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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-1.7458122968673706,
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2.0095207691192627,
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3.0280587673187256,
0.0117647061124444
] | [
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2.009526491165161,
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3.028088092803955,
0
] | gripper_open | 0.988232 | [
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2.009575128555298,
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] | [
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] | [
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0.0580776073038578,
2.7946417331695557,
0.06058993190526962,
3.0697054862976074
] | 0 | pick green block and place on green dish: release at green dish | [
0.020400499925017357,
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0.058022018522024155,
2.794682741165161,
0.06060074269771576,
3.0695748329162598
] | 1 | 52.700001 | 527 | 23 | 13,500 | 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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0.0580776073038578,
2.7946417331695557,
0.06058993190526962,
3.0697054862976074
] | 0 | pick green block and place on green dish: release at green dish | [
0.020413506776094437,
-0.6230236291885376,
0.058008823543787,
2.794719934463501,
0.06057420372962952,
3.069608688354492
] | 1 | 52.799999 | 528 | 23 | 13,501 | 0 |
[
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3.0280654430389404,
0.0117647061124444
] | [
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0
] | gripper_open | 0.988232 | [
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2.009575128555298,
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] | [
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] | [
0.02048986405134201,
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0.0580776073038578,
2.7946417331695557,
0.06058993190526962,
3.0697054862976074
] | 0 | pick green block and place on green dish: release at green dish | [
0.020402681082487106,
-0.6230164766311646,
0.05799182876944542,
2.794764757156372,
0.060552600771188736,
3.0695621967315674
] | 1 | 52.900002 | 529 | 23 | 13,502 | 0 |
[
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2.00952410697937,
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0
] | [
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2.009526491165161,
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3.028088092803955,
0
] | move_to_position | 0 | [
-1.7457685470581055,
-1.2813745737075806,
1.9654819965362549,
-2.605138063430786,
-1.592616081237793,
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0
] | [
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0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.0204179584980011,
-0.6230180859565735,
0.05800524353981018,
2.794736862182617,
0.06059214845299721,
3.069611072540283
] | 1 | 53 | 530 | 23 | 13,503 | 0 |
[
-1.745797038078308,
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-1.5927633047103882,
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0
] | [
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2.0094680786132812,
-2.7365992069244385,
-1.5927376747131348,
3.0280892848968506,
0
] | move_to_position | 0.00003 | [
-1.7457685470581055,
-1.2813745737075806,
1.9654819965362549,
-2.605138063430786,
-1.592616081237793,
3.028005838394165,
0
] | [
-0.020419687032699585,
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0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.02041635289788246,
-0.623000979423523,
