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 | 0.484078 | [
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[
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] | place green block | move | 0.532784 | [
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[
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] | place green block | move | 0.58356 | [
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] | 57.333332 | 1,720 | 96 | 266,504 | 0 | |||
[
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] | [
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] | place green block | move | 0.624096 | [
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] | 57.366665 | 1,721 | 96 | 266,505 | 0 | |||
[
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] | place green block | move | 0.654334 | [
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] | 57.400002 | 1,722 | 96 | 266,506 | 0 | |||
[
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] | place green block | move | 0.672105 | [
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] | 57.433334 | 1,723 | 96 | 266,507 | 0 | |||
[
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] | 57.5 | 1,725 | 96 | 266,509 | 0 | |||
[
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] | 57.533333 | 1,726 | 96 | 266,510 | 0 | |||
[
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] | place green block | move | 0.700081 | [
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] | 57.566666 | 1,727 | 96 | 266,511 | 0 | |||
[
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] | 57.599998 | 1,728 | 96 | 266,512 | 0 | |||
[
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] | 57.633335 | 1,729 | 96 | 266,513 | 0 | |||
[
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] | 1 | [
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] | [
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] | place green block | move | 0.700081 | [
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] | [
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] | 30 | [
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0,
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] | 57.666668 | 1,730 | 96 | 266,514 | 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 | 0.700081 | [
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] | [
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] | 30 | [
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0,
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] | 57.700001 | 1,731 | 96 | 266,515 | 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 | 0.700081 | [
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] | [
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] | 30 | [
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] | 57.733334 | 1,732 | 96 | 266,516 | 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 | 0.700081 | [
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] | [
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] | 30 | [
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] | 57.766666 | 1,733 | 96 | 266,517 | 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 | 0.700081 | [
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] | [
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] | 30 | [
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] | 57.799999 | 1,734 | 96 | 266,518 | 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 | 0.700081 | [
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] | [
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] | 30 | [
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] | 57.833332 | 1,735 | 96 | 266,519 | 0 | |||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | place green block | move | 0.700081 | [
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] | [
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] | 30 | [
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] | 57.866665 | 1,736 | 96 | 266,520 | 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 | 0.700081 | [
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] | [
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] | 30 | [
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] | 57.900002 | 1,737 | 96 | 266,521 | 0 | |||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | place green block | move | 0.700081 | [
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] | [
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] | 30 | [
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0,
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] | 57.933334 | 1,738 | 96 | 266,522 | 0 | |||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | place green block | move | 0.700081 | [
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] | [
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] | 30 | [
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0,
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] | 57.966667 | 1,739 | 96 | 266,523 | 0 | |||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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0
] | place green block | move | 0.700081 | [
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] | [
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] | 30 | [
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] | 58 | 1,740 | 96 | 266,524 | 0 | |||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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0
] | place green block | move | 0.700081 | [
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30
] | [
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] | 30 | [
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0,
0
] | 58.033333 | 1,741 | 96 | 266,525 | 0 | |||
[
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30
] | [
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] | [
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2.993220806121826,
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] | 1 | [
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] | [
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0
] | place green block | move | 0.700081 | [
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30
] | [
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] | 30 | [
0,
0,
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] | 58.066666 | 1,742 | 96 | 266,526 | 0 | |||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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0
] | place green block | move | 0.700081 | [
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30
] | [
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] | 30 | [
0,
0,
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] | 58.099998 | 1,743 | 96 | 266,527 | 0 | |||
[
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30
] | [
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30
] | [
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] | 1 | [
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0
] | [
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0
] | place green block | move | 0.700081 | [
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30
] | [
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2.8822035789489746,
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] | 30 | [
0,
0,
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] | 58.133335 | 1,744 | 96 | 266,528 | 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 | 0.700081 | [
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30
] | [
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] | 30 | [
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0,
0
] | 58.166668 | 1,745 | 96 | 266,529 | 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 | 0.700081 | [
