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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-1.7520989179611206,
-1.0956554412841797,
1.7276428937911987,
-2.200737237930298,
-1.570731520652771,
2.963954448699951,
1
] | [
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1.7278392314910889,
-2.2008073329925537,
-1.570711374282837,
2.963870048522949,
1
] | move_to_position | 0.997024 | [
-1.752306342124939,
-1.0954452753067017,
1.7278392314910889,
-2.2008073329925537,
-1.570711374282837,
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1
] | [
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0,
0,
0
] | [
0.022017784416675568,
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0.04399999976158142,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.02212863229215145,
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0.04419022798538208,
-3.1405489444732666,
-0.000056322394812013954,
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] | 0 | 56.299999 | 563 | 6 | 3,900 | 0 |
[
-1.752090334892273,
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1.7276557683944702,
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1
] | [
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2.963870048522949,
0
] | gripper_open | 0 | [
-1.752090334892273,
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1.7276557683944702,
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] | [
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] | [
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0.04413629695773125,
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] | 0 | pick green block and place on green dish: release at green dish | [
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0.04413284733891487,
-3.140434980392456,
-0.00009608484106138349,
-3.141232490539551
] | 0 | 56.400002 | 564 | 6 | 3,901 | 0 |
[
-1.7522286176681519,
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0.5058823823928833
] | [
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-2.2008073329925537,
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0
] | gripper_open | 0.494118 | [
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] | [
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] | [
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] | 0 | pick green block and place on green dish: release at green dish | [
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0.043976832181215286,
-3.1401526927948,
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] | 0 | 56.5 | 565 | 6 | 3,902 | 0 |
[
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] | [
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0
] | gripper_open | 0.513725 | [
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] | [
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] | [
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] | 0 | pick green block and place on green dish: release at green dish | [
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0.043992552906274796,
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] | 1 | 56.599998 | 566 | 6 | 3,903 | 0 |
[
-1.7523030042648315,
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] | [
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0
] | gripper_open | 0.627451 | [
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1.7276557683944702,
-2.2007806301116943,
-1.570701003074646,
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] | [
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] | [
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0.04413629695773125,
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-3.1413066387176514
] | 0 | pick green block and place on green dish: release at green dish | [
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0.04395629093050957,
-3.1401054859161377,
-0.00011658308358164504,
-3.1414759159088135
] | 1 | 56.700001 | 567 | 6 | 3,904 | 0 |
[
-1.7523335218429565,
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1.727807879447937,
-2.2007992267608643,
-1.5707348585128784,
2.963878870010376,
0.24705882370471954
] | [
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-2.2008073329925537,
-1.570711374282837,
2.963870048522949,
0
] | gripper_open | 0.752941 | [
-1.752090334892273,
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1.7276557683944702,
-2.2007806301116943,
-1.570701003074646,
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0
] | [
-0.022143755108118057,
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-3.1404242515563965,
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] | [
0.022143755108118057,
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0.04413629695773125,
-3.1404242515563965,
-0.0000824289454612881,
-3.1413066387176514
] | 0 | pick green block and place on green dish: release at green dish | [
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0.043993931263685226,
-3.1402089595794678,
-0.00010984711116179824,
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] | 1 | 56.799999 | 568 | 6 | 3,905 | 0 |
[
-1.7523096799850464,
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1.7278465032577515,
-2.200848340988159,
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2.963862180709839,
0.019607843831181526
] | [
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-2.2008073329925537,
-1.570711374282837,
2.963870048522949,
0
] | gripper_open | 0.980389 | [
-1.752090334892273,
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1.7276557683944702,
-2.2007806301116943,
