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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] | place green block | move | 0.01186 | [
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] | place green block | move | 0.01186 | [
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[
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] | place green block | move | 0.01186 | [
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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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] | 47.966667 | 1,439 | 96 | 266,223 | 0 | |||
[
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[
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] | 48.033333 | 1,441 | 96 | 266,225 | 0 | |||
[
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[
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] | 48.099998 | 1,443 | 96 | 266,227 | 0 | |||
[
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] | place green block | move | 0.039826 | [
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] | 48.133335 | 1,444 | 96 | 266,228 | 0 | |||
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] | place green block | move | 0.045977 | [
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] | 48.166668 | 1,445 | 96 | 266,229 | 0 | |||
[
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] | place green block | move | 0.054175 | [
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] | 48.200001 | 1,446 | 96 | 266,230 | 0 | |||
[
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] | place green block | move | 0.062368 | [
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] | 48.233334 | 1,447 | 96 | 266,231 | 0 | |||
[
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] | place green block | move | 0.070556 | [
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[
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] | place green block | move | 0.079348 | [
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] | 48.299999 | 1,449 | 96 | 266,233 | 0 | |||
[
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] | place green block | move | 0.087533 | [
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] | 48.333332 | 1,450 | 96 | 266,234 | 0 | |||
[
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] | place green block | move | 0.097757 | [
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] | 48.366665 | 1,451 | 96 | 266,235 | 0 | |||
[
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] | place green block | move | 0.10593 | [
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] | 48.400002 | 1,452 | 96 | 266,236 | 0 | |||
[
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] | place green block | move | 0.116717 | [
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] | 48.433334 | 1,453 | 96 | 266,237 | 0 | |||
[
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] | place green block | move | 0.130368 | [
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] | 48.466667 | 1,454 | 96 | 266,238 | 0 | |||
[
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] | 48.5 | 1,455 | 96 | 266,239 | 0 | |||
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] | 48.533333 | 1,456 | 96 | 266,240 | 0 | |||
[
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] | 48.566666 | 1,457 | 96 | 266,241 | 0 | |||
[
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] | 48.599998 | 1,458 | 96 | 266,242 | 0 | |||
[
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] | place green block | move | 0.192965 | [
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] | 48.633335 | 1,459 | 96 | 266,243 | 0 | |||
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] | place green block | move | 0.20521 | [
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] | 48.666668 | 1,460 | 96 | 266,244 | 0 | |||
[
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] | place green block | move | 0.217441 | [
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] | 48.700001 | 1,461 | 96 | 266,245 | 0 | |||
[
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] | place green block | move | 0.232052 | [
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] | 48.733334 | 1,462 | 96 | 266,246 | 0 | |||
[
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] | place green block | move | 0.245684 | [
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] | 48.766666 | 1,463 | 96 | 266,247 | 0 | |||
[
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] | place green block | move | 0.260901 | [
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] | 48.799999 | 1,464 | 96 | 266,248 | 0 | |||
[
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] | place green block | move | 0.276026 | [
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] | 48.833332 | 1,465 | 96 | 266,249 | 0 | |||
[
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] | place green block | move | 0.291038 | [
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] | 48.866665 | 1,466 | 96 | 266,250 | 0 | |||
[
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] | place green block | move | 0.30626 | [
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] | 48.900002 | 1,467 | 96 | 266,251 | 0 | |||
[
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] | place green block | move | 0.321429 | [
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] | 48.933334 | 1,468 | 96 | 266,252 | 0 | |||
[
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] | 48.966667 | 1,469 | 96 | 266,253 | 0 | |||
[
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] | place green block | move | 0.350318 | [
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] | 49 | 1,470 | 96 | 266,254 | 0 | |||
[
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] | place green block | move | 0.364503 | [
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] | 49.033333 | 1,471 | 96 | 266,255 | 0 | |||
[
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] | place green block | move | 0.380857 | [
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] | 49.066666 | 1,472 | 96 | 266,256 | 0 | |||
[
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] | place green block | move | 0.395147 | [
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] | place green block | move | 0.409321 | [
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] | place green block | move | 0.425467 | [
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[
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] | place green block | move | 0.441563 | [
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] | place green block | move | 0.455612 | [
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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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] | 49.5 | 1,485 | 96 | 266,269 | 0 | |||
[
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] | 49.533333 | 1,486 | 96 | 266,270 | 0 | |||
[
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] | 49.566666 | 1,487 | 96 | 266,271 | 0 | |||
[
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] | place green block | move | 0.660016 | [
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[
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] | place green block | move | 0.734868 | [
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[
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[
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[
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[
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[
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] | 49.966667 | 1,499 | 96 | 266,283 | 0 | |||
[
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[
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[
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] | 50.066666 | 1,502 | 96 | 266,286 | 0 | |||
[
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] | place green block | move | 0.81295 | [
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] | 50.099998 | 1,503 | 96 | 266,287 | 0 | |||
[
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] | [
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] | place green block | move | 0.818843 | [
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] | [
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] | 0 | [
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] | 50.133335 | 1,504 | 96 | 266,288 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.826523 | [
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] | [
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] | 0 | [
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] | 50.166668 | 1,505 | 96 | 266,289 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.832159 | [
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] | [
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] | 50.200001 | 1,506 | 96 | 266,290 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.839592 | [
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] | [
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] | 0 | [
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] | 50.233334 | 1,507 | 96 | 266,291 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.845099 | [
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] | [
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] | 0 | [
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] | 50.266666 | 1,508 | 96 | 266,292 | 0 | |||
[
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] | [
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] | [
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] | 0 | [
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] | [
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] | place green block | move | 0.850539 | [
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] | [
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] | 0 | [
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] | 50.299999 | 1,509 | 96 | 266,293 | 0 | |||
[
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] | [
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] | [
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] | 0 | [
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] | [
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] | place green block | move | 0.857678 | [
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] | [
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] | 0 | [
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] | 50.333332 | 1,510 | 96 | 266,294 | 0 | |||
[
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] | [
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] | [
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] | 0 | [
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] | [
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] | place green block | move | 0.864666 | [
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] | [
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] | 0 | [
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] | 50.366665 | 1,511 | 96 | 266,295 | 0 | |||
[
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0
] | [
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] | [
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] | 0 | [
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] | [
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0
] | place green block | move | 0.869793 | [
2.331989288330078,
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39.75143814086914,
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] | [
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] | 0 | [
0,
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] | 50.400002 | 1,512 | 96 | 266,296 | 0 | |||
[
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] | [
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] | [
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] | 0 | [
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] | [
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0
] | place green block | move | 0.876455 | [
2.331989288330078,
-22.905475616455078,
39.75143814086914,
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] | [
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] | 0 | [
0,
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] | 50.433334 | 1,513 | 96 | 266,297 | 0 | |||
[
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0
] | [
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] | [
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2.855241060256958,
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] | 0 | [
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] | [
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0
] | place green block | move | 0.882886 | [
2.331989288330078,
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39.75143814086914,
1.1921765804290771,
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0
] | [
0.3294159471988678,
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] | 0 | [
0,
0,
0
] | 50.466667 | 1,514 | 96 | 266,298 | 0 | |||
[
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0.6018916368484497,
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0
] | [
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] | [
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] | 0 | [
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0
] | [
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0
] | place green block | move | 0.887534 | [
2.331989288330078,
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39.75143814086914,
1.1921765804290771,
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0
] | [
0.3294159471988678,
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] | 0 | [
0,
0,
0
] | 50.5 | 1,515 | 96 | 266,299 | 0 |
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