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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] | forward home return (free/parking) | move_free | 0.885005 | [
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] | 94 | 2,820 | 96 | 267,604 | 0 | |||
[
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] | forward home return (free/parking) | move_free | 0.894708 | [
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[
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] | forward home return (free/parking) | move_free | 0.904267 | [
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[
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] | forward home return (free/parking) | move_free | 0.915122 | [
4.635108470916748,
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99.91019439697266,
57.313941955566406,
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] | 94.099998 | 2,823 | 96 | 267,607 | 0 | |||
[
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] | forward home return (free/parking) | move_free | 0.922275 | [
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[
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] | forward home return (free/parking) | move_free | 0.929776 | [
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] | 94.166664 | 2,825 | 96 | 267,609 | 0 | |||
[
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] | forward home return (free/parking) | move_free | 0.936909 | [
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99.91019439697266,
57.313941955566406,
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] | 94.199997 | 2,826 | 96 | 267,610 | 0 | |||
[
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] | forward home return (free/parking) | move_free | 0.944154 | [
4.635108470916748,
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] | 94.23333 | 2,827 | 96 | 267,611 | 0 | |||
[
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] | forward home return (free/parking) | move_free | 0.951382 | [
4.635108470916748,
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] | 94.26667 | 2,828 | 96 | 267,612 | 0 | |||
[
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] | forward home return (free/parking) | move_free | 0.954638 | [
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] | 94.300003 | 2,829 | 96 | 267,613 | 0 | |||
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] | 94.333336 | 2,830 | 96 | 267,614 | 0 | |||
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] | forward home return (free/parking) | move_free | 0.957632 | [
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-100,
99.91019439697266,
57.313941955566406,
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] | 94.366669 | 2,831 | 96 | 267,615 | 0 | |||
[
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] | forward home return (free/parking) | move_free | 0.957632 | [
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-100,
99.91019439697266,
57.313941955566406,
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] | 94.400002 | 2,832 | 96 | 267,616 | 0 | |||
[
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] | forward home return (free/parking) | move_free | 0.957632 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 94.433334 | 2,833 | 96 | 267,617 | 0 | |||
[
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] | [
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0
] | forward home return (free/parking) | move_free | 0.958405 | [
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-100,
99.91019439697266,
57.313941955566406,
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] | 94.466667 | 2,834 | 96 | 267,618 | 0 | |||
[
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] | forward home return (free/parking) | move_free | 0.958405 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 94.5 | 2,835 | 96 | 267,619 | 0 | |||
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] | forward home return (free/parking) | move_free | 0.958405 | [
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99.91019439697266,
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] | 94.533333 | 2,836 | 96 | 267,620 | 0 | |||
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] | pick red block | gripper_open | 0.000001 | [
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] | [