-1.570701003074646,
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0
] | [
-0.022143755108118057,
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] | [
0.022143755108118057,
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0.04413629695773125,
-3.1404242515563965,
-0.0000824289454612881,
-3.1413066387176514
] | 0 | pick green block and place on green dish: release at green dish | [
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0.04396872967481613,
-3.1401333808898926,
-0.00012024342140648514,
-3.141460657119751
] | 1 | 56.900002 | 569 | 6 | 3,906 | 0 |
[
-1.752318263053894,
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1.7278274297714233,
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2.9638705253601074,
0.0117647061124444
] | [
-1.752306342124939,
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2.963870048522949,
0
] | gripper_open | 0.98823 | [
-1.752090334892273,
-1.0956242084503174,
1.7276557683944702,
-2.2007806301116943,
-1.570701003074646,
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0
] | [
-0.022143755108118057,
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] | [
0.022143755108118057,
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0.04413629695773125,
-3.1404242515563965,
-0.0000824289454612881,
-3.1413066387176514
] | 0 | pick green block and place on green dish: release at green dish | [
0.022023482248187065,
-0.6245197653770447,
0.043980520218610764,
-3.1401877403259277,
-0.00013990513980388641,
-3.141491174697876
] | 1 | 57 | 570 | 6 | 3,907 | 0 |
[
-1.7523030042648315,
-1.095432162284851,
1.7278236150741577,
-2.200812578201294,
-1.5707043409347534,
2.9638984203338623,
0.0117647061124444
] | [
-1.752306342124939,
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1.7278392314910889,
-2.2008073329925537,
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2.963870048522949,
0
] | gripper_open | 0.988231 | [
-1.752090334892273,
-1.0956242084503174,
1.7276557683944702,
-2.2007806301116943,
-1.570701003074646,
2.9639103412628174,
0
] | [
-0.022143755108118057,
0.6245741844177246,
0.04413629695773125,
-3.1404242515563965,
-0.0000824289454612881,
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] | [
0.022143755108118057,
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0.04413629695773125,
-3.1404242515563965,
-0.0000824289454612881,
-3.1413066387176514
] | 0 | pick green block and place on green dish: release at green dish | [
0.022021718323230743,
-0.624513566493988,
0.04398380219936371,
-3.1401524543762207,
-0.0001443889777874574,
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] | 1 | 57.099998 | 571 | 6 | 3,908 | 0 |
[
-1.7522906064987183,
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1.7278307676315308,
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-1.5707076787948608,
2.963855028152466,
0.0117647061124444
] | [
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-2.2008073329925537,
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2.963870048522949,
0
] | gripper_open | 0.988231 | [
-1.752090334892273,
-1.0956242084503174,
1.7276557683944702,
-2.2007806301116943,
-1.570701003074646,
2.9639103412628174,
0
] | [
-0.022143755108118057,
0.6245741844177246,
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-3.1404242515563965,
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] | [
0.022143755108118057,
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0.04413629695773125,
-3.1404242515563965,
-0.0000824289454612881,
-3.1413066387176514
] | 0 | pick green block and place on green dish: release at green dish | [
0.02203274704515934,
-0.6244955062866211,
0.043968673795461655,
-3.1401278972625732,
-0.00013332586968317628,
-3.1414709091186523
] | 1 | 57.200001 | 572 | 6 | 3,909 | 0 |
[
-1.752313494682312,
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1.72781503200531,
-2.200774908065796,
-1.5706819295883179,
2.9638893604278564,
0
] | [
-1.752306342124939,
-1.0954452753067017,
1.7278392314910889,
-2.2008073329925537,
-1.570711374282837,
2.963870048522949,
0
] | move_to_position | 0.000072 | [
-1.6845412254333496,
-1.1902498006820679,
1.709651231765747,
-2.0878329277038574,
-1.5704251527786255,
3.0315375328063965,
0
] | [
-0.06570371985435486,
0.6091455817222595,
0.09787397086620331,
0,
0,
0
] | [
0.06570371985435486,
-0.6091455817222595,
0.09787397086620331,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.022035671398043633,
-0.6245019435882568,
0.04397466406226158,
-3.1401188373565674,
-0.00015050980437081307,
-3.141460418701172
] | 1 | 57.299999 | 573 | 6 | 3,910 | 0 |
[
-1.7522906064987183,
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1.7278274297714233,
-2.200813055038452,
-1.5706804990768433,
2.963874101638794,
0
] | [
-1.752132534980774,
-1.0958178043365479,
1.7277374267578125,
-2.2004988193511963,
-1.5706719160079956,
2.9640684127807617,
0
] | move_to_position | 0.000052 | [
-1.6845412254333496,
-1.1902498006820679,
1.709651231765747,
-2.0878329277038574,
-1.5704251527786255,
3.0315375328063965,
0
] | [
-0.06570371985435486,
0.6091455817222595,
0.09787397086620331,
0,
0,
0
] | [
0.06570371985435486,
-0.6091455817222595,
0.09787397086620331,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.022056611254811287,
-0.6245098114013672,
0.044003888964653015,
-3.1401660442352295,
-0.00016941898502409458,
-3.1414639949798584
] | 1 | 57.400002 | 574 | 6 | 3,911 | 0 |
[
-1.751510500907898,
-1.0967671871185303,
1.7277554273605347,
-2.1995327472686768,
-1.570656657218933,
2.9646670818328857,
0
] | [
-1.750525951385498,
