observation.state listlengths 7 7 | action listlengths 7 7 | skill.type large_stringclasses 3
values | skill.progress float32 0 1 | skill.goal_position.joint listlengths 7 7 | skill.goal_position.world_xyzrpy listlengths 6 6 | skill.goal_position.robot_xyzrpy listlengths 6 6 | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 29
values | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | timestamp float32 0 64.3 | frame_index int64 0 643 | episode_index int64 0 24 | index int64 0 14.1k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-1.7569020986557007,
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1.7484287023544312,
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2.9588112831115723,
1
] | [
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1.7532801628112793,
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2.956197500228882,
1
] | move_to_position | 0.968438 | [
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-1.2796884775161743,
1.7628248929977417,
-2.0388920307159424,
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1
] | [
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0,
0
] | [
0.022944791242480278,
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0.12165943533182144,
0,
0,
0
] | 1 | pick green block and place on green dish: approach above green dish | [
0.02600267343223095,
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0.12063267827033997,
-3.1277172565460205,
-0.002946739550679922,
-3.141275644302368
] | 0 | 49.700001 | 497 | 18 | 10,800 | 0 |
[
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1.7571696043014526,
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2.9541304111480713,
1
] | [
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1.7597447633743286,
-2.0385730266571045,
-1.5700562000274658,
2.9527342319488525,
1
] | move_to_position | 0.987727 | [
-1.7646583318710327,
-1.2796884775161743,
1.7628248929977417,
-2.0388920307159424,
-1.570075511932373,
2.951103925704956,
1
] | [
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0.5806339383125305,
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0,
0,
0
] | [
0.022944791242480278,
-0.5806339383125305,
0.12165943533182144,
0,
0,
0
] | 1 | pick green block and place on green dish: approach above green dish | [
0.024014588445425034,
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0.12135057151317596,
-3.127882957458496,
-0.0029184441082179546,
-3.141305446624756
] | 0 | 49.799999 | 498 | 18 | 10,801 | 0 |
[
-1.76400887966156,
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1.7615913152694702,
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2.9517619609832764,
1
] | [
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1.7622770071029663,
-2.038835287094116,
-1.5700721740722656,
2.9513940811157227,
1
] | move_to_position | 0.997316 | [
-1.7646583318710327,
-1.2796884775161743,
1.7628248929977417,
-2.0388920307159424,
-1.570075511932373,
2.951103925704956,
1
] | [
-0.022944791242480278,
0.5806339383125305,
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0,
0,
0
] | [
0.022944791242480278,
-0.5806339383125305,
0.12165943533182144,
0,
0,
0
] | 1 | pick green block and place on green dish: approach above green dish | [
0.023167850449681282,
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0.12158335000276566,
-3.1277904510498047,
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] | 0 | 49.900002 | 499 | 18 | 10,802 | 0 |
[
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1.76268470287323,
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2.9512150287628174,
1
] | [
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1.7628233432769775,
-2.0388920307159424,
-1.570075511932373,
2.9511048793792725,
1
] | move_to_position | 0.999603 | [
-1.7646583318710327,
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1.7628248929977417,
-2.0388920307159424,
-1.570075511932373,
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1
] | [
-0.022944791242480278,
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0,
0,
0
] | [
0.022944791242480278,
-0.5806339383125305,
0.12165943533182144,
0,
0,
0
] | 1 | pick green block and place on green dish: approach above green dish | [
0.02307971753180027,
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0.12163771688938141,
-3.1278188228607178,
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] | 0 | 50 | 500 | 18 | 10,803 | 0 |
[
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2.9511466026306152,
1
] | [
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1.7628248929977417,
-2.0388920307159424,
-1.570075511932373,
2.951103925704956,
1
] | move_to_position | 0 | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
1
] | [
-0.020419687032699585,
0.6230099201202393,
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0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.023080702871084213,
