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 | 0.072616 | [
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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: descend to blue dish | [
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] | 0 | 26.4 | 264 | 299 | 152,800 | 2 |
[
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] | move_to_position | 0.096437 | [
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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: descend to blue dish | [
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] | 0 | 26.5 | 265 | 299 | 152,801 | 2 |
[
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] | [
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] | move_to_position | 0.120678 | [
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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: descend to blue dish | [
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] | 0 | 26.6 | 266 | 299 | 152,802 | 2 |
[
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] | [
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] | move_to_position | 0.169729 | [
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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: descend to blue dish | [
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] | 0 | 26.700001 | 267 | 299 | 152,803 | 2 |
[
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] | [
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] | move_to_position | 0.194148 | [
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] | [
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] | [
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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 | 26.799999 | 268 | 299 | 152,804 | 2 |
[
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] | [
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1
] | move_to_position | 0.21817 | [
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] | [
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0
] | [
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-0.7301999926567078,
0.04100000113248825,
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 | 26.9 | 269 | 299 | 152,805 | 2 |
[
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1
] | [
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1.295320749282837,
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1
] | move_to_position | 0.249144 | [
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1.295320749282837,
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1
] | [
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0
] | [
-0.16259999573230743,
-0.7301999926567078,
0.04100000113248825,
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 | 27 | 270 | 299 | 152,806 | 2 |
[
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] | [
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1
] | move_to_position | 0.307206 | [
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] | [
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0
] | [
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0.04100000113248825,
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 | 27.1 | 271 | 299 | 152,807 | 2 |
[
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1
] | [
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1
] | move_to_position | 0.422747 | [
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] | [
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0,
0
] | [
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-0.7301999926567078,
0.04100000113248825,
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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3.1415107250213623,
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] | 0 | 27.200001 | 272 | 299 | 152,808 | 2 |
[
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1
] | [
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1.295320749282837,
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1
] | move_to_position | 0.482133 | [
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1.295320749282837,
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1
] | [
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0,
0
] | [
-0.16259999573230743,
-0.7301999926567078,
0.04100000113248825,
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 | 27.299999 | 273 | 299 | 152,809 | 2 |
[
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1
] | [
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1.295320749282837,
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1
] | move_to_position | 0.540331 | [
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1.295320749282837,
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1
] | [
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0,
0
] | [
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-0.7301999926567078,
0.04100000113248825,
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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3.141486644744873,
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] | 0 | 27.4 | 274 | 299 | 152,810 | 2 |
[
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1
] | [
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1.295320749282837,
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1
] | move_to_position | 0.598465 | [
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1.295320749282837,
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1
] | [
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0,
0
] | [
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-0.7301999926567078,
0.04100000113248825,
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 | 27.5 | 275 | 299 | 152,811 | 2 |
[
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1
] | [
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1.295320749282837,
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2.744414806365967,
1
] | move_to_position | 0.656371 | [
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1.295320749282837,
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2.744414806365967,
1
] | [
0.16259999573230743,
0.7301999926567078,
0.04100000113248825,
0,
0,
0
] | [
-0.16259999573230743,
-0.7301999926567078,
0.04100000113248825,
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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0.05782333388924599,
3.1415903568267822,
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] | 0 | 27.6 | 276 | 299 | 152,812 | 2 |
[
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2.74466872215271,
1
] | [
-1.9719330072402954,
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1.295320749282837,
-2.027052164077759,
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2.744414806365967,
1
