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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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2.0104358196258545,
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3.0575029850006104,
1
] | [
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2.0105936527252197,
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3.0576741695404053,
1
] | move_to_position | 0.9996 | [
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2.0106027126312256,
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1
] | [
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0,
0
] | [
0.03896350786089897,
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0.09367029368877411,
0,
0,
0
] | 1 | pick green block and place on green dish: approach above green dish | [
0.03885866329073906,
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0.0937349945306778,
2.7959675788879395,
0.06052644923329353,
3.069794178009033
] | 0 | 50.5 | 505 | 3 | 2,200 | 0 |
[
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3.057685136795044,
1
] | [
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2.0106027126312256,
-2.649355411529541,
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3.05769681930542,
1
] | move_to_position | 0 | [
-1.7416563034057617,
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2.001425266265869,
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3.0319459438323975,
1
] | [
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0,
0,
0
] | [
0.022054553031921387,
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0.054999999701976776,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.03887265548110008,
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0.09371310472488403,
2.796023368835449,
0.06052323430776596,
3.0696969032287598
] | 0 | 50.599998 | 506 | 3 | 2,201 | 0 |
[
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3.0576705932617188,
1
] | [
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2.010598659515381,
-2.649657964706421,
-1.6034505367279053,
3.0576095581054688,
1
] | move_to_position | 0.000123 | [
-1.7416563034057617,
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2.001425266265869,
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-1.5942569971084595,
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1
] | [
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0.6260804533958435,
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0,
0,
0
] | [
0.022054553031921387,
-0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.0388185977935791,
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0.09372526407241821,
2.79590106010437,
0.06055537238717079,
3.069597005844116
] | 0 | 50.700001 | 507 | 3 | 2,202 | 0 |
[
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3.0573105812072754,
1
] | [
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2.0105767250061035,
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3.0570356845855713,
1
] | move_to_position | 0.013737 | [
-1.7416563034057617,
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2.001425266265869,
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3.0319459438323975,
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] | [
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0,
0
] | [
0.022054553031921387,
-0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.038451187312603,
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0.09308041632175446,
2.795682191848755,
0.06056038290262222,
3.069533586502075
] | 0 | 50.799999 | 508 | 3 | 2,203 | 0 |
[
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3.0563254356384277,
1
] | [
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2.0104777812957764,
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3.055816411972046,
1
] | move_to_position | 0.053637 | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
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-1.5942569971084595,
3.0319459438323975,
1
] | [
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0.6260804533958435,
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0,
0,
0
] | [
0.022054553031921387,
-0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.037774790078401566,
-0.6108894348144531,
0.09142902493476868,
2.795914649963379,
0.06055038049817085,
3.0695207118988037
] | 0 | 50.900002 | 509 | 3 | 2,204 | 0 |
[
-1.7173274755477905,
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3.0548624992370605,
1
] | [
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2.010244607925415,
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3.054124593734741,
1
] | move_to_position | 0.107424 | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
1
] | [
-0.022054553031921387,
0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | [
0.022054553031921387,
-0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.03679671883583069,
-0.611811101436615,
0.08903801441192627,
2.796051502227783,
0.06056777387857437,
3.0695745944976807
] | 0 | 51 | 510 | 3 | 2,205 | 0 |
[
-1.7194432020187378,
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2.0100491046905518,
-2.666416883468628,
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3.052870512008667,
1
] | [
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2.009809732437134,
-2.6691536903381348,
-1.6014693975448608,
3.052067518234253,
1
] | move_to_position | 0.183177 | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
1
] | [
-0.022054553031921387,
