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 11
values | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | timestamp float32 0 23.5 | frame_index int64 0 235 | episode_index int64 0 2 | index int64 0 706 | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | move_to_position | 0.305749 | [
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] | [
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0,
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] | 1 | pick up the red block and place it on the center of the blue dish: approach above blue dish | [
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] | 0 | 12.9 | 129 | 2 | 600 | 0 |
[
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] | [
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] | move_to_position | 0.379121 | [
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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 on the center of the blue dish: approach above blue dish | [
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] | 0 | 13 | 130 | 2 | 601 | 0 |
[
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] | [
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1
] | move_to_position | 0.450343 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: approach above blue dish | [
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] | 0 | 13.1 | 131 | 2 | 602 | 0 |
[
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] | [
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] | move_to_position | 0.530065 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: approach above blue dish | [
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[
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] | [
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] | move_to_position | 0.610625 | [
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] | [
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] | [
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0,
0
] | 1 | pick up the red block and place it on the center of the blue dish: approach above blue dish | [
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] | 0 | 13.3 | 133 | 2 | 604 | 0 |
[
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] | [
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1
] | move_to_position | 0.681196 | [
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-2.5001444816589355,
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] | [
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0
] | [
-0.07525047659873962,
-0.7438231706619263,
0.09799999743700027,
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0,
0
] | 1 | pick up the red block and place it on the center of the blue dish: approach above blue dish | [
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] | 0 | 13.4 | 134 | 2 | 605 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.750609 | [
-1.8587838411331177,
-1.0246425867080688,
1.6019381284713745,
-2.5001444816589355,
-1.5536900758743286,
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] | [
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0
] | [
-0.07525047659873962,
-0.7438231706619263,
0.09799999743700027,
0,
0,
0
] | 1 | pick up the red block and place it on the center of the blue dish: approach above blue dish | [
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] | 0 | 13.5 | 135 | 2 | 606 | 0 |
[
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] | [
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1
] | move_to_position | 0.812358 | [
-1.8587838411331177,
-1.0246425867080688,
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-2.5001444816589355,
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] | [
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0
] | [
-0.07525047659873962,
-0.7438231706619263,
0.09799999743700027,
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0,
0
] | 1 | pick up the red block and place it on the center of the blue dish: approach above blue dish | [
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] | 0 | 13.6 | 136 | 2 | 607 | 0 |
[
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] | [
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1
] | move_to_position | 0.866234 | [
-1.8587838411331177,
-1.0246425867080688,
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-2.5001444816589355,
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] | [
0.07525047659873962,
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0,
0
] | [
-0.07525047659873962,
-0.7438231706619263,
0.09799999743700027,
0,
0,
0
] | 1 | pick up the red block and place it on the center of the blue dish: approach above blue dish | [
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2.7933120727539062,
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] | 0 | 13.7 | 137 | 2 | 608 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.911909 | [
-1.8587838411331177,
-1.0246425867080688,
1.6019381284713745,
-2.5001444816589355,
-1.5536900758743286,
2.9215593338012695,
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] | [
0.07525047659873962,
0.7438231706619263,
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0
] | [
-0.07525047659873962,
-0.7438231706619263,
0.09799999743700027,
0,
0,
0
] | 1 | pick up the red block and place it on the center of the blue dish: approach above blue dish | [
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] | 0 | 13.8 | 138 | 2 | 609 | 0 |
[
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] | [
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1
] | move_to_position | 0.946541 | [
-1.8587838411331177,
-1.0246425867080688,
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-2.5001444816589355,
-1.5536900758743286,
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] | [
0.07525047659873962,
0.7438231706619263,
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0
] | [
-0.07525047659873962,
-0.7438231706619263,
0.09799999743700027,
0,
0,
0
] | 1 | pick up the red block and place it on the center of the blue dish: approach above blue dish | [
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] | 0 | 13.9 | 139 | 2 | 610 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.972717 | [
-1.8587838411331177,
-1.0246425867080688,
1.6019381284713745,
-2.5001444816589355,
-1.5536900758743286,
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] | [
0.07525047659873962,
0.7438231706619263,
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0
] | [
-0.07525047659873962,
-0.7438231706619263,
0.09799999743700027,
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0,
0
] | 1 | pick up the red block and place it on the center of the blue dish: approach above blue dish | [
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] | 0 | 14 | 140 | 2 | 611 | 0 |
[
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] | [
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1
] | move_to_position | 0.988877 | [
-1.8587838411331177,
-1.0246425867080688,
1.6019381284713745,
-2.5001444816589355,
-1.5536900758743286,
2.9215593338012695,
1
] | [
0.07525047659873962,
0.7438231706619263,
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0,
0
] | [
-0.07525047659873962,
-0.7438231706619263,
0.09799999743700027,
0,
0,
0
] | 1 | pick up the red block and place it on the center of the blue dish: approach above blue dish | [
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] | 0 | 14.1 | 141 | 2 | 612 | 0 |
[
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-2.5010058879852295,
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2.9215238094329834,
1
] | [
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1
] | move_to_position | 0.996562 | [
-1.8587838411331177,
-1.0246425867080688,
1.6019381284713745,
-2.5001444816589355,
-1.5536900758743286,
2.9215593338012695,
1
] | [
0.07525047659873962,
0.7438231706619263,
0.09799999743700027,
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0,
0
] | [
-0.07525047659873962,
-0.7438231706619263,
0.09799999743700027,
0,
0,
0
] | 1 | pick up the red block and place it on the center of the blue dish: approach above blue dish | [
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] | 0 | 14.2 | 142 | 2 | 613 | 0 |
[
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1
] | [
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-2.500155210494995,
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1
] | move_to_position | 0.99948 | [
-1.8587838411331177,
-1.0246425867080688,
1.6019381284713745,
-2.5001444816589355,
-1.5536900758743286,
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] | [
0.07525047659873962,
0.7438231706619263,
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] | [
-0.07525047659873962,
-0.7438231706619263,
0.09799999743700027,