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] | 1.633333 | 49 | 97 | 267,670 | 0 | |||
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] | pick red block | gripper_open | 0.836582 | [
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] | 1.666667 | 50 | 97 | 267,671 | 0 | |||
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] | pick red block | gripper_open | 0.853315 | [
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] | 1.7 | 51 | 97 | 267,672 | 0 | |||
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] | pick red block | gripper_open | 0.87005 | [
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] | [
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] | 1.733333 | 52 | 97 | 267,673 | 0 | |||
[
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] | pick red block | gripper_open | 0.886781 | [
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] | [
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] | 1.766667 | 53 | 97 | 267,674 | 0 | |||
[
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] | pick red block | gripper_open | 0.903524 | [
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] | [
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] | 1.8 | 54 | 97 | 267,675 | 0 | |||
[
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] | pick red block | gripper_open | 0.920255 | [
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] | [
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] | 30 | [
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] | 1.833333 | 55 | 97 | 267,676 | 0 | |||
[
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] | [
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] | pick red block | gripper_open | 0.936988 | [
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] | [
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] | 30 | [
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] | 1.866667 | 56 | 97 | 267,677 | 0 | |||
[
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] | [
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] | pick red block | gripper_open | 0.953716 | [
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] | [
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] | 30 | [
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] | 1.9 | 57 | 97 | 267,678 | 0 | |||
[
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] | [
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] | pick red block | gripper_open | 0.970445 | [
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] | [
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] | 30 | [
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] | 1.933333 | 58 | 97 | 267,679 | 0 | |||
[
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] | [
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] | pick red block | gripper_open | 0.987174 | [
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] | [
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] | 30 | [
0,
0,
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] | 1.966667 | 59 | 97 | 267,680 | 0 | |||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | pick red block | move | 0.000054 | [
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] | [
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] | 30 | [
0,
0,
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] | 2 | 60 | 97 | 267,681 | 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
] | pick red block | move | 0.000054 | [
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] | [
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] | 30 | [
0,
0,
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] | 2.033333 | 61 | 97 | 267,682 | 0 | |||
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pick red block | move | 0.000054 | [
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] | [
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] | 30 | [
0,
0,
0
] | 2.066667 | 62 | 97 | 267,683 | 0 | |||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | pick red block | move | 0.000473 | [
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] | [
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] | 30 | [
0,
0,
0
] | 2.1 | 63 | 97 | 267,684 | 0 | |||
[
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] | [
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] | [
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1.5769321918487549,