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30
] | [
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] | 30 | [
0,
0,
0
] | 58.200001 | 1,746 | 96 | 266,530 | 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 | 0.700081 | [
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30
] | [
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] | 30 | [
0,
0,
0
] | 58.233334 | 1,747 | 96 | 266,531 | 0 | |||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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0
] | place green block | move | 0.700081 | [
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30
] | [
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] | 30 | [
0,
0,
0
] | 58.266666 | 1,748 | 96 | 266,532 | 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 | 0.700081 | [
2.3319919109344482,
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30
] | [
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] | 30 | [
0,
0,
0
] | 58.299999 | 1,749 | 96 | 266,533 | 0 | |||
[
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30
] | [
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30
] | [
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] | 1 | [
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0
] | [
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0
] | place green block | move | 0.700081 | [
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30
] | [
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] | 30 | [
0,
0,
0
] | 58.333332 | 1,750 | 96 | 266,534 | 0 | |||
[
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30
] | [
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31.138700485229492,
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30
] | [
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0.14049798250198364,
2.993220806121826,
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] | 1 | [
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0
] | [
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0
] | place green block | move | 0.700081 | [
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33.640865325927734,
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30
] | [
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] | 30 | [
0,
0,
0
] | 58.366665 | 1,751 | 96 | 266,535 | 0 | |||
[
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30
] | [
2.3319919109344482,
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31.138700485229492,
11.077305793762207,
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30
] | [
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0.14049798250198364,
2.993220806121826,
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] | 1 | [
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0
] | [
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0.4368841350078583,
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0
] | place green block | move | 0.700081 | [
2.3319919109344482,
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33.640865325927734,
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30
] | [
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] | 30 | [
0,
0,
0
] | 58.400002 | 1,752 | 96 | 266,536 | 0 | |||
[
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36.2358283996582,
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30
] | [
2.3319919109344482,
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31.138700485229492,
11.077305793762207,
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30
] | [
0.33044710755348206,
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0.14049798250198364,
2.993220806121826,
1.1703925132751465,
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] | 1 | [
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0.5230874419212341,
0.1365242898464203,
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0
] | [
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0.4368841350078583,
0.12245625257492065,
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0
] | place green block | move | 0.700081 | [
2.3319919109344482,
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33.640865325927734,
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30
] | [
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0.18215510249137878,
2.8822035789489746,
1.3315213918685913,
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] | 30 | [
0,
0,
0
] | 58.433334 | 1,753 | 96 | 266,537 | 0 | |||
[
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36.2358283996582,
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30
] | [
2.3319919109344482,
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31.138700485229492,
11.077305793762207,
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30
] | [
0.33044710755348206,
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0.14049798250198364,
2.993220806121826,
1.1703925132751465,
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] | 1 | [
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0.5230874419212341,
0.1365242898464203,
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0
] | [
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0.4368841350078583,
0.12245625257492065,
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0
] | place green block | move | 0.700081 | [
2.3319919109344482,
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33.640865325927734,
11.077305793762207,
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30
] | [
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0.18215510249137878,
2.8822035789489746,
1.3315213918685913,
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] | 30 | [
0,
0,
0
] | 58.466667 | 1,754 | 96 | 266,538 | 0 | |||
[
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36.2358283996582,
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-0.41514042019844055,
30
] | [
2.3319919109344482,
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31.138700485229492,
11.077305793762207,
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30
] | [
0.33044710755348206,
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0.14049798250198364,
2.993220806121826,
1.1703925132751465,
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] | 1 | [
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0.5230874419212341,
0.1365242898464203,
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0
] | [
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0.4368841350078583,
0.12245625257492065,
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0
] | place green block | move | 0.700081 | [
2.3319919109344482,
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33.640865325927734,
11.077305793762207,
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30
] | [
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0.18215510249137878,
2.8822035789489746,
1.3315213918685913,
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] | 30 | [
0,
0,
0
] | 58.5 | 1,755 | 96 | 266,539 | 0 | |||
[
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36.2358283996582,
11.865863800048828,
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30
] | [
2.3319919109344482,
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31.138700485229492,
11.077305793762207,
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30
] | [
0.33044710755348206,
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0.14049798250198364,
2.993220806121826,
1.1703925132751465,
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] | 1 | [
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0.5230874419212341,
0.1365242898464203,
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0
] | [
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0.4368841350078583,
