observation.state list | action list | skill.type large_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 large_stringclasses 110
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 0 299 | index int64 0 153k | task_index int64 0 2 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | move_to_position | 0 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.4 | 4 | 298 | 152,172 | 2 |
[
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] | move_to_position | 0 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.5 | 5 | 298 | 152,173 | 2 |
[
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] | move_to_position | 0 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.6 | 6 | 298 | 152,174 | 2 |
[
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] | move_to_position | 0 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.7 | 7 | 298 | 152,175 | 2 |
[
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] | [
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] | move_to_position | 0.000333 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.8 | 8 | 298 | 152,176 | 2 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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3.1413521766662598,
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] | 1 | 0.9 | 9 | 298 | 152,177 | 2 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1 | 10 | 298 | 152,178 | 2 |
[
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] | [
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] | move_to_position | 0.006835 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.1 | 11 | 298 | 152,179 | 2 |
[
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] | [
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] | move_to_position | 0.078732 | [
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] | [
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] | [
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-0.4399999976158142,
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0,
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] | 0 | move to initial position to start the task | [
0.00001809183413570281,
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0.35469913482666016,
3.141322612762451,
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] | 1 | 1.2 | 12 | 298 | 152,180 | 2 |
[
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] | [
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] | move_to_position | 0.257754 | [
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] | [
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] | [
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-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
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0.3544952869415283,
3.141376256942749,
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] | 1 | 1.3 | 13 | 298 | 152,181 | 2 |
[
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] | [
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0
] | move_to_position | 0.339211 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
0.3529999852180481,
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0,
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] | 0 | move to initial position to start the task | [
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0.35419902205467224,
3.141324758529663,
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] | 1 | 1.4 | 14 | 298 | 152,182 | 2 |
[
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0
] | [
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1.6479482650756836,
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2.834761142730713,
0
] | move_to_position | 0.424666 | [
-1.8805814981460571,
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] | [
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0,
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] | [
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-0.4399999976158142,
0.3529999852180481,
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0,
0
] | 0 | move to initial position to start the task | [
0.00002511542334104888,
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0.3539991080760956,
3.1414175033569336,
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] | 1 | 1.5 | 15 | 298 | 152,183 | 2 |
[
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0
] | [
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1.6479482650756836,
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2.834761142730713,
0
] | move_to_position | 0.508329 | [
-1.8805814981460571,
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] | [
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0,
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] | [
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-0.4399999976158142,
0.3529999852180481,
0,
0,
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] | 0 | move to initial position to start the task | [
0.00002263037458760664,
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0.3538970947265625,
3.141289472579956,
0.00003347928213770501,
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] | 1 | 1.6 | 16 | 298 | 152,184 | 2 |
[
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0
] | [
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1.6479482650756836,
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2.834761142730713,
0
] | move_to_position | 0.598567 | [
-1.8805814981460571,
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] | [
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0.4399999976158142,
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0,
0,
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] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.00002221237627964001,
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0.3537229895591736,
3.1413321495056152,
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] | 1 | 1.7 | 17 | 298 | 152,185 | 2 |
[
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0
] | [
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1.6479482650756836,
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2.834761142730713,
0
] | move_to_position | 0.761067 | [
-1.8805814981460571,
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-1.569714069366455,
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] | [
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0.4399999976158142,
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0,
0,
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] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.00002237395165138878,
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0.35355040431022644,
3.141347885131836,
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] | 1 | 1.8 | 18 | 298 | 152,186 | 2 |
[
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0
] | [
-1.8805814981460571,
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1.6479482650756836,
-1.4787604808807373,
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2.834761142730713,
0
] | move_to_position | 0.846127 | [
-1.8805814981460571,
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1.6479482650756836,
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-1.569714069366455,
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0
] | [
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0.4399999976158142,
0.3529999852180481,
0,
0,
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] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.000015068197171785869,
-0.4400041401386261,
0.35323217511177063,
3.141345739364624,
-0.000016574902474530973,
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] | 1 | 1.9 | 19 | 298 | 152,187 | 2 |
[
-1.880607008934021,
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2.8347742557525635,