0.9771457314491272,
-0.010737866163253784,
0
] | [
0.06713009625673294,
-1.728158712387085,
1.571487545967102,
0.971884548664093,
-0.010737866163253784,
0
] | pick red block | move | 0.001308 | [
54.49009704589844,
-21.073604583740234,
30.985258102416992,
9.536360740661621,
-0.3174603283405304,
30
] | [
0.250118613243103,
-0.20618538558483124,
0.19320368766784668,
2.823909044265747,
1.3826011419296265,
2.0452704429626465
] | 30 | [
0,
0,
0
] | 2.133333 | 64 | 97 | 267,685 | 0 | |||
[
3.930130958557129,
-97.30299377441406,
98.54875183105469,
58.985382080078125,
-0.3174603283405304,
30
] | [
4.395502090454102,
-96.51387786865234,
98.00787353515625,
58.530235290527344,
-0.3174603283405304,
30
] | [
0.18056845664978027,
-0.008885842747986317,
0.041318051517009735,
3.085796356201172,
0.7530688047409058,
2.9972221851348877
] | 1 | [
0.06289321184158325,
-1.7380002737045288,
1.5769321918487549,
0.9771457314491272,
-0.010737866163253784,
0
] | [
0.06943226605653763,
-1.7236378192901611,
1.5677847862243652,
0.9690258502960205,
-0.010737866163253784,
0
] | pick red block | move | 0.002142 | [
54.49009704589844,
-21.073604583740234,
30.985258102416992,
9.536360740661621,
-0.3174603283405304,
30
] | [
0.250118613243103,
-0.20618538558483124,
0.19320368766784668,
2.823909044265747,
1.3826011419296265,
2.0452704429626465
] | 30 | [
0,
0,
0
] | 2.166667 | 65 | 97 | 267,686 | 0 | |||
[
3.930130958557129,
-97.13442993164062,
98.54875183105469,
58.985382080078125,
-0.3174603283405304,
30
] | [
4.589879035949707,
-96.21919250488281,
97.74813079833984,
58.34012985229492,
-0.3174603283405304,
30
] | [
0.18033742904663086,
-0.008871293626725674,
0.04097598046064377,
3.086137533187866,
0.7500110268592834,
2.99745512008667
] | 1 | [
0.06289321184158325,
-1.73493230342865,
1.5769321918487549,
0.9771457314491272,
-0.010737866163253784,
0
] | [
0.07216350734233856,
-1.7182743549346924,
1.5633920431137085,
0.9656343460083008,
-0.010737866163253784,
0
] | pick red block | move | 0.002976 | [
54.49009704589844,
-21.073604583740234,
30.985258102416992,
9.536360740661621,
-0.3174603283405304,
30
] | [
0.250118613243103,
-0.20618538558483124,
0.19320368766784668,
2.823909044265747,
1.3826011419296265,
2.0452704429626465
] | 30 | [
0,
0,
0
] | 2.2 | 66 | 97 | 267,687 | 0 | |||
[
3.930130958557129,
-97.0501480102539,
98.54875183105469,
58.985382080078125,
-0.3174603283405304,
30
] | [
4.814307689666748,
-95.87895202636719,
95.23572540283203,
58.12063217163086,
-0.3174603283405304,
30
] | [
0.18022151291370392,
-0.008863994851708412,
0.040805213153362274,
3.0863075256347656,
0.7484820485115051,
2.997570753097534
] | 1 | [
0.06289321184158325,
-1.7333983182907104,
1.5769321918487549,
0.9771457314491272,
-0.010737866163253784,
0
] | [
0.07531701028347015,
-1.712081789970398,
1.5209019184112549,
0.9617184400558472,
-0.010737866163253784,
0
] | pick red block | move | 0.003392 | [
54.49009704589844,
-21.073604583740234,
30.985258102416992,
9.536360740661621,
-0.3174603283405304,
30
] | [
0.250118613243103,
-0.20618538558483124,
0.19320368766784668,
2.823909044265747,
1.3826011419296265,
2.0452704429626465
] | 30 | [
0,
0,
0
] | 2.233333 | 67 | 97 | 267,688 | 0 | |||
[
3.930130958557129,
-97.0501480102539,
98.54875183105469,
58.985382080078125,
-0.3174603283405304,
30
] | [
5.077727794647217,
-96.8595962524414,
94.88371276855469,
57.86300277709961,
-0.3174603283405304,
30
] | [
0.18022151291370392,
-0.008863994851708412,
0.040805213153362274,
3.0863075256347656,
0.7484820485115051,
2.997570753097534
] | 1 | [
0.06289321184158325,
-1.7333983182907104,
1.5769321918487549,
0.9771457314491272,
-0.010737866163253784,
0
] | [
0.07901839911937714,
-1.7299301624298096,
1.5149486064910889,
0.957122266292572,
-0.010737866163253784,
0
] | pick red block | move | 0.003392 | [
54.49009704589844,
-21.073604583740234,
30.985258102416992,
9.536360740661621,
-0.3174603283405304,
30
] | [
0.250118613243103,
-0.20618538558483124,
0.19320368766784668,
2.823909044265747,
1.3826011419296265,
2.0452704429626465
] | 30 | [
0,
0,
0
] | 2.266667 | 68 | 97 | 267,689 | 0 | |||
[
3.930130958557129,
-96.71302032470703,
98.54875183105469,
58.985382080078125,
-0.3174603283405304,
30
] | [
5.359408378601074,
-96.43255615234375,
94.5073013305664,
57.58750915527344,
-0.3174603283405304,
30
] | [
0.17975527048110962,
-0.00883463304489851,
