observation.state list | action list | skill.type stringclasses 3
values | skill.progress float32 0 1 | skill.goal_position.joint list | skill.goal_position.world_xyzrpy list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 1 | skill.natural_language stringclasses 33
values | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | timestamp float32 0 72.3 | frame_index int64 0 723 | episode_index int64 0 99 | index int64 0 69.9k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | 1 | stack stage 1/3: place red block: grasp red block | [
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1
] | gripper_close | 0.509804 | [
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] | [
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] | 1 | stack stage 1/3: place red block: grasp red block | [
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] | 0 | 10.1 | 101 | 97 | 67,915 | 0 |
[
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] | gripper_close | 0.509804 | [
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] | 1 | stack stage 1/3: place red block: grasp red block | [
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] | 0 | 10.2 | 102 | 97 | 67,916 | 0 |
[
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] | gripper_close | 0.509804 | [
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] | 1 | stack stage 1/3: place red block: grasp red block | [
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] | 0 | 10.3 | 103 | 97 | 67,917 | 0 |
[
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] | gripper_close | 0.509804 | [
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] | 1 | stack stage 1/3: place red block: grasp red block | [
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[
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] | gripper_close | 0.509804 | [
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] | 1 | stack stage 1/3: place red block: grasp red block | [
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] | 0 | 10.5 | 105 | 97 | 67,919 | 0 |
[
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] | gripper_close | 0.509804 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: grasp red block | [
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] | 0 | 10.6 | 106 | 97 | 67,920 | 0 |
[
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1
] | gripper_close | 0.509804 | [
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] | [
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] | 1 | stack stage 1/3: place red block: grasp red block | [
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] | 0 | 10.7 | 107 | 97 | 67,921 | 0 |
[
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1
] | gripper_close | 0.509804 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: grasp red block | [
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] | 0 | 10.8 | 108 | 97 | 67,922 | 0 |
[
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] | [
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1
] | move_to_position | 0.000059 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: retract with red block | [
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] | 0 | 10.9 | 109 | 97 | 67,923 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.000136 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: retract with red block | [
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] | 0 | 11 | 110 | 97 | 67,924 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.013372 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: retract with red block | [
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] | 0 | 11.1 | 111 | 97 | 67,925 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.046967 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: retract with red block | [
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] | 0 | 11.2 | 112 | 97 | 67,926 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.101544 | [
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] | [
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] | [
-0.24621839821338654,
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] | 1 | stack stage 1/3: place red block: retract with red block | [
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] | 0 | 11.3 | 113 | 97 | 67,927 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.172878 | [
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] | [
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] | [
-0.24621839821338654,
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0,
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] | 1 | stack stage 1/3: place red block: retract with red block | [
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] | 0 | 11.4 | 114 | 97 | 67,928 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.272705 | [
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] | [
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] | [
-0.24621839821338654,
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0,
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] | 1 | stack stage 1/3: place red block: retract with red block | [
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] | 0 | 11.5 | 115 | 97 | 67,929 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.393033 | [
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] | [
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] | [
-0.24621839821338654,
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0.08799999952316284,
0,
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] | 1 | stack stage 1/3: place red block: retract with red block | [
-0.2463279813528061,
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] | 0 | 11.6 | 116 | 97 | 67,930 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.528029 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: retract with red block | [
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[
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] | move_to_position | 0.649407 | [
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] | 1 | stack stage 1/3: place red block: retract with red block | [
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[
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] | move_to_position | 0.748423 | [
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] | 1 | stack stage 1/3: place red block: retract with red block | [
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[
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] | move_to_position | 0.840461 | [
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] | 1 | stack stage 1/3: place red block: retract with red block | [
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[
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] | move_to_position | 0.918472 | [
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] | [
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] | 1 | stack stage 1/3: place red block: retract with red block | [
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[
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] | move_to_position | 0.972965 | [
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] | 1 | stack stage 1/3: place red block: retract with red block | [
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[
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] | move_to_position | 0.995708 | [
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] | [
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] | 1 | stack stage 1/3: place red block: retract with red block | [