0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | [
0.022054553031921387,
-0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.035507313907146454,
-0.6131325364112854,
0.08606526255607605,
2.7959771156311035,
0.06050587445497513,
3.0696263313293457
] | 0 | 51.099998 | 511 | 3 | 2,206 | 0 |
[
-1.7216099500656128,
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2.009455919265747,
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-1.6010583639144897,
3.050806760787964,
1
] | [
-1.7230212688446045,
-1.2499693632125854,
2.0090081691741943,
-2.678201675415039,
-1.600541114807129,
3.0494749546051025,
1
] | move_to_position | 0.262195 | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
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-1.5942569971084595,
3.0319459438323975,
1
] | [
-0.022054553031921387,
0.6260804533958435,
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0,
0,
0
] | [
0.022054553031921387,
-0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.034161388874053955,
-0.6144832968711853,
0.08293986320495605,
2.796008586883545,
0.06050858274102211,
3.069666624069214
] | 0 | 51.200001 | 512 | 3 | 2,207 | 0 |
[
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2.008467435836792,
-2.6828453540802,
-1.600063681602478,
3.048138380050659,
1
] | [
-1.725846290588379,
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2.008053779602051,
-2.6874594688415527,
-1.5995885133743286,
3.0468175411224365,
1
] | move_to_position | 0.365353 | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
1
] | [
-0.022054553031921387,
0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | [
0.022054553031921387,
-0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.03231508284807205,
-0.6163313984870911,
0.07879210263490677,
2.7959418296813965,
0.06050627678632736,
3.069617986679077
] | 0 | 51.299999 | 513 | 3 | 2,208 | 0 |
[
-1.7278932332992554,
-1.2323362827301025,
2.007298231124878,
-2.694267511367798,
-1.5989049673080444,
3.0448436737060547,
1
] | [
-1.7294496297836304,
-1.2268561124801636,
2.0067670345306396,
-2.699254274368286,
-1.5983734130859375,
3.043428421020508,
1
] | move_to_position | 0.49334 | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
1
] | [
-0.022054553031921387,
0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | [
0.022054553031921387,
-0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.030163433402776718,
-0.6184534430503845,
0.07370483130216599,
2.796032190322876,
0.06050245091319084,
3.0696940422058105
] | 0 | 51.400002 | 514 | 3 | 2,209 | 0 |
[
-1.7314594984054565,
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2.0060527324676514,
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3.0415635108947754,
1
] | [
-1.7330998182296753,
-1.2136669158935547,
2.0054142475128174,
-2.7111918926239014,
-1.5971424579620361,
3.039994955062866,
1
] | move_to_position | 0.622144 | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
1
] | [
-0.022054553031921387,
0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | [
0.022054553031921387,
-0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.028035303577780724,
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0.06886252760887146,
2.7960081100463867,
0.06050635874271393,
3.069675922393799
] | 0 | 51.5 | 515 | 3 | 2,210 | 0 |
[
-1.7348097562789917,
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2.004777193069458,
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-1.5965322256088257,
3.038390636444092,
1
] | [
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2.004232406616211,
-2.721280336380005,
-1.5961012840270996,
3.03709077835083,
1
] | move_to_position | 0.745529 | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
1
] | [
-0.022054553031921387,
0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | [
0.022054553031921387,
-0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.025973837822675705,
-0.6223753690719604,
0.06407246738672256,
2.796030282974243,
0.06052238494157791,
3.069685935974121
] | 0 | 51.599998 | 516 | 3 | 2,211 | 0 |
[
-1.7375167608261108,
-1.1976892948150635,
2.0037453174591064,
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-1.595725417137146,
3.035865545272827,
1
] | [
-1.7382510900497437,
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2.003396511077881,
-2.728010654449463,
-1.5954053401947021,
3.035149574279785,
1
] | move_to_position | 0.844993 | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
1
] | [
-0.022054553031921387,
0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | [
0.022054553031921387,
-0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.024449490010738373,
-0.6237580180168152,
0.060475874692201614,
2.79609751701355,
0.06049507111310959,
3.0696773529052734
] | 0 | 51.700001 | 517 | 3 | 2,212 | 0 |
[
-1.7392500638961792,
-1.1912533044815063,
2.0029923915863037,
-2.7313148975372314,
-1.595065951347351,
3.034217119216919,
1
] | [
-1.739798665046692,
-1.189243197441101,
2.0026447772979736,
-2.7330267429351807,
-1.5948834419250488,
3.033693790435791,
1
] | move_to_position | 0.909889 | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
1
] | [
-0.022054553031921387,
0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | [
0.022054553031921387,
-0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.02342786081135273,
-0.6247268915176392,
0.05812596529722214,
2.7960128784179688,
0.06052551418542862,
3.069685697555542
] | 0 | 51.799999 | 518 | 3 | 2,213 | 0 |
[
-1.7405275106430054,
-1.1864771842956543,
2.0022552013397217,