-1.0984526872634888,
1.7276135683059692,
-2.1979079246520996,
-1.5706604719161987,
2.9656801223754883,
0
] | move_to_position | 0.012132 | [
-1.6845412254333496,
-1.1902498006820679,
1.709651231765747,
-2.0878329277038574,
-1.5704251527786255,
3.0315375328063965,
0
] | [
-0.06570371985435486,
0.6091455817222595,
0.09787397086620331,
0,
0,
0
] | [
0.06570371985435486,
-0.6091455817222595,
0.09787397086620331,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.022816883400082588,
-0.6242527961730957,
0.044982075691223145,
-3.1402554512023926,
-0.00018136293510906398,
-3.141472816467285
] | 1 | 57.5 | 575 | 6 | 3,912 | 0 |
[
-1.7492903470993042,
-1.1006358861923218,
1.72765052318573,
-2.1957180500030518,
-1.5706413984298706,
2.9670140743255615,
0
] | [
-1.7474833726882935,
-1.1032322645187378,
1.7274502515792847,
-2.1929709911346436,
-1.5706502199172974,
2.9687142372131348,
0
] | move_to_position | 0.047597 | [
-1.6845412254333496,
-1.1902498006820679,
1.709651231765747,
-2.0878329277038574,
-1.5704251527786255,
3.0315375328063965,
0
] | [
-0.06570371985435486,
0.6091455817222595,
0.09787397086620331,
0,
0,
0
] | [
0.06570371985435486,
-0.6091455817222595,
0.09787397086620331,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.024457259103655815,
-0.6236608028411865,
0.04715995490550995,
-3.140409231185913,
-0.00014678560546599329,
-3.1415395736694336
] | 1 | 57.599998 | 576 | 6 | 3,913 | 0 |
[
-1.7453140020370483,
-1.106530785560608,
1.727303385734558,
-2.1894590854644775,
-1.5706356763839722,
2.970846652984619,
0
] | [
-1.7435296773910522,
-1.1092545986175537,
1.7271125316619873,
-2.186511278152466,
-1.5706390142440796,
2.972654104232788,
0
] | move_to_position | 0.105181 | [
-1.6845412254333496,
-1.1902498006820679,
1.709651231765747,
-2.0878329277038574,
-1.5704251527786255,
3.0315375328063965,
0
] | [
-0.06570371985435486,
0.6091455817222595,
0.09787397086620331,
0,
0,
0
] | [
0.06570371985435486,
-0.6091455817222595,
0.09787397086620331,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.02718234993517399,
-0.6227030754089355,
0.05044513940811157,
-3.1403632164001465,
-0.00012375718506518751,
-3.141443967819214
] | 1 | 57.700001 | 577 | 6 | 3,914 | 0 |
[
-1.7405256032943726,
-1.1136902570724487,
1.7267388105392456,
-2.181635618209839,
-1.5706290006637573,
2.9756252765655518,
0
] | [
-1.7387278079986572,
-1.1163439750671387,
1.7264556884765625,
-2.178602933883667,
-1.5706236362457275,
2.977442741394043,
0
] | move_to_position | 0.176154 | [
-1.6845412254333496,
-1.1902498006820679,
1.709651231765747,
-2.0878329277038574,
-1.5704251527786255,
3.0315375328063965,
0
] | [
-0.06570371985435486,
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0,
0,
0
] | [
0.06570371985435486,
-0.6091455817222595,
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0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.030403345823287964,
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0.05439896136522293,
-3.1403002738952637,
-0.00009623687947168946,
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] | 1 | 57.799999 | 578 | 6 | 3,915 | 0 |
[
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] | [
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] | move_to_position | 0.255435 | [
-1.6845412254333496,
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-2.0878329277038574,
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] | [
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0,
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] | [
0.06570371985435486,
-0.6091455817222595,
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0,
0,
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] | 0 | pick green block and place on green dish: retract after place | [
0.03416758030653,
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] | 1 | 57.900002 | 579 | 6 | 3,916 | 0 |
[
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] | [
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] | move_to_position | 0.371761 | [
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] | [
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0,
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] | [
0.06570371985435486,
-0.6091455817222595,
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0,
0,
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] | 0 | pick green block and place on green dish: retract after place | [
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] | 1 | 58 | 580 | 6 | 3,917 | 0 |
[
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] | [
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] | move_to_position | 0.500718 | [
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] | [
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0,
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] | [
0.06570371985435486,
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0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
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] | 1 | 58.099998 | 581 | 6 | 3,918 | 0 |
[
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] | [
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] | move_to_position | 0.638244 | [
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] | [
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] | [
0.06570371985435486,
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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 | 58.200001 | 582 | 6 | 3,919 | 0 |
[
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] | [