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[
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] | [
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] | move_to_position | 0.998263 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: retract with red block | [
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[
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] | [
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] | move_to_position | 0.000016 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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[
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] | [
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] | move_to_position | 0.000238 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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[
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] | [
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] | move_to_position | 0.001906 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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[
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] | [
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] | move_to_position | 0.006614 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 12.8 | 128 | 97 | 67,942 | 0 |
[
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] | [
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] | move_to_position | 0.013621 | [
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] | [
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] | [
-0.02435988001525402,
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0,
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 12.9 | 129 | 97 | 67,943 | 0 |
[
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] | [
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1
] | move_to_position | 0.023782 | [
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] | [
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] | [
-0.02435988001525402,
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0,
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 13 | 130 | 97 | 67,944 | 0 |
[
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] | [
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1
] | move_to_position | 0.037835 | [
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] | [
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] | [
-0.02435988001525402,
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0,
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 13.1 | 131 | 97 | 67,945 | 0 |
[
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] | [
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1
] | move_to_position | 0.056079 | [
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] | [
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] | [
-0.02435988001525402,
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0,
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 13.2 | 132 | 97 | 67,946 | 0 |
[
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] | [
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1
] | move_to_position | 0.0795 | [
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] | [
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] | [
-0.02435988001525402,
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0.0949999988079071,
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0,
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 13.3 | 133 | 97 | 67,947 | 0 |
[
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] | [
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1
] | move_to_position | 0.106917 | [
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] | [
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] | [
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0,
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 13.4 | 134 | 97 | 67,948 | 0 |
[
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] | [
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] | move_to_position | 0.138915 | [
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] | [
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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[
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] | [
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] | move_to_position | 0.174724 | [
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] | [
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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[
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] | [
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] | move_to_position | 0.214195 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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[
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] | [
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] | move_to_position | 0.258468 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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[
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] | [
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] | move_to_position | 0.306133 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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[
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] | [
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] | move_to_position | 0.355243 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 14 | 140 | 97 | 67,954 | 0 |
[
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] | [
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] | move_to_position | 0.40267 | [
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] | [
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] | [
-0.02435988001525402,
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 14.1 | 141 | 97 | 67,955 | 0 |
[
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] | [
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] | move_to_position | 0.457262 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 14.2 | 142 | 97 | 67,956 | 0 |
[
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] | [
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] | move_to_position | 0.505857 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 14.3 | 143 | 97 | 67,957 | 0 |
[
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] | [
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] | move_to_position | 0.563847 | [
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] | [
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] | [
-0.02435988001525402,
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0,
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 14.4 | 144 | 97 | 67,958 | 0 |
[
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] | [
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] | move_to_position | 0.614474 | [
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] | [
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] | [
-0.02435988001525402,
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0,
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 14.5 | 145 | 97 | 67,959 | 0 |
[
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] | [
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] | move_to_position | 0.664206 | [
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] | [
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] | [
-0.02435988001525402,
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0,
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 14.6 | 146 | 97 | 67,960 | 0 |