-2.7354013919830322,
-1.5946396589279175,
3.0330026149749756,
1
] | [
-1.7408936023712158,
-1.1851003170013428,
2.001995325088501,
-2.736546277999878,
-1.59451425075531,
3.032663583755493,
1
] | move_to_position | 0.957375 | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
1
] | [
-0.022054553031921387,
0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | [
0.022054553031921387,
-0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.02267151139676571,
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0.0564192570745945,
2.795959711074829,
0.06052640452980995,
3.069664239883423
] | 0 | 51.900002 | 519 | 3 | 2,214 | 0 |
[
-1.7411435842514038,
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2.0017316341400146,
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3.0323410034179688,
1
] | [
-1.7414679527282715,
-1.1828725337982178,
2.001584053039551,
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-1.59432053565979,
3.032123327255249,
1
] | move_to_position | 0.98631 | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
1
] | [
-0.022054553031921387,
0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | [
0.022054553031921387,
-0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.022331934422254562,
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0.05541393160820007,
2.7960190773010254,
0.06051395833492279,
3.0697951316833496
] | 0 | 52 | 520 | 3 | 2,215 | 0 |
[
-1.7413967847824097,
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2.001507043838501,
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3.032017230987549,
1
] | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
1
] | move_to_position | 0.997278 | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
1
] | [
-0.022054553031921387,
0.6260804533958435,
0.054999999701976776,
0,
0,
0
] | [
0.022054553031921387,
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0.054999999701976776,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.022196363657712936,
-0.6260604858398438,
0.05506362393498421,
2.796010732650757,
0.06050686165690422,
3.0698649883270264
] | 0 | 52.099998 | 521 | 3 | 2,216 | 0 |
[
-1.7414911985397339,
-1.182274580001831,
2.001438856124878,
-2.7388861179351807,
-1.594248652458191,
3.0319571495056152,
1
] | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
0
] | gripper_open | 0 | [
-1.7414911985397339,
-1.182274580001831,
2.001438856124878,
-2.7388861179351807,
-1.594248652458191,
3.0319571495056152,
0
] | [
-0.022150112316012383,
0.6260785460472107,
0.05508919805288315,
2.795943260192871,
0.060496896505355835,
3.069822311401367
] | [
0.022150112316012383,
-0.6260785460472107,
0.05508919805288315,
2.795943260192871,
0.060496896505355835,
3.069822311401367
] | 0 | pick green block and place on green dish: release at green dish | [
0.022157613188028336,
-0.6260903477668762,
0.05508565902709961,
2.795917272567749,
0.06049814075231552,
3.0698325634002686
] | 0 | 52.200001 | 522 | 3 | 2,217 | 0 |
[
-1.741674780845642,
-1.1822590827941895,
2.001446008682251,
-2.7389867305755615,
-1.5942620038986206,
3.031919002532959,
0.4941176474094391
] | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
0
] | gripper_open | 0.505882 | [
-1.7414911985397339,
-1.182274580001831,
2.001438856124878,
-2.7388861179351807,
-1.594248652458191,
3.0319571495056152,
0
] | [
-0.022150112316012383,
0.6260785460472107,
0.05508919805288315,
2.795943260192871,
0.060496896505355835,
3.069822311401367
] | [
0.022150112316012383,
-0.6260785460472107,
0.05508919805288315,
2.795943260192871,
0.060496896505355835,
3.069822311401367
] | 0 | pick green block and place on green dish: release at green dish | [
0.02205517701804638,
-0.6261106729507446,
0.05509382486343384,
2.795851707458496,
0.060528919100761414,
3.069668769836426
] | 1 | 52.299999 | 523 | 3 | 2,218 | 0 |
[
-1.741644263267517,
-1.182266116142273,
2.0014278888702393,
-2.738990545272827,
-1.5942214727401733,
3.0319535732269287,
0.3803921639919281
] | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
0
] | gripper_open | 0.619608 | [
-1.7414911985397339,
-1.182274580001831,
2.001438856124878,
-2.7388861179351807,
-1.594248652458191,
3.0319571495056152,
0
] | [
-0.022150112316012383,
0.6260785460472107,
0.05508919805288315,
2.795943260192871,
0.060496896505355835,
3.069822311401367
] | [
0.022150112316012383,
-0.6260785460472107,
0.05508919805288315,
2.795943260192871,
0.060496896505355835,
3.069822311401367
] | 0 | pick green block and place on green dish: release at green dish | [
0.022061696276068687,
-0.6261088252067566,
0.05506270378828049,
2.7959210872650146,
0.06051712855696678,
3.069707155227661
] | 1 | 52.400002 | 524 | 3 | 2,219 | 0 |
[
-1.741650938987732,
-1.1821272373199463,
2.0014312267303467,
-2.7389752864837646,
-1.5941871404647827,
3.031938076019287,
0.25882354378700256
] | [
-1.7416563034057617,
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2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
0
] | gripper_open | 0.741176 | [
-1.7414911985397339,
-1.182274580001831,
2.001438856124878,
-2.7388861179351807,
-1.594248652458191,
3.0319571495056152,
0
] | [
-0.022150112316012383,
0.6260785460472107,
0.05508919805288315,
2.795943260192871,
0.060496896505355835,
3.069822311401367
] | [
0.022150112316012383,
-0.6260785460472107,
0.05508919805288315,
2.795943260192871,
0.060496896505355835,
3.069822311401367
] | 0 | pick green block and place on green dish: release at green dish | [
0.022068476304411888,
-0.6260882019996643,
0.055004097521305084,
