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 | 0.90591 | [
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] | [
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0,
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] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
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] | 0 | 23.200001 | 232 | 298 | 152,400 | 2 |
[
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] | [
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] | move_to_position | 0.920548 | [
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] | [
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] | [
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0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
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] | 0 | 23.299999 | 233 | 298 | 152,401 | 2 |
[
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] | [
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] | move_to_position | 0.933358 | [
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] | [
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] | [
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0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
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] | 0 | 23.4 | 234 | 298 | 152,402 | 2 |
[
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] | [
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] | move_to_position | 0.959006 | [
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] | [
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] | [
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0,
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] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
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] | 0 | 23.5 | 235 | 298 | 152,403 | 2 |
[
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] | [
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] | move_to_position | 0.971776 | [
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] | [
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0
] | [
-0.1673000007867813,
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0.08500000089406967,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
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] | 0 | 23.6 | 236 | 298 | 152,404 | 2 |
[
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] | [
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1.2442513704299927,
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1
] | move_to_position | 0.984709 | [
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1.2442513704299927,
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-1.570707082748413,
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] | [
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0,
0
] | [
-0.1673000007867813,
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0.08500000089406967,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
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3.1412131786346436,
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] | 0 | 23.700001 | 237 | 298 | 152,405 | 2 |
[
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1
] | [
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1.2442513704299927,
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2.739607810974121,
1
] | move_to_position | 0.997341 | [
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-0.8812521696090698,
1.2442513704299927,
-1.9331724643707275,
-1.570707082748413,
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1
] | [
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0,
0,
0
] | [
-0.1673000007867813,
-0.7303000092506409,
0.08500000089406967,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
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0.08682319521903992,
3.1411635875701904,
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3.1414906978607178
] | 0 | 23.799999 | 238 | 298 | 152,406 | 2 |
[
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1
] | [
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1
] | move_to_position | 0 | [
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1
] | [
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0,
0
] | [
-0.1673000007867813,
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0.03500000014901161,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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0.0868384912610054,
3.1412158012390137,
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] | 0 | 23.9 | 239 | 298 | 152,407 | 2 |
[
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1
] | [
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1
] | move_to_position | 0 | [
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1.297298789024353,
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1
] | [
0.1673000007867813,
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0,
0,
0
] | [
-0.1673000007867813,
-0.7303000092506409,
0.03500000014901161,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
-0.16721421480178833,
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0.0868278369307518,
3.1411869525909424,
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] | 0 | 24 | 240 | 298 | 152,408 | 2 |
[
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2.7396793365478516,
1
] | [
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-0.8299025893211365,
1.297298789024353,
-2.037644386291504,
-1.5707616806030273,
2.7396562099456787,
1
] | move_to_position | 0.003101 | [
-1.9766720533370972,
-0.8299025893211365,
1.297298789024353,
-2.037644386291504,
-1.5707616806030273,
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1
] | [
0.1673000007867813,
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0,
0,
0
] | [
-0.1673000007867813,
-0.7303000092506409,
0.03500000014901161,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
-0.16723042726516724,
-0.7303260564804077,
0.08622241020202637,
3.1411638259887695,
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] | 0 | 24.1 | 241 | 298 | 152,409 | 2 |
[
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1
] | [
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-0.8299025893211365,
1.297298789024353,
-2.037644386291504,
-1.5707616806030273,
2.7396562099456787,
1
] | move_to_position | 0.027963 | [
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-0.8299025893211365,
1.297298789024353,
-2.037644386291504,
-1.5707616806030273,
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1
] | [
0.1673000007867813,
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0,
0,
0
] | [
-0.1673000007867813,
-0.7303000092506409,
0.03500000014901161,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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-0.7303619980812073,
0.08494365215301514,
3.1411373615264893,
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] | 0 | 24.200001 | 242 | 298 | 152,410 | 2 |
[
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1
] | [
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-0.8299025893211365,
1.297298789024353,
