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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] | forward home return (free/parking) | move_free | 0.481916 | [
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[
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[
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[
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4.635108470916748,
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99.91019439697266,
57.313941955566406,
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] | forward home return (free/parking) | move_free | 0.587933 | [
4.635108470916748,
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99.91019439697266,
57.313941955566406,
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] | forward home return (free/parking) | move_free | 0.602184 | [
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 | 0.618533 | [
4.635108470916748,
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99.91019439697266,
57.313941955566406,
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] | 98.833336 | 2,965 | 98 | 273,518 | 0 | |||
[
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] | forward home return (free/parking) | move_free | 0.635002 | [
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 | 0.653046 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 98.900002 | 2,967 | 98 | 273,520 | 0 | |||
[
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0.0627957358956337,
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1.3317209482192993,
1.022567868232727,
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0
] | forward home return (free/parking) | move_free | 0.673418 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 98.933334 | 2,968 | 98 | 273,521 | 0 | |||
[
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1.346740961074829,
1.0183547735214233,
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0
] | forward home return (free/parking) | move_free | 0.68994 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 98.966667 | 2,969 | 98 | 273,522 | 0 | |||
[
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1.014228105545044,
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0
] | forward home return (free/parking) | move_free | 0.703623 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 99 | 2,970 | 98 | 273,523 | 0 | |||
[
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1.3758593797683716,
1.0101869106292725,
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0
] | forward home return (free/parking) | move_free | 0.717993 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 99.033333 | 2,971 | 98 | 273,524 | 0 | |||
[
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1.0062265396118164,
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0
] | forward home return (free/parking) | move_free | 0.731802 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 99.066666 | 2,972 | 98 | 273,525 | 0 | |||
[
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0.17811180651187897,
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0.06548231840133667,
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1.4037610292434692,
1.002360463142395,
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0
] | forward home return (free/parking) | move_free | 0.746947 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 99.099998 | 2,973 | 98 | 273,526 | 0 | |||
[
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89.10344696044922,
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0.06598319113254547,
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1.417191982269287,
0.9985930919647217,
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0
] | forward home return (free/parking) | move_free | 0.762929 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 99.133331 | 2,974 | 98 | 273,527 | 0 | |||
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99.91019439697266,
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[
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] | forward home return (free/parking) | move_free | 0.797507 | [
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 | 0.810966 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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[
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0
] | forward home return (free/parking) | move_free | 0.82286 | [
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 | 0.835978 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 99.300003 | 2,979 | 98 | 273,532 | 0 | |||
[
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0
] | forward home return (free/parking) | move_free | 0.846699 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 99.333336 | 2,980 | 98 | 273,533 | 0 | |||
[
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1.500015377998352,
0.9753608703613281,
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0
] | forward home return (free/parking) | move_free | 0.859463 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 99.366669 | 2,981 | 98 | 273,534 | 0 | |||
[
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94.59503936767578,
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1.5100665092468262,
0.9725415110588074,
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0
] | forward home return (free/parking) | move_free | 0.869141 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 99.400002 | 2,982 | 98 | 273,535 | 0 | |||
[
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1.5196560621261597,
0.969851553440094,
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0
] | forward home return (free/parking) | move_free | 0.880463 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 99.433334 | 2,983 | 98 | 273,536 | 0 | |||
[
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1.5287476778030396,
0.9673014283180237,
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0
] | forward home return (free/parking) | move_free | 0.893079 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 99.466667 | 2,984 | 98 | 273,537 | 0 | |||
[
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3.0873169898986816,
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1.5373389720916748,
0.9648914933204651,
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0
] | forward home return (free/parking) | move_free | 0.90386 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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3.0888450145721436,
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] | 99.5 | 2,985 | 98 | 273,538 | 0 | |||
[
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96.68412017822266,
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0.04453153908252716,
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0.07076434046030045,
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1.5453972816467285,
0.962631106376648,
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0
] | forward home return (free/parking) | move_free | 0.913018 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 99.533333 | 2,986 | 98 | 273,539 | 0 | |||
[
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1.5529319047927856,
0.9605175852775574,
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0
] | forward home return (free/parking) | move_free | 0.922252 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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3.0888450145721436,
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] | 99.566666 | 2,987 | 98 | 273,540 | 0 | |||
[
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4.528886318206787,
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97.54369354248047,
57.94321823120117,
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0.17949126660823822,
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3.086982488632202,
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] | [
0.07130648195743561,
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1.5599344968795776,
0.9585533738136292,
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0
] | forward home return (free/parking) | move_free | 0.930175 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
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0.18546296656131744,
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3.0888450145721436,
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0
] | 99.599998 | 2,988 | 98 | 273,541 | 0 | |||
[
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] | forward home return (free/parking) | move_free | 0.936224 | [
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99.91019439697266,
57.313941955566406,
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0,
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] | 99.633331 | 2,989 | 98 | 273,542 | 0 | |||
[
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1.5723053216934204,
0.9550833106040955,
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0
] | forward home return (free/parking) | move_free | 0.942864 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 99.666664 | 2,990 | 98 | 273,543 | 0 | |||
[
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0.0719674825668335,
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1.5776591300964355,
0.9535815715789795,
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0
] | forward home return (free/parking) | move_free | 0.949287 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 99.699997 | 2,991 | 98 | 273,544 | 0 | |||
[
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0
] | forward home return (free/parking) | move_free | 0.953314 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 99.73333 | 2,992 | 98 | 273,545 | 0 | |||
[
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99,