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0,
0
] | 1 | pick up the red block and place it on the center of the blue dish: approach above blue dish | [
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] | 0 | 14.3 | 143 | 2 | 614 | 0 |
[
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1
] | [
-1.8587838411331177,
-1.0246425867080688,
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-2.5001444816589355,
-1.5536900758743286,
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1
] | move_to_position | 0.000028 | [
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] | [
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] | [
-0.07525047659873962,
-0.7438231706619263,
0.04800000041723251,
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0,
0
] | 1 | pick up the red block and place it on the center of the blue dish: descend to blue dish | [
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] | 0 | 14.4 | 144 | 2 | 615 | 0 |
[
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1
] | [
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1
] | move_to_position | 0 | [
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1
] | [
0.07525047659873962,
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] | [
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0,
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] | 1 | pick up the red block and place it on the center of the blue dish: descend to blue dish | [
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[
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] | move_to_position | 0.012707 | [
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] | 1 | pick up the red block and place it on the center of the blue dish: descend to blue dish | [
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[
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] | move_to_position | 0.050015 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: descend to blue dish | [
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[
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] | move_to_position | 0.104576 | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: descend to blue dish | [
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[
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] | [
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] | move_to_position | 0.169804 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: descend to blue dish | [
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[
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] | [
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] | move_to_position | 0.257916 | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: descend to blue dish | [
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[
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] | [
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] | move_to_position | 0.371079 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: descend to blue dish | [
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[
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] | [
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1
] | move_to_position | 0.504023 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: descend to blue dish | [
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[
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] | [
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1
] | move_to_position | 0.63666 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: descend to blue dish | [
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[
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] | [
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1
] | move_to_position | 0.746999 | [
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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 on the center of the blue dish: descend to blue dish | [
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[
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] | [
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1
] | move_to_position | 0.832008 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: descend to blue dish | [
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] | 0 | 15.5 | 155 | 2 | 626 | 0 |
[
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] | [
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1
] | move_to_position | 0.898032 | [
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] | [
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] | [
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0.04800000041723251,
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0,
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] | 1 | pick up the red block and place it on the center of the blue dish: descend to blue dish | [
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] | 0 | 15.6 | 156 | 2 | 627 | 0 |
[
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] | [
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1
] | move_to_position | 0.947592 | [
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] | [
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0,
0
] | [
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0.04800000041723251,
0,
0,
0
] | 1 | pick up the red block and place it on the center of the blue dish: descend to blue dish | [
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] | 0 | 15.7 | 157 | 2 | 628 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.981146 | [
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] | [
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0,
0
] | [
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0.04800000041723251,
0,
0,
0
] | 1 | pick up the red block and place it on the center of the blue dish: descend to blue dish | [
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] | 0 | 15.8 | 158 | 2 | 629 | 0 |
[
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1
] | [
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1.6393311023712158,
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2.9215216636657715,
1
] | move_to_position | 0.996996 | [
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1
] | [
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0,
0
] | [
-0.07525047659873962,
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0.04800000041723251,
0,
0,
0
] | 1 | pick up the red block and place it on the center of the blue dish: descend to blue dish | [
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] | 0 | 15.9 | 159 | 2 | 630 | 0 |
[
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1
] | [
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0
] | gripper_open | 0 | [
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1.639156699180603,
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0
] | [
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] | 0 | pick up the red block and place it on the center of the blue dish: release at blue dish | [
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] | 0 | 16 | 160 | 2 | 631 | 0 |
[
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] | [
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0
] | gripper_open | 0.490196 | [
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1.639156699180603,
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] | [
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] | 0 | pick up the red block and place it on the center of the blue dish: release at blue dish | [
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] | 0 | 16.1 | 161 | 2 | 632 | 0 |
[
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] | [
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1.6393311023712158,
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0
] | gripper_open | 0.517647 | [
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] | [
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] | 0 | pick up the red block and place it on the center of the blue dish: release at blue dish | [
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] | 1 | 16.200001 | 162 | 2 | 633 | 0 |
[
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] | [
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0
] | gripper_open | 0.752941 | [
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] | [
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] | 0 | pick up the red block and place it on the center of the blue dish: release at blue dish | [
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] | 1 | 16.299999 | 163 | 2 | 634 | 0 |
[
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] | [
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0