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] | move_to_position | 0.747874 | [
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] | [
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] | [
0.06570371985435486,
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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 | 58.299999 | 583 | 6 | 3,920 | 0 |
[
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] | [
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] | move_to_position | 0.831827 | [
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] | [
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0,
0
] | [
0.06570371985435486,
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] | 0 | pick green block and place on green dish: retract after place | [
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] | 1 | 58.400002 | 584 | 6 | 3,921 | 0 |
[
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] | [
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] | move_to_position | 0.895016 | [
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] | [
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] | [
0.06570371985435486,
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] | 0 | pick green block and place on green dish: retract after place | [
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] | 1 | 58.5 | 585 | 6 | 3,922 | 0 |
[
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] | [
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] | move_to_position | 0.949514 | [
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] | [
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0,
0
] | [
0.06570371985435486,
-0.6091455817222595,
0.09787397086620331,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.06370748579502106,
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] | 1 | 58.599998 | 586 | 6 | 3,923 | 0 |
[
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] | [
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0
] | move_to_position | 0.983117 | [
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] | [
-0.06570371985435486,
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0,
0
] | [
0.06570371985435486,
-0.6091455817222595,
0.09787397086620331,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.06515868008136749,
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] | 1 | 58.700001 | 587 | 6 | 3,924 | 0 |
[
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] | [
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0
] | move_to_position | 0.997991 | [
-1.6845412254333496,
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1.709651231765747,
-2.0878329277038574,
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3.0315375328063965,
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] | [
-0.06570371985435486,
0.6091455817222595,
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0,
0
] | [
0.06570371985435486,
-0.6091455817222595,
0.09787397086620331,
0,
0,
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] | 0 | pick green block and place on green dish: retract after place | [
0.06562058627605438,
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] | 1 | 58.799999 | 588 | 6 | 3,925 | 0 |
[
-1.684667944908142,
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0
] | [
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1.709651231765747,
-2.0878329277038574,
-1.5704251527786255,
3.0315375328063965,
0
] | move_to_position | 0.00001 | [
-1.8803728818893433,
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1.6463675498962402,
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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 | [
0.0656055212020874,
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0.09766624122858047,
-3.1398186683654785,
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] | 1 | 58.900002 | 589 | 6 | 3,926 | 0 |
[
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] | [
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0
] | move_to_position | 0.000022 | [
-1.8803728818893433,
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1.6463675498962402,
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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 | [
0.06564202904701233,
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0.0976453572511673,
-3.139779806137085,
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] | 1 | 59 | 590 | 6 | 3,927 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000499 | [
-1.8803728818893433,
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1.6463675498962402,
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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 | [
0.06561862677335739,
-0.6089510321617126,
0.09797102212905884,
-3.1400365829467773,
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] | 1 | 59.099998 | 591 | 6 | 3,928 | 0 |
[
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-2.0867106914520264,
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3.0309455394744873,
0
] | [
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0
] | move_to_position | 0.002656 | [
-1.8803728818893433,
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1.6463675498962402,
-1.4765719175338745,
-1.5701322555541992,
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] | [
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0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
0.06547766178846359,
-0.6084084510803223,
0.09865148365497589,
-3.1399967670440674,