-0.5806567072868347,
0.12161307036876678,
-3.1277682781219482,
-0.002923947060480714,
-3.1410906314849854
] | 0 | 50.099998 | 501 | 18 | 10,804 | 0 |
[
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1
] | [
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1.7626243829727173,
-2.0391952991485596,
-1.570103406906128,
2.9512648582458496,
1
] | move_to_position | 0.000157 | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
1
] | [
-0.020419687032699585,
0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.023088514804840088,
-0.5807272791862488,
0.12163352966308594,
-3.127929449081421,
-0.002895637881010771,
-3.141078472137451
] | 0 | 50.200001 | 502 | 18 | 10,805 | 0 |
[
-1.7642849683761597,
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1.7625492811203003,
-2.040642499923706,
-1.570109248161316,
2.951347589492798,
1
] | [
-1.7640858888626099,
-1.27610445022583,
1.7623239755630493,
-2.0420315265655518,
-1.5701063871383667,
2.9514853954315186,
1
] | move_to_position | 0.010889 | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
1
] | [
-0.020419687032699585,
0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.023067692294716835,
-0.5812113881111145,
0.12059789150953293,
-3.127821207046509,
-0.002900902647525072,
-3.1412038803100586
] | 0 | 50.299999 | 503 | 18 | 10,806 | 0 |
[
-1.7640517950057983,
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1.761997103691101,
-2.0450189113616943,
-1.5701173543930054,
2.9516232013702393,
1
] | [
-1.763777732849121,
-1.2693660259246826,
1.761475682258606,
-2.0479023456573486,
-1.5701079368591309,
2.9518179893493652,
1
] | move_to_position | 0.039266 | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
1
] | [
-0.020419687032699585,
0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.02298392727971077,
-0.5826342105865479,
0.11807899177074432,
-3.127840995788574,
-0.0028699322137981653,
-3.141129732131958
] | 0 | 50.400002 | 504 | 18 | 10,807 | 0 |
[
-1.763555884361267,
-1.263961672782898,
1.7606014013290405,
-2.0523860454559326,
-1.5701369047164917,
2.952065944671631,
1
] | [
-1.7633131742477417,
-1.2592520713806152,
1.7598093748092651,
-2.0563275814056396,
-1.5701113939285278,
2.95231294631958,
1
] | move_to_position | 0.089601 | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
1
] | [
-0.020419687032699585,
0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.022818833589553833,
-0.5849305391311646,
0.11410314589738846,
-3.1277947425842285,
-0.0028705366421490908,
-3.141108512878418
] | 0 | 50.5 | 505 | 18 | 10,808 | 0 |
[
-1.7629317045211792,
-1.2511478662490845,
1.7582296133041382,
-2.062824010848999,
-1.5700973272323608,
2.9527475833892822,
1
] | [
-1.7625645399093628,
-1.2445592880249023,
1.7569242715835571,
-2.068131923675537,
-1.5701199769973755,
2.953080415725708,
1
] | move_to_position | 0.162057 | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
1
] | [
-0.020419687032699585,
0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.022617433220148087,
-0.5883194208145142,
0.10845819860696793,
-3.127817392349243,
-0.0029087394941598177,
-3.1410746574401855
] | 0 | 50.599998 | 506 | 18 | 10,809 | 0 |
[
-1.7619565725326538,
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1.7547754049301147,
-2.076894998550415,
-1.570167899131775,
2.9536383152008057,
1
] | [
-1.7615489959716797,
-1.2247227430343628,
1.752911925315857,
-2.0839552879333496,
-1.5701321363449097,
2.954117774963379,
1
] | move_to_position | 0.260449 | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
1
] | [
-0.020419687032699585,
0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.02234688028693199,
-0.5927909016609192,
0.10083160549402237,
-3.1278069019317627,
-0.0029177526012063026,
-3.1409919261932373
] | 0 | 50.700001 | 507 | 18 | 10,810 | 0 |
[
-1.7608245611190796,
-1.2107526063919067,
1.749982237815857,
-2.0949532985687256,
-1.5701411962509155,
2.9548211097717285,
1
] | [
-1.7604033946990967,
-1.202113151550293,
1.7480838298797607,
-2.1017353534698486,
-1.5701464414596558,
2.9552881717681885,
1
] | move_to_position | 0.38899 | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
1
] | [
-0.020419687032699585,
0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.02199534699320793,
-0.5977644324302673,
0.0921628475189209,
-3.1278343200683594,
-0.002929187612608075,
-3.141098976135254
] | 0 | 50.799999 | 508 | 18 | 10,811 | 0 |
[
-1.7597907781600952,
-1.1896843910217285,
1.7452219724655151,
-2.1113898754119873,
-1.5701335668563843,
2.9559364318847656,
1
] | [
-1.759355068206787,
-1.1810122728347778,
1.743111252784729,
-2.1178627014160156,
-1.5701602697372437,
2.9563586711883545,
1
] | move_to_position | 0.506813 | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
1
] | [
-0.020419687032699585,
0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.021651456132531166,
-0.6031054854393005,