0.04012392833828926,
3.086982488632202,
0.7423661947250366,
2.998028516769409
] | 1 | [
0.06289321184158325,
-1.7272623777389526,
1.5769321918487549,
0.9771457314491272,
-0.010737866163253784,
0
] | [
0.08297636359930038,
-1.7221577167510986,
1.5085827112197876,
0.9522074460983276,
-0.010737866163253784,
0
] | pick red block | move | 0.005054 | [
54.49009704589844,
-21.073604583740234,
30.985258102416992,
9.536360740661621,
-0.3174603283405304,
30
] | [
0.250118613243103,
-0.20618538558483124,
0.19320368766784668,
2.823909044265747,
1.3826011419296265,
2.0452704429626465
] | 30 | [
0,
0,
0
] | 2.3 | 69 | 97 | 267,690 | 0 | |||
[
4.148471832275391,
-96.62873840332031,
98.54875183105469,
58.985382080078125,
-0.3174603283405304,
30
] | [
5.687661170959473,
-95.9349136352539,
94.06865692138672,
57.2664680480957,
-0.3174603283405304,
30
] | [
0.17961031198501587,
-0.009259187616407871,
0.0399540551006794,
3.0871498584747314,
0.7408371567726135,
2.9950737953186035
] | 1 | [
0.06596117466688156,
-1.7257283926010132,
1.5769321918487549,
0.9771457314491272,
-0.010737866163253784,
0
] | [
0.08758873492479324,
-1.7131003141403198,
1.501164197921753,
0.9464799761772156,
-0.010737866163253784,
0
] | pick red block | move | 0.006186 | [
54.49009704589844,
-21.073604583740234,
30.985258102416992,
9.536360740661621,
-0.3174603283405304,
30
] | [
0.250118613243103,
-0.20618538558483124,
0.19320368766784668,
2.823909044265747,
1.3826011419296265,
2.0452704429626465
] | 30 | [
0,
0,
0
] | 2.333333 | 70 | 97 | 267,691 | 0 | |||
[
4.366812229156494,
-96.62873840332031,
98.54875183105469,
58.985382080078125,
-0.3174603283405304,
30
] | [
6.025742530822754,
-95.42237091064453,
93.61687469482422,
56.93581771850586,
-0.3174603283405304,
30
] | [
0.17958125472068787,
-0.009691035374999046,
0.0399540551006794,
3.0871498584747314,
0.7408371567726135,
2.9920058250427246
] | 1 | [
0.06902913749217987,
-1.7257283926010132,
1.5769321918487549,
0.9771457314491272,
-0.010737866163253784,
0
] | [
0.09233920276165009,
-1.7037715911865234,
1.4935235977172852,
0.9405811429023743,
-0.010737866163253784,
0
] | pick red block | move | 0.006901 | [
54.49009704589844,
-21.073604583740234,
30.985258102416992,
9.536360740661621,
-0.3174603283405304,
30
] | [
0.250118613243103,
-0.20618538558483124,
0.19320368766784668,
2.823909044265747,
1.3826011419296265,
2.0452704429626465
] | 30 | [
0,
0,
0
] | 2.366667 | 71 | 97 | 267,692 | 0 | |||
[
4.6943230628967285,
-96.46017456054688,
98.45805358886719,
58.985382080078125,
-0.3174603283405304,
30
] | [
6.415035724639893,
-94.83219146728516,
93.09666442871094,
56.555076599121094,
-0.3174603283405304,
30
] | [
0.1794339269399643,
-0.010331167839467525,
0.039961546659469604,
3.0873169898986816,
0.7393080592155457,
2.9875166416168213
] | 1 | [
0.07363107800483704,
-1.7226604223251343,
1.575398325920105,
0.9771457314491272,
-0.010737866163253784,
0
] | [
0.09780926257371902,
-1.6930299997329712,
1.484725832939148,
0.9337885975837708,
-0.010737866163253784,
0
] | pick red block | move | 0.009199 | [
54.49009704589844,
-21.073604583740234,
30.985258102416992,
9.536360740661621,
-0.3174603283405304,
30
] | [
0.250118613243103,
-0.20618538558483124,
0.19320368766784668,
2.823909044265747,
1.3826011419296265,
2.0452704429626465
] | 30 | [
0,
0,
0
] | 2.4 | 72 | 97 | 267,693 | 0 | |||
[
5.021833896636963,
-96.20732879638672,
98.27664184570312,
58.985382080078125,
-0.3174603283405304,
30
] | [
6.813471794128418,
-94.22814178466797,
92.5642318725586,
56.16539764404297,
-0.3174603283405304,
30
] | [
0.1793012171983719,
-0.010971524752676487,
0.04014630988240242,
3.0874836444854736,
0.7377790808677673,
2.9830267429351807
] | 1 | [
0.0782330185174942,
-1.718058466911316,
1.5723302364349365,
0.9771457314491272,
-0.010737866163253784,
0
] | [
0.10340779274702072,
-1.6820358037948608,
1.4757212400436401,
0.9268366694450378,
-0.010737866163253784,
0
] | pick red block | move | 0.012309 | [
54.49009704589844,
-21.073604583740234,
30.985258102416992,
9.536360740661621,
-0.3174603283405304,
30
] | [
0.250118613243103,
-0.20618538558483124,
0.19320368766784668,
2.823909044265747,
1.3826011419296265,
2.0452704429626465
] | 30 | [
0,
0,
0
] | 2.433333 | 73 | 97 | 267,694 | 0 | |||
[
5.3493452072143555,
-95.87020874023438,
98.00453186035156,
58.7274284362793,
-0.3174603283405304,
30
] | [
7.251248836517334,
-93.56446075439453,
