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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] | free state (clear view for redetect) | move_free | 0.956643 | [
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[
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[
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[
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3.084235906600952,
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] | 30 | [
0,
0,
0
] | 70.566666 | 2,117 | 98 | 272,670 | 0 | |||
[
3.930130958557129,
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] | [
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] | [
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] | 1 | [
0.06289321184158325,
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] | [
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0
] | pick blue block | gripper_open | 0.925772 | [
3.930130958557129,
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30
] | [
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] | 30 | [
0,
0,
0
] | 70.599998 | 2,118 | 98 | 272,671 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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0
] | pick blue block | gripper_open | 0.942548 | [
3.930130958557129,
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30
] | [
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] | 30 | [
0,
0,
0
] | 70.633331 | 2,119 | 98 | 272,672 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
0.06289321184158325,
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] | [
0.06289321184158325,
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0.9771457314491272,
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0
] | pick blue block | gripper_open | 0.959357 | [
3.930130958557129,
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30
] | [
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] | 30 | [
0,
0,
0
] | 70.666664 | 2,120 | 98 | 272,673 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
0.06289321184158325,
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] | [
0.06289321184158325,
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0
] | pick blue block | gripper_open | 0.976139 | [
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30
] | [
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] | 30 | [
0,
0,
0
] | 70.699997 | 2,121 | 98 | 272,674 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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0
] | pick blue block | gripper_open | 0.992951 | [
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30
] | [
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] | 30 | [
0,
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0
] | 70.73333 | 2,122 | 98 | 272,675 | 0 | |||
[
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30
] | [
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30
] | [
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] | 1 | [
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0
] | [
0.06289315223693848,
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0
] | pick blue block | move | 0.000036 | [
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30
] | [
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] | 30 | [
0,
0,
0
] | 70.76667 | 2,123 | 98 | 272,676 | 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
] | pick blue block | move | 0.000036 | [
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31.237014770507812,
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30
] | [
0.1756574958562851,
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] | 30 | [
0,
0,
0
] | 70.800003 | 2,124 | 98 | 272,677 | 0 | |||
[
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30
] | [
3.8053016662597656,
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30
] | [
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] | 1 | [
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0
] | [
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0