0.05799442529678345,
2.7948343753814697,
0.06057141721248627,
3.0695977210998535
] | 1 | 53.099998 | 531 | 23 | 13,504 | 0 |
[
-1.7457932233810425,
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2.0091116428375244,
-2.7354624271392822,
-1.592746615409851,
3.0280776023864746,
0
] | [
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2.0087597370147705,
-2.733840227127075,
-1.5927321910858154,
3.028088092803955,
0
] | move_to_position | 0.010885 | [
-1.7457685470581055,
-1.2813745737075806,
1.9654819965362549,
-2.605138063430786,
-1.592616081237793,
3.028005838394165,
0
] | [
-0.020419687032699585,
0.6230099201202393,
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0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.020406536757946014,
-0.6230552792549133,
0.058811623603105545,
2.794649600982666,
0.060530517250299454,
3.0695831775665283
] | 1 | 53.200001 | 532 | 23 | 13,505 | 0 |
[
-1.745815634727478,
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-1.5927585363388062,
3.028099775314331,
0
] | [
-1.7458120584487915,
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2.00730037689209,
-2.7284810543060303,
-1.5927280187606812,
3.028085470199585,
0
] | move_to_position | 0.046405 | [
-1.7457685470581055,
-1.2813745737075806,
1.9654819965362549,
-2.605138063430786,
-1.592616081237793,
3.028005838394165,
0
] | [
-0.020419687032699585,
0.6230099201202393,
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0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.020406318828463554,
-0.623039722442627,
0.06083102151751518,
2.7946066856384277,
0.06053662672638893,
3.0695831775665283
] | 1 | 53.299999 | 533 | 23 | 13,506 | 0 |
[
-1.745797038078308,
-1.203011393547058,
2.00602650642395,
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3.028074026107788,
0
] | [
-1.7458088397979736,
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2.0049586296081543,
-2.720412492752075,
-1.5927224159240723,
3.028080940246582,
0
] | move_to_position | 0.098699 | [
-1.7457685470581055,
-1.2813745737075806,
1.9654819965362549,
-2.605138063430786,
-1.592616081237793,
3.028005838394165,
0
] | [
-0.020419687032699585,
0.6230099201202393,
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0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.02041688933968544,
-0.6229832768440247,
0.06331349909305573,
2.794739246368408,
0.06055440753698349,
3.069614887237549
] | 1 | 53.400002 | 534 | 23 | 13,507 | 0 |
[
-1.7458003759384155,
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2.003465414047241,
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3.0280776023864746,
0
] | [
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2.001814842224121,
-2.71028208732605,
-1.5927135944366455,
3.0280749797821045,
0
] | move_to_position | 0.163357 | [
-1.7457685470581055,
-1.2813745737075806,
1.9654819965362549,
-2.605138063430786,
-1.592616081237793,
3.028005838394165,
0
] | [
-0.020419687032699585,
0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.02040485478937626,
-0.6230372190475464,
0.06692537665367126,
2.794680118560791,
0.06056709960103035,
3.0695924758911133
] | 1 | 53.5 | 535 | 23 | 13,508 | 0 |
[
-1.7458122968673706,
-1.217333436012268,
1.9995206594467163,
-2.7032172679901123,
-1.592734694480896,
3.0280776023864746,
0
] | [
-1.7458003759384155,
-1.2210032939910889,
1.9978114366531372,
-2.6978156566619873,
-1.5927015542984009,
3.0280673503875732,
0
] | move_to_position | 0.257448 | [
-1.7457685470581055,
-1.2813745737075806,
1.9654819965362549,
-2.605138063430786,
-1.592616081237793,
3.028005838394165,
0
] | [
-0.020419687032699585,
0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.02039744146168232,