[
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] | [
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1
] | move_to_position | 0.7132 | [
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] | [
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] | [
-0.02435988001525402,
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0,
0,
0
] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 14.7 | 147 | 97 | 67,961 | 0 |
[
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] | [
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1
] | move_to_position | 0.76064 | [
-1.7916743755340576,
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] | [
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] | [
-0.02435988001525402,
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0.0949999988079071,
0,
0,
0
] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 14.8 | 148 | 97 | 67,962 | 0 |
[
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] | [
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1
] | move_to_position | 0.8033 | [
-1.7916743755340576,
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] | [
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] | [
-0.02435988001525402,
-0.7145358920097351,
0.0949999988079071,
0,
0,
0
] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
-0.06468474864959717,
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] | 0 | 14.9 | 149 | 97 | 67,963 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.842341 | [
-1.7916743755340576,
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] | [
0.02435988001525402,
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0,
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] | [
-0.02435988001525402,
-0.7145358920097351,
0.0949999988079071,
0,
0,
0
] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
-0.056002285331487656,
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] | 0 | 15 | 150 | 97 | 67,964 | 0 |
[
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] | [
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-2.521062135696411,
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2.98484468460083,
1
] | move_to_position | 0.876841 | [
-1.7916743755340576,
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1.6944411993026733,
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] | [
0.02435988001525402,
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0,
0
] | [
-0.02435988001525402,
-0.7145358920097351,
0.0949999988079071,
0,
0,
0
] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
-0.049094222486019135,
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] | 0 | 15.1 | 151 | 97 | 67,965 | 0 |
[
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] | [
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] | move_to_position | 0.90747 | [
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0,
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 15.2 | 152 | 97 | 67,966 | 0 |
[
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] | move_to_position | 0.932474 | [
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] | [
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 15.3 | 153 | 97 | 67,967 | 0 |
[
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] | [
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] | move_to_position | 0.954959 | [
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] | [
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 15.4 | 154 | 97 | 67,968 | 0 |
[
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] | [
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] | move_to_position | 0.972004 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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[
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] | [
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] | move_to_position | 0.98405 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 15.6 | 156 | 97 | 67,970 | 0 |
[
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] | [
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] | move_to_position | 0.992005 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 15.7 | 157 | 97 | 67,971 | 0 |
[
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] | [
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] | move_to_position | 0.996809 | [
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] | [
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] | [
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0,
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 15.8 | 158 | 97 | 67,972 | 0 |
[
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] | [
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] | move_to_position | 0.999016 | [
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] | [
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] | [
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0,
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 15.9 | 159 | 97 | 67,973 | 0 |
[
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] | [
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] | move_to_position | 0.99954 | [
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] | [
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] | [
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] | 1 | stack stage 1/3: place red block: approach above blue dish top surface | [
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] | 0 | 16 | 160 | 97 | 67,974 | 0 |
[
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] | [
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1
] | move_to_position | 0.000173 | [
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] | [
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] | [
-0.02435988001525402,
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0,
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] | 1 | stack stage 1/3: place red block: descend to blue dish top surface | [
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] | 0 | 16.1 | 161 | 97 | 67,975 | 0 |
[
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] | [
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] | move_to_position | 0.006102 | [
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] | [
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] | [
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0,
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] | 1 | stack stage 1/3: place red block: descend to blue dish top surface | [
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] | 0 | 16.200001 | 162 | 97 | 67,976 | 0 |
[
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] | [
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1
] | move_to_position | 0.035755 | [
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] | [
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] | [
-0.02435988001525402,
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0,
0
] | 1 | stack stage 1/3: place red block: descend to blue dish top surface | [
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] | 0 | 16.299999 | 163 | 97 | 67,977 | 0 |
[
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] | [
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1
] | move_to_position | 0.084249 | [
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] | [
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] | [
-0.02435988001525402,
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0,
0,
0
] | 1 | stack stage 1/3: place red block: descend to blue dish top surface | [