] | pick blue block | move | 0.000036 | [
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19.091346740722656,
31.237014770507812,
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30
] | [
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] | 30 | [
0,
0,
0
] | 70.833336 | 2,125 | 98 | 272,678 | 0 | |||
[
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30
] | [
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30
] | [
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3.0847606658935547,
0.7622418403625488,
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] | 1 | [
0.06289321184158325,
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0
] | [
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0.975389301776886,
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0
] | pick blue block | move | 0.000689 | [
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19.091346740722656,
31.237014770507812,
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30
] | [
0.1756574958562851,
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] | 30 | [
0,
0,
0
] | 70.866669 | 2,126 | 98 | 272,679 | 0 | |||
[
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30
] | [
3.456195116043091,
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30
] | [
0.1810029000043869,
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3.0851078033447266,
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] | 1 | [
0.06289321184158325,
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0
] | [
0.05623381584882736,
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1.5733562707901,
0.9742003083229065,
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0
] | pick blue block | move | 0.001341 | [
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19.091346740722656,
31.237014770507812,
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30
] | [
0.1756574958562851,
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] | 30 | [
0,
0,
0
] | 70.900002 | 2,127 | 98 | 272,680 | 0 | |||
[
3.930130958557129,
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30
] | [
3.1982054710388184,
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30
] | [
0.18088802695274353,
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0.04147747531533241,
3.085280656814575,
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] | 1 | [
0.06289321184158325,
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0
] | [
0.052608732134103775,
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1.5689939260482788,
0.9725969433784485,
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0
] | pick blue block | move | 0.001667 | [
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19.091346740722656,
31.237014770507812,
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30
] | [
0.1756574958562851,
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] | 30 | [
0,
0,
0
] | 70.933334 | 2,128 | 98 | 272,681 | 0 | |||
[
3.930130958557129,
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30
] | [
2.8923919200897217,
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30
] | [
0.18077290058135986,
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0.04130587354302406,
3.0854530334472656,
0.7561266422271729,
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] | 1 | [
0.06289321184158325,
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1.5800001621246338,
0.9771457314491272,
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0
] | [
0.048311665654182434,
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1.526404857635498,
0.9706963896751404,
-0.010737866163253784,
0
] | pick blue block | move | 0.001992 | [
-75.7236557006836,
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19.091346740722656,
31.237014770507812,
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30
] | [
0.1756574958562851,
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] | 30 | [
0,
0,
0
] | 70.966667 | 2,129 | 98 | 272,682 | 0 | |||
[
3.930130958557129,