-0.623113214969635,
0.07190711796283722,
2.79473614692688,
0.060525208711624146,
3.0695865154266357
] | 1 | 53.599998 | 536 | 23 | 13,509 | 0 |
[
-1.7457813024520874,
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1.9942187070846558,
-2.686683416366577,
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3.0280842781066895,
0
] | [
-1.7457937002182007,
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1.991871953010559,
-2.679546356201172,
-1.5926839113235474,
3.0280561447143555,
0
] | move_to_position | 0.383133 | [
-1.7457685470581055,
-1.2813745737075806,
1.9654819965362549,
-2.605138063430786,
-1.592616081237793,
3.028005838394165,
0
] | [
-0.020419687032699585,
0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.02038753032684326,
-0.6231383681297302,
0.07769444584846497,
2.7947423458099365,
0.06055827438831329,
3.0696003437042236
] | 1 | 53.700001 | 537 | 23 | 13,510 | 0 |
[
-1.7457932233810425,
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1.988688349723816,
-2.6699321269989014,
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3.028069019317627,
0
] | [
-1.745787501335144,
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1.9861996173858643,
-2.662327766418457,
-1.5926674604415894,
3.028045177459717,
0
] | move_to_position | 0.510671 | [
-1.7457685470581055,
-1.2813745737075806,
1.9654819965362549,
-2.605138063430786,
-1.592616081237793,
3.028005838394165,
0
] | [
-0.020419687032699585,
0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.020384201779961586,
-0.6231437921524048,
0.08476094156503677,
2.7947301864624023,
0.06056226044893265,
3.0696005821228027
] | 1 | 53.799999 | 538 | 23 | 13,511 | 0 |
[
-1.7457884550094604,
-1.2505618333816528,
1.9833649396896362,
-2.653766393661499,
-1.5926717519760132,
3.0280795097351074,
0
] | [
-1.7457818984985352,
-1.2551956176757812,
1.980987787246704,
-2.6468122005462646,
-1.5926527976989746,
3.0280354022979736,
0
] | move_to_position | 0.633036 | [
-1.7457685470581055,
-1.2813745737075806,
1.9654819965362549,
-2.605138063430786,
-1.592616081237793,
3.028005838394165,
0
] | [
-0.020419687032699585,
0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.020378869026899338,
-0.6230602860450745,
0.09062217175960541,
2.794703483581543,
0.06060405820608139,
3.0695748329162598
] | 1 | 53.900002 | 539 | 23 | 13,512 | 0 |
[
-1.7457693815231323,
-1.2599049806594849,
1.9784883260726929,
-2.6396052837371826,
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3.028029680252075,
0
] | [
-1.7457777261734009,
-1.2632015943527222,
1.9766533374786377,
-2.634474992752075,
-1.5926414728164673,
3.028027057647705,
0
] | move_to_position | 0.740437 | [
-1.7457685470581055,
-1.2813745737075806,
1.9654819965362549,
-2.605138063430786,
-1.592616081237793,
3.028005838394165,
0
] | [
-0.020419687032699585,
0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.020423969253897667,
-0.6230217218399048,
0.09556815773248672,
2.7946743965148926,
0.06058134511113167,
3.069629192352295
] | 1 | 54 | 540 | 23 | 13,513 | 0 |
[
-1.7458003759384155,
-1.2674171924591064,
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-2.6277616024017334,
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3.0280332565307617,
0
] | [
-1.7457741498947144,
-1.2701621055603027,
1.9725556373596191,
-2.6234195232391357,
-1.5926316976547241,
3.028019428253174,
0
] | move_to_position | 0.829817 | [
-1.7457685470581055,
-1.2813745737075806,
1.9654819965362549,
-2.605138063430786,
-1.592616081237793,
3.028005838394165,
0
] | [
-0.020419687032699585,
0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.02040122076869011,
-0.6229733824729919,