] | gripper_open | 0.87451 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it on the center of the blue dish: release at blue dish | [
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] | 1 | 16.4 | 164 | 2 | 635 | 0 |
[
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] | [
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0
] | gripper_open | 0.980391 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it on the center of the blue dish: release at blue dish | [
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] | 1 | 16.5 | 165 | 2 | 636 | 0 |
[
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] | [
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0
] | gripper_open | 0.992153 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it on the center of the blue dish: release at blue dish | [
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] | 1 | 16.6 | 166 | 2 | 637 | 0 |
[
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] | [
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0
] | gripper_open | 0.988232 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it on the center of the blue dish: release at blue dish | [
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2.7931036949157715,
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] | 1 | 16.700001 | 167 | 2 | 638 | 0 |
[
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] | [
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0
] | gripper_open | 0.988233 | [
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1.639156699180603,
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] | [
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] | [
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3.069875955581665
] | 0 | pick up the red block and place it on the center of the blue dish: release at blue dish | [
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] | 1 | 16.799999 | 168 | 2 | 639 | 0 |
[
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] | [
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0
] | move_to_position | 0 | [
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1.6021161079406738,
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] | [
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0,
0
] | [
-0.07525047659873962,
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0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
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0.0480402447283268,
2.7930569648742676,
0.060729797929525375,
3.0698790550231934
] | 1 | 16.9 | 169 | 2 | 640 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.001641 | [
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1.6021161079406738,
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0
] | [
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0,
0,
0
] | [
-0.07525047659873962,
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0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
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] | 1 | 17 | 170 | 2 | 641 | 0 |
[
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0
] | [
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1.638260006904602,
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0
] | move_to_position | 0.020127 | [
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0
] | [
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0,
0,
0
] | [
-0.07525047659873962,
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0.09799999743700027,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
-0.07522010803222656,
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] | 1 | 17.1 | 171 | 2 | 642 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.056742 | [
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] | [
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0,
0
] | [
-0.07525047659873962,
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0.09799999743700027,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
-0.07524801045656204,
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0.05135440453886986,
2.7931485176086426,
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] | 1 | 17.200001 | 172 | 2 | 643 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.113492 | [
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] | [
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0,
0
] | [
-0.07525047659873962,
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0.09799999743700027,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
-0.07525166869163513,
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0.05418991297483444,
2.7930350303649902,
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] | 1 | 17.299999 | 173 | 2 | 644 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.179768 | [
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] | [
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0,
0
] | [
-0.07525047659873962,
-0.7438231706619263,
0.09799999743700027,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
-0.07524901628494263,
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0.05779869481921196,
2.7930240631103516,
0.06073401868343353,
3.069934606552124
] | 1 | 17.4 | 174 | 2 | 645 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.257626 | [
-1.8588697910308838,
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0
] | [
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0,
0,
0
] | [
-0.07525047659873962,
-0.7438231706619263,
0.09799999743700027,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
-0.07526587694883347,
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0.061815522611141205,
2.7931571006774902,
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3.0699007511138916
] | 1 | 17.5 | 175 | 2 | 646 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.365483 | [
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1.6021161079406738,
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0
] | [
0.07525047659873962,
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0,
0,
0
] | [
-0.07525047659873962,
-0.7438231706619263,
0.09799999743700027,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
-0.07528674602508545,
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0.06762164831161499,
2.793084144592285,
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] | 1 | 17.6 | 176 | 2 | 647 | 0 |
[
-1.8588718175888062,
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0
] | [
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1.6202644109725952,
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0
] | move_to_position | 0.500341 | [
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1.6021161079406738,
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2.9215149879455566,
0
] | [
0.07525047659873962,
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0,
0,
0
] | [
-0.07525047659873962,
-0.7438231706619263,
0.09799999743700027,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
-0.07532202452421188,
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0.07435633987188339,
2.7930386066436768,
0.06076403707265854,
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] | 1 | 17.700001 | 177 | 2 | 648 | 0 |
[
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0
] | [
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1.61527419090271,
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0
] | move_to_position | 0.634156 | [
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[
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] | move_to_position | 0.003161 | [
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[
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[
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] | move_to_position | 0.010537 | [
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] | 0 | return to home after task completion | [
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[
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] | move_to_position | 0.016331 | [
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] | 0 | return to home after task completion | [
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[
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] | move_to_position | 0.023692 | [
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[
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] | move_to_position | 0.032592 | [
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[
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[
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[
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[
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[
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[
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