0.12245625257492065,
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0
] | place green block | move | 0.700081 | [
2.3319919109344482,
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33.640865325927734,
11.077305793762207,
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30
] | [
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2.8822035789489746,
1.3315213918685913,
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] | 30 | [
0,
0,
0
] | 58.533333 | 1,756 | 96 | 266,540 | 0 | |||
[
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36.2358283996582,
11.865863800048828,
-0.41514042019844055,
30
] | [
2.3319919109344482,
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31.138700485229492,
11.077305793762207,
-0.41514042019844055,
30
] | [
0.33044710755348206,
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0.14049798250198364,
2.993220806121826,
1.1703925132751465,
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] | 1 | [
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0.5230874419212341,
0.1365242898464203,
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0
] | [
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0.4368841350078583,
0.12245625257492065,
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0
] | place green block | move | 0.700081 | [
2.3319919109344482,
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33.640865325927734,
11.077305793762207,
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30
] | [
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2.8822035789489746,
1.3315213918685913,
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] | 30 | [
0,
0,
0
] | 58.566666 | 1,757 | 96 | 266,541 | 0 | |||
[
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36.2358283996582,
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30
] | [
2.3319919109344482,
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31.138700485229492,
11.077305793762207,
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30
] | [
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1.185526728630066,
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] | 1 | [
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0.5230874419212341,
0.1365242898464203,
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0
] | [
0.04043733701109886,
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0.4368841350078583,
0.12245625257492065,
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0
] | place green block | move | 0.734665 | [
2.3319919109344482,
-22.16987419128418,
33.640865325927734,
11.077305793762207,
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30
] | [
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0.18215510249137878,
2.8822035789489746,
1.3315213918685913,
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] | 30 | [
0,
0,
0
] | 58.599998 | 1,758 | 96 | 266,542 | 0 | |||
[
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30
] | [
2.3319919109344482,
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31.138700485229492,
11.077305793762207,
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30
] | [
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] | 1 | [
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0.5246214270591736,
0.1365242898464203,
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0
] | [
0.04043733701109886,
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0.4368841350078583,
0.12245625257492065,
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0
] | place green block | move | 0.768876 | [
2.3319919109344482,
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33.640865325927734,
11.077305793762207,
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30
] | [
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0.18215510249137878,
2.8822035789489746,
1.3315213918685913,
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] | 30 | [
0,
0,
0
] | 58.633335 | 1,759 | 96 | 266,543 | 0 | |||
[
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30
] | [
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30
] | [
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] | [
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0
] | place green block | move | 0.813502 | [
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] | [
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] | 30 | [
0,
0,
0
] | 58.666668 | 1,760 | 96 | 266,544 | 0 | |||
[
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30
] | [
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30
] | [
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] | [
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0
] | place green block | move | 0.839274 | [
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30
] | [
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] | 30 | [
0,
0,
0
] | 58.700001 | 1,761 | 96 | 266,545 | 0 | |||
[
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30
] | [
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30
] | [
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] | [
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0
] | place green block | move | 0.859851 | [
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30
] | [
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] | 30 | [
0,
0,
0
] | 58.733334 | 1,762 | 96 | 266,546 | 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 | 0.867194 | [
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30
] | [
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] | 30 | [
0,
0,
0
] | 58.766666 | 1,763 | 96 | 266,547 | 0 | |||
[
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30
] | [
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30
] | [
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] | [
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0
] | place green block | move | 0.872801 | [
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30
] | [
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] | 30 | [
0,
0,
0
] | 58.799999 | 1,764 | 96 | 266,548 | 0 | |||
[
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30
] | [
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30
] | [
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] | 1 | [
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0
] | [
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0
] | place green block | move | 0.872801 | [
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30
] | [
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] | 30 | [
0,
0,
0
] | 58.833332 | 1,765 | 96 | 266,549 | 0 | |||
[
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30
] | [
2.3319919109344482,
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31.138700485229492,
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30
] | [
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] | 1 | [
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0
] | [
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0
] | place green block | move | 0.872801 | [
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33.640865325927734,
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30
] | [
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] | 30 | [
0,
0,
0
] | 58.866665 | 1,766 | 96 | 266,550 | 0 | |||
[
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30
] | [
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35.873016357421875,
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30
] | [
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] | 1 | [
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] | [
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0.1365242898464203,
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0
] | initial state (pre-redetect) | move_initial | 0 | [