0.09994778037071228,
2.7947592735290527,
0.060604311525821686,
3.0696234703063965
] | 1 | 54.099998 | 541 | 23 | 13,514 | 0 |
[
-1.7457884550094604,
-1.2736458778381348,
1.9703606367111206,
-2.617826223373413,
-1.5926083326339722,
3.027998447418213,
0
] | [
-1.7457714080810547,
-1.2754926681518555,
1.9692418575286865,
-2.6147773265838623,
-1.592624306678772,
3.028012990951538,
0
] | move_to_position | 0.904809 | [
-1.7457685470581055,
-1.2813745737075806,
1.9654819965362549,
-2.605138063430786,
-1.592616081237793,
3.028005838394165,
0
] | [
-0.020419687032699585,
0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | [
0.020419687032699585,
-0.6230099201202393,
0.1080000028014183,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.02037854865193367,
-0.6230266094207764,
0.10396712273359299,
2.7945735454559326,
0.060651618987321854,
3.069579839706421
] | 1 | 54.200001 | 542 | 23 | 13,515 | 0 |
[
-1.745773196220398,
-1.2782713174819946,
1.9674423933029175,
-2.610215902328491,
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3.0280404090881348,
0
] | [
-1.7457692623138428,
-1.2797683477401733,
1.9664981365203857,
-2.607759714126587,
-1.5926183462142944,
3.028007984161377,
0
] | move_to_position | 0.961858 | [
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] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.000010814046618179418,
-0.4399968087673187,
0.352967768907547,
-3.1415321826934814,
0.000011459340385044925,
-3.1414639949798584
] | 1 | 1.2 | 12 | 24 | 13,570 | 0 |
[
-1.8805474042892456,
-1.739111065864563,
1.6478317975997925,
-1.4785248041152954,
-1.5698450803756714,
2.8346469402313232,
0
] | [
-1.8805259466171265,
-1.739111065864563,
1.6478450298309326,
-1.4785103797912598,
-1.5698527097702026,
2.834650754928589,
0
] | move_to_position | 0.114077 | [
-1.8805254697799683,
-1.739111065864563,
1.6478465795516968,
-1.4785109758377075,
-1.5698527097702026,
2.8346505165100098,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
-0.000007377145266218577,
-0.4399878978729248,
0.352952241897583,
-3.1414718627929688,
0.00004069159331265837,
-3.1414895057678223
] | 1 | 1.3 | 13 | 24 | 13,571 | 0 |
[
-1.880508303642273,
-1.7390772104263306,
1.6478465795516968,
-1.478502631187439,
-1.5698579549789429,
2.8346505165100098,
0
] | [
-1.8805255889892578,
-1.739111065864563,
1.6478461027145386,
-1.478510856628418,
-1.5698527097702026,
2.8346505165100098,
0
] | move_to_position | 0 | [
-1.8805254697799683,
-1.739111065864563,
1.6478465795516968,
-1.4785109758377075,
-1.5698527097702026,
2.8346505165100098,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.000006821591341577005,
-0.4399925172328949,
0.35295969247817993,
-3.1414966583251953,
-0.000016969366697594523,
-3.141447067260742
] | 1 | 1.4 | 14 | 24 | 13,572 | 0 |
[
-1.8805440664291382,
-1.739122986793518,
1.6478351354599,
-1.4785178899765015,
-1.569881796836853,
2.834669589996338,
0
] | [
-1.8805254697799683,
-1.739111065864563,
1.6478465795516968,
-1.4785109758377075,
-1.5698527097702026,
2.8346505165100098,
0
] | move_to_position | 0 | [
-1.8805254697799683,
-1.739111065864563,
1.6478465795516968,
-1.4785109758377075,
-1.5698527097702026,
2.8346505165100098,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
-0.000003838148131762864,
-0.43999138474464417,
0.3529771864414215,
-3.141542673110962,
0.0000513321028847713,
-3.141486406326294
] | 1 | 1.5 | 15 | 24 | 13,573 | 0 |
[
-1.8805192708969116,
-1.7390958070755005,
1.6478432416915894,
-1.4785178899765015,
-1.569888949394226,
2.8346469402313232,
0
] | [
-1.8805254697799683,
-1.739111065864563,
1.6478465795516968,
-1.4785109758377075,
-1.5698527097702026,