-2.037644386291504,
-1.5707616806030273,
2.7396562099456787,
1
] | move_to_position | 0.052115 | [
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-0.8299025893211365,
1.297298789024353,
-2.037644386291504,
-1.5707616806030273,
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1
] | [
0.1673000007867813,
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0,
0,
0
] | [
-0.1673000007867813,
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0.03500000014901161,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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-0.7303445935249329,
0.0837363675236702,
3.1411523818969727,
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] | 0 | 24.299999 | 243 | 298 | 152,411 | 2 |
[
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1
] | [
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-0.8299025893211365,
1.297298789024353,
-2.037644386291504,
-1.5707616806030273,
2.7396562099456787,
1
] | move_to_position | 0.101036 | [
-1.9766720533370972,
-0.8299025893211365,
1.297298789024353,
-2.037644386291504,
-1.5707616806030273,
2.7396562099456787,
1
] | [
0.1673000007867813,
0.7303000092506409,
0.03500000014901161,
0,
0,
0
] | [
-0.1673000007867813,
-0.7303000092506409,
0.03500000014901161,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
-0.16725584864616394,
-0.7303541302680969,
0.0825299322605133,
3.1411046981811523,
0.000016722218788345344,
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] | 0 | 24.4 | 244 | 298 | 152,412 | 2 |
[
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1.25169837474823,
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-1.5706547498703003,
2.739687919616699,
1
] | [
-1.9766720533370972,
-0.8299025893211365,
1.297298789024353,
-2.037644386291504,
-1.5707616806030273,
2.7396562099456787,
1
] | move_to_position | 0.125907 | [
-1.9766720533370972,
-0.8299025893211365,
1.297298789024353,
-2.037644386291504,
-1.5707616806030273,
2.7396562099456787,
1
] | [
0.1673000007867813,
0.7303000092506409,
0.03500000014901161,
0,
0,
0
] | [
-0.1673000007867813,
-0.7303000092506409,
0.03500000014901161,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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-0.7303669452667236,
0.08003079891204834,
3.1410839557647705,
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] | 0 | 24.5 | 245 | 298 | 152,413 | 2 |
[
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2.739706516265869,
1
] | [
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-0.8299025893211365,
1.297298789024353,
-2.037644386291504,
-1.5707616806030273,
2.7396562099456787,
1
] | move_to_position | 0.150102 | [
-1.9766720533370972,
-0.8299025893211365,
1.297298789024353,
-2.037644386291504,
-1.5707616806030273,
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1
] | [
0.1673000007867813,
0.7303000092506409,
0.03500000014901161,
0,
0,
0
] | [
-0.1673000007867813,
-0.7303000092506409,
0.03500000014901161,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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3.1411020755767822,
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] | 0 | 24.6 | 246 | 298 | 152,414 | 2 |
[
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1
] | [
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-0.8299025893211365,
1.297298789024353,
-2.037644386291504,
-1.5707616806030273,
2.7396562099456787,
1
] | move_to_position | 0.174983 | [
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-0.8299025893211365,
1.297298789024353,
-2.037644386291504,
-1.5707616806030273,
2.7396562099456787,
1
] | [
0.1673000007867813,
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0.03500000014901161,
0,
0,
0
] | [
-0.1673000007867813,
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0.03500000014901161,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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3.1411361694335938,
0.000006333991223073099,
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] | 0 | 24.700001 | 247 | 298 | 152,415 | 2 |
[
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2.7397100925445557,
1
] | [
-1.9766720533370972,
-0.8299025893211365,
1.297298789024353,
-2.037644386291504,
-1.5707616806030273,
2.7396562099456787,
1
] | move_to_position | 0.199349 | [
-1.9766720533370972,
-0.8299025893211365,
1.297298789024353,
-2.037644386291504,
-1.5707616806030273,
2.7396562099456787,
1
] | [
0.1673000007867813,
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0,
0,
0
] | [
-0.1673000007867813,
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0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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3.1411378383636475,
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] | 0 | 24.799999 | 248 | 298 | 152,416 | 2 |
[
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] | [
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1
] | move_to_position | 0.258993 | [
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] | [
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] | [
-0.1673000007867813,
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0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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] | 0 | 24.9 | 249 | 298 | 152,417 | 2 |
[
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] | [
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1
] | move_to_position | 0.31904 | [
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] | [
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] | [
-0.1673000007867813,
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0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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3.1411633491516113,
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] | 0 | 25 | 250 | 298 | 152,418 | 2 |
[
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1
] | [
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1
] | move_to_position | 0.377107 | [
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1.297298789024353,
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] | [
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0,
0
] | [
-0.1673000007867813,
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0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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] | 0 | 25.1 | 251 | 298 | 152,419 | 2 |
[
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] | [
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1
] | move_to_position | 0.435596 | [
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] | [
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] | [
-0.1673000007867813,
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0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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] | 0 | 25.200001 | 252 | 298 | 152,420 | 2 |
[
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] | [
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1
] | move_to_position | 0.493926 | [
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] | [
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] | [