0.08262884616851807,
-3.1277916431427,
-0.002892402932047844,
-3.141146183013916
] | 0 | 50.900002 | 509 | 18 | 10,812 | 0 |
[
-1.7588151693344116,
-1.1692405939102173,
1.739909052848816,
-2.126511812210083,
-1.5702003240585327,
2.9569287300109863,
1
] | [
-1.7583712339401245,
-1.1604464054107666,
1.73741614818573,
-2.132732391357422,
-1.5701748132705688,
2.9573628902435303,
1
] | move_to_position | 0.619743 | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
1
] | [
-0.020419687032699585,
0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.021373912692070007,
-0.6077799201011658,
0.07454581558704376,
-3.1278419494628906,
-0.002911858493462205,
-3.1411190032958984
] | 0 | 51 | 510 | 18 | 10,813 | 0 |
[
-1.7578481435775757,
-1.1490795612335205,
1.7339948415756226,
-2.140730619430542,
-1.5701392889022827,
2.957876205444336,
1
] | [
-1.757429838180542,
-1.1402121782302856,
1.731217622756958,
-2.1467671394348145,
-1.5701899528503418,
2.9583230018615723,
1
] | move_to_position | 0.730143 | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
1
] | [
-0.020419687032699585,
0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.02104434184730053,
-0.6125726699829102,
0.06631983071565628,
-3.1278839111328125,
-0.0028994909953325987,
-3.1410884857177734
] | 0 | 51.099998 | 511 | 18 | 10,814 | 0 |
[
-1.7570093870162964,
-1.1292825937271118,
1.7277168035507202,
-2.154165506362915,
-1.5701583623886108,
2.9587907791137695,
1
] | [
-1.7566267251968384,
-1.1227432489395142,
1.7256500720977783,
-2.15866756439209,
-1.5702033042907715,
2.9591422080993652,
1
] | move_to_position | 0.837808 | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
1
] | [
-0.020419687032699585,
0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.02074798196554184,
-0.6168855428695679,
0.05877530947327614,
-3.1277685165405273,
-0.0029262511525303125,
-3.14117169380188
] | 0 | 51.200001 | 512 | 18 | 10,815 | 0 |
[
-1.7563785314559937,
-1.1151021718978882,
1.7231906652450562,
-2.1639392375946045,
-1.5702012777328491,
2.9594860076904297,
1
] | [
-1.7560547590255737,
-1.1103320121765137,
1.7217122316360474,
-2.167140483856201,
-1.570212721824646,
2.9597253799438477,
1
] | move_to_position | 0.915302 | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
1
] | [
-0.020419687032699585,
0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.020548507571220398,
-0.6198663115501404,
0.05346088111400604,
-3.127866744995117,
-0.0029245021287351847,
-3.141204595565796
] | 0 | 51.299999 | 513 | 18 | 10,816 | 0 |
[
-1.755961298942566,
-1.1057837009429932,
1.7202142477035522,
-2.170140504837036,
-1.5702413320541382,
2.959914207458496,
1
] | [
-1.7557411193847656,
-1.103384256362915,
1.7193394899368286,
-2.171715021133423,
-1.5702182054519653,
2.960045099258423,
1
] | move_to_position | 0.965677 | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
1
] | [
-0.020419687032699585,
0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.020481813699007034,
-0.621625542640686,
0.05013883113861084,
-3.1276886463165283,
-0.0029775213915854692,
-3.141145944595337
] | 0 | 51.400002 | 514 | 18 | 10,817 | 0 |
[
-1.7556604146957397,
-1.1012754440307617,
1.7185534238815308,
-2.1730082035064697,
-1.570217490196228,
2.960137128829956,
1
] | [
-1.755602240562439,
-1.100168228149414,
1.7180869579315186,
-2.173678398132324,
-1.570220947265625,
2.96018648147583,
1
] | move_to_position | 0.990038 | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
1
] | [
-0.020419687032699585,
0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.02044031023979187,
-0.6226651668548584,
0.04848817363381386,
-3.127800464630127,
-0.0029327189549803734,
-3.141089677810669
] | 0 | 51.5 | 515 | 18 | 10,818 | 0 |
[
-1.755618929862976,
-1.099557638168335,
1.717934012413025,
-2.173952341079712,
-1.570217490196228,
2.9601833820343018,
1
] | [
-1.7555721998214722,
-1.0994240045547485,
1.717743158340454,
-2.174078941345215,
-1.5702216625213623,
2.960216999053955,
1
] | move_to_position | 0.998815 | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
1
] | [
-0.020419687032699585,
0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.04800000041723251,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.020411180332303047,
-0.6228733062744141,
0.047960467636585236,
-3.12758207321167,
-0.002987207844853401,
-3.1411290168762207
] | 0 | 51.599998 | 516 | 18 | 10,819 | 0 |
[
-1.7556051015853882,
-1.0995490550994873,
1.7179535627365112,
-2.1739895343780518,
-1.5702251195907593,
2.960174322128296,
1
] | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
0
] | gripper_open | 0 | [
-1.7556051015853882,
-1.0995490550994873,
1.7179535627365112,
-2.1739895343780518,
-1.5702251195907593,
2.960174322128296,
0
] | [
-0.02039942517876625,
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0.04799444228410721,
-3.127682685852051,
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] | [
