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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[
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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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] | free state (clear view for redetect) | move_free | 0.692562 | [
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[
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] | free state (clear view for redetect) | move_free | 0.708401 | [
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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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-0.0015350915491580963,
0
] | free state (clear view for redetect) | move_free | 0.961412 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
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2.9959921836853027
] | 0.065361 | [
0,
0,
0
] | 34.966667 | 1,049 | 97 | 268,670 | 0 | |||
[
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] | 1 | [
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] | [
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] | pick green block | gripper_open | 0 | [
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98.73015594482422,
58.985382080078125,
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30
] | [
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] | 30 | [
0,
0,
0
] | 35 | 1,050 | 97 | 268,671 | 0 | |||
[
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] | [
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] | [
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3.085711717605591,
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] | 1 | [
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] | [
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] | pick green block | gripper_open | 0.012316 | [
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-98.23008728027344,
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30
] | [
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] | 30 | [
0,
0,
0
] | 35.033333 | 1,051 | 97 | 268,672 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | pick green block | gripper_open | 0.029102 | [
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] | [
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] | 30 | [
0,
0,
0
] | 35.066666 | 1,052 | 97 | 268,673 | 0 | |||
[
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] | 1 | [
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] | [
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] | pick green block | gripper_open | 0.045913 | [
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] | [
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] | 30 | [
0,
0,
0
] | 35.099998 | 1,053 | 97 | 268,674 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | pick green block | gripper_open | 0.062723 | [
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30
] | [
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] | 30 | [
0,
0,
0
] | 35.133335 | 1,054 | 97 | 268,675 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | pick green block | gripper_open | 0.079551 | [
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30
] | [
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] | 30 | [
0,
0,
0
] | 35.166668 | 1,055 | 97 | 268,676 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | pick green block | gripper_open | 0.096336 | [
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30
] | [
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] | 30 | [
0,
0,
0
] | 35.200001 | 1,056 | 97 | 268,677 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | pick green block | gripper_open | 0.113116 | [
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30
] | [
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] | 30 | [
0,
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0
] | 35.233334 | 1,057 | 97 | 268,678 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | pick green block | gripper_open | 0.129889 | [
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30
] | [
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] | 30 | [
0,
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] | 35.266666 | 1,058 | 97 | 268,679 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | pick green block | gripper_open | 0.146662 | [
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30
] | [
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] | 30 | [
0,
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] | 35.299999 | 1,059 | 97 | 268,680 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | pick green block | gripper_open | 0.163424 | [
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30
] | [
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] | 30 | [
0,
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] | 35.333332 | 1,060 | 97 | 268,681 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | pick green block | gripper_open | 0.180202 | [
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30
] | [
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] | 30 | [
0,
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] | 35.366665 | 1,061 | 97 | 268,682 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | pick green block | gripper_open | 0.196979 | [
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30
] | [
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] | 30 | [
0,
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0
] | 35.400002 | 1,062 | 97 | 268,683 | 0 | |||
[
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] | [
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] | [
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3.085711717605591,
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] | 1 | [
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] | [
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] | pick green block | gripper_open | 0.213755 | [
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30
] | [
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] | 30 | [
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] | 35.433334 | 1,063 | 97 | 268,684 | 0 | |||
[
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] | pick green block | gripper_open | 0.230528 | [
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] | [
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] | 35.466667 | 1,064 | 97 | 268,685 | 0 | |||
[
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] | pick green block | gripper_open | 0.247293 | [
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] | [
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] | 35.5 | 1,065 | 97 | 268,686 | 0 | |||
[
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] | pick green block | gripper_open | 0.264066 | [
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] | [
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] | 35.533333 | 1,066 | 97 | 268,687 | 0 | |||
[
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] | pick green block | gripper_open | 0.28084 | [
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] | [
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] | 35.566666 | 1,067 | 97 | 268,688 | 0 | |||
[
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] | pick green block | gripper_open | 0.297612 | [
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] | [
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] | 35.599998 | 1,068 | 97 | 268,689 | 0 | |||
[
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] | pick green block | gripper_open | 0.314431 | [
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] | [
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] | 30 | [
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] | 35.633335 | 1,069 | 97 | 268,690 | 0 | |||
[
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] | pick green block | gripper_open | 0.331211 | [
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] | [
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] | 35.666668 | 1,070 | 97 | 268,691 | 0 | |||
[
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] | pick green block | gripper_open | 0.348022 | [
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] | [
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] | 30 | [
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] | 35.700001 | 1,071 | 97 | 268,692 | 0 | |||
[
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] | pick green block | gripper_open | 0.364796 | [
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] | [
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] | 30 | [
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] | 35.733334 | 1,072 | 97 | 268,693 | 0 | |||
[
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] | pick green block | gripper_open | 0.38157 | [
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] | [
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] | 30 | [
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] | 35.766666 | 1,073 | 97 | 268,694 | 0 | |||
[
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] | pick green block | gripper_open | 0.398343 | [
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] | [
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] | 30 | [
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] | 35.799999 | 1,074 | 97 | 268,695 | 0 | |||
[
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] | [
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] | pick green block | gripper_open | 0.415178 | [
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] | [
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] | 30 | [
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] | 35.833332 | 1,075 | 97 | 268,696 | 0 | |||
[
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] | pick green block | gripper_open | 0.431986 | [
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] | [
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] | 30 | [
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] | 35.866665 | 1,076 | 97 | 268,697 | 0 | |||
[
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] | pick green block | gripper_open | 0.448797 | [
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] | [
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] | 30 | [
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] | 35.900002 | 1,077 | 97 | 268,698 | 0 | |||
[
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3.085711717605591,
0.7669150233268738,
2.9967398643493652
] | 1 | [
0.0644271969795227,
-1.7548739910125732,
1.5800001621246338,
0.9771457314491272,
-0.00920388475060463,
0
] | [
0.0644271969795227,
-1.7548739910125732,
1.5800001621246338,
0.9771457314491272,
-0.00920388475060463,
0
] | pick green block | gripper_open | 0.465606 | [
4.03930139541626,
-98.23008728027344,
98.73015594482422,
58.985382080078125,
-0.2686202824115753,
30
] | [
0.1815585345029831,
-0.00917850062251091,
0.042510632425546646,
3.085711717605591,
0.7669150233268738,
2.9967398643493652
] | 30 | [
0,
0,
0
] | 35.933334 | 1,078 | 97 | 268,699 | 0 |
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