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 | 0.002305 | [
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] | 59.666668 | 1,790 | 98 | 272,343 | 0 | |||
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] | [
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] | [
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] | place green block | move | 0.002305 | [
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] | [
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] | 59.700001 | 1,791 | 98 | 272,344 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.002305 | [
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] | [
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] | 59.733334 | 1,792 | 98 | 272,345 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.002305 | [
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] | [
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] | 30 | [
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] | 59.766666 | 1,793 | 98 | 272,346 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.002305 | [
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] | [
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] | 30 | [
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] | 59.799999 | 1,794 | 98 | 272,347 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.002305 | [
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] | [
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] | 30 | [
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] | 59.833332 | 1,795 | 98 | 272,348 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.002305 | [
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] | [
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] | 30 | [
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] | 59.866665 | 1,796 | 98 | 272,349 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.002305 | [
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] | [
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] | 30 | [
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] | 59.900002 | 1,797 | 98 | 272,350 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.002305 | [
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] | [
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] | 30 | [
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] | 59.933334 | 1,798 | 98 | 272,351 | 0 | |||
[
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] | [
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] | [
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] | [
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] | 30 | [
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] | 59.966667 | 1,799 | 98 | 272,352 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.002305 | [
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] | [
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] | 30 | [
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] | 60 | 1,800 | 98 | 272,353 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.002305 | [
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] | [
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] | 30 | [
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] | 60.033333 | 1,801 | 98 | 272,354 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.002305 | [
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] | [
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] | 30 | [
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] | 60.066666 | 1,802 | 98 | 272,355 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.002305 | [
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] | [
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] | 30 | [
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] | 60.099998 | 1,803 | 98 | 272,356 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.002305 | [
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] | [
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] | 60.133335 | 1,804 | 98 | 272,357 | 0 | |||
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] | [
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] | 60.166668 | 1,805 | 98 | 272,358 | 0 | |||
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] | place green block | move | 0.002305 | [
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] | 60.200001 | 1,806 | 98 | 272,359 | 0 | |||
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] | [
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] | place green block | move | 0.002305 | [
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] | [
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] | 60.233334 | 1,807 | 98 | 272,360 | 0 | |||
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] | [
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] | [
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] | place green block | move | 0.002305 | [
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] | [
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] | 60.266666 | 1,808 | 98 | 272,361 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.002305 | [
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] | [
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] | 60.299999 | 1,809 | 98 | 272,362 | 0 | |||
[
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] | [
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] | place green block | move | 0.00979 | [
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] | [
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] | 60.333332 | 1,810 | 98 | 272,363 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.00979 | [
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] | [
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] | 60.366665 | 1,811 | 98 | 272,364 | 0 | |||
[
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] | [
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] | place green block | move | 0.00979 | [
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] | [
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] | 60.400002 | 1,812 | 98 | 272,365 | 0 | |||
[
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] | [
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] | place green block | move | 0.00979 | [
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] | [
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] | 60.433334 | 1,813 | 98 | 272,366 | 0 | |||
[
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] | 60.466667 | 1,814 | 98 | 272,367 | 0 | |||
[
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] | [
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] | [
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] | 60.5 | 1,815 | 98 | 272,368 | 0 | |||
[
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] | [
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] | place green block | move | 0.032232 | [
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] | 60.533333 | 1,816 | 98 | 272,369 | 0 | |||
[
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] | 60.566666 | 1,817 | 98 | 272,370 | 0 | |||
[
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] | [
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] | 60.599998 | 1,818 | 98 | 272,371 | 0 | |||
[
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] | [
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] | [
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] | 60.633335 | 1,819 | 98 | 272,372 | 0 | |||
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] | place green block | move | 0.132887 | [
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] | 60.666668 | 1,820 | 98 | 272,373 | 0 | |||
[
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] | place green block | move | 0.144031 | [
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] | 60.700001 | 1,821 | 98 | 272,374 | 0 | |||
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] | place green block | move | 0.147744 | [
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] | [
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] | 60.733334 | 1,822 | 98 | 272,375 | 0 | |||
[
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] | [
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] | place green block | move | 0.166294 | [