0.02039942517876625,
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0.04799444228410721,
-3.127682685852051,
-0.0029701057355850935,
-3.1411592960357666
] | 0 | pick green block and place on green dish: release at green dish | [
0.02040214091539383,
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0.04796314984560013,
-3.127636432647705,
-0.002952414331957698,
-3.1411590576171875
] | 0 | 51.700001 | 517 | 18 | 10,820 | 0 |
[
-1.7556222677230835,
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-2.1740806102752686,
-1.5702446699142456,
2.960207223892212,
0.48627451062202454
] | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
0
] | gripper_open | 0.513725 | [
-1.7556051015853882,
-1.0995490550994873,
1.7179535627365112,
-2.1739895343780518,
-1.5702251195907593,
2.960174322128296,
0
] | [
-0.02039942517876625,
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0.04799444228410721,
-3.127682685852051,
-0.0029701057355850935,
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] | [
0.02039942517876625,
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0.04799444228410721,
-3.127682685852051,
-0.0029701057355850935,
-3.1411592960357666
] | 0 | pick green block and place on green dish: release at green dish | [
0.020397866144776344,
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0.0480436272919178,
-3.127852201461792,
-0.0028699925169348717,
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] | 1 | 51.799999 | 518 | 18 | 10,821 | 0 |
[
-1.75558602809906,
-1.0995060205459595,
1.7177571058273315,
-2.1740920543670654,
-1.570194125175476,
2.960226058959961,
0.37254902720451355
] | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
0
] | gripper_open | 0.627451 | [
-1.7556051015853882,
-1.0995490550994873,
1.7179535627365112,
-2.1739895343780518,
-1.5702251195907593,
2.960174322128296,
0
] | [
-0.02039942517876625,
0.62289959192276,
0.04799444228410721,
-3.127682685852051,
-0.0029701057355850935,
-3.1411592960357666
] | [
0.02039942517876625,
-0.62289959192276,
0.04799444228410721,
-3.127682685852051,
-0.0029701057355850935,
-3.1411592960357666
] | 0 | pick green block and place on green dish: release at green dish | [
0.020398670807480812,
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0.04804234579205513,
-3.1278839111328125,
-0.0029030016157776117,
-3.141134023666382
] | 1 | 51.900002 | 519 | 18 | 10,822 | 0 |
[
-1.7555640935897827,
-1.0994651317596436,
1.717741847038269,
-2.1740734577178955,
-1.5702303647994995,
2.9602293968200684,
0.24705882370471954
] | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
0
] | gripper_open | 0.752941 | [
-1.7556051015853882,
-1.0995490550994873,
1.7179535627365112,
-2.1739895343780518,
-1.5702251195907593,
2.960174322128296,
0
] | [
-0.02039942517876625,
0.62289959192276,
0.04799444228410721,
-3.127682685852051,
-0.0029701057355850935,
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] | [
0.02039942517876625,
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0.04799444228410721,
-3.127682685852051,
-0.0029701057355850935,
-3.1411592960357666
] | 0 | pick green block and place on green dish: release at green dish | [
0.020385609939694405,
-0.6229999661445618,
0.04800521582365036,
-3.127828359603882,
-0.002921076025813818,
-3.1411311626434326
] | 1 | 52 | 520 | 18 | 10,823 | 0 |
[
-1.7556079626083374,
-1.099409818649292,
1.7177256345748901,
-2.174084424972534,
-1.5702322721481323,
2.9602413177490234,
0.12156862765550613
] | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
0
] | gripper_open | 0.878431 | [
-1.7556051015853882,
-1.0995490550994873,
1.7179535627365112,
-2.1739895343780518,
-1.5702251195907593,
2.960174322128296,
0
] | [
-0.02039942517876625,
0.62289959192276,
0.04799444228410721,
-3.127682685852051,
-0.0029701057355850935,
-3.1411592960357666
] | [
0.02039942517876625,
-0.62289959192276,
0.04799444228410721,
-3.127682685852051,
-0.0029701057355850935,
-3.1411592960357666
] | 0 | pick green block and place on green dish: release at green dish | [
0.020393237471580505,
-0.6229958534240723,
0.047999799251556396,
-3.1278226375579834,
-0.002882513217628002,
-3.1411643028259277
] | 1 | 52.099998 | 521 | 18 | 10,824 | 0 |
[
-1.755574107170105,
-1.0994255542755127,
1.7177098989486694,
-2.174103021621704,
-1.570248007774353,
2.9602174758911133,
0.01568627543747425
] | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
0
] | gripper_open | 0.984311 | [
-1.7556051015853882,
-1.0995490550994873,
1.7179535627365112,
-2.1739895343780518,
-1.5702251195907593,
2.960174322128296,
0
] | [
-0.02039942517876625,
0.62289959192276,
0.04799444228410721,
-3.127682685852051,
-0.0029701057355850935,
-3.1411592960357666
] | [
0.02039942517876625,
-0.62289959192276,
0.04799444228410721,
-3.127682685852051,
-0.0029701057355850935,
-3.1411592960357666