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30
] | [
2.5396382808685303,
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58.5009880065918,
-0.3174603283405304,
30
] | [
0.18077290058135986,
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0.04130587354302406,
3.0854530334472656,
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] | 1 | [
0.06289321184158325,
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0
] | [
0.04335503280162811,
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1.5204402208328247,
0.9685040712356567,
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0
] | pick blue block | move | 0.001992 | [
-75.7236557006836,
-25.49800682067871,
19.091346740722656,
31.237014770507812,
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30
] | [
0.1756574958562851,
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2.940980911254883,
1.2806793451309204,
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] | 30 | [
0,
0,
0
] | 71 | 2,130 | 98 | 272,683 | 0 | |||
[
3.820960760116577,
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30
] | [
2.1241273880004883,
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94.7929916381836,
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30
] | [
0.18032315373420715,
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0.04062119126319885,
3.086137533187866,
0.7500110268592834,
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] | 1 | [
0.061359234154224396,
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1.5800001621246338,
0.9771457314491272,
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0
] | [
0.037516579031944275,
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1.5134142637252808,
0.9659217000007629,
-0.010737866163253784,
0
] | pick blue block | move | 0.003756 | [
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19.091346740722656,
31.237014770507812,
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30
] | [
0.1756574958562851,
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1.2806793451309204,
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] | 30 | [
0,
0,
0
] | 71.033333 | 2,131 | 98 | 272,684 | 0 | |||
[
3.7117903232574463,
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98.73015594482422,
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30
] | [
1.6803902387619019,
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30
] | [
0.18010304868221283,
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0.040279921144247055,
3.086477041244507,
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3.000753879547119
] | 1 | [
0.05982524901628494,
-1.73493230342865,
1.5800001621246338,
0.9771457314491272,
-0.010737866163253784,
0
] | [
0.03128151223063469,
-1.7319202423095703,
1.505911111831665,
0.9631639122962952,
-0.010737866163253784,
0
] | pick blue block | move | 0.004869 | [
-75.7236557006836,
-25.49800682067871,
19.091346740722656,
31.237014770507812,
-0.3174603283405304,
30
] | [
0.1756574958562851,
0.24215134978294373,
0.21476376056671143,
2.940980911254883,
1.2806793451309204,
-2.2943522930145264
] | 30 | [
0,
0,
0
] | 71.066666 | 2,132 | 98 | 272,685 | 0 | |||
[
3.275109052658081,
-96.79730224609375,
98.63945770263672,
58.985382080078125,
-0.3174603283405304,
30
] | [
1.1636905670166016,
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93.83273315429688,
58.02165985107422,
-0.3174603283405304,
30
] | [
0.17981524765491486,
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0.03994664549827576,
3.086982488632202,
0.7423661947250366,
3.007232427597046
] | 1 | [
0.05368932709097862,
-1.728796362876892,
1.5784662961959839,
0.9771457314491272,
-0.010737866163253784,
0
] | [
0.024021226912736893,
-1.7233431339263916,
1.4971742630004883,
0.9599527716636658,
-0.010737866163253784,
0
] | pick blue block | move | 0.00841 | [
-75.7236557006836,
-25.49800682067871,
19.091346740722656,
31.237014770507812,
-0.3174603283405304,
30
] | [
0.1756574958562851,
0.24215134978294373,
0.21476376056671143,
2.940980911254883,
1.2806793451309204,
