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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] | forward home return (free/parking) | move_free | 0.394861 | [
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[
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[
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[
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] | forward home return (free/parking) | move_free | 0.447186 | [
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[
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[
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] | forward home return (free/parking) | move_free | 0.481317 | [
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] | 96.300003 | 2,889 | 97 | 270,510 | 0 | |||
[
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] | 96.333336 | 2,890 | 97 | 270,511 | 0 | |||
[
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[
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] | forward home return (free/parking) | move_free | 0.535644 | [
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99.91019439697266,
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0
] | forward home return (free/parking) | move_free | 0.569029 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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[
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] | forward home return (free/parking) | move_free | 0.59038 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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[
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] | forward home return (free/parking) | move_free | 0.605504 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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[
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] | forward home return (free/parking) | move_free | 0.61905 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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[
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1.301482915878296,
1.0316582918167114,
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0
] | forward home return (free/parking) | move_free | 0.639467 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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[
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1.3169522285461426,
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0
] | forward home return (free/parking) | move_free | 0.657099 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 96.633331 | 2,899 | 97 | 270,520 | 0 | |||
[
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1.0615147352218628,
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1.3321789503097534,
1.0229853391647339,
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0
] | forward home return (free/parking) | move_free | 0.67693 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 96.666664 | 2,900 | 97 | 270,521 | 0 | |||
[
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3.09024715423584,
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1.3471431732177734,
1.0187574625015259,
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0
] | forward home return (free/parking) | move_free | 0.693234 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 96.699997 | 2,901 | 97 | 270,522 | 0 | |||
[
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1.3618285655975342,
1.0146081447601318,
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0
] | forward home return (free/parking) | move_free | 0.707203 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 96.73333 | 2,902 | 97 | 270,523 | 0 | |||
[
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1.376217246055603,
1.0105427503585815,
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0
] | forward home return (free/parking) | move_free | 0.723329 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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3.0888450145721436,
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] | 96.76667 | 2,903 | 97 | 270,524 | 0 | |||
[
3.275109052658081,
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87.51422882080078,
60.63412094116211,
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0.05368932709097862,
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0.06463459879159927,
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1.3903148174285889,
1.0065596103668213,
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0
] | forward home return (free/parking) | move_free | 0.732816 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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0.18546296656131744,
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3.0888450145721436,
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] | 96.800003 | 2,904 | 97 | 270,525 | 0 | |||
[
3.275109052658081,
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3.090721845626831,
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0.05368932709097862,
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1.0400390625,
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1.404069185256958,
1.0026733875274658,
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0
] | forward home return (free/parking) | move_free | 0.748656 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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3.0888450145721436,
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] | 96.833336 | 2,905 | 97 | 270,526 | 0 | |||
[
3.275109052658081,
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4.129350662231445,
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89.12042236328125,
60.203914642333984,
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0.06569249927997589,
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1.4174790382385254,
0.9988846182823181,
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0
] | forward home return (free/parking) | move_free | 0.764907 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 96.866669 | 2,906 | 97 | 270,527 | 0 | |||
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99.91019439697266,
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] | forward home return (free/parking) | move_free | 0.81397 | [
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99.91019439697266,
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] | forward home return (free/parking) | move_free | 0.82745 | [
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99.91019439697266,
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[
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] | forward home return (free/parking) | move_free | 0.839052 | [
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99.91019439697266,
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[
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] | forward home return (free/parking) | move_free | 0.84765 | [
4.635108470916748,
-100,
99.91019439697266,
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[
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] | forward home return (free/parking) | move_free | 0.859225 | [
4.635108470916748,
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99.91019439697266,
57.313941955566406,
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[
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0
] | forward home return (free/parking) | move_free | 0.872283 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 97.133331 | 2,914 | 97 | 270,535 | 0 | |||
[
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] | forward home return (free/parking) | move_free | 0.885734 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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[