2.8346505165100098,
0
] | move_to_position | 0.000005 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.000007650033694517333,
-0.43999168276786804,
0.35295459628105164,
-3.1414763927459717,
0.000038670292269671336,
-3.1414859294891357
] | 1 | 1.6 | 16 | 24 | 13,574 | 0 |
[
-1.8805359601974487,
-1.7390958070755005,
1.6478546857833862,
-1.4785109758377075,
-1.569869875907898,
2.8346660137176514,
0
] | [
-1.8805474042892456,
-1.7390806674957275,
1.6478161811828613,
-1.478502631187439,
-1.5698541402816772,
2.834650754928589,
0
] | move_to_position | 0.000002 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.000006310166554612806,
-0.4399934411048889,
0.35295599699020386,
-3.1415112018585205,
0.000020232724637025967,
-3.141474485397339
] | 1 | 1.7 | 17 | 24 | 13,575 | 0 |
[
-1.8805831670761108,
-1.7388492822647095,
1.6478761434555054,
-1.4788931608200073,
-1.5698508024215698,
2.8345391750335693,
0
] | [
-1.8812055587768555,
-1.7376776933670044,
1.648504376411438,
-1.4805580377578735,
-1.5698559284210205,
2.8339951038360596,
0
] | move_to_position | 0.000462 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.00019880801846738905,
-0.4402700960636139,
0.35266003012657166,
-3.141512632369995,
0.00001627395977266133,
-3.141367197036743
] | 1 | 1.8 | 18 | 24 | 13,576 | 0 |
[
-1.883205771446228,
-1.733498215675354,
1.6505240201950073,
-1.4869213104248047,
-1.569834589958191,
2.8319811820983887,
0
] | [
-1.8860617876052856,
-1.727271556854248,
1.6535838842391968,
-1.4958292245864868,
-1.569868803024292,
2.8291571140289307,
0
] | move_to_position | 0.011121 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.002796292770653963,
-0.4435668885707855,
0.3489430248737335,
3.141517162322998,
0.00007117832865333185,
-3.141394853591919
] | 1 | 1.9 | 19 | 24 | 13,577 | 0 |
[
-1.890532374382019,
-1.7177091836929321,
1.6581982374191284,
-1.5098698139190674,
-1.5698541402816772,
2.824770450592041,
0
] | [
-1.8951716423034668,
-1.7074984312057495,
1.6631121635437012,
-1.5249773263931274,
-1.5698926448822021,
2.820082426071167,
0
] | move_to_position | 0.041802 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.008872362785041332,
-0.4509870707988739,
0.3398435711860657,
-3.1410973072052,
-0.0001171008261735551,
-3.1415531635284424
] | 1 | 2 | 20 | 24 | 13,578 | 0 |
[
-1.9014447927474976,
-1.6938430070877075,
1.6696490049362183,
-1.5452880859375,
-1.5698860883712769,
2.8138391971588135,
0
] | [
-1.9058454036712646,
-1.6842026710510254,
1.6742761135101318,
-1.5593754053115845,
-1.569920539855957,
2.809450387954712,
0
] | move_to_position | 0.088664 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.017753174528479576,
-0.4614565074443817,
0.3265635371208191,
-3.1411800384521484,
-0.00006795943772885948,
-3.141482353210449
] | 1 | 2.1 | 21 | 24 | 13,579 | 0 |
[
-1.9149469137191772,
-1.6642194986343384,
1.6838659048080444,
-1.588924527168274,
-1.5700048208236694,
2.800271987915039,
0
] | [
-1.9205400943756104,
-1.6520391702651978,
1.6896452903747559,
-1.6068994998931885,
-1.5699591636657715,
2.7948131561279297,
0
] | move_to_position | 0.146574 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.02859722077846527,
-0.4732346534729004,
0.3100184500217438,
-3.1409826278686523,
-0.00007705426105530933,
-3.1414105892181396
] | 1 | 2.2 | 22 | 24 | 13,580 | 0 |
[
-1.9311631917953491,
-1.6287795305252075,
1.7007406949996948,
-1.641381859779358,
-1.5699857473373413,
2.7842531204223633,
0
] | [
-1.9370836019515991,
-1.6157604455947876,
1.706948161125183,
-1.660532832145691,
-1.570002555847168,
2.7783353328704834,
0
] | move_to_position | 0.215979 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.041233159601688385,