-2.2943522930145264
] | 30 | [
0,
0,
0
] | 71.099998 | 2,133 | 98 | 272,686 | 0 | |||
[
2.838428020477295,
-96.5444564819336,
98.36734771728516,
58.985382080078125,
-0.3174603283405304,
30
] | [
0.6323510408401489,
-96.0130844116211,
93.30149841308594,
57.8365592956543,
-0.3174603283405304,
30
] | [
0.1799057573080063,
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0.040478408336639404,
3.086982488632202,
0.7423661947250366,
3.0133683681488037
] | 1 | [
0.0475534051656723,
-1.7241944074630737,
1.5738643407821655,
0.9771457314491272,
-0.010737866163253784,
0
] | [
0.016555234789848328,
-1.7145230770111084,
1.488189935684204,
0.9566505551338196,
-0.010737866163253784,
0
] | pick blue block | move | 0.012402 | [
-75.7236557006836,
-25.49800682067871,
19.091346740722656,
31.237014770507812,
-0.3174603283405304,
30
] | [
0.1756574958562851,
0.24215134978294373,
0.21476376056671143,
2.940980911254883,
1.2806793451309204,
-2.2943522930145264
] | 30 | [
0,
0,
0
] | 71.133331 | 2,134 | 98 | 272,687 | 0 | |||
[
2.292576313018799,
-96.5444564819336,
98.27664184570312,
58.985382080078125,
-0.3174603283405304,
30
] | [
0.01875794492661953,
-95.45346069335938,
92.68801879882812,
57.622806549072266,
-0.3174603283405304,
30
] | [
0.18008525669574738,
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0.040825746953487396,
3.0868144035339355,
0.7438952326774597,
3.0209245681762695
] | 1 | [
0.03988349810242653,
-1.7241944074630737,
1.5723302364349365,
0.9771457314491272,
-0.010737866163253784,
0
] | [
0.007933476939797401,
-1.704337477684021,
1.4778146743774414,
0.9528371095657349,
-0.010737866163253784,
0
] | pick blue block | move | 0.015103 | [
-75.7236557006836,
-25.49800682067871,
19.091346740722656,
31.237014770507812,
-0.3174603283405304,
30
] | [
0.1756574958562851,
0.24215134978294373,
0.21476376056671143,
2.940980911254883,
1.2806793451309204,
-2.2943522930145264
] | 30 | [
0,
0,
0
] | 71.166664 | 2,135 | 98 | 272,688 | 0 | |||
[
1.7467248439788818,
-96.37589263916016,
98.0952377319336,
58.985382080078125,
-0.3174603283405304,
30
] | [
-0.6074095964431763,
-94.88236999511719,
92.06196594238281,
57.4046745300293,
-0.3174603283405304,
30
] | [
0.1801566630601883,
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0.04118012264370918,
3.0868144035339355,
0.7438952326774597,
3.028594493865967
] | 1 | [
0.032213594764471054,
-1.7211264371871948,
1.5692623853683472,
0.9771457314491272,
-0.010737866163253784,
0
] | [
-0.0008649686933495104,
-1.6939432621002197,
1.4672268629074097,
0.9489456415176392,
-0.010737866163253784,
0
] | pick blue block | move | 0.018836 | [
-75.7236557006836,
-25.49800682067871,
19.091346740722656,
31.237014770507812,
-0.3174603283405304,
30
] | [
0.1756574958562851,
0.24215134978294373,
0.21476376056671143,
2.940980911254883,
1.2806793451309204,
-2.2943522930145264
] | 30 | [
0,
0,
0
] | 71.199997 | 2,136 | 98 | 272,689 | 0 | |||
[
1.2008733749389648,
-96.20732879638672,
97.73242950439453,
58.985382080078125,
-0.3174603283405304,
30
] | [
-1.2982988357543945,
-94.25224304199219,
91.37120819091797,
57.16399383544922,
-0.3174603283405304,
30
] | [
0.1804843246936798,
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0.042229652404785156,
3.086477041244507,
0.7469530701637268,
3.0360355377197266
] | 1 | [
0.02454369328916073,
-1.718058466911316,
1.5631264448165894,
0.9771457314491272,
-0.010737866163253784,
0
] | [
-0.010572835803031921,
-1.6824744939804077,
1.4555445909500122,
0.9446518421173096,
-0.010737866163253784,
0
] | pick blue block | move | 0.023343 | [
-75.7236557006836,
-25.49800682067871,
19.091346740722656,
31.237014770507812,
-0.3174603283405304,
30
] | [
0.1756574958562851,
0.24215134978294373,
0.21476376056671143,
2.940980911254883,
1.2806793451309204,
-2.2943522930145264
] | 30 | [
0,
0,
0
] | 71.23333 | 2,137 | 98 | 272,690 | 0 | |||
[
0.6550218462944031,
-95.87020874023438,
97.1882095336914,
58.985382080078125,
-0.3174603283405304,
30
] | [
-2.015439748764038,
-93.59818267822266,
90.65420532226562,
56.91416931152344,