2.7960124015808105,
0.06049436703324318,
3.0697102546691895
] | 1 | 52.5 | 525 | 3 | 2,220 | 0 |
[
-1.7416561841964722,
-1.1821342706680298,
2.0014002323150635,
-2.7389752864837646,
-1.5942109823226929,
3.0319607257843018,
0.13725490868091583
] | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
0
] | gripper_open | 0.862745 | [
-1.7414911985397339,
-1.182274580001831,
2.001438856124878,
-2.7388861179351807,
-1.594248652458191,
3.0319571495056152,
0
] | [
-0.022150112316012383,
0.6260785460472107,
0.05508919805288315,
2.795943260192871,
0.060496896505355835,
3.069822311401367
] | [
0.022150112316012383,
-0.6260785460472107,
0.05508919805288315,
2.795943260192871,
0.060496896505355835,
3.069822311401367
] | 0 | pick green block and place on green dish: release at green dish | [
0.02204824797809124,
-0.6260908246040344,
0.055017437785863876,
2.795992612838745,
0.06052350252866745,
3.0696754455566406
] | 1 | 52.599998 | 526 | 3 | 2,221 | 0 |
[
-1.741674780845642,
-1.1821116209030151,
2.001434564590454,
-2.738990545272827,
-1.594234824180603,
3.031952381134033,
0.0235294122248888
] | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
0
] | gripper_open | 0.976469 | [
-1.7414911985397339,
-1.182274580001831,
2.001438856124878,
-2.7388861179351807,
-1.594248652458191,
3.0319571495056152,
0
] | [
-0.022150112316012383,
0.6260785460472107,
0.05508919805288315,
2.795943260192871,
0.060496896505355835,
3.069822311401367
] | [
0.022150112316012383,
-0.6260785460472107,
0.05508919805288315,
2.795943260192871,
0.060496896505355835,
3.069822311401367
] | 0 | pick green block and place on green dish: release at green dish | [
0.022056622430682182,
-0.6261048913002014,
0.05503038316965103,
2.795964241027832,
0.06051396578550339,
3.069669485092163
] | 1 | 52.700001 | 527 | 3 | 2,222 | 0 |
[
-1.741690993309021,
-1.1821236610412598,
2.0014278888702393,
-2.7389752864837646,
-1.5942758321762085,
3.0319607257843018,
0.0117647061124444
] | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
0
] | gripper_open | 0.988232 | [
-1.7414911985397339,
-1.182274580001831,
2.001438856124878,
-2.7388861179351807,
-1.594248652458191,
3.0319571495056152,
0
] | [
-0.022150112316012383,
0.6260785460472107,
0.05508919805288315,
2.795943260192871,
0.060496896505355835,
3.069822311401367
] | [
0.022150112316012383,
-0.6260785460472107,
0.05508919805288315,
2.795943260192871,
0.060496896505355835,
3.069822311401367
] | 0 | pick green block and place on green dish: release at green dish | [
0.02205805294215679,
-0.6260936856269836,
0.05499120056629181,
2.796046733856201,
0.060504261404275894,
3.0697333812713623
] | 1 | 52.799999 | 528 | 3 | 2,223 | 0 |
[
-1.7416476011276245,
-1.1821236610412598,
2.0014312267303467,
-2.7389752864837646,
-1.594248652458191,
3.0319488048553467,
0.0117647061124444
] | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
0
] | gripper_open | 0.988233 | [
-1.7414911985397339,
-1.182274580001831,
2.001438856124878,
-2.7388861179351807,
-1.594248652458191,
3.0319571495056152,
0
] | [
-0.022150112316012383,
0.6260785460472107,
0.05508919805288315,
2.795943260192871,
0.060496896505355835,
3.069822311401367
] | [
0.022150112316012383,
-0.6260785460472107,
0.05508919805288315,
2.795943260192871,
0.060496896505355835,
3.069822311401367
] | 0 | pick green block and place on green dish: release at green dish | [
0.02206556871533394,
-0.6260934472084045,
0.05500350892543793,
2.7960119247436523,
0.06051373854279518,
3.0697216987609863
] | 1 | 52.900002 | 529 | 3 | 2,224 | 0 |
[
-1.741662859916687,
-1.182092547416687,
2.0014278888702393,
-2.7389590740203857,
-1.5942453145980835,
3.0319607257843018,
0.0117647061124444
] | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
0
] | gripper_open | 0.988232 | [
-1.7414911985397339,
-1.182274580001831,
2.001438856124878,
-2.7388861179351807,
-1.594248652458191,
3.0319571495056152,
0
] | [
-0.022150112316012383,
0.6260785460472107,
0.05508919805288315,
2.795943260192871,
0.060496896505355835,
3.069822311401367
] | [
0.022150112316012383,
-0.6260785460472107,
0.05508919805288315,
2.795943260192871,
0.060496896505355835,
3.069822311401367
] | 0 | pick green block and place on green dish: release at green dish | [
0.022063614800572395,
-0.6260874271392822,
0.05500606819987297,
2.796006679534912,
0.060512080788612366,
3.069702386856079
] | 1 | 53 | 530 | 3 | 2,225 | 0 |
[
-1.7416781187057495,
-1.182092547416687,
2.0014002323150635,
-2.7389938831329346,
-1.5942453145980835,
3.0319416522979736,
0
] | [
-1.7416563034057617,
-1.1821238994598389,
2.001425266265869,
-2.738968849182129,
-1.5942569971084595,
3.0319459438323975,
0
] | move_to_position | 0 | [
-1.7770761251449585,
-1.2858675718307495,
1.9823603630065918,
-2.616760492324829,
-1.581895112991333,
2.998612642288208,
0
] | [
-0.004706377629190683,
0.6189498901367188,
0.10463269054889679,
0,
0,
0
] | [
0.004706377629190683,
-0.6189498901367188,
0.10463269054889679,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.022054994478821754,
-0.626099705696106,
0.055018533021211624,
2.7959697246551514,
0.060516633093357086,
3.0697004795074463
] | 1 | 53.099998 | 531 | 3 | 2,226 | 0 |
[
-1.7416595220565796,
-1.1821236610412598,
2.0014278888702393,
-2.7389557361602783,
-1.5942639112472534,
3.031933307647705,
0
] | [
-1.7417460680007935,
-1.1823745965957642,
2.0014171600341797,
-2.7386999130249023,
-1.5941858291625977,
3.031867265701294,
0
] | move_to_position | 0.000038 | [
-1.7770761251449585,
-1.2858675718307495,