-0.48577550053596497,
0.29052290320396423,
-3.141103744506836,
-0.0000734205823391676,
-3.1414992809295654
] | 1 | 2.3 | 23 | 24 | 13,581 | 0 |
[
-1.9484003782272339,
-1.5908695459365845,
1.718906283378601,
-1.6973291635513306,
-1.5700024366378784,
2.767003297805786,
0
] | [
-1.9578443765640259,
-1.5701791048049927,
1.7286617755889893,
-1.7279528379440308,
-1.5700570344924927,
2.757657051086426,
0
] | move_to_position | 0.290125 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.05516859143972397,
-0.49811089038848877,
0.26838216185569763,
-3.1411120891571045,
-0.00008889572927728295,
-3.141414165496826
] | 1 | 2.4 | 24 | 24 | 13,582 | 0 |
[
-1.9680761098861694,
-1.5477206707000732,
1.7393015623092651,
-1.761269211769104,
-1.5700730085372925,
2.747511148452759,
0
] | [
-1.9755865335464478,
-1.5311998128890991,
1.7472176551818848,
-1.785625696182251,
-1.570103406906128,
2.7399866580963135,
0
] | move_to_position | 0.374627 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.070276640355587,
-0.5098583102226257,
0.24386067688465118,
-3.1412785053253174,
0.000018521466699894518,
-3.1413896083831787
] | 1 | 2.5 | 25 | 24 | 13,583 | 0 |
[
-1.9877203702926636,
-1.5045069456100464,
1.759893774986267,
-1.8251248598098755,
-1.5701369047164917,
2.7279140949249268,
0
] | [
-1.995774507522583,
-1.4868342876434326,
1.7683310508728027,
-1.85127592086792,
-1.5701563358306885,
2.719881057739258,
0
] | move_to_position | 0.459163 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.08578512072563171,
-0.520058810710907,
0.2179979532957077,
-3.1414427757263184,
0.00006738425872754306,
-3.1413965225219727
] | 1 | 2.6 | 26 | 24 | 13,584 | 0 |
[
-2.0071823596954346,
-1.4617524147033691,
1.780335783958435,
-1.8884435892105103,
-1.5701736211776733,
2.7084975242614746,
0
] | [
-2.0152175426483154,
-1.4441053867340088,
1.7886651754379272,
-1.9145030975341797,
-1.570207118988037,
2.7005186080932617,
0
] | move_to_position | 0.542938 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.10045357793569565,
-0.5280975103378296,
0.1925801783800125,
3.1415741443634033,
0.00007924477540655062,
-3.1413931846618652
] | 1 | 2.7 | 27 | 24 | 13,585 | 0 |
[
-2.026846170425415,
-1.4185668230056763,
1.8007158041000366,
-1.9523149728775024,
-1.5702098608016968,
2.688981056213379,
0
] | [
-2.0353634357452393,
-1.3998454809188843,
1.8097330331802368,
-1.9799835681915283,
-1.57025945186615,
2.680457830429077,
0
] | move_to_position | 0.627405 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.11489454656839371,
-0.5343642830848694,
0.1668437421321869,
3.141493320465088,
0.00019714259542524815,
-3.1415131092071533
] | 1 | 2.8 | 28 | 24 | 13,586 | 0 |
[
-2.045700788497925,
-1.3770177364349365,
1.8206695318222046,
-2.0136444568634033,
-1.5702770948410034,
2.670109987258911,
0
] | [
-2.054109573364258,
-1.358684778213501,
1.8293378353118896,
-2.040858507156372,
-1.5703084468841553,
2.661790132522583,
0
] | move_to_position | 0.708672 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.12825581431388855,
-0.5386722087860107,
0.14205437898635864,
3.1413841247558594,
0.00026462198002263904,
-3.141481637954712
] | 1 | 2.9 | 29 | 24 | 13,587 | 0 |
[
-2.0640361309051514,
-1.3369755744934082,
1.8397630453109741,
-2.0729992389678955,
-1.5703328847885132,
2.651939630508423,
0
] | [
-2.0713202953338623,
-1.3209351301193237,
1.8473376035690308,
-2.0966598987579346,
-1.5703530311584473,
2.644650936126709,
0
] | move_to_position | 0.78718 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.14039704203605652,
-0.5413124561309814,
0.11860482394695282,
3.1412410736083984,
0.0002882295229937881,
-3.1414859294891357