-0.3174603283405304,
30
] | [
0.18083864450454712,
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0.04363398253917694,
3.086137533187866,
0.7500110864639282,
3.0434744358062744
] | 1 | [
0.016873788088560104,
-1.7119226455688477,
1.5539225339889526,
0.9771457314491272,
-0.010737866163253784,
0
] | [
-0.02064957283437252,
-1.6705701351165771,
1.4434186220169067,
0.9401949048042297,
-0.010737866163253784,
0
] | pick blue block | move | 0.029278 | [
-75.7236557006836,
-25.49800682067871,
19.091346740722656,
31.237014770507812,
-0.3174603283405304,
30
] | [
0.1756574958562851,
0.24215134978294373,
0.21476376056671143,
2.940980911254883,
1.2806793451309204,
-2.2943522930145264
] | 30 | [
0,
0,
0
] | 71.26667 | 2,138 | 98 | 272,691 | 0 | |||
[
0.10917030274868011,
-95.44879913330078,
96.64398956298828,
58.985382080078125,
-0.3174603283405304,
30
] | [
-2.7799642086029053,
-92.9009017944336,
89.88982391357422,
56.6478385925293,
-0.3174603283405304,
30
] | [
0.1810769885778427,
-0.001269315485842526,
0.04486699029803276,
3.0859673023223877,
0.7515400648117065,
3.051028251647949
] | 1 | [
0.00920388475060463,
-1.7042526006698608,
1.544718623161316,
0.9771457314491272,
-0.010737866163253784,
0
] | [
-0.03139210864901543,
-1.6578792333602905,
1.4304912090301514,
0.9354435205459595,
-0.010737866163253784,
0
] | pick blue block | move | 0.035537 | [
-75.7236557006836,
-25.49800682067871,
19.091346740722656,
31.237014770507812,
-0.3174603283405304,
30
] | [
0.1756574958562851,
0.24215134978294373,
0.21476376056671143,
2.940980911254883,
1.2806793451309204,
-2.2943522930145264
] | 30 | [
0,
0,
0
] | 71.300003 | 2,139 | 98 | 272,692 | 0 | |||
[
-0.43668121099472046,
-94.85882568359375,
96.00907135009766,
58.89939880371094,
-0.3174603283405304,
30
] | [
-3.5801944732666016,
-92.17105102539062,
89.0897445678711,
56.36906814575195,
-0.3174603283405304,
30
] | [
0.18139658868312836,
-0.00017879220831673592,
0.04624975845217705,
3.085796356201172,
0.7530688643455505,
3.0585813522338867
] | 1 | [
0.0015339809469878674,
-1.6935147047042847,
1.5339808464050293,
0.9756118059158325,
-0.010737866163253784,
0
] | [
-0.04263635352253914,
-1.6445953845977783,
1.4169602394104004,
0.9304701685905457,
-0.010737866163253784,
0
] | pick blue block | move | 0.042968 | [
-75.7236557006836,
-25.49800682067871,
19.091346740722656,
31.237014770507812,
-0.3174603283405304,
30
] | [
0.1756574958562851,
0.24215134978294373,
0.21476376056671143,
2.940980911254883,
1.2806793451309204,
-2.2943522930145264
] | 30 | [
0,
0,
0
] | 71.333336 | 2,140 | 98 | 272,693 | 0 | |||
[
-1.0917030572891235,
-94.35314178466797,
95.37415313720703,
58.55546188354492,
-0.3174603283405304,
30
] | [
-4.411741733551025,
-91.41264343261719,
88.25835418701172,
56.07938766479492,
-0.3174603283405304,
30
] | [
0.1823330521583557,
0.0011405316181480885,
0.04824352636933327,
3.0849344730377197,
0.7607131600379944,
3.0671932697296143
] | 1 | [
-0.007669903803616762,
-1.6843109130859375,
1.5232429504394531,
0.9694758653640747,
-0.010737866163253784,
0
] | [
-0.054320644587278366,
-1.6307919025421143,
1.4028996229171753,
0.925302267074585,
-0.010737866163253784,
0
] | pick blue block | move | 0.050927 | [
-75.7236557006836,
-25.49800682067871,
19.091346740722656,
31.237014770507812,
-0.3174603283405304,
30
] | [
0.1756574958562851,
0.24215134978294373,
0.21476376056671143,
2.940980911254883,
1.2806793451309204,
-2.2943522930145264
] | 30 | [
0,
0,
0
] | 71.366669 | 2,141 | 98 | 272,694 | 0 | |||
[
-1.9650654792785645,
-93.84745025634766,
94.55782318115234,
58.38349151611328,
-0.3174603283405304,
30
] | [
-5.288837432861328,
-90.6126937866211,
87.38142395019531,
55.773841857910156,
-0.3174603283405304,
30
] | [
0.1831693947315216,
0.0029185579624027014,
0.050648149102926254,
3.084059953689575,
0.7683571577072144,
3.078859806060791
] | 1 | [
-0.019941749051213264,
-1.6751070022583008,
1.509437084197998,
0.9664078950881958,
-0.010737866163253784,
0
] | [
-0.06664494425058365,
-1.6162322759628296,
1.3880687952041626,
0.9198512434959412,