1.9823603630065918,
-2.616760492324829,
-1.581895112991333,
2.998612642288208,
0
] | [
-0.004706377629190683,
0.6189498901367188,
0.10463269054889679,
0,
0,
0
] | [
0.004706377629190683,
-0.6189498901367188,
0.10463269054889679,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.02206854335963726,
-0.626075804233551,
0.0550130233168602,
2.7960660457611084,
0.060504838824272156,
3.0697147846221924
] | 1 | 53.200001 | 532 | 3 | 2,227 | 0 |
[
-1.7422703504562378,
-1.1835588216781616,
2.0013835430145264,
-2.737367868423462,
-1.5940097570419312,
3.0314531326293945,
0
] | [
-1.7425638437271118,
-1.1849784851074219,
2.001246452331543,
-2.735945701599121,
-1.5938760042190552,
3.031097650527954,
0
] | move_to_position | 0.013493 | [
-1.7770761251449585,
-1.2858675718307495,
1.9823603630065918,
-2.616760492324829,
-1.581895112991333,
2.998612642288208,
0
] | [
-0.004706377629190683,
0.6189498901367188,
0.10463269054889679,
0,
0,
0
] | [
0.004706377629190683,
-0.6189498901367188,
0.10463269054889679,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.021723415702581406,
-0.6259279847145081,
0.05572542920708656,
2.796154499053955,
0.060428403317928314,
3.0696330070495605
] | 1 | 53.299999 | 533 | 3 | 2,228 | 0 |
[
-1.7434910535812378,
-1.1874372959136963,
2.0010197162628174,
-2.7332427501678467,
-1.5936187505722046,
3.030357599258423,
0
] | [
-1.7441531419754028,
-1.189961552619934,
2.0008137226104736,
-2.730567216873169,
-1.593335747718811,
3.02960205078125,
0
] | move_to_position | 0.048408 | [
-1.7770761251449585,
-1.2858675718307495,
1.9823603630065918,
-2.616760492324829,
-1.581895112991333,
2.998612642288208,
0
] | [
-0.004706377629190683,
0.6189498901367188,
0.10463269054889679,
0,
0,
0
] | [
0.004706377629190683,
-0.6189498901367188,
0.10463269054889679,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.021022813394665718,
-0.6256833076477051,
0.057846758514642715,
2.795921564102173,
0.06045074015855789,
3.0696027278900146
] | 1 | 53.400002 | 534 | 3 | 2,229 | 0 |
[
-1.7453240156173706,
-1.1935250759124756,
2.000347375869751,
-2.7266013622283936,
-1.59292733669281,
3.028465986251831,
0
] | [
-1.7461116313934326,
-1.1959980726242065,
2.00014328956604,
-2.723902702331543,
-1.5926764011383057,
3.0277585983276367,
0
] | move_to_position | 0.104115 | [
-1.7770761251449585,
-1.2858675718307495,
1.9823603630065918,
-2.616760492324829,
-1.581895112991333,
2.998612642288208,
0
] | [
-0.004706377629190683,
0.6189498901367188,
0.10463269054889679,
0,
0,
0
] | [
0.004706377629190683,
-0.6189498901367188,
0.10463269054889679,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.020062776282429695,
-0.6252620816230774,
0.06060647964477539,
2.796027898788452,
0.06045995280146599,
3.0696346759796143
] | 1 | 53.5 | 535 | 3 | 2,230 | 0 |
[
-1.7476896047592163,
-1.200888752937317,
1.9993799924850464,
-2.7183945178985596,
-1.592121958732605,
3.026226043701172,
0
] | [
-1.7486212253570557,
-1.2035833597183228,
1.9990878105163574,
-2.7153122425079346,
-1.591816782951355,
3.0253965854644775,
0
] | move_to_position | 0.17245 | [
-1.7770761251449585,
-1.2858675718307495,
1.9823603630065918,
-2.616760492324829,
-1.581895112991333,
2.998612642288208,
0
] | [
-0.004706377629190683,
0.6189498901367188,
0.10463269054889679,
0,
0,
0
] | [
0.004706377629190683,
-0.6189498901367188,
0.10463269054889679,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.01882172003388405,
-0.6248033046722412,
0.06431811302900314,
2.7958810329437256,
0.06049598008394241,
3.069711446762085
] | 1 | 53.599998 | 536 | 3 | 2,231 | 0 |
[
-1.75084388256073,
-1.2101792097091675,
1.9979909658432007,
-2.707683801651001,
-1.5910004377365112,
3.0232625007629395,
0
] | [
-1.752096176147461,
-1.2139073610305786,
1.9973883628845215,
-2.703352928161621,
-1.5906052589416504,
3.0221259593963623,
0
] | move_to_position | 0.26072 | [
-1.7770761251449585,
-1.2858675718307495,
1.9823603630065918,
-2.616760492324829,
-1.581895112991333,
2.998612642288208,
0
] | [
-0.004706377629190683,
0.6189498901367188,
0.10463269054889679,
0,
0,
0
] | [
0.004706377629190683,
-0.6189498901367188,
0.10463269054889679,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.017147572711110115,
-0.6241626143455505,
0.06904219835996628,
2.7959749698638916,
0.06048968434333801,
3.0697286128997803
] | 1 | 53.700001 | 537 | 3 | 2,232 | 0 |
[
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] | [
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] | move_to_position | 0.375446 | [
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] | [
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] | 0 | pick green block and place on green dish: retract after place | [
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] | 1 | 53.799999 | 538 | 3 | 2,233 | 0 |
[
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] | [
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] | move_to_position | 0.512576 | [
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] | [
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] | 0 | pick green block and place on green dish: retract after place | [
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] | 1 | 53.900002 | 539 | 3 | 2,234 | 0 |
[
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] | [
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] | move_to_position | 0.636227 | [
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] | [
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] | 0 | pick green block and place on green dish: retract after place | [