] | 1 | 3 | 30 | 24 | 13,588 | 0 |
[
-2.0798676013946533,
-1.3023227453231812,
1.8561776876449585,
-2.1241514682769775,
-1.5703848600387573,
2.6362202167510986,
0
] | [
-2.086399793624878,
-1.2879188060760498,
1.8631083965301514,
-2.1454367637634277,
-1.57039213180542,
2.6296346187591553,
0
] | move_to_position | 0.854924 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.15081241726875305,
-0.5424883365631104,
0.09780783206224442,
3.1412274837493896,
0.0003376803651917726,
-3.141486883163452
] | 1 | 3.1 | 31 | 24 | 13,589 | 0 |
[
-2.0933220386505127,
-1.2728323936462402,
1.8703769445419312,
-2.1676976680755615,
-1.5704482793807983,
2.622797966003418,
0
] | [
-2.099653482437134,
-1.2589889764785767,
1.8769692182540894,
-2.1881442070007324,
-1.5704262256622314,
2.6164371967315674,
0
] | move_to_position | 0.912649 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.1590028554201126,
-0.5426128506660461,
0.08063577860593796,
3.1413025856018066,
0.00026791144046001136,
-3.141505479812622
] | 1 | 3.2 | 32 | 24 | 13,590 | 0 |
[
-2.104408025741577,
-1.2486393451690674,
1.881973147392273,
-2.203376531600952,
-1.5703905820846558,
2.611715793609619,
0
] | [
-2.1076462268829346,
-1.2416359186172485,
1.8853278160095215,
-2.213719129562378,
-1.5704467296600342,
2.60847806930542,
0
] | move_to_position | 0.959986 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.16497555375099182,
-0.5422165989875793,
0.06778062134981155,
3.1414740085601807,
0.00015828244795557112,
-3.141463279724121
] | 1 | 3.3 | 33 | 24 | 13,591 | 0 |
[
-2.111417055130005,
-1.233724594116211,
1.8891867399215698,
-2.225318193435669,
-1.5704411268234253,
2.6047818660736084,
0
] | [
-2.1129326820373535,
-1.2302969694137573,
1.8908557891845703,
-2.2303600311279297,
-1.5704600811004639,
2.6032137870788574,
0
] | move_to_position | 0.989209 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.16888010501861572,
-0.5417207479476929,
0.05936408415436745,
3.1415765285491943,
0.00008011975296540186,
-3.1415796279907227
] | 1 | 3.4 | 34 | 24 | 13,592 | 0 |
[
-2.1138975620269775,
-1.2281841039657593,
1.8918484449386597,
-2.233368158340454,
-1.5704301595687866,
2.6022887229919434,
0
] | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | move_to_position | 0.999902 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.1700083315372467,
-0.5415297746658325,
0.05671573430299759,
-3.141460657119751,
0.000014628133612859529,
-3.141568422317505
] | 1 | 3.5 | 35 | 24 | 13,593 | 0 |
[
-2.1138412952423096,
-1.2282391786575317,
1.891823172569275,
-2.2334234714508057,
-1.5704997777938843,
2.6022677421569824,
0
] | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | move_to_position | 0.999885 | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | [
0.16998617351055145,
0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | [
-0.16998617351055145,
-0.5414968729019165,
0.05674265697598457,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.1699753850698471,
-0.5415517687797546,
0.05678141862154007,
-3.141549587249756,
0.00005837403659825213,
-3.14143705368042
] | 1 | 3.6 | 36 | 24 | 13,594 | 0 |
[
-2.113830804824829,
-1.228211760520935,
1.8917959928512573,
-2.2334415912628174,
-1.570480227470398,
2.6022393703460693,
0
] | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | gripper_open | 1 | [
-2.113830804824829,
-1.228211760520935,
1.8917959928512573,
-2.2334415912628174,
-1.570480227470398,
2.6022393703460693,
0
] | [
0.16997724771499634,
0.5415440797805786,
0.05676108971238136,
-3.141526699066162,
0.00004014063233626075,
-3.1414132118225098
] | [
-0.16997724771499634,
-0.5415440797805786,
0.05676108971238136,
-3.141526699066162,