-0.1673000007867813,
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0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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] | 0 | 25.299999 | 253 | 298 | 152,421 | 2 |
[
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] | [
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1
] | move_to_position | 0.610685 | [
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] | [
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] | [
-0.1673000007867813,
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0.03500000014901161,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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] | 0 | 25.4 | 254 | 298 | 152,422 | 2 |
[
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] | [
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1.297298789024353,
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1
] | move_to_position | 0.66951 | [
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] | [
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0,
0
] | [
-0.1673000007867813,
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0.03500000014901161,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
-0.16728152334690094,
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3.1411306858062744,
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] | 0 | 25.5 | 255 | 298 | 152,423 | 2 |
[
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1
] | [
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1.297298789024353,
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1
] | move_to_position | 0.727672 | [
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] | [
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0,
0,
0
] | [
-0.1673000007867813,
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0.03500000014901161,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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3.1410906314849854,
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] | 0 | 25.6 | 256 | 298 | 152,424 | 2 |
[
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1
] | [
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1.297298789024353,
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2.7396562099456787,
1
] | move_to_position | 0.785699 | [
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1.297298789024353,
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] | [
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0,
0,
0
] | [
-0.1673000007867813,
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0.03500000014901161,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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3.141091823577881,
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] | 0 | 25.700001 | 257 | 298 | 152,425 | 2 |
[
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1
] | [
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1.297298789024353,
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2.7396562099456787,
1
] | move_to_position | 0.859819 | [
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] | [
0.1673000007867813,
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0,
0,
0
] | [
-0.1673000007867813,
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0.03500000014901161,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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] | 0 | 25.799999 | 258 | 298 | 152,426 | 2 |
[
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] | [
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1.297528624534607,
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0
] | gripper_open | 0.74902 | [
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0
] | [
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] | [
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] | 0 | pick up the red block and place it in the center of the blue dish: release at blue dish | [
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3.141193389892578,
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] | 1 | 25.9 | 259 | 298 | 152,427 | 2 |
[
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] | [
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0
] | gripper_open | 0.878431 | [
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1.297528624534607,
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0
] | [
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] | [
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] | 0 | pick up the red block and place it in the center of the blue dish: release at blue dish | [
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] | 1 | 26 | 260 | 298 | 152,428 | 2 |
[
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0
] | [
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0
] | move_to_position | 0 | [
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0
] | [
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0,
0,
0
] | [
-0.1673000007867813,
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0.08500000089406967,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
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0.03498874604701996,
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] | 1 | 26.1 | 261 | 298 | 152,429 | 2 |
[
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0
] | [
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1.2465726137161255,
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2.739576578140259,
0
] | move_to_position | 0.000126 | [
-1.9767518043518066,
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1.2465726137161255,
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2.739576578140259,
0
] | [
0.1673000007867813,
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0,
0,
0
] | [
-0.1673000007867813,
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0.08500000089406967,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
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3.141153573989868,
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] | 1 | 26.200001 | 262 | 298 | 152,430 | 2 |
[
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2.7396669387817383,
0
] | [
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1.2465726137161255,
-1.9371297359466553,
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2.739576578140259,
0
] | move_to_position | 0 | [
-1.9767518043518066,
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1.2465726137161255,
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0
] | [
0.1673000007867813,
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0,
0,
0
] | [
-0.1673000007867813,
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0.08500000089406967,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
-0.16725775599479675,
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3.141141891479492,
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] | 1 | 26.299999 | 263 | 298 | 152,431 | 2 |
[
-1.9766806364059448,
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2.7396862506866455,
0
] | [