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] | 1 | 54 | 540 | 3 | 2,235 | 0 |
[
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] | [
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] | move_to_position | 0.745974 | [
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] | [
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] | 0 | pick green block and place on green dish: retract after place | [
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] | 1 | 54.099998 | 541 | 3 | 2,236 | 0 |
[
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] | [
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] | move_to_position | 0.830354 | [
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] | [
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] | [
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] | 0 | pick green block and place on green dish: retract after place | [
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] | 1 | 54.200001 | 542 | 3 | 2,237 | 0 |
[
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] | [
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] | move_to_position | 0.901905 | [
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] | [
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] | 0 | pick green block and place on green dish: retract after place | [
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] | 1 | 54.299999 | 543 | 3 | 2,238 | 0 |
[
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] | [
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] | move_to_position | 0.959448 | [
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] | [
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] | [
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] | 0 | pick green block and place on green dish: retract after place | [
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] | 1 | 54.400002 | 544 | 3 | 2,239 | 0 |
[
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] | [
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] | move_to_position | 0.991282 | [
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] | [
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] | [
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] | 0 | pick green block and place on green dish: retract after place | [
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] | 1 | 54.5 | 545 | 3 | 2,240 | 0 |
[
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] | [
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] | move_to_position | 0.997733 | [
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] | [
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] | [
0.004706377629190683,
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] | 0 | pick green block and place on green dish: retract after place | [
0.004855263978242874,
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] | 1 | 54.599998 | 546 | 3 | 2,241 | 0 |
[
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] | [
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0
] | move_to_position | 0.00001 | [
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] | [
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0.4399999976158142,
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] | [
0,
-0.4399999976158142,
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0,
0
] | 0 | return to home after task completion | [
0.004823925904929638,
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] | 1 | 54.700001 | 547 | 3 | 2,242 | 0 |
[
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] | [
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] | move_to_position | 0.000011 | [
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] | [
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0.4399999976158142,
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0,
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] | [
0,
-0.4399999976158142,
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0,
0
] | 0 | return to home after task completion | [
0.004813194740563631,
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] | 1 | 54.799999 | 548 | 3 | 2,243 | 0 |
[
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] | [
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] | move_to_position | 0.000493 | [
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] | [
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0,
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] | [
0,
-0.4399999976158142,
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0,
0,
0
] | 0 | return to home after task completion | [
0.004825449548661709,
-0.6187612414360046,
0.10481669008731842,
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] | 1 | 54.900002 | 549 | 3 | 2,244 | 0 |
[
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] | [
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] | move_to_position | 0.002685 | [
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] | [
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0.4399999976158142,
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0,
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] | [
0,
-0.4399999976158142,
0.3529999852180481,
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0,
0
] | 0 | return to home after task completion | [
0.004844281822443008,
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0.10537469387054443,
2.796248197555542,