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] | [
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] | 60.766666 | 1,823 | 98 | 272,376 | 0 | |||
[
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] | place green block | move | 0.166294 | [
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] | [
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] | 60.799999 | 1,824 | 98 | 272,377 | 0 | |||
[
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] | [
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] | place green block | move | 0.177411 | [
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] | [
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] | 60.833332 | 1,825 | 98 | 272,378 | 0 | |||
[
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] | place green block | move | 0.195917 | [
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] | [
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] | 60.866665 | 1,826 | 98 | 272,379 | 0 | |||
[
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] | place green block | move | 0.214393 | [
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] | [
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] | 60.900002 | 1,827 | 98 | 272,380 | 0 | |||
[
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] | 60.933334 | 1,828 | 98 | 272,381 | 0 | |||
[
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] | place green block | move | 0.265947 | [
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] | 60.966667 | 1,829 | 98 | 272,382 | 0 | |||
[
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] | place green block | move | 0.280623 | [
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] | [
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] | 61 | 1,830 | 98 | 272,383 | 0 | |||
[
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] | [
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] | place green block | move | 0.29893 | [
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] | [
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] | 61.033333 | 1,831 | 98 | 272,384 | 0 | |||
[
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] | [
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] | place green block | move | 0.317192 | [
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] | [
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] | 30 | [
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] | 61.066666 | 1,832 | 98 | 272,385 | 0 | |||
[
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] | [
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] | 61.099998 | 1,833 | 98 | 272,386 | 0 | |||
[
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0
] | [
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0
] | place green block | move | 0.318563 | [
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] | [
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] | 30 | [
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0,
0
] | 61.133335 | 1,834 | 98 | 272,387 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.318563 | [
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] | [
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] | 30 | [
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] | 61.166668 | 1,835 | 98 | 272,388 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.318563 | [
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] | [
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] | 30 | [
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] | 61.200001 | 1,836 | 98 | 272,389 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.336814 | [
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] | [
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] | 30 | [
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] | 61.233334 | 1,837 | 98 | 272,390 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.366052 | [
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] | [
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] | 30 | [
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] | 61.266666 | 1,838 | 98 | 272,391 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.399961 | [
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] | [
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] | 30 | [
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] | 61.299999 | 1,839 | 98 | 272,392 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.431543 | [
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] | [
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] | 30 | [
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] | 61.333332 | 1,840 | 98 | 272,393 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.457237 | [
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] | [
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] | 30 | [
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] | 61.366665 | 1,841 | 98 | 272,394 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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0
] | place green block | move | 0.477969 | [
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22.66022300720215,
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] | [
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] | 30 | [
0,
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] | 61.400002 | 1,842 | 98 | 272,395 | 0 | |||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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0.324262410402298,
0.32487618923187256,
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0
] | place green block | move | 0.500994 | [
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25.410104751586914,
22.66022300720215,
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30
] | [
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] | 30 | [
0,
0,
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] | 61.433334 | 1,843 | 98 | 272,396 | 0 | |||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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0.32303789258003235,
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0
] | place green block | move | 0.508213 | [
2.8921732902526855,
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25.410104751586914,
22.66022300720215,
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30
] | [
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] | 30 | [
0,
0,
0
] | 61.466667 | 1,844 | 98 | 272,397 | 0 | |||
[
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22.18400764465332,
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30
] | [
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] | [
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] | 1 | [
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] | [
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0.32181695103645325,
0.32524624466896057,
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0
] | place green block | move | 0.513168 | [
2.8921732902526855,
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25.410104751586914,
22.66022300720215,
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30
] | [
0.3283211588859558,
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] | 30 | [
0,
0,
0
] | 61.5 | 1,845 | 98 | 272,398 | 0 | |||
[
2.5109169483184814,
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22.18400764465332,
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30
] | [
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30
] | [
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] | 1 | [
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0.3206019997596741,
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] | [
0.04660831019282341,
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0.32061848044395447,
0.3254275619983673,
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0
] | place green block | move | 0.526199 | [
2.8921732902526855,
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25.410104751586914,
22.66022300720215,
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30
] | [
0.3283211588859558,
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] | 30 | [
0,
0,
0
] | 61.533333 | 1,846 | 98 | 272,399 | 0 |
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