||
[
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3.0881454944610596,
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1.5144206285476685,
0.9710859060287476,
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0
] | forward home return (free/parking) | move_free | 0.878663 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 93.666664 | 2,810 | 95 | 264,766 | 0 | |||
[
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60.36113357543945,
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3.0879807472229004,
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0.06934637576341629,
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1.523762822151184,
0.9684910178184509,
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0
] | forward home return (free/parking) | move_free | 0.888022 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 93.699997 | 2,811 | 95 | 264,767 | 0 | |||
[
3.7117903232574463,
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95.92796325683594,
58.36252212524414,
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1.5326091051101685,
0.9660338163375854,
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0
] | forward home return (free/parking) | move_free | 0.89857 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 93.73333 | 2,812 | 95 | 264,768 | 0 | |||
[
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60.01719665527344,
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96.42184448242188,
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0.1791590005159378,
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3.0876498222351074,
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3.0015461444854736
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0.05982524901628494,
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0.9955535531044006,
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] | [
0.07012572139501572,
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1.5409616231918335,
0.9637137651443481,
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0
] | forward home return (free/parking) | move_free | 0.907411 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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0.18546296656131744,
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3.0888450145721436,
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] | 93.76667 | 2,813 | 95 | 264,769 | 0 | |||
[
3.930130958557129,
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99.91019439697266,
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] | 93.800003 | 2,814 | 95 | 264,770 | 0 | |||
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0
] | forward home return (free/parking) | move_free | 0.926657 | [
4.635108470916748,
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99.91019439697266,
57.313941955566406,
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[
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] | forward home return (free/parking) | move_free | 0.93358 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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[
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] | forward home return (free/parking) | move_free | 0.940759 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 93.900002 | 2,817 | 95 | 264,773 | 0 | |||
[
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0
] | forward home return (free/parking) | move_free | 0.946846 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 93.933334 | 2,818 | 95 | 264,774 | 0 | |||
[
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1.5798298120498657,
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0
] | forward home return (free/parking) | move_free | 0.952673 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 93.966667 | 2,819 | 95 | 264,775 | 0 | |||
[
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1.5843664407730103,
0.9516574740409851,
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0
] | forward home return (free/parking) | move_free | 0.955874 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 94 | 2,820 | 95 | 264,776 | 0 | |||
[
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99,
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3.0847606658935547,
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1.5845638513565063,
0.9505558013916016,
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0
] | forward home return (free/parking) | move_free | 0.958644 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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3.0888450145721436,
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] | 94.033333 | 2,821 | 95 | 264,777 | 0 | |||
[
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99,
57.442161560058594,
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3.084411382675171,
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] | [
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1.5845638513565063,
0.949614405632019,
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0
] | forward home return (free/parking) | move_free | 0.960007 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 94.066666 | 2,822 | 95 | 264,778 | 0 | |||
[
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99,
57.398380279541016,
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3.084059953689575,
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1.5845638513565063,
0.9488333463668823,
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0
] | forward home return (free/parking) | move_free | 0.961353 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 94.099998 | 2,823 | 95 | 264,779 | 0 | |||
[
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99,
57.36366653442383,
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] | [
0.07265432178974152,
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1.5845638513565063,
0.948214054107666,
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0
] | forward home return (free/parking) | move_free | 0.962364 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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0,
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] | 94.133331 | 2,824 | 95 | 264,780 | 0 | |||
[
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98.54875183105469,
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4.630121231079102,
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99,
57.33802032470703,
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0.18180638551712036,
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3.08388352394104,
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0.0644271969795227,
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0.9771457314491272,
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] | [
0.0727289617061615,
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1.5845638513565063,
0.9477564692497253,
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0
] | forward home return (free/parking) | move_free | 0.962364 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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0.18546296656131744,
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3.0888450145721436,
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] | 0.065361 | [
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] | 94.166664 | 2,825 | 95 | 264,781 | 0 | |||
[
4.03930139541626,
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4.633524417877197,
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99,
57.321590423583984,
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0.18180638551712036,
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3.08388352394104,
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0.0644271969795227,
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0.9771457314491272,
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] | [
0.07277677953243256,
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1.5845638513565063,
0.9474633932113647,
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0
] | forward home return (free/parking) | move_free | 0.962364 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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0.18546296656131744,
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3.0888450145721436,
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] | 0.065361 | [
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] | 94.199997 | 2,826 | 95 | 264,782 | 0 | |||
[
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98.54875183105469,
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4.635028839111328,
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99,
57.314327239990234,
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0.18180638551712036,
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0.04321199283003807,
3.08388352394104,
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0.0644271969795227,
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1.5769321918487549,
0.9771457314491272,
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] | [
0.07279791682958603,
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1.5845638513565063,
0.947333812713623,
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0
] | forward home return (free/parking) | move_free | 0.962364 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
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0.18546296656131744,
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3.0888450145721436,
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] | 0.065361 | [
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0,
0
] | 94.23333 | 2,827 | 95 | 264,783 | 0 | |||
[
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98.63945770263672,
58.64144515991211,
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4.03930139541626,
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98.63945770263672,
58.64144515991211,
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0
] | pick red block | gripper_open | 0.234289 | [
4.03930139541626,
-98.23008728027344,
98.63945770263672,
58.64144515991211,
-0.3174603283405304,
30
] | [
0.18235157430171967,
-0.009219172410666943,
0.043456364423036575,
3.0833511352539062,
0.7744717001914978,
2.9939966201782227
] | 30 | [
0,
0,
0
] | 0.466667 | 14 | 96 | 264,798 | 0 | |||
[
4.03930139541626,
-98.23008728027344,
98.63945770263672,
58.64144515991211,
-0.3174603283405304,
7.6784844398498535
] | [
4.03930139541626,
-98.23008728027344,
98.63945770263672,
58.64144515991211,
-0.3174603283405304,
7.6784844398498535
] | [
0.18235157430171967,
-0.009219172410666943,
0.043456364423036575,
3.0833511352539062,
0.7744717001914978,
2.9939966201782227
] | 1 | [
0.0644271969795227,
-1.7548739910125732,
1.5784662961959839,
0.9710098505020142,
-0.010737866163253784,
0
] | [
0.0644271969795227,
-1.7548739910125732,
1.5784662961959839,
0.9710098505020142,
-0.010737866163253784,
0
] | pick red block | gripper_open | 0.250996 | [
4.03930139541626,
-98.23008728027344,
98.63945770263672,
58.64144515991211,
-0.3174603283405304,
30
] | [
0.18235157430171967,
-0.009219172410666943,
0.043456364423036575,
3.0833511352539062,
0.7744717001914978,
2.9939966201782227
] | 30 | [
0,
0,
0
] | 0.5 | 15 | 96 | 264,799 | 0 |
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