] | 0 | pick green block and place on green dish: release at green dish | [
0.02039422281086445,
-0.622990608215332,
0.047982800751924515,
-3.1277759075164795,
-0.002891839249059558,
-3.1411218643188477
] | 1 | 52.200001 | 522 | 18 | 10,825 | 0 |
[
-1.755632758140564,
-1.0994218587875366,
1.7177380323410034,
-2.1740877628326416,
-1.5702213048934937,
2.960226058959961,
0.0117647061124444
] | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
0
] | gripper_open | 0.988232 | [
-1.7556051015853882,
-1.0995490550994873,
1.7179535627365112,
-2.1739895343780518,
-1.5702251195907593,
2.960174322128296,
0
] | [
-0.02039942517876625,
0.62289959192276,
0.04799444228410721,
-3.127682685852051,
-0.0029701057355850935,
-3.1411592960357666
] | [
0.02039942517876625,
-0.62289959192276,
0.04799444228410721,
-3.127682685852051,
-0.0029701057355850935,
-3.1411592960357666
] | 0 | pick green block and place on green dish: release at green dish | [
0.02041170559823513,
-0.6229847073554993,
0.04798459634184837,
-3.1277589797973633,
-0.002913152566179633,
-3.1411187648773193
] | 1 | 52.299999 | 523 | 18 | 10,826 | 0 |
[
-1.7555640935897827,
-1.0994255542755127,
1.717748999595642,
-2.1740643978118896,
-1.57024085521698,
2.960207223892212,
0.0117647061124444
] | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
0
] | gripper_open | 0.988232 | [
-1.7556051015853882,
-1.0995490550994873,
1.7179535627365112,
-2.1739895343780518,
-1.5702251195907593,
2.960174322128296,
0
] | [
-0.02039942517876625,
0.62289959192276,
0.04799444228410721,
-3.127682685852051,
-0.0029701057355850935,
-3.1411592960357666
] | [
0.02039942517876625,
-0.62289959192276,
0.04799444228410721,
-3.127682685852051,
-0.0029701057355850935,
-3.1411592960357666
] | 0 | pick green block and place on green dish: release at green dish | [
0.020395347848534584,
-0.6230071187019348,
0.04800994321703911,
-3.1278505325317383,
-0.0029093828052282333,
-3.141132116317749
] | 1 | 52.400002 | 524 | 18 | 10,827 | 0 |
[
-1.7555674314498901,
-1.0994218587875366,
1.717741847038269,
-2.1740806102752686,
-1.570210337638855,
2.9602108001708984,
0
] | [
-1.7555721998214722,
-1.0994229316711426,
1.717742681503296,
-2.174079418182373,
-1.5702216625213623,
2.960216999053955,
0
] | move_to_position | 0 | [
-1.7378346920013428,
-1.1733758449554443,
1.6961300373077393,
-2.0785388946533203,
-1.5698485374450684,
2.9778366088867188,
0
] | [
-0.03285989537835121,
0.614378809928894,
0.09276122599840164,
0,
0,
0
] | [
0.03285989537835121,
-0.614378809928894,
0.09276122599840164,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.020421231165528297,
-0.6230014562606812,
0.048002079129219055,
-3.1278128623962402,
-0.0029232779052108526,
-3.1410884857177734
] | 1 | 52.5 | 525 | 18 | 10,828 | 0 |
[
-1.7556012868881226,
-1.0994566679000854,
1.7177571058273315,
-2.1740806102752686,
-1.5701974630355835,
2.960226058959961,
0
] | [
-1.7555378675460815,
-1.0996612310409546,
1.7177162170410156,
-2.173858165740967,
-1.5701903104782104,
2.9602620601654053,
0
] | move_to_position | 0 | [
-1.7378346920013428,
-1.1733758449554443,
1.6961300373077393,
-2.0785388946533203,
-1.5698485374450684,
2.9778366088867188,
0
] | [
-0.03285989537835121,
0.614378809928894,
0.09276122599840164,
0,
0,
0
] | [
0.03285989537835121,
-0.614378809928894,
0.09276122599840164,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.020401859655976295,
-0.6230003237724304,
0.04803948104381561,
-3.1278533935546875,
-0.002913160715252161,
-3.1411221027374268
] | 1 | 52.599998 | 526 | 18 | 10,829 | 0 |
[
-1.7553790807724,
-1.100350022315979,
1.7176140546798706,
-2.1729304790496826,
-1.570177435874939,
2.9604568481445312,
0
] | [
-1.7550709247589111,
-1.1017756462097168,
1.7173447608947754,
-2.1713807582855225,
-1.5701736211776733,
2.9607255458831787,
0
] | move_to_position | 0.011863 | [
-1.7378346920013428,
-1.1733758449554443,
1.6961300373077393,
-2.0785388946533203,
-1.5698485374450684,
2.9778366088867188,
0
] | [
-0.03285989537835121,
0.614378809928894,
0.09276122599840164,
0,
0,
0
] | [
0.03285989537835121,
-0.614378809928894,
0.09276122599840164,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.02064422331750393,
-0.6228137016296387,
0.048760682344436646,
-3.127713680267334,
-0.0029478457290679216,
-3.141141414642334
] | 1 | 52.700001 | 527 | 18 | 10,830 | 0 |
[
-1.7544907331466675,
-1.1036949157714844,
1.7169255018234253,
-2.1690409183502197,
-1.5701860189437866,
2.961189031600952,
0
] | [
-1.7542376518249512,
-1.1055049896240234,
1.7166448831558228,
-2.1669485569000244,
-1.5701583623886108,
2.961552858352661,
0
] | move_to_position | 0.05409 | [
-1.7378346920013428,
-1.1733758449554443,
1.6961300373077393,
-2.0785388946533203,
-1.5698485374450684,
2.9778366088867188,
0
] | [
-0.03285989537835121,
0.614378809928894,
0.09276122599840164,
0,
0,
0
] | [
0.03285989537835121,
-0.614378809928894,