] | move_to_position | 0.773044 | [
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1.295320749282837,
-2.027052164077759,
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2.744414806365967,
1
] | [
0.16259999573230743,
0.7301999926567078,
0.04100000113248825,
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0,
0
] | [
-0.16259999573230743,
-0.7301999926567078,
0.04100000113248825,
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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3.141592502593994,
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] | 0 | 27.700001 | 277 | 299 | 152,813 | 2 |
[
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1
] | [
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1.295320749282837,
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1
] | move_to_position | 0.84359 | [
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1.295320749282837,
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1
] | [
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] | [
-0.16259999573230743,
-0.7301999926567078,
0.04100000113248825,
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 | 27.799999 | 278 | 299 | 152,814 | 2 |
[
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1
] | [
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1.295320749282837,
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1
] | move_to_position | 0.932023 | [
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1.295320749282837,
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1
] | [
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] | [
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-0.7301999926567078,
0.04100000113248825,
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 | 27.9 | 279 | 299 | 152,815 | 2 |
[
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] | [
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1.2958401441574097,
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0
] | gripper_open | 0.619608 | [
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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 | 28 | 280 | 299 | 152,816 | 2 |
[
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] | [
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0
] | gripper_open | 0.874509 | [
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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: release at blue dish | [
-0.163456991314888,
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0.040226809680461884,
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] | 1 | 28.1 | 281 | 299 | 152,817 | 2 |
[
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] | [
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0
] | gripper_open | 0.98036 | [
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] | [
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] | [
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0.043195322155952454,
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3.141576051712036
] | 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 | 28.200001 | 282 | 299 | 152,818 | 2 |
[
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] | [
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0
] | gripper_open | 0.988184 | [
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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: release at blue dish | [
-0.1634908765554428,
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0.04090581089258194,
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] | 1 | 28.299999 | 283 | 299 | 152,819 | 2 |
[
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0
] | [
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0
] | move_to_position | 0 | [
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1.2434474229812622,
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0
] | [
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0,
0
] | [
-0.16259999573230743,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
-0.16345523297786713,
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0.04093891382217407,
3.141540288925171,
0.000014625889889430255,
3.1415836811065674
] | 1 | 28.4 | 284 | 299 | 152,820 | 2 |
[
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0
] | [
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0
] | move_to_position | 0 | [
-1.9707684516906738,
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1.2434474229812622,
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0
] | [
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0,
0,
0
] | [
-0.16259999573230743,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
-0.16348384320735931,
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0.04094963148236275,
3.1415181159973145,
0.000041067909478442743,
3.1415412425994873
] | 1 | 28.5 | 285 | 299 | 152,821 | 2 |
[
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0
] | [
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0
] | move_to_position | 0.000553 | [
-1.9707684516906738,
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1.2434474229812622,
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0
] | [
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0,
0,
0
] | [
-0.16259999573230743,
-0.7301999926567078,
0.09099999815225601,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
-0.16350655257701874,
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0.041373249143362045,
3.14143967628479,
0.00009573170973453671,
3.141535520553589
] | 1 | 28.6 | 286 | 299 | 152,822 | 2 |
[
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0
] | [
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0
] | move_to_position | 0.024396 | [
-1.9707684516906738,
-0.8875049352645874,
1.2434474229812622,
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0
] | [
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0,
0,
0
] | [
-0.16259999573230743,
-0.7301999926567078,
0.09099999815225601,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
-0.16352035105228424,
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0.042783550918102264,
3.141284942626953,
0.00013025294174440205,
3.141537666320801
] | 1 | 28.700001 | 287 | 299 | 152,823 | 2 |
[
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0
] | [
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1.2434474229812622,
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2.7454848289489746,
0
] | move_to_position | 0.074391 | [
-1.9707684516906738,
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1.2434474229812622,
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-1.570894718170166,
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0
] | [
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0,
0,
0
] | [
-0.16259999573230743,
-0.7301999926567078,