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] | 1 | 55 | 550 | 3 | 2,245 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.007053 | [
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] | [
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0,
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] | [
0,
-0.4399999976158142,
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0,
0
] | 0 | return to home after task completion | [
0.004800904076546431,
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0.10674266517162323,
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] | 1 | 55.099998 | 551 | 3 | 2,246 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.013571 | [
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] | [
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0.4399999976158142,
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0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
0.004744065925478935,
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] | 1 | 55.200001 | 552 | 3 | 2,247 | 0 |
[
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] | [
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0
] | move_to_position | 0.022871 | [
-1.8999789953231812,
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] | [
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0,
0
] | [
0,
-0.4399999976158142,
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0,
0
] | 0 | return to home after task completion | [
0.004664786625653505,
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] | 1 | 55.299999 | 553 | 3 | 2,248 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.035291 | [
-1.8999789953231812,
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1.9285306930541992,
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] | [
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0,
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] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
0.004647564142942429,
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2.7962541580200195,
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] | 1 | 55.400002 | 554 | 3 | 2,249 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.051992 | [
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0,
0
] | 0 | move to initial position to start the task | [
-0.000011329547305649612,
-0.43997880816459656,
0.3529505729675293,
2.798029899597168,
0.06036876142024994,
3.0701963901519775
] | 1 | 0.5 | 5 | 4 | 2,286 | 0 |
[
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0
] | [
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0
] | move_to_position | 0 | [
-1.8999789953231812,
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] | [
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0,
0
] | [
0,
-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
-0.000012348168638709467,
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0.35297563672065735,
2.7979657649993896,
0.060374703258275986,
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] | 1 | 0.6 | 6 | 4 | 2,287 | 0 |
[
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] | [
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] | move_to_position | 0 | [
-1.8999789953231812,
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] | [
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0,
0
] | [
0,
-0.4399999976158142,
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0,
0,
0
] | 0 | move to initial position to start the task | [
-9.962179774447577e-7,
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] | 1 | 0.7 | 7 | 4 | 2,288 | 0 |
[
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] | [
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0
] | move_to_position | 0 | [
-1.8999789953231812,
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] | [
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0.4399999976158142,
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0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
-6.042126301508688e-7,
-0.4399842321872711,
0.3529418408870697,
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] | 1 | 0.8 | 8 | 4 | 2,289 | 0 |
[
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] | [
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0
] | move_to_position | 0 | [
-1.8999789953231812,
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1.927336573600769,
-1.8892251253128052,
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] | [
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0,
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] | [
0,
-0.4399999976158142,
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0,
0,
0
] | 0 | move to initial position to start the task | [
-0.000015193227227427997,
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0.3529469072818756,
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] | 1 | 0.9 | 9 | 4 | 2,290 | 0 |
[
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0
] | [
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0
] | move_to_position | 0 | [
-1.8999789953231812,
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] | [
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0,
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] | [
0,
-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
-0.00002859140840882901,
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0.3529294729232788,
2.798048973083496,
0.06037696450948715,