0.09276122599840164,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.021229082718491554,
-0.6224994659423828,
0.05071405693888664,
-3.1279149055480957,
-0.0029297363944351673,
-3.141003131866455
] | 1 | 52.799999 | 528 | 18 | 10,831 | 0 |
[
-1.7535632848739624,
-1.1080892086029053,
1.7159827947616577,
-2.163783311843872,
-1.5701502561569214,
2.9621596336364746,
0
] | [
-1.7532086372375488,
-1.1100456714630127,
1.7157056331634521,
-2.16146183013916,
-1.5701427459716797,
2.9625744819641113,
0
] | move_to_position | 0.110249 | [
-1.7378346920013428,
-1.1733758449554443,
1.6961300373077393,
-2.0785388946533203,
-1.5698485374450684,
2.9778366088867188,
0
] | [
-0.03285989537835121,
0.614378809928894,
0.09276122599840164,
0,
0,
0
] | [
0.03285989537835121,
-0.614378809928894,
0.09276122599840164,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.021971700713038445,
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0.0535522922873497,
-3.1278982162475586,
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] | 1 | 52.900002 | 529 | 18 | 10,832 | 0 |
[
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] | [
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0
] | move_to_position | 0.181431 | [
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0
] | [
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0,
0
] | [
0.03285989537835121,
-0.614378809928894,
0.09276122599840164,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.0228879414498806,
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0.05682570859789848,
-3.127870559692383,
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] | 1 | 53 | 530 | 18 | 10,833 | 0 |
[
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] | [
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] | move_to_position | 0.263384 | [
-1.7378346920013428,
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] | [
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0,
0
] | [
0.03285989537835121,
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0.09276122599840164,
0,
0,
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] | 0 | pick green block and place on green dish: retract after place | [
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] | 1 | 53.099998 | 531 | 18 | 10,834 | 0 |
[
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] | [
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] | move_to_position | 0.367088 | [
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] | [
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0,
0
] | [
0.03285989537835121,
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0.09276122599840164,
0,
0,
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] | 0 | pick green block and place on green dish: retract after place | [
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] | 1 | 53.200001 | 532 | 18 | 10,835 | 0 |
[
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] | [
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] | move_to_position | 0.487824 | [
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] | [
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] | [
0.03285989537835121,
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0.09276122599840164,
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0,
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] | 0 | pick green block and place on green dish: retract after place | [
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] | 1 | 53.299999 | 533 | 18 | 10,836 | 0 |
[
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] | [
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] | move_to_position | 0.623681 | [
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] | [
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] | [
0.03285989537835121,
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0,
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] | 0 | pick green block and place on green dish: retract after place | [
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] | 1 | 53.400002 | 534 | 18 | 10,837 | 0 |
[
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] | [
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] | move_to_position | 0.744082 | [
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] | [
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] | [
0.03285989537835121,
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0,
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] | 0 | pick green block and place on green dish: retract after place | [
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] | 1 | 53.5 | 535 | 18 | 10,838 | 0 |
[
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] | [
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] | move_to_position | 0.842504 | [
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] | [