-0.010737866163253784,
0
] | pick blue block | move | 0.060316 | [
-75.7236557006836,
-25.49800682067871,
19.091346740722656,
31.237014770507812,
-0.3174603283405304,
30
] | [
0.1756574958562851,
0.24215134978294373,
0.21476376056671143,
2.940980911254883,
1.2806793451309204,
-2.2943522930145264
] | 30 | [
0,
0,
0
] | 71.400002 | 2,142 | 98 | 272,695 | 0 | |||
[
-2.838428020477295,
-93.1731948852539,
93.83219909667969,
58.039554595947266,
-0.3174603283405304,
30
] | [
-6.184592247009277,
-89.79573059082031,
86.48583221435547,
55.461795806884766,
-0.3174603283405304,
30
] | [
0.18399856984615326,
0.0047177644446492195,
0.05265165865421295,
3.0833511352539062,
0.7744719386100769,
3.090637445449829
] | 1 | [
-0.03221359848976135,
-1.6628351211547852,
1.4971652030944824,
0.9602720141410828,
-0.010737866163253784,
0
] | [
-0.07923143357038498,
-1.601362943649292,
1.372922420501709,
0.9142842888832092,
-0.010737866163253784,
0
] | pick blue block | move | 0.070232 | [
-75.7236557006836,
-25.49800682067871,
19.091346740722656,
31.237014770507812,
-0.3174603283405304,
30
] | [
0.1756574958562851,
0.24215134978294373,
0.21476376056671143,
2.940980911254883,
1.2806793451309204,
-2.2943522930145264
] | 30 | [
0,
0,
0
] | 71.433334 | 2,143 | 98 | 272,696 | 0 | |||
[
-3.6026201248168945,
-92.41466522216797,
93.01587677001953,
57.78160095214844,
-0.3174603283405304,
30
] | [
-7.133836269378662,
-88.92997741699219,
85.5367660522461,
55.1311149597168,
-0.3174603283405304,
30
] | [
0.18469178676605225,
0.006308535113930702,
0.05468198284506798,
3.0828137397766113,
0.7790579199790955,
3.100998640060425
] | 1 | [
-0.04295146092772484,
-1.6490293741226196,
1.483359456062317,
0.9556700587272644,
-0.010737866163253784,
0
] | [
-0.0925695151090622,
-1.5856056213378906,
1.3568717241287231,
0.9083848595619202,
-0.010737866163253784,
0
] | pick blue block | move | 0.080275 | [
-75.7236557006836,
-25.49800682067871,
19.091346740722656,
31.237014770507812,
-0.3174603283405304,
30
] | [
0.1756574958562851,
0.24215134978294373,
0.21476376056671143,
2.940980911254883,
1.2806793451309204,
-2.2943522930145264
] | 30 | [
0,
0,
0
] | 71.466667 | 2,144 | 98 | 272,697 | 0 | |||
[
-4.475982666015625,
-91.57185363769531,
92.29025268554688,
57.437660217285156,
-0.3174603283405304,
30
] | [
-8.09091567993164,
-88.05707550048828,
84.57987213134766,
54.79770278930664,
-0.3174603283405304,
30
] | [
0.18532449007034302,
0.008137806318700314,
0.056329671293497086,
3.0824527740478516,
0.7821152806282043,
3.1130166053771973
] | 1 | [
-0.05522330850362778,
-1.6336896419525146,
1.4710875749588013,
0.9495341181755066,
-0.010737866163253784,
0
] | [
-0.10601768642663956,
-1.5697182416915894,
1.3406885862350464,
0.9024367332458496,
-0.010737866163253784,
0
] | pick blue block | move | 0.090846 | [
-75.7236557006836,
-25.49800682067871,
19.091346740722656,
31.237014770507812,
-0.3174603283405304,
30
] | [
0.1756574958562851,
0.24215134978294373,
0.21476376056671143,
2.940980911254883,
1.2806793451309204,
-2.2943522930145264
] | 30 | [
0,
0,
0
] | 71.5 | 2,145 | 98 | 272,698 | 0 | |||
[
-5.240174770355225,
-90.6447525024414,
91.47392272949219,
57.17970657348633,
-0.3174603283405304,
30
] | [
-9.10315227508545,
-87.13387298583984,
83.56782531738281,
54.4450798034668,
-0.3174603283405304,
30
] | [
0.18584352731704712,
0.009750903584063053,
0.05799676477909088,
3.0822715759277344,
0.783643901348114,
3.123626470565796
] | 1 | [
-0.06596117466688156,
-1.6168156862258911,
1.4572817087173462,
0.9449321627616882,
-0.010737866163253784,
0
] | [
-0.12024088948965073,
-1.552915334701538,
1.3235727548599243,
0.8961458802223206,
-0.010737866163253784,
0
] | pick blue block | move | 0.101542 | [
-75.7236557006836,
-25.49800682067871,
19.091346740722656,
31.237014770507812,
-0.3174603283405304,
30
] | [
0.1756574958562851,
0.24215134978294373,
0.21476376056671143,
2.940980911254883,
1.2806793451309204,
-2.2943522930145264
] | 30 | [
0,
0,
0
] | 71.533333 | 2,146 | 98 | 272,699 | 0 |
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