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1.2465726137161255,
-1.9371297359466553,
-1.5706819295883179,
2.739576578140259,
0
] | move_to_position | 0.024098 | [
-1.9767518043518066,
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1.2465726137161255,
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-1.5706819295883179,
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0
] | [
0.1673000007867813,
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0,
0,
0
] | [
-0.1673000007867813,
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0.08500000089406967,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
-0.1672789752483368,
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3.1410765647888184,
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] | 1 | 26.4 | 264 | 298 | 152,432 | 2 |
[
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0
] | [
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1.2465726137161255,
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0
] | move_to_position | 0.04916 | [
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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: retract after place | [
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] | 1 | 26.5 | 265 | 298 | 152,433 | 2 |
[
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] | move_to_position | 0.0746 | [
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] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
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] | 1 | 26.6 | 266 | 298 | 152,434 | 2 |
[
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] | move_to_position | 0.09958 | [
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] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
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] | 1 | 26.700001 | 267 | 298 | 152,435 | 2 |
[
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] | move_to_position | 0.124929 | [
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] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
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] | 1 | 26.799999 | 268 | 298 | 152,436 | 2 |
[
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] | move_to_position | 0.175693 | [
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] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
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] | 1 | 26.9 | 269 | 298 | 152,437 | 2 |
[
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] | move_to_position | 0.201158 | [
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] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
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] | 1 | 27 | 270 | 298 | 152,438 | 2 |
[
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] | move_to_position | 0.22642 | [
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] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
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] | 1 | 27.1 | 271 | 298 | 152,439 | 2 |
[
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] | [
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] | move_to_position | 0.257472 | [
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] | [
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] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
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] | 1 | 27.200001 | 272 | 298 | 152,440 | 2 |
[
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] | move_to_position | 0.315649 | [
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] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
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] | 1 | 27.299999 | 273 | 298 | 152,441 | 2 |
[
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] | [
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] | move_to_position | 0.434378 | [
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] | [
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] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
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] | 1 | 27.4 | 274 | 298 | 152,442 | 2 |
[
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] | [
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] | move_to_position | 0.493017 | [
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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: retract after place | [
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] | 1 | 27.5 | 275 | 298 | 152,443 | 2 |
[
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] | [
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] | move_to_position | 0.55223 | [
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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: retract after place | [
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] | 1 | 27.6 | 276 | 298 | 152,444 | 2 |
[
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] | [
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] | move_to_position | 0.612559 | [
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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: retract after place | [
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] | 1 | 27.700001 | 277 | 298 | 152,445 | 2 |
[
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] | [
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] | move_to_position | 0.670326 | [
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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: retract after place | [
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] | 1 | 27.799999 | 278 | 298 | 152,446 | 2 |
[
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] | [
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] | move_to_position | 0.787827 | [
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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: retract after place | [
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] | 1 | 27.9 | 279 | 298 | 152,447 | 2 |
[
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] | [
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] | move_to_position | 0.855157 | [
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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: retract after place | [
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] | 1 | 28 | 280 | 298 | 152,448 | 2 |
[
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] | [
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0
] | move_to_position | 0.935047 | [
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] | [
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] | [
-0.1673000007867813,
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] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
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] | 1 | 28.1 | 281 | 298 | 152,449 | 2 |
[
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] | [
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[
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[
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[
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