0
] | [
-1.8805814981460571,
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1.6479482650756836,
-1.4787604808807373,
-1.569714069366455,
2.834761142730713,
0
] | move_to_position | 0.93052 | [
-1.8805814981460571,
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1.6479482650756836,
-1.4787604808807373,
-1.569714069366455,
2.834761142730713,
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] | [
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0.4399999976158142,
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0,
0,
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] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.00003163408109685406,
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0.35307934880256653,
3.1413354873657227,
0.000007350488431256963,
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] | 1 | 2 | 20 | 298 | 152,188 | 2 |
[
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2.834758758544922,
0
] | [
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0
] | move_to_position | 0 | [
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1.409562110900879,
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0
] | [
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0,
0,
0
] | [
0.16179999709129333,
-0.6883000135421753,
0.08500000089406967,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.0000213932798942551,
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0.3530207872390747,
3.141313076019287,
0.0000014974489204178099,
3.141582489013672
] | 1 | 2.1 | 21 | 298 | 152,189 | 2 |
[
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] | move_to_position | 0.003576 | [
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] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
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] | 1 | 2.2 | 22 | 298 | 152,190 | 2 |
[
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] | [
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] | move_to_position | 0.011839 | [
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] | [
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] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
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] | 1 | 2.3 | 23 | 298 | 152,191 | 2 |
[
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] | [
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0
] | move_to_position | 0.01984 | [
-1.5313798189163208,
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] | [
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] | [
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] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
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3.1413707733154297,
7.422311227855971e-7,
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] | 1 | 2.4 | 24 | 298 | 152,192 | 2 |
[
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] | [
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] | move_to_position | 0.027852 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
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3.141413927078247,
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] | 1 | 2.5 | 25 | 298 | 152,193 | 2 |
[
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] | [
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] | move_to_position | 0.036772 | [
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] | [
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] | [
0.16179999709129333,
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0,
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] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
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3.1413071155548096,
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] | 1 | 2.6 | 26 | 298 | 152,194 | 2 |
[
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0
] | [
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3.184875965118408,
0
] | move_to_position | 0.057288 | [
-1.5313798189163208,
-0.9752612113952637,
1.409562110900879,
-2.004424810409546,
-1.5707703828811646,
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0
] | [
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0,
0
] | [
0.16179999709129333,
-0.6883000135421753,
0.08500000089406967,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.008021845482289791,
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0.3395525813102722,
3.141295909881592,
0.000009008706001623068,
-3.1415271759033203
] | 1 | 2.7 | 27 | 298 | 152,195 | 2 |
[
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2.870033025741577,
0
] | [
-1.5313798189163208,
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1.409562110900879,
-2.004424810409546,
-1.5707703828811646,
3.184875965118408,
0
] | move_to_position | 0.067636 | [
-1.5313798189163208,
-0.9752612113952637,
1.409562110900879,
-2.004424810409546,
-1.5707703828811646,
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0
] | [
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0,
0
] | [
0.16179999709129333,
-0.6883000135421753,
0.08500000089406967,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.01119999773800373,
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0.33410966396331787,
3.141300916671753,
0.000018827560779755004,
3.1415696144104004
] | 1 | 2.8 | 28 | 298 | 152,196 | 2 |
[
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1.6619943380355835,
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2.8751392364501953,
0
] | [
-1.5313798189163208,
-0.9752612113952637,
1.409562110900879,
-2.004424810409546,
-1.5707703828811646,
3.184875965118408,
0
] | move_to_position | 0.077785 | [
-1.5313798189163208,
-0.9752612113952637,
1.409562110900879,
-2.004424810409546,
-1.5707703828811646,
3.184875965118408,
0
] | [
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0,
0
] | [
0.16179999709129333,
-0.6883000135421753,
0.08500000089406967,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.01286380086094141,
-0.4606477916240692,
0.3313014507293701,
3.1413137912750244,
-0.000011484793503768742,
3.141570568084717
] | 1 | 2.9 | 29 | 298 | 152,197 | 2 |
[
-1.835032343864441,
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1.6636289358139038,
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2.8804006576538086,
0
] | [
-1.5313798189163208,
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1.409562110900879,
-2.004424810409546,
-1.5707703828811646,
3.184875965118408,
0
] | move_to_position | 0.088071 | [
-1.5313798189163208,
-0.9752612113952637,
1.409562110900879,
-2.004424810409546,
-1.5707703828811646,
3.184875965118408,
0
] | [
-0.16179999709129333,
0.6883000135421753,
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0,
0,
0
] | [
0.16179999709129333,
-0.6883000135421753,
0.08500000089406967,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.014555320143699646,
-0.4631400406360626,
0.3285965323448181,
3.1412339210510254,
0.00004474682282307185,
-3.1415562629699707
] | 1 | 3 | 30 | 298 | 152,198 | 2 |
[
-1.8299487829208374,
-1.6809426546096802,
1.6652888059616089,
-1.5544325113296509,
-1.5697425603866577,
2.8855321407318115,
0
] | [
-1.5313798189163208,
-0.9752612113952637,
1.409562110900879,
-2.004424810409546,
-1.5707703828811646,
3.184875965118408,
0
] | move_to_position | 0.098131 | [
-1.5313798189163208,
-0.9752612113952637,
1.409562110900879,
-2.004424810409546,
-1.5707703828811646,
3.184875965118408,
0
] | [
-0.16179999709129333,
0.6883000135421753,
0.08500000089406967,
0,
0,
0
] | [
0.16179999709129333,
-0.6883000135421753,
0.08500000089406967,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.016224032267928123,
-0.4656510651111603,
0.325810045003891,
3.141277551651001,
0.00003871482840622775,
3.141585111618042
] | 1 | 3.1 | 31 | 298 | 152,199 | 2 |
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