0.09099999815225601,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
-0.16347374022006989,
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0.04387824237346649,
3.1415767669677734,
0.000009242241503670812,
3.141555070877075
] | 1 | 28.799999 | 288 | 299 | 152,824 | 2 |
[
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0
] | [
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1.2434474229812622,
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2.7454848289489746,
0
] | move_to_position | 0.09949 | [
-1.9707684516906738,
-0.8875049352645874,
1.2434474229812622,
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-1.570894718170166,
2.7454848289489746,
0
] | [
0.16259999573230743,
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0,
0,
0
] | [
-0.16259999573230743,
-0.7301999926567078,
0.09099999815225601,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
-0.16343647241592407,
-0.7302772402763367,
0.046537239104509354,
3.141496181488037,
0.0000487027209601365,
3.1414103507995605
] | 1 | 28.9 | 289 | 299 | 152,825 | 2 |
[
-1.9717835187911987,
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0
] | [
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1.2434474229812622,
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2.7454848289489746,
0
] | move_to_position | 0.124563 | [
-1.9707684516906738,
-0.8875049352645874,
1.2434474229812622,
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-1.570894718170166,
2.7454848289489746,
0
] | [
0.16259999573230743,
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0,
0,
0
] | [
-0.16259999573230743,
-0.7301999926567078,
0.09099999815225601,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
-0.1633787304162979,
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0.04778766632080078,
3.1415836811065674,
0.000014197137716109864,
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] | 1 | 29 | 290 | 299 | 152,826 | 2 |
[
-1.971734881401062,
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2.744553804397583,
0
] | [
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1.2434474229812622,
-1.925853967666626,
-1.570894718170166,
2.7454848289489746,
0
] | move_to_position | 0.150199 | [
-1.9707684516906738,
-0.8875049352645874,
1.2434474229812622,
-1.925853967666626,
-1.570894718170166,
2.7454848289489746,
0
] | [
0.16259999573230743,
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0,
0,
0
] | [
-0.16259999573230743,
-0.7301999926567078,
0.09099999815225601,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
-0.1633598357439041,
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0.04907579347491264,
3.1415839195251465,
0.000020302479242673144,
3.141561985015869
] | 1 | 29.1 | 291 | 299 | 152,827 | 2 |
[
-1.9717148542404175,
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0
] | [
-1.9707684516906738,
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1.2434474229812622,
-1.925853967666626,
-1.570894718170166,
2.7454848289489746,
0
] | move_to_position | 0.175052 | [
-1.9707684516906738,
-0.8875049352645874,
1.2434474229812622,
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-1.570894718170166,
2.7454848289489746,
0
] | [
0.16259999573230743,
0.7301999926567078,
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0,
0,
0
] | [
-0.16259999573230743,
-0.7301999926567078,
0.09099999815225601,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
-0.1633218377828598,
-0.7302594184875488,
0.050396885722875595,
3.141540288925171,
0.000024318347641383298,
3.141582727432251
] | 1 | 29.200001 | 292 | 299 | 152,828 | 2 |
[
-1.9717215299606323,
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0
] | [
-1.9707684516906738,
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1.2434474229812622,
-1.925853967666626,
-1.570894718170166,
2.7454848289489746,
0
] | move_to_position | 0.225555 | [
-1.9707684516906738,
-0.8875049352645874,
1.2434474229812622,
-1.925853967666626,
-1.570894718170166,
2.7454848289489746,
0
] | [
0.16259999573230743,
0.7301999926567078,
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0,
0,
0
] | [
-0.16259999573230743,
-0.7301999926567078,
0.09099999815225601,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
-0.16330917179584503,
-0.7302522659301758,
0.05168205127120018,
3.1415750980377197,
0.00003750959149328992,
3.1415882110595703
] | 1 | 29.299999 | 293 | 299 | 152,829 | 2 |
[
-1.9716638326644897,
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0
] | [
-1.9707684516906738,
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1.2434474229812622,
-1.925853967666626,
-1.570894718170166,
2.7454848289489746,
0
] | move_to_position | 0.25609 | [
-1.9707684516906738,
-0.8875049352645874,
1.2434474229812622,
-1.925853967666626,
-1.570894718170166,
2.7454848289489746,
0
] | [
0.16259999573230743,
0.7301999926567078,
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0,
0,
0
] | [
-0.16259999573230743,
-0.7301999926567078,
0.09099999815225601,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
-0.16330067813396454,
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0.055144261568784714,
3.1414921283721924,
0.00009216435137204826,
3.1414635181427
] | 1 | 29.4 | 294 | 299 | 152,830 | 2 |
[
-1.9715317487716675,
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2.7447526454925537,
0
] | [
-1.9707684516906738,
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1.2434474229812622,
-1.925853967666626,
-1.570894718170166,
2.7454848289489746,
0
] | move_to_position | 0.315146 | [
-1.9707684516906738,
-0.8875049352645874,
1.2434474229812622,
-1.925853967666626,
-1.570894718170166,
2.7454848289489746,
0
] | [
0.16259999573230743,
0.7301999926567078,
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0,
0,
0
] | [
-0.16259999573230743,
-0.7301999926567078,
0.09099999815225601,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
-0.16321800649166107,
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0.058099232614040375,
3.141570806503296,
0.00002968968328787014,
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] | 1 | 29.5 | 295 | 299 | 152,831 | 2 |
[
-1.9715298414230347,
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1.2770603895187378,
-1.9891058206558228,
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2.7448043823242188,
0
] | [
-1.9707684516906738,
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1.2434474229812622,
-1.925853967666626,
-1.570894718170166,
2.7454848289489746,
0
] | move_to_position | 0.374606 | [
-1.9707684516906738,
-0.8875049352645874,
1.2434474229812622,
-1.925853967666626,
-1.570894718170166,
2.7454848289489746,
0
] | [
0.16259999573230743,
0.7301999926567078,
0.09099999815225601,
0,
0,
0
] | [
-0.16259999573230743,
-0.7301999926567078,
0.09099999815225601,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
-0.16321474313735962,
-0.7303594946861267,
0.061018574982881546,