0.00004014063233626075,
-3.1414132118225098
] | 0 | pick red block and place on red dish: open gripper | [
-0.16999869048595428,
-0.5415434241294861,
0.056779809296131134,
-3.1415627002716064,
0.00004796118810190819,
-3.1414337158203125
] | 1 | 3.7 | 37 | 24 | 13,595 | 0 |
[
-2.11384654045105,
-1.2282273769378662,
1.891844630241394,
-2.2334301471710205,
-1.5704530477523804,
2.6022393703460693,
0.0117647061124444
] | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | gripper_open | 1 | [
-2.113830804824829,
-1.228211760520935,
1.8917959928512573,
-2.2334415912628174,
-1.570480227470398,
2.6022393703460693,
0
] | [
0.16997724771499634,
0.5415440797805786,
0.05676108971238136,
-3.141526699066162,
0.00004014063233626075,
-3.1414132118225098
] | [
-0.16997724771499634,
-0.5415440797805786,
0.05676108971238136,
-3.141526699066162,
0.00004014063233626075,
-3.1414132118225098
] | 0 | pick red block and place on red dish: open gripper | [
-0.16998924314975739,
-0.5415214896202087,
0.05676548555493355,
-3.1415092945098877,
0.00002186032543249894,
-3.1414835453033447
] | 1 | 3.8 | 38 | 24 | 13,596 | 0 |
[
-2.113921880722046,
-1.2282345294952393,
1.8918637037277222,
-2.2334043979644775,
-1.5704840421676636,
2.6022167205810547,
0.0117647061124444
] | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | gripper_open | 1 | [
-2.113830804824829,
-1.228211760520935,
1.8917959928512573,
-2.2334415912628174,
-1.570480227470398,
2.6022393703460693,
0
] | [
0.16997724771499634,
0.5415440797805786,
0.05676108971238136,
-3.141526699066162,
0.00004014063233626075,
-3.1414132118225098
] | [
-0.16997724771499634,
-0.5415440797805786,
0.05676108971238136,
-3.141526699066162,
0.00004014063233626075,
-3.1414132118225098
] | 0 | pick red block and place on red dish: open gripper | [
-0.17000053822994232,
-0.541503369808197,
0.05674725025892258,
-3.1414718627929688,
0.0000031908116397971753,
-3.141512870788574
] | 1 | 3.9 | 39 | 24 | 13,597 | 0 |
[
-2.113909959793091,
-1.2282034158706665,
1.8918675184249878,
-2.2333991527557373,
-1.570487380027771,
2.6022322177886963,
0.0117647061124444
] | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | gripper_open | 1 | [
-2.113830804824829,
-1.228211760520935,
1.8917959928512573,
-2.2334415912628174,
-1.570480227470398,
2.6022393703460693,
0
] | [
0.16997724771499634,
0.5415440797805786,
0.05676108971238136,
-3.141526699066162,
0.00004014063233626075,
-3.1414132118225098
] | [
-0.16997724771499634,
-0.5415440797805786,
0.05676108971238136,
-3.141526699066162,
0.00004014063233626075,
-3.1414132118225098
] | 0 | pick red block and place on red dish: open gripper | [
-0.1699824333190918,
-0.541507363319397,
0.056742437183856964,
-3.141479969024658,
0.00001644988515181467,
-3.1414501667022705
] | 1 | 4 | 40 | 24 | 13,598 | 0 |
[
-2.1139137744903564,
-1.2281962633132935,
1.8918761014938354,
-2.23343825340271,
-1.570449709892273,
2.6022322177886963,
0
] | [
-2.11391544342041,
-1.2282007932662964,
1.8918836116790771,
-2.2334301471710205,
-1.5704625844955444,
2.6022348403930664,
0
] | move_to_position | 0 | [
-2.1440577507019043,
-1.0955406427383423,
1.7897847890853882,
-2.2640082836151123,
-1.5706874132156372,
2.5721991062164307,
0
] | [
0.210122212767601,
0.5733273029327393,
0.02500000037252903,
0,
0,
0
] | [
-0.210122212767601,
-0.5733273029327393,
0.02500000037252903,
0,
0,
0
] | 0 | pick red block and place on red dish: descend to red block | [
-0.1699794977903366,
-0.5415065884590149,
0.05674107000231743,
-3.141477108001709,
0.00001472901931265369,
-3.1414499282836914
] | 1 | 4.1 | 41 | 24 | 13,599 | 0 |
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