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1.5288231372833252,
0.9674252867698669,
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0
] | forward home return (free/parking) | move_free | 0.896047 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 97.199997 | 2,916 | 97 | 270,537 | 0 | |||
[
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1.5373988151550293,
0.9650022387504578,
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0
] | forward home return (free/parking) | move_free | 0.905137 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 97.23333 | 2,917 | 97 | 270,538 | 0 | |||
[
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1.5454634428024292,
0.9627236723899841,
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0
] | forward home return (free/parking) | move_free | 0.91562 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 97.26667 | 2,918 | 97 | 270,539 | 0 | |||
[
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1.5529855489730835,
0.960598349571228,
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0
] | forward home return (free/parking) | move_free | 0.924581 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 97.300003 | 2,919 | 97 | 270,540 | 0 | |||
[
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97.54613494873047,
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0.9894176125526428,
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0.07124198228120804,
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1.5599758625030518,
0.9586232900619507,
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0
] | forward home return (free/parking) | move_free | 0.93255 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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3.0888450145721436,
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] | 97.333336 | 2,920 | 97 | 270,541 | 0 | |||
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] | 97.366669 | 2,921 | 97 | 270,542 | 0 | |||
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] | [
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0
] | forward home return (free/parking) | move_free | 0.944112 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 97.400002 | 2,922 | 97 | 270,543 | 0 | |||
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0
] | forward home return (free/parking) | move_free | 0.948613 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 97.433334 | 2,923 | 97 | 270,544 | 0 | |||
[
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0.9522691369056702,
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0
] | forward home return (free/parking) | move_free | 0.953605 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 97.466667 | 2,924 | 97 | 270,545 | 0 | |||
[
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] | [
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0
] | forward home return (free/parking) | move_free | 0.956903 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 97.5 | 2,925 | 97 | 270,546 | 0 | |||
[
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99,
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] | [
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1.5845638513565063,
0.9500494003295898,
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0
] | forward home return (free/parking) | move_free | 0.959704 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 97.533333 | 2,926 | 97 | 270,547 | 0 | |||
[
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3.084411382675171,
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] | [
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1.5845638513565063,
0.9491837024688721,
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0
] | forward home return (free/parking) | move_free | 0.961083 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 97.566666 | 2,927 | 97 | 270,548 | 0 | |||
[
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99,
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] | [
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0.9484822154045105,
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0
] | forward home return (free/parking) | move_free | 0.961746 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 97.599998 | 2,928 | 97 | 270,549 | 0 | |||
[
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] | [
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1.5845638513565063,
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0
] | forward home return (free/parking) | move_free | 0.961746 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 97.633331 | 2,929 | 97 | 270,550 | 0 | |||
[
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] | [
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1.5845638513565063,
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0
] | forward home return (free/parking) | move_free | 0.963099 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 0.065361 | [
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] | 97.666664 | 2,930 | 97 | 270,551 | 0 | |||
[
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] | [
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0
] | forward home return (free/parking) | move_free | 0.963728 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 0.065361 | [
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] | 97.699997 | 2,931 | 97 | 270,552 | 0 | |||
[
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] | pick red block | gripper_open | 0.000001 | [
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30
] | [
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[
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30
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] | 0.033333 | 1 | 98 | 270,554 | 0 | |||
[
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] | pick red block | gripper_open | 0.03382 | [
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] | 0.066667 | 2 | 98 | 270,555 | 0 | |||
[
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] | 1.033333 | 31 | 98 | 270,584 | 0 | |||
[
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] | 1.066667 | 32 | 98 | 270,585 | 0 | |||
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] | 1.1 | 33 | 98 | 270,586 | 0 | |||
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] | 1.133333 | 34 | 98 | 270,587 | 0 | |||
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] | 1.166667 | 35 | 98 | 270,588 | 0 | |||
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] | 1.2 | 36 | 98 | 270,589 | 0 | |||
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] | 1.266667 | 38 | 98 | 270,591 | 0 | |||
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] | 1.3 | 39 | 98 | 270,592 | 0 | |||
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] | 1.333333 | 40 | 98 | 270,593 | 0 | |||
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] | 1.366667 | 41 | 98 | 270,594 | 0 | |||
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] | 1.4 | 42 | 98 | 270,595 | 0 | |||
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] | 1.5 | 45 | 98 | 270,598 | 0 | |||
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-0.008980758488178253,
0.04295599088072777,
3.0837066173553467,
0.7714143991470337,
2.995778799057007
] | 1 | [
0.06289321184158325,
-1.7548739910125732,
1.5800001621246338,
0.9725438356399536,
-0.010737866163253784,
0
] | [
0.06289321184158325,
-1.7548739910125732,
1.5800001621246338,
0.9725438356399536,
-0.010737866163253784,
0
] | pick red block | gripper_open | 0.769462 | [
3.930130958557129,
-98.23008728027344,
98.73015594482422,
58.7274284362793,
-0.3174603283405304,
30
] | [
0.18207570910453796,
-0.008980758488178253,
0.04295599088072777,
3.0837066173553467,
0.7714143991470337,
2.995778799057007
] | 30 | [
0,
0,
0
] | 1.533333 | 46 | 98 | 270,599 | 0 |
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