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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] | release object on green block | gripper_open | 0.845565 | [
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] | release object on green block | gripper_open | 0.890834 | [
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] | release object on green block | gripper_open | 0.913484 | [
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[
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] | release object on green block | gripper_open | 0.936089 | [
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] | 58.400002 | 1,752 | 99 | 275,305 | 0 | |||
[
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] | release object on green block | gripper_open | 0.958726 | [
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] | 58.433334 | 1,753 | 99 | 275,306 | 0 | |||
[
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] | release object on green block | gripper_open | 0.981153 | [
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] | 58.466667 | 1,754 | 99 | 275,307 | 0 | |||
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] | [
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] | place green block | move | 0.001231 | [
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] | place green block | move | 0.001231 | [
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] | 58.533333 | 1,756 | 99 | 275,309 | 0 | |||
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] | place green block | move | 0.001231 | [
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] | 58.566666 | 1,757 | 99 | 275,310 | 0 | |||
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[
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[
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] | place green block | move | 0.001231 | [
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] | place green block | move | 0.001231 | [
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] | [
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] | 58.733334 | 1,762 | 99 | 275,315 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.001231 | [
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] | [
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] | 58.766666 | 1,763 | 99 | 275,316 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.001231 | [
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] | [
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] | 58.799999 | 1,764 | 99 | 275,317 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.001231 | [
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] | [
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] | 58.833332 | 1,765 | 99 | 275,318 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.001231 | [
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] | [
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] | 58.866665 | 1,766 | 99 | 275,319 | 0 | |||
[
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] | [
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] | place green block | move | 0.001231 | [
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] | [
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] | 58.900002 | 1,767 | 99 | 275,320 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.001231 | [
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] | [
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] | 58.933334 | 1,768 | 99 | 275,321 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.001231 | [
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] | [
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] | 58.966667 | 1,769 | 99 | 275,322 | 0 | |||
[
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] | [
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] | [
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] | 59 | 1,770 | 99 | 275,323 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.008669 | [
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] | [
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] | 59.033333 | 1,771 | 99 | 275,324 | 0 | |||
[
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] | [
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] | place green block | move | 0.008669 | [
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] | [
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] | 30 | [
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] | 59.066666 | 1,772 | 99 | 275,325 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.008669 | [
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] | [
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] | 59.099998 | 1,773 | 99 | 275,326 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.008669 | [
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] | [
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] | 59.133335 | 1,774 | 99 | 275,327 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.008669 | [
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] | [
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0,
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] | 59.166668 | 1,775 | 99 | 275,328 | 0 | |||
[
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] | [
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] | place green block | move | 0.019821 | [
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] | 59.200001 | 1,776 | 99 | 275,329 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.019821 | [
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] | [
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] | 59.233334 | 1,777 | 99 | 275,330 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.023537 | [
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] | [
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] | 59.266666 | 1,778 | 99 | 275,331 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.023537 | [
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] | [
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] | 30 | [
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] | 59.299999 | 1,779 | 99 | 275,332 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.023537 | [
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] | [
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] | 59.333332 | 1,780 | 99 | 275,333 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.023537 | [
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] | [
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] | 59.366665 | 1,781 | 99 | 275,334 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.023537 | [
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] | [
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] | 59.400002 | 1,782 | 99 | 275,335 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.042106 | [
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] | [
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] | 59.433334 | 1,783 | 99 | 275,336 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.06807 | [
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] | [
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] | 59.466667 | 1,784 | 99 | 275,337 | 0 | |||
[
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] | [
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] | place green block | move | 0.105091 | [
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] | [
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] | 59.5 | 1,785 | 99 | 275,338 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.138331 | [
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] | [
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] | 59.533333 | 1,786 | 99 | 275,339 | 0 | |||
[
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] | [
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] | place green block | move | 0.160445 | [
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] | [
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] | 30 | [
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] | 59.566666 | 1,787 | 99 | 275,340 | 0 | |||
[
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] | [
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] | place green block | move | 0.175165 | [
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] | [
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] | 30 | [
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] | 59.599998 | 1,788 | 99 | 275,341 | 0 | |||
[
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] | [
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] | place green block | move | 0.193539 | [
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] | [
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] | 30 | [
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] | 59.633335 | 1,789 | 99 | 275,342 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.208215 | [
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] | [
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] | 59.666668 | 1,790 | 99 | 275,343 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.219208 | [
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] | [
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] | 30 | [
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] | 59.700001 | 1,791 | 99 | 275,344 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.233846 | [
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] | [
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] | 59.733334 | 1,792 | 99 | 275,345 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.25211 | [
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] | [
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] | 59.766666 | 1,793 | 99 | 275,346 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.259404 | [
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] | [
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] | 59.799999 | 1,794 | 99 | 275,347 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.261703 | [
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] | [
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] | 59.833332 | 1,795 | 99 | 275,348 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.261703 | [
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] | [
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] | 59.866665 | 1,796 | 99 | 275,349 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.261703 | [
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] | [
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] | 59.900002 | 1,797 | 99 | 275,350 | 0 | |||
[
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] | [
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] | place green block | move | 0.26536 | [
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] | [
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] | 30 | [
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] | 59.933334 | 1,798 | 99 | 275,351 | 0 | |||
[