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] | 1 | 1 | 10 | 4 | 2,291 | 0 |
[
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0
] | [
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2.8817498683929443,
0
] | move_to_position | 0 | [
-1.8999789953231812,
-1.9553200006484985,
1.927336573600769,
-1.8892251253128052,
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] | [
0,
0.4399999976158142,
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0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.000012036858606734313,
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0.35294049978256226,
2.7980175018310547,
0.060332588851451874,
3.0702478885650635
] | 1 | 1.1 | 11 | 4 | 2,292 | 0 |
[
-1.8999322652816772,
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0
] | [
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2.881748914718628,
0
] | move_to_position | 0 | [
-1.8999789953231812,
-1.9553200006484985,
1.927336573600769,
-1.8892251253128052,
-1.538875937461853,
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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 | [
-0.0000022710971734341,
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0.35295936465263367,
2.7980034351348877,
0.06036876514554024,
3.070244550704956
] | 1 | 1.2 | 12 | 4 | 2,293 | 0 |
[
-1.899997591972351,
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2.8817596435546875,
0
] | [
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-1.538874626159668,
2.8817484378814697,
0
] | move_to_position | 0.204706 | [
-1.8999789953231812,
-1.9553200006484985,
1.927336573600769,
-1.8892251253128052,
-1.538875937461853,
2.8817477226257324,
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 | [
0.00000671087536829873,
-0.4399692118167877,
0.3529353141784668,
2.798057794570923,
0.06036408990621567,
3.0702555179595947
] | 1 | 1.3 | 13 | 4 | 2,294 | 0 |
[
-1.8999894857406616,
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1.9273289442062378,
-1.8892642259597778,
-1.5388983488082886,
2.8817787170410156,
0
] | [
-1.8999789953231812,
-1.9553200006484985,
1.9273364543914795,
-1.8892253637313843,
-1.5388755798339844,
2.8817479610443115,
0
] | move_to_position | 0 | [
-1.8999789953231812,
-1.9553200006484985,
1.927336573600769,
-1.8892251253128052,
-1.538875937461853,
2.8817477226257324,
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 | [
-0.000012916446394228842,
-0.43998193740844727,
0.35294830799102783,
2.7980170249938965,
0.06036809831857681,
3.070200204849243
] | 1 | 1.4 | 14 | 4 | 2,295 | 0 |
[
-1.8999580144882202,
-1.9553385972976685,
1.9273251295089722,
-1.8892494440078735,
-1.538894534111023,
2.8817787170410156,
0
] | [
-1.8999789953231812,
-1.9553200006484985,
1.927336573600769,
-1.8892251253128052,
-1.538875937461853,
2.8817477226257324,
0
] | move_to_position | 0 | [
-1.8999789953231812,
-1.9553200006484985,
1.927336573600769,
-1.8892251253128052,
-1.538875937461853,
2.8817477226257324,
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 | [
-0.000009866024811344687,
-0.4399811625480652,
0.35294246673583984,
2.798037052154541,
0.06035467982292175,
3.070221185684204
] | 1 | 1.5 | 15 | 4 | 2,296 | 0 |
[
-1.8999894857406616,
-1.955335259437561,
1.9273289442062378,
-1.8892370462417603,
-1.538856863975525,
2.8817317485809326,
0
] | [
-1.8999789953231812,
-1.9553200006484985,
1.927336573600769,
-1.8892251253128052,
-1.538875937461853,
2.8817477226257324,
0
] | move_to_position | 0 | [
-1.483873963356018,
-0.9952426552772522,
1.6571069955825806,
-2.5629210472106934,
-1.6807371377944946,
3.275183916091919,
0
] | [
-0.1678026169538498,
0.7089219689369202,
0.06189589202404022,
0,
0,
0
] | [
0.1678026169538498,
-0.7089219689369202,
0.06189589202404022,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.000004138492386118742,
-0.43998628854751587,
0.35294899344444275,
2.7980377674102783,
0.060351040214300156,
3.070221424102783
] | 1 | 1.6 | 16 | 4 | 2,297 | 0 |
[
-1.8999546766281128,
-1.9553114175796509,
1.9273327589035034,
-1.8892332315444946,
-1.5388792753219604,
2.8817596435546875,
0
] | [
-1.8999029397964478,
-1.955323338508606,
1.9273369312286377,
-1.8892539739608765,
-1.5388846397399902,
2.881781816482544,
0
] | move_to_position | 0.000012 | [
-1.483873963356018,
-0.9952426552772522,
1.6571069955825806,
-2.5629210472106934,
-1.6807371377944946,
3.275183916091919,
0
] | [
-0.1678026169538498,
0.7089219689369202,
0.06189589202404022,
0,
0,
0
] | [
0.1678026169538498,
-0.7089219689369202,
0.06189589202404022,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.000006066163223295007,
-0.43998071551322937,
0.3529321849346161,
2.798062324523926,
0.06037398800253868,
3.070230007171631
] | 1 | 1.7 | 17 | 4 | 2,298 | 0 |
[
-1.8997896909713745,
-1.9552289247512817,
1.92735755443573,
-1.8893853425979614,
-1.5389150381088257,
2.881906747817993,
0
] | [
-1.8994903564453125,
-1.9550474882125854,
1.9275058507919312,
-1.8897135257720947,
-1.5390031337738037,
2.8821189403533936,
0
] | move_to_position | 0.000183 | [
-1.483873963356018,
-0.9952426552772522,
1.6571069955825806,
-2.5629210472106934,
-1.6807371377944946,
3.275183916091919,
0
] | [
-0.1678026169538498,
0.7089219689369202,
0.06189589202404022,
0,
0,
0
] | [
0.1678026169538498,
-0.7089219689369202,
0.06189589202404022,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.00006545253563672304,
-0.44003885984420776,
0.3529205918312073,
2.797928810119629,
0.06037566438317299,
3.070223093032837
] | 1 | 1.8 | 18 | 4 | 2,299 | 0 |
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