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] | [
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] | 0 | [
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] | 58.900002 | 1,767 | 96 | 266,551 | 0 | |||
[
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] | 1 | [
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] | [
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] | initial state (pre-redetect) | move_initial | 0 | [
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42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 58.933334 | 1,768 | 96 | 266,552 | 0 | |||
[
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] | [
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] | 1 | [
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] | [
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] | initial state (pre-redetect) | move_initial | 0 | [
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] | [
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] | 0 | [
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] | 58.966667 | 1,769 | 96 | 266,553 | 0 | |||
[
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] | [
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] | 1 | [
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] | [
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0
] | initial state (pre-redetect) | move_initial | 0 | [
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] | [
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] | 0 | [
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] | 59 | 1,770 | 96 | 266,554 | 0 | |||
[
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] | 1 | [
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] | [
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] | initial state (pre-redetect) | move_initial | 0 | [
2.2691292762756348,
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42.141231536865234,
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] | [
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] | 0 | [
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0,
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] | 59.033333 | 1,771 | 96 | 266,555 | 0 | |||
[
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] | 1 | [
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] | [
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0
] | initial state (pre-redetect) | move_initial | 0 | [
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42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 59.066666 | 1,772 | 96 | 266,556 | 0 | |||
[
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] | 1 | [
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] | [
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0
] | initial state (pre-redetect) | move_initial | 0 | [
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] | [
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] | 0 | [
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] | 59.099998 | 1,773 | 96 | 266,557 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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0
] | initial state (pre-redetect) | move_initial | 0.00008 | [
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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] | initial state (pre-redetect) | move_initial | 0.277986 | [
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] | 60.099998 | 1,803 | 96 | 266,587 | 0 | |||
[
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] | initial state (pre-redetect) | move_initial | 0.294145 | [
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[
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] | initial state (pre-redetect) | move_initial | 0.310329 | [
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[
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] | initial state (pre-redetect) | move_initial | 0.327208 | [
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[
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] | initial state (pre-redetect) | move_initial | 0.345572 | [
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[
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] | initial state (pre-redetect) | move_initial | 0.362943 | [
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] | 60.266666 | 1,808 | 96 | 266,592 | 0 | |||
[
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] | initial state (pre-redetect) | move_initial | 0.378741 | [
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] | 60.299999 | 1,809 | 96 | 266,593 | 0 | |||
[
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] | initial state (pre-redetect) | move_initial | 0.395987 | [
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] | [
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] | 0 | [
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] | 60.333332 | 1,810 | 96 | 266,594 | 0 | |||
[
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] | initial state (pre-redetect) | move_initial | 0.413174 | [
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] | 60.366665 | 1,811 | 96 | 266,595 | 0 | |||
[
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] | initial state (pre-redetect) | move_initial | 0.430364 | [
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] | [
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] | 0 | [
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] | 60.400002 | 1,812 | 96 | 266,596 | 0 | |||
[
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] | [
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] | 1 | [
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] | [
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0
] | initial state (pre-redetect) | move_initial | 0.447542 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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] | [
0.2059362828731537,
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] | 0 | [
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] | 60.433334 | 1,813 | 96 | 266,597 | 0 | |||
[
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] | [
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] | 1 | [
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] | [
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0
] | initial state (pre-redetect) | move_initial | 0.463785 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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] | [
0.2059362828731537,
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] | 0 | [
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0,
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] | 60.466667 | 1,814 | 96 | 266,598 | 0 | |||
[
1.6375545263290405,
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13.345967292785645
] | [
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] | [
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3.0565032958984375,
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] | 1 | [
0.03067961521446705,
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] | [
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0.7395883202552795,
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0
] | initial state (pre-redetect) | move_initial | 0.481872 | [
2.2691292762756348,
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42.141231536865234,
72.75862121582031,
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0
] | [
0.2059362828731537,
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3.0976736545562744,
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3.030618190765381
] | 0 | [
0,
0,
0
] | 60.5 | 1,815 | 96 | 266,599 | 0 |
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