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] | [
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] | place green block | move | 0.298193 | [
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] | [
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] | 59.966667 | 1,799 | 99 | 275,352 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.323632 | [
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] | [
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] | 60 | 1,800 | 99 | 275,353 | 0 | |||
[
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] | [
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] | place green block | move | 0.361091 | [
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] | [
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] | 30 | [
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] | 60.033333 | 1,801 | 99 | 275,354 | 0 | |||
[
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] | [
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] | place green block | move | 0.389919 | [
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] | [
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] | 30 | [
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] | 60.066666 | 1,802 | 99 | 275,355 | 0 | |||
[
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] | [
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] | place green block | move | 0.407854 | [
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] | [
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] | 30 | [
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] | 60.099998 | 1,803 | 99 | 275,356 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.425718 | [
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] | [
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] | 60.133335 | 1,804 | 99 | 275,357 | 0 | |||
[
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] | place green block | move | 0.439953 | [
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] | place green block | move | 0.439953 | [
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[
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] | [
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] | place green block | move | 0.442815 | [
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] | [
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[
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] | [
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] | place green block | move | 0.444207 | [
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[
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] | [
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] | place green block | move | 0.445572 | [
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] | place green block | move | 0.446909 | [
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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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] | 60.533333 | 1,816 | 99 | 275,369 | 0 | |||
[
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[
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[
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] | [
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] | 60.633335 | 1,819 | 99 | 275,372 | 0 | |||
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[
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[
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] | place green block | move | 0.709027 | [
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[
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] | place green block | move | 0.709027 | [
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[
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] | place green block | move | 0.709027 | [
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[
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] | [
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] | place green block | move | 0.709027 | [
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] | [
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[
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] | [
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] | place green block | move | 0.709027 | [
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[
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[
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] | [
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] | place green block | move | 0.709027 | [
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[
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] | 61 | 1,830 | 99 | 275,383 | 0 | |||
[
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] | [
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] | [
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] | 61.033333 | 1,831 | 99 | 275,384 | 0 | |||
[
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] | [
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] | [
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] | 61.066666 | 1,832 | 99 | 275,385 | 0 | |||
[
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] | [
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] | [
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[
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] | [
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] | 61.133335 | 1,834 | 99 | 275,387 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.709027 | [
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] | [
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] | 30 | [
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0,
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] | 61.166668 | 1,835 | 99 | 275,388 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.709027 | [
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] | [
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] | 61.200001 | 1,836 | 99 | 275,389 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.709027 | [
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] | [
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] | 30 | [
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] | 61.233334 | 1,837 | 99 | 275,390 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.709027 | [
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] | [
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] | 30 | [
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] | 61.266666 | 1,838 | 99 | 275,391 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.732164 | [
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] | [
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] | 30 | [
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] | 61.299999 | 1,839 | 99 | 275,392 | 0 | |||
[
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30
] | [
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] | [
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] | place green block | move | 0.754586 | [
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] | [
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] | 30 | [
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] | 61.333332 | 1,840 | 99 | 275,393 | 0 | |||
[
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] | [
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] | [
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] | [
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0
] | place green block | move | 0.787455 | [
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] | [
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] | 30 | [
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] | 61.366665 | 1,841 | 99 | 275,394 | 0 | |||
[
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30
] | [
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] | [
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] | [
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] | place green block | move | 0.820818 | [
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] | [
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] | 30 | [
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0,
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] | 61.400002 | 1,842 | 99 | 275,395 | 0 | |||
[
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] | [
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] | [
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] | [
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0
] | place green block | move | 0.845318 | [
2.8909857273101807,
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30.01316261291504,
16.656763076782227,
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30
] | [
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] | 30 | [
0,
0,
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] | 61.433334 | 1,843 | 99 | 275,396 | 0 | |||
[
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30
] | [
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] | [
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] | [
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0
] | place green block | move | 0.859 | [
2.8909857273101807,
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30.01316261291504,
16.656763076782227,
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] | [
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] | 30 | [
0,
0,
0
] | 61.466667 | 1,844 | 99 | 275,397 | 0 | |||
[
2.183406114578247,
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30
] | [
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30
] | [
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] | [
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0
] | place green block | move | 0.869327 | [
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30.01316261291504,
16.656763076782227,
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30
] | [
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] | 30 | [
0,
0,
0
] | 61.5 | 1,845 | 99 | 275,398 | 0 | |||
[
2.183406114578247,
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16.251075744628906,
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30
] | [
2.8909857273101807,
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30
] | [
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] | 1 | [
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0
] | [
0.04829190671443939,
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0.22199486196041107,
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0
] | place green block | move | 0.878616 | [
2.8909857273101807,
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30.01316261291504,
16.656763076782227,
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30
] | [
0.32825857400894165,
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1.2916251420974731,
2.876095771789551
] | 30 | [
0,
0,
0
] | 61.533333 | 1,846 | 99 | 275,399 | 0 |
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