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] | 1 | 59.200001 | 592 | 6 | 3,929 | 0 |
[
-1.6856273412704468,
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0
] | [
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3.0299434661865234,
0
] | move_to_position | 0.006266 | [
-1.8803728818893433,
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1.6463675498962402,
-1.4765719175338745,
-1.5701322555541992,
2.834914207458496,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
0.0651228278875351,
-0.6076095104217529,
0.09973683953285217,
-3.139927387237549,
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] | 1 | 59.299999 | 593 | 6 | 3,930 | 0 |
[
-1.6865772008895874,
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0
] | [
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3.0288004875183105,
0
] | move_to_position | 0.0124 | [
-1.8803728818893433,
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1.6463675498962402,
-1.4765719175338745,
-1.5701322555541992,
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] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
0.06465073674917221,
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0.10158386826515198,
-3.1399118900299072,
-0.00023542191775050014,
-3.14145827293396
] | 1 | 59.400002 | 594 | 6 | 3,931 | 0 |
[
-1.6881211996078491,
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-2.07722544670105,
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3.0280368328094482,
0
] | [
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-2.074904441833496,
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3.027270555496216,
0
] | move_to_position | 0.021807 | [
-1.8803728818893433,
-1.7379430532455444,
1.6463675498962402,
-1.4765719175338745,
-1.5701322555541992,
2.834914207458496,
0
] | [
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0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
0.06394822895526886,
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0.1042092889547348,
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] | 1 | 0.2 | 2 | 7 | 3,968 | 0 |
[
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0
] | [
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] | move_to_position | 0 | [
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] | [
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0,
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] | 0 | move to initial position to start the task | [
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0.3530159592628479,
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] | 1 | 0.3 | 3 | 7 | 3,969 | 0 |
[
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] | move_to_position | 0.17308 | [
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] | [
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] | [
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0,
0
] | 0 | move to initial position to start the task | [
0.00001723025161481928,
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0.35303884744644165,
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] | 1 | 0.4 | 4 | 7 | 3,970 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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0,
0
] | 0 | move to initial position to start the task | [
0.000023350350602413528,
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0.35302096605300903,
2.7951529026031494,
0.06065872684121132,
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] | 1 | 0.5 | 5 | 7 | 3,971 | 0 |
[
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] | [
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] | move_to_position | 0.23575 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
0.00001548094951431267,
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0.3530122637748718,
2.795165777206421,
0.060675349086523056,
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] | 1 | 0.6 | 6 | 7 | 3,972 | 0 |
[
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] | [
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] | move_to_position | 0.145732 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
0.000029017453925916925,
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0.3530312776565552,
2.7951295375823975,
0.0606330968439579,
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] | 1 | 0.7 | 7 | 7 | 3,973 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
0.000025698689569253474,
-0.4400031566619873,
0.3530336618423462,
2.795119285583496,
0.060658302158117294,
3.0699079036712646
] | 1 | 0.8 | 8 | 7 | 3,974 | 0 |
[
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] | [
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] | move_to_position | 0.206239 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
0.00001732894452288747,
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0.35302984714508057,
2.7951130867004395,
0.06066014617681503,
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] | 1 | 0.9 | 9 | 7 | 3,975 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.083123 | [
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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 | [
0.0000307871559925843,
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0.3530309498310089,
2.795123815536499,
0.06066727265715599,
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] | 1 | 1 | 10 | 7 | 3,976 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.041182 | [
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] | [