91.9792251586914,
55.737239837646484,
-0.3174603283405304,
30
] | [
0.17970053851604462,
-0.01165529154241085,
0.04093753546476364,
3.0871498584747314,
0.7408372163772583,
2.9781999588012695
] | 1 | [
0.08283496648073196,
-1.7119226455688477,
1.5677282810211182,
0.9725438356399536,
-0.010737866163253784,
0
] | [
0.10955911874771118,
-1.6699564456939697,
1.465827465057373,
0.9191982746124268,
-0.010737866163253784,
0
] | pick red block | move | 0.017068 | [
54.49009704589844,
-21.073604583740234,
30.985258102416992,
9.536360740661621,
-0.3174603283405304,
30
] | [
0.250118613243103,
-0.20618538558483124,
0.19320368766784668,
2.823909044265747,
1.3826011419296265,
2.0452704429626465
] | 30 | [
0,
0,
0
] | 2.466667 | 74 | 97 | 267,695 | 0 | |||
[
5.67685604095459,
-95.44879913330078,
97.6417236328125,
58.21152114868164,
-0.3174603283405304,
30
] | [
7.706604957580566,
-92.8741226196289,
91.37073516845703,
55.29188919067383,
-0.3174603283405304,
30
] | [
0.18063054978847504,
-0.01238977536559105,
0.04233958199620247,
3.0863075256347656,
0.7484819889068604,
2.973027229309082
] | 1 | [
0.08743690699338913,
-1.7042526006698608,
1.56159245967865,
0.9633399248123169,
-0.010737866163253784,
0
] | [
0.11595744639635086,
-1.6573917865753174,
1.4555366039276123,
0.9112530946731567,
-0.010737866163253784,
0
] | pick red block | move | 0.023477 | [
54.49009704589844,
-21.073604583740234,
30.985258102416992,
9.536360740661621,
-0.3174603283405304,
30
] | [
0.250118613243103,
-0.20618538558483124,
0.19320368766784668,
2.823909044265747,
1.3826011419296265,
2.0452704429626465
] | 30 | [
0,
0,
0
] | 2.5 | 75 | 97 | 267,696 | 0 | |||
[
6.004366874694824,
-94.94310760498047,
97.1882095336914,
57.78160095214844,
-0.3174603283405304,
30
] | [
8.190774917602539,
-92.14009857177734,
90.7237319946289,
54.818355560302734,
-0.3174603283405304,
30
] | [
0.1814095675945282,
-0.013119477778673172,
0.04377802088856697,
3.085624933242798,
0.7545974850654602,
2.96795916557312
] | 1 | [
0.0920388475060463,
-1.6950486898422241,
1.5539225339889526,
0.9556700587272644,
-0.010737866163253784,
0
] | [
0.12276064604520798,
-1.6440320014953613,
1.444594383239746,
0.9028052091598511,
-0.010737866163253784,
0
] | pick red block | move | 0.030423 | [
54.49009704589844,
-21.073604583740234,
30.985258102416992,
9.536360740661621,
-0.3174603283405304,
30
] | [
0.250118613243103,
-0.20618538558483124,
0.19320368766784668,
2.823909044265747,
1.3826011419296265,
2.0452704429626465
] | 30 | [
0,
0,
0
] | 2.533333 | 76 | 97 | 267,697 | 0 | |||
[
6.4410481452941895,
-94.5217056274414,
96.82539367675781,
57.6096305847168,
-0.3174603283405304,
30
] | [
8.69795036315918,
-91.37120056152344,
90.0459976196289,
54.322322845458984,
-0.3174603283405304,
30
] | [
0.18164102733135223,
-0.014025039970874786,
0.04460325837135315,
3.0854530334472656,
0.7561265230178833,
2.961705446243286
] | 1 | [
0.09817477315664291,
-1.6873788833618164,
1.5477865934371948,
0.9526020884513855,
-0.010737866163253784,
0
] | [
0.12988710403442383,
-1.630037546157837,
1.433132529258728,
0.8939558863639832,
-0.010737866163253784,
0
] | pick red block | move | 0.036073 | [
54.49009704589844,
-21.073604583740234,
30.985258102416992,
9.536360740661621,
-0.3174603283405304,
30
] | [
0.250118613243103,
-0.20618538558483124,
0.19320368766784668,
2.823909044265747,
1.3826011419296265,
2.0452704429626465
] | 30 | [
0,
0,
0
] | 2.566667 | 77 | 97 | 267,698 | 0 | |||
[
6.877729415893555,
-93.84745025634766,
96.19047546386719,
57.17970657348633,
-0.3174603283405304,
30
] | [
9.225810050964355,
-90.5709457397461,
89.34061431884766,
53.80606460571289,
-0.3174603283405304,
30
] | [
0.18245019018650055,
-0.014995016157627106,
0.046397075057029724,
3.0847606658935547,
0.762241780757904,
2.9550929069519043
] | 1 | [
0.10431069880723953,
-1.6751070022583008,
1.5370486974716187,
0.9449321627616882,
-0.010737866163253784,
0
] | [
0.13730420172214508,
-1.615472435951233,
1.4212028980255127,
0.884745717048645,
-0.010737866163253784,
0
] | pick red block | move | 0.045005 | [
54.49009704589844,
-21.073604583740234,
30.985258102416992,
9.536360740661621,
-0.3174603283405304,
30
] | [
0.250118613243103,
-0.20618538558483124,
0.19320368766784668,
2.823909044265747,
1.3826011419296265,
2.0452704429626465
] | 30 | [
0,
0,
0
] | 2.6 | 78 | 97 | 267,699 | 0 |
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