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] | 0 | 16.4 | 164 | 97 | 67,978 | 0 |
[
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] | [
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1
] | move_to_position | 0.152608 | [
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] | [
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0,
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] | [
-0.02435988001525402,
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0.04500000178813934,
0,
0,
0
] | 1 | stack stage 1/3: place red block: descend to blue dish top surface | [
-0.024425581097602844,
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] | 0 | 16.5 | 165 | 97 | 67,979 | 0 |
[
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] | [
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1
] | move_to_position | 0.235244 | [
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] | [
0.02435988001525402,
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0,
0
] | [
-0.02435988001525402,
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0.04500000178813934,
0,
0,
0
] | 1 | stack stage 1/3: place red block: descend to blue dish top surface | [
-0.024435358121991158,
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2.8091022968292236,
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] | 0 | 16.6 | 166 | 97 | 67,980 | 0 |
[
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1
] | [
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-2.632202386856079,
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1
] | move_to_position | 0.339093 | [
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-1.577532410621643,
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1
] | [
0.02435988001525402,
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0,
0
] | [
-0.02435988001525402,
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0.04500000178813934,
0,
0,
0
] | 1 | stack stage 1/3: place red block: descend to blue dish top surface | [
-0.024448424577713013,
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2.809187412261963,
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] | 0 | 16.700001 | 167 | 97 | 67,981 | 0 |
[
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1
] | [
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-2.632202386856079,
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1
] | move_to_position | 0.471735 | [
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1.731941819190979,
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1
] | [
0.02435988001525402,
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0,
0
] | [
-0.02435988001525402,
-0.7145358920097351,
0.04500000178813934,
0,
0,
0
] | 1 | stack stage 1/3: place red block: descend to blue dish top surface | [
-0.024456139653921127,
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2.8091893196105957,
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] | 0 | 16.799999 | 168 | 97 | 67,982 | 0 |
[
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] | move_to_position | 0.609586 | [
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] | 1 | stack stage 1/3: place red block: descend to blue dish top surface | [
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[
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] | move_to_position | 0.724714 | [
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] | 1 | stack stage 1/3: place red block: descend to blue dish top surface | [
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[
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] | [
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] | move_to_position | 0.814798 | [
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] | 1 | stack stage 1/3: place red block: descend to blue dish top surface | [
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[
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] | move_to_position | 0.880611 | [
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] | 1 | stack stage 1/3: place red block: descend to blue dish top surface | [
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[
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] | move_to_position | 0.9378 | [
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] | 1 | stack stage 1/3: place red block: descend to blue dish top surface | [
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[
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] | move_to_position | 0.975098 | [
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] | 1 | stack stage 1/3: place red block: descend to blue dish top surface | [
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[
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] | [
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] | move_to_position | 0.996053 | [
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] | [
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] | 1 | stack stage 1/3: place red block: descend to blue dish top surface | [
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[
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] | gripper_open | 0.490196 | [
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[
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[
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] | gripper_open | 0.631372 | [
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[
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] | gripper_open | 0.752941 | [
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[
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] | gripper_open | 0.87451 | [
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[
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] | gripper_open | 0.98039 | [
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] | 0 | stack stage 1/3: place red block: release at blue dish top surface | [
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] | 1 | 18.1 | 181 | 97 | 67,995 | 0 |
[
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] | gripper_open | 0.988233 | [
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] | 0 | stack stage 1/3: place red block: release at blue dish top surface | [
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] | 1 | 18.200001 | 182 | 97 | 67,996 | 0 |
[
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] | gripper_open | 0.988232 | [
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[
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] | gripper_open | 0.988232 | [
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] | 0 | stack stage 1/3: place red block: release at blue dish top surface | [
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] | 1 | 18.4 | 184 | 97 | 67,998 | 0 |
[
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1.7319530248641968,
-2.632190465927124,
-1.5775316953659058,
2.984971523284912,
0
] | [
-1.7917332649230957,
-1.0805233716964722,
1.6943615674972534,
-2.520904541015625,
-1.577352523803711,
2.984985113143921,
0
] | move_to_position | 0.000297 | [
-1.7917332649230957,
-1.0805233716964722,
1.6943615674972534,
-2.520904541015625,
-1.577352523803711,
2.984985113143921,
0
] | [
0.02435988001525402,
0.7145358920097351,
0.0949999988079071,
0,
0,
0
] | [
-0.02435988001525402,
-0.7145358920097351,
0.0949999988079071,
0,
0,
0
] | 0 | stack stage 1/3: place red block: retract after place | [
-0.024357065558433533,
-0.7145003080368042,
0.044989414513111115,
2.809316396713257,
0.05867208540439606,
3.070260763168335
] | 1 | 18.5 | 185 | 97 | 67,999 | 0 |
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