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0,
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] | [
0.03285989537835121,
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0.09276122599840164,
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0,
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] | 0 | pick green block and place on green dish: retract after place | [
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] | 1 | 53.599998 | 536 | 18 | 10,839 | 0 |
[
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] | [
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] | move_to_position | 0.912394 | [
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] | [
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0,
0
] | [
0.03285989537835121,
-0.614378809928894,
0.09276122599840164,
0,
0,
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] | 0 | pick green block and place on green dish: retract after place | [
0.0318353995680809,
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-3.127727508544922,
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] | 1 | 53.700001 | 537 | 18 | 10,840 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.958587 | [
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] | [
-0.03285989537835121,
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0,
0
] | [
0.03285989537835121,
-0.614378809928894,
0.09276122599840164,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.03235574811697006,
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] | 1 | 53.799999 | 538 | 18 | 10,841 | 0 |
[
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] | [
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0
] | move_to_position | 0.985977 | [
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1.6961300373077393,
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0
] | [
-0.03285989537835121,
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0,
0
] | [
0.03285989537835121,
-0.614378809928894,
0.09276122599840164,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.032688915729522705,
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0.09226232022047043,
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] | 1 | 53.900002 | 539 | 18 | 10,842 | 0 |
[
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0
] | [
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1.6961300373077393,
-2.0785388946533203,
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2.9778366088867188,
0
] | move_to_position | 0.99723 | [
-1.7378346920013428,
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1.6961300373077393,
-2.0785388946533203,
-1.5698485374450684,
2.9778366088867188,
0
] | [
-0.03285989537835121,
0.614378809928894,
0.09276122599840164,
0,
0,
0
] | [
0.03285989537835121,
-0.614378809928894,
0.09276122599840164,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.032855600118637085,
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0.0925775021314621,
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] | 1 | 54 | 540 | 18 | 10,843 | 0 |
[
-1.737810492515564,
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2.9778261184692383,
0
] | [
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1.6961300373077393,
-2.0785388946533203,
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2.9778366088867188,
0
] | move_to_position | 0 | [
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] | [
0,
0.4399999976158142,
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0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
0.03285061568021774,
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0.09256363660097122,
-3.1274585723876953,
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] | 1 | 54.099998 | 541 | 18 | 10,844 | 0 |
[
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2.9778261184692383,
0
] | [
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1.6963121891021729,
-2.078615665435791,
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2.9778308868408203,
0
] | move_to_position | 0 | [
-1.8797093629837036,
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1.6364340782165527,
-1.4623191356658936,
-1.5712698698043823,
2.835106134414673,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
0.032892849296331406,
-0.6143054366111755,
0.09256298094987869,
-3.127429485321045,
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] | 1 | 54.200001 | 542 | 18 | 10,845 | 0 |
[
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2.9778294563293457,
0
] | [
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1.6967036724090576,
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2.9777190685272217,
0
] | move_to_position | 0.000324 | [
-1.8797093629837036,
-1.7296552658081055,
1.6364340782165527,
-1.4623191356658936,
-1.5712698698043823,
2.835106134414673,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