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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 | [
0.000021817564629600383,
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0.35301917791366577,
2.795133113861084,
0.06069536507129669,
3.0698888301849365
] | 1 | 1.1 | 11 | 7 | 3,977 | 0 |
[
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2.881875991821289,
0
] | [
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0
] | move_to_position | 0 | [
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1.9294523000717163,
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] | [
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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 | [
0.0000040672302930033766,
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0.35304152965545654,
2.7950923442840576,
0.06070645526051521,
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] | 1 | 1.2 | 12 | 7 | 3,978 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.310576 | [
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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 | [
0.000004036906830151565,
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0.35303011536598206,
2.795111656188965,
0.060692355036735535,
3.0698394775390625
] | 1 | 1.3 | 13 | 7 | 3,979 | 0 |
[
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0
] | [
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2.8818845748901367,
0
] | move_to_position | 0.40181 | [
-1.9001697301864624,
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1.9294523000717163,
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] | [
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0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.000023918779334053397,
-0.4399913549423218,
0.35301873087882996,
2.7951340675354004,
0.0606885589659214,
3.069880485534668
] | 1 | 1.4 | 14 | 7 | 3,980 | 0 |
[
-1.90017831325531,
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2.881913185119629,
0
] | [
-1.9001697301864624,
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-1.8926283121109009,
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2.8818845748901367,
0
] | move_to_position | 0.109275 | [
-1.9001697301864624,
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1.9294523000717163,
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] | [
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0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.00000888236809259979,
-0.43999621272087097,
0.3530276119709015,
2.79512095451355,
0.060711394995450974,
3.0698494911193848
] | 1 | 1.5 | 15 | 7 | 3,981 | 0 |
[
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2.8818912506103516,
0
] | [
-1.9001697301864624,
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-1.8926283121109009,
-1.5384601354599,
2.8818845748901367,
0
] | move_to_position | 0 | [
-1.2425732612609863,
-1.0539835691452026,
1.6293100118637085,
-2.4445624351501465,
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0
] | [
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0,
0,
0
] | [
0.31034648418426514,
-0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.000020270961613277905,
-0.4400034248828888,
0.3530171811580658,
2.795135498046875,
0.060656338930130005,
3.069859504699707
] | 1 | 1.6 | 16 | 7 | 3,982 | 0 |
[
-1.90017831325531,
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0
] | [
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-1.5384787321090698,
2.881892681121826,
0
] | move_to_position | 0 | [
-1.2425732612609863,
-1.0539835691452026,
1.6293100118637085,
-2.4445624351501465,
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3.5068559646606445,
0
] | [
-0.31034648418426514,
0.6458050012588501,
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0,
0,
0
] | [
0.31034648418426514,
-0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.00001561799945193343,
-0.4400028586387634,
0.35301366448402405,
2.7951624393463135,
0.0607060082256794,
3.0699024200439453
] | 1 | 1.7 | 17 | 7 | 3,983 | 0 |
[
-1.9001024961471558,
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-1.8926759958267212,
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2.881990432739258,
0
] | [
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1.929688572883606,
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2.882232904434204,
0
] | move_to_position | 0.000067 | [
-1.2425732612609863,
-1.0539835691452026,
1.6293100118637085,
-2.4445624351501465,
-1.7569868564605713,
3.5068559646606445,
0
] | [
-0.31034648418426514,
0.6458050012588501,
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0,
0,
0
] | [
0.31034648418426514,
-0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.00004576886203722097,
-0.44001615047454834,
0.35301363468170166,
2.7950706481933594,
0.06072978675365448,
3.0697836875915527
] | 1 | 1.8 | 18 | 7 | 3,984 | 0 |
[
-1.899166464805603,
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2.882779121398926,
0
] | [
-1.8986743688583374,
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1.9300698041915894,
-1.8937629461288452,
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2.8832502365112305,
0
] | move_to_position | 0.000919 | [
-1.2425732612609863,
-1.0539835691452026,
1.6293100118637085,
-2.4445624351501465,
-1.7569868564605713,
3.5068559646606445,
0
] | [
-0.31034648418426514,
0.6458050012588501,
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0,
0,
0
] | [
0.31034648418426514,
-0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.0003514302661642432,
-0.44013017416000366,
0.35280632972717285,