57.522640228271484,
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3.085280656814575,
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] | [
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1.5845638513565063,
0.9510501623153687,
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0
] | forward home return (free/parking) | move_free | 0.956588 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 99.76667 | 2,993 | 98 | 273,546 | 0 | |||
[
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99,
57.46525192260742,
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3.0845861434936523,
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] | [
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1.5845638513565063,
0.9500263333320618,
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0
] | forward home return (free/parking) | move_free | 0.959389 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 99.800003 | 2,994 | 98 | 273,547 | 0 | |||
[
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99,
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3.084059953689575,
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] | [
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1.5845638513565063,
0.9491655230522156,
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0
] | forward home return (free/parking) | move_free | 0.961394 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 99.833336 | 2,995 | 98 | 273,548 | 0 | |||
[
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58.985382080078125,
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99,
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3.08388352394104,
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] | 1 | [
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0.9771457314491272,
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] | [
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1.5845638513565063,
0.9484692811965942,
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0
] | forward home return (free/parking) | move_free | 0.962081 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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3.0888450145721436,
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] | 0.065361 | [
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] | 99.866669 | 2,996 | 98 | 273,549 | 0 | |||
[
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99,
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0.1818203181028366,
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3.08388352394104,
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0.9771457314491272,
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] | [
0.07271794229745865,
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1.5845638513565063,
0.9479368329048157,
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0
] | forward home return (free/parking) | move_free | 0.962081 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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3.0888450145721436,
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] | 99.900002 | 2,997 | 98 | 273,550 | 0 | |||
[
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57.32756042480469,
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3.0837066173553467,
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0.9756118059158325,
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] | [
0.0727667361497879,
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1.5845638513565063,
0.9475699067115784,
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0
] | forward home return (free/parking) | move_free | 0.962721 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 0.065361 | [
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] | 99.933334 | 2,998 | 98 | 273,551 | 0 | |||
[
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-99,
99,
57.31486511230469,
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3.083528995513916,
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] | [
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1.5845638513565063,
0.9473434090614319,
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0
] | forward home return (free/parking) | move_free | 0.963338 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 0.065361 | [
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] | 99.966667 | 2,999 | 98 | 273,552 | 0 | |||
[
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-100,
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2.292576313018799,
-100,
99.45578002929688,
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] | pick red block | gripper_open | 0.000002 | [
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-100,
99.45578002929688,
74.3766098022461,
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] | [
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] | 0 | 0 | 99 | 273,553 | 0 | |||
[
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] | pick red block | gripper_open | 0.017921 | [
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-100,
99.45578002929688,
74.3766098022461,
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] | [
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] | 0.033333 | 1 | 99 | 273,554 | 0 | |||
[
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99.45578002929688,
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] | pick red block | gripper_open | 0.041621 | [
2.292576313018799,
-100,
99.45578002929688,
74.3766098022461,
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] | [
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0,
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] | 0.066667 | 2 | 99 | 273,555 | 0 | |||
[
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99.45578002929688,
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-100,
99.45578002929688,
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] | 1.133333 | 34 | 99 | 273,587 | 0 | |||
[
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[
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] | 30 | [
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] | 1.2 | 36 | 99 | 273,589 | 0 | |||
[
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] | pick red block | gripper_open | 0.62704 | [
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] | 1.233333 | 37 | 99 | 273,590 | 0 | |||
[
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] | pick red block | gripper_open | 0.64374 | [
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] | 1.266667 | 38 | 99 | 273,591 | 0 | |||
[
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] | pick red block | gripper_open | 0.660447 | [
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] | 30 | [
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] | 1.3 | 39 | 99 | 273,592 | 0 | |||
[
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] | pick red block | gripper_open | 0.677157 | [
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] | 1.333333 | 40 | 99 | 273,593 | 0 | |||
[
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] | pick red block | gripper_open | 0.693873 | [
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] | 1.366667 | 41 | 99 | 273,594 | 0 | |||
[
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] | pick red block | gripper_open | 0.71058 | [
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] | [
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] | 30 | [
0,
0,
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] | 1.4 | 42 | 99 | 273,595 | 0 | |||
[
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] | [
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0
] | pick red block | gripper_open | 0.727289 | [
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] | [
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] | 30 | [
0,
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] | 1.433333 | 43 | 99 | 273,596 | 0 | |||
[
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] | [
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1.5922720432281494,
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0
] | pick red block | gripper_open | 0.743998 | [
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] | [
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] | 30 | [
0,
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] | 1.466667 | 44 | 99 | 273,597 | 0 | |||
[
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99.45578002929688,
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] | [
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1.5922720432281494,
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] | pick red block | gripper_open | 0.760732 | [
2.292576313018799,
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99.45578002929688,
74.3766098022461,
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30
] | [
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] | 30 | [
0,
0,
0
] | 1.5 | 45 | 99 | 273,598 | 0 | |||
[
2.292576313018799,
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99.45578002929688,
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] | [
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] | 1 | [
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] | [
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1.5922720432281494,
1.2517282962799072,
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0
] | pick red block | gripper_open | 0.777468 | [
2.292576313018799,
-100,
99.45578002929688,
74.3766098022461,
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30
] | [
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] | 30 | [
0,
0,
0
] | 1.533333 | 46 | 99 | 273,599 | 0 |
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