0.0328710675239563,
-0.6142178773880005,
0.09287425875663757,
-3.1276938915252686,
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] | 1 | 54.299999 | 543 | 18 | 10,846 | 0 |
[
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-2.077505350112915,
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2.9776101112365723,
0
] | [
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1.6976265907287598,
-2.076794147491455,
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2.9773943424224854,
0
] | move_to_position | 0.002484 | [
-1.8797093629837036,
-1.7296552658081055,
1.6364340782165527,
-1.4623191356658936,
-1.5712698698043823,
2.835106134414673,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
0.03286296874284744,
-0.6137277483940125,
0.0935361459851265,
-3.1277246475219727,
-0.0029150652699172497,
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] | 1 | 54.400002 | 544 | 18 | 10,847 | 0 |
[
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2.977194309234619,
0
] | [
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1.698968529701233,
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2.9768567085266113,
0
] | move_to_position | 0.005901 | [
-1.8797093629837036,
-1.7296552658081055,
1.6364340782165527,
-1.4623191356658936,
-1.5712698698043823,
2.835106134414673,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
0.032661691308021545,
-0.6128544211387634,
0.09453314542770386,
-3.1274161338806152,
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] | 1 | 54.5 | 545 | 18 | 10,848 | 0 |
[
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1.699990153312683,
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2.9764199256896973,
0
] | [
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1.7007994651794434,
-2.070953369140625,
-1.5698752403259277,
2.976039409637451,
0
] | move_to_position | 0.012736 | [
-1.8797093629837036,
-1.7296552658081055,
1.6364340782165527,
-1.4623191356658936,
-1.5712698698043823,
2.835106134414673,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
0.03243469074368477,
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0.09647157043218613,
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[
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[
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[
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] | move_to_position | 0 | [
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[
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] | move_to_position | 0.198479 | [
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[
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[
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[
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] | move_to_position | 0.271617 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.8 | 8 | 19 | 10,892 | 0 |
[
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] | move_to_position | 0 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.9 | 9 | 19 | 10,893 | 0 |
[
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] | [
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] | move_to_position | 0.561708 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1 | 10 | 19 | 10,894 | 0 |
[
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] | [
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] | move_to_position | 0.262838 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.1 | 11 | 19 | 10,895 | 0 |
[
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] | [
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] | move_to_position | 0.28785 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
-0.0000017754525742930127,
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] | 1 | 1.2 | 12 | 19 | 10,896 | 0 |
[
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] | [
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] | move_to_position | 0.034536 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.3 | 13 | 19 | 10,897 | 0 |
[
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] | [
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0
] | move_to_position | 0 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.4 | 14 | 19 | 10,898 | 0 |
[
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] | [
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0
] | move_to_position | 0.011057 | [
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] | [
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] | [
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0.3529999852180481,
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] | 0 | move to initial position to start the task | [
-0.0000031937295261741383,
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] | 1 | 1.5 | 15 | 19 | 10,899 | 0 |
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