3.1415648460388184,
0.00004167819497524761,
3.1415438652038574
] | 1 | 29.6 | 296 | 299 | 152,832 | 2 |
[
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[
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[
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] | move_to_position | 0.610166 | [
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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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[
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] | move_to_position | 0.669989 | [
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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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[
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] | move_to_position | 0.728968 | [
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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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[
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] | move_to_position | 0.787591 | [
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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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[
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] | move_to_position | 0.937296 | [
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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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[
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] | [
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] | move_to_position | 0 | [
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] | 0 | return to home after task completion | [
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[
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] | move_to_position | 0.000001 | [
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] | [
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] | [
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] | 0 | return to home after task completion | [
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] | 1 | 30.5 | 305 | 299 | 152,841 | 2 |
[
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] | [
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] | move_to_position | 0.00316 | [
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] | [
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] | [
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] | 0 | return to home after task completion | [
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] | 1 | 30.6 | 306 | 299 | 152,842 | 2 |
[
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] | [
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] | move_to_position | 0.016605 | [
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] | [
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] | [
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] | 0 | return to home after task completion | [
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] | 1 | 30.700001 | 307 | 299 | 152,843 | 2 |
[
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] | [
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] | move_to_position | 0.02314 | [
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] | [
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] | 0 | return to home after task completion | [
-0.15892338752746582,
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] | 1 | 30.799999 | 308 | 299 | 152,844 | 2 |
[
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] | [
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] | move_to_position | 0.030044 | [
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] | [
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] | [
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] | 0 | return to home after task completion | [
-0.157738596200943,
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0.09908463060855865,
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] | 1 | 30.9 | 309 | 299 | 152,845 | 2 |
[
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] | [
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0
] | move_to_position | 0.038576 | [
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] | [
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] | [
0,
-0.4399999976158142,
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] | 0 | return to home after task completion | [
-0.1565135419368744,
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] | 1 | 31 | 310 | 299 | 152,846 | 2 |
[
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] | [
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] | move_to_position | 0.04689 | [
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] | [
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] | [
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-0.4399999976158142,
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] | 0 | return to home after task completion | [
-0.15526480972766876,
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] | 1 | 31.1 | 311 | 299 | 152,847 | 2 |
[
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] | [
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0
] | move_to_position | 0.06348 | [
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] | [
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] | [
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-0.4399999976158142,
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0,
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] | 0 | return to home after task completion | [
-0.154030442237854,
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] | 1 | 31.200001 | 312 | 299 | 152,848 | 2 |
[
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] | [
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] | move_to_position | 0.071717 | [
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] | [
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] | [
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-0.4399999976158142,
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0,
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] | 0 | return to home after task completion | [
-0.1515256017446518,
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] | 1 | 31.299999 | 313 | 299 | 152,849 | 2 |
[
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] | [
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0
] | move_to_position | 0.080002 | [
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[
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[
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[
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[
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