2.795074462890625,
0.06075030937790871,
3.0699150562286377
] | 1 | 1.9 | 19 | 7 | 3,985 | 0 |
[
-1.8976835012435913,
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-1.8946572542190552,
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2.884225845336914,
0
] | [
-1.8968356847763062,
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1.9306275844573975,
-1.8952733278274536,
-1.5396485328674316,
2.8849806785583496,
0
] | move_to_position | 0.002466 | [
-1.2425732612609863,
-1.0539835691452026,
1.6293100118637085,
-2.4445624351501465,
-1.7569868564605713,
3.5068559646606445,
0
] | [
-0.31034648418426514,
0.6458050012588501,
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0,
0,
0
] | [
0.31034648418426514,
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0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.0008300793124362826,
-0.4404057264328003,
0.35229796171188354,
2.795304536819458,
0.0606980137526989,
3.0699214935302734
] | 1 | 2 | 20 | 7 | 3,986 | 0 |
[
-1.8952568769454956,
-1.954656720161438,
1.9310554265975952,
-1.8965693712234497,
-1.5401967763900757,
2.886488676071167,
0
] | [
-1.894031286239624,
-1.9540220499038696,
1.9314109086990356,
-1.8976141214370728,
-1.54060697555542,
2.8876307010650635,
0
] | move_to_position | 0.004924 | [
-1.2425732612609863,
-1.0539835691452026,
1.6293100118637085,
-2.4445624351501465,
-1.7569868564605713,
3.5068559646606445,
0
] | [
-0.31034648418426514,
0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | [
0.31034648418426514,
-0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.0015800334513187408,
-0.4408506155014038,
0.3517347574234009,
2.7952404022216797,
0.06074550002813339,
3.069899559020996
] | 1 | 2.1 | 21 | 7 | 3,987 | 0 |
[
-1.8920100927352905,
-1.9529210329055786,
1.9319895505905151,
-1.899340271949768,
-1.5412973165512085,
2.889583110809326,
0
] | [
-1.8903899192810059,
-1.9520394802093506,
1.9323691129684448,
-1.900687336921692,
-1.5418516397476196,
2.891073226928711,
0
] | move_to_position | 0.00834 | [
-1.2425732612609863,
-1.0539835691452026,
1.6293100118637085,
-2.4445624351501465,
-1.7569868564605713,
3.5068559646606445,
0
] | [
-0.31034648418426514,
0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | [
0.31034648418426514,
-0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.0025713748764246702,
-0.4414807856082916,
0.35092446208000183,
2.7952487468719482,
0.06066060811281204,
3.0698952674865723
] | 1 | 2.2 | 22 | 7 | 3,988 | 0 |
[
-1.8879374265670776,
-1.9506036043167114,
1.9330462217330933,
-1.9027587175369263,
-1.54267156124115,
2.893373966217041,
0
] | [
-1.8855278491973877,
-1.9492627382278442,
1.9335886240005493,
-1.9048258066177368,
-1.5435168743133545,
2.895664691925049,
0
] | move_to_position | 0.012654 | [
-1.2425732612609863,
-1.0539835691452026,
1.6293100118637085,
-2.4445624351501465,
-1.7569868564605713,
3.5068559646606445,
0
] | [
-0.31034648418426514,
0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | [
0.31034648418426514,
-0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.0037884614430367947,
-0.44233807921409607,
0.3499477207660675,
2.795180559158325,
0.060646478086709976,
3.069880247116089
] | 1 | 2.3 | 23 | 7 | 3,989 | 0 |
[
-1.8822153806686401,
-1.947288155555725,
1.9343990087509155,
-1.907636284828186,
-1.544655680656433,
2.8987996578216553,
0
] | [
-1.880112886428833,
-1.9460461139678955,
1.9348949193954468,
-1.9094656705856323,
-1.5453765392303467,
2.9007697105407715,
0
] | move_to_position | 0.018806 | [
-1.2425732612609863,
-1.0539835691452026,
1.6293100118637085,
-2.4445624351501465,
-1.7569868564605713,
3.5068559646606445,
0
] | [
-0.31034648418426514,
0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | [
0.31034648418426514,
-0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.005345345940440893,
-0.44346582889556885,
0.3486633002758026,
2.7951653003692627,
0.060655806213617325,
3.069808006286621
] | 1 | 2.4 | 24 | 7 | 3,990 | 0 |
[
-1.8760250806808472,
-1.9434877634048462,
1.9358848333358765,
-1.9130207300186157,
-1.5467828512191772,
2.9046542644500732,
0
] | [
-1.8730173110961914,
-1.9417088031768799,
1.936562418937683,
-1.9155741930007935,
-1.5478202104568481,
2.907447099685669,
0
] | move_to_position | 0.02556 | [
-1.2425732612609863,
-1.0539835691452026,
1.6293100118637085,
-2.4445624351501465,
-1.7569868564605713,
3.5068559646606445,
0
] | [
-0.31034648418426514,
0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | [
0.31034648418426514,
-0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.007285536732524633,
-0.44482526183128357,
0.3470156788825989,
2.795287847518921,
0.060638271272182465,
3.0698328018188477
] | 1 | 2.5 | 25 | 7 | 3,991 | 0 |
[
-1.867639422416687,
-1.9385024309158325,
1.9378665685653687,
-1.9202138185501099,
-1.5496853590011597,
2.9125022888183594,
0
] | [
-1.8639918565750122,
-1.9363930225372314,
1.9388126134872437,
-1.9232934713363647,
-1.55093252658844,
2.9159345626831055,
0
] | move_to_position | 0.034572 | [
-1.2425732612609863,
-1.0539835691452026,
1.6293100118637085,
-2.4445624351501465,
-1.7569868564605713,
3.5068559646606445,
0
] | [
-0.31034648418426514,
0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | [
0.31034648418426514,
-0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.00959510076791048,
-0.4464154839515686,
0.3451918363571167,
2.7951345443725586,
0.060687098652124405,
3.069878578186035
] | 1 | 2.6 | 26 | 7 | 3,992 | 0 |
[
-1.8575767278671265,
-1.9326225519180298,
1.9404014348983765,
-1.928726315498352,
-1.5531243085861206,
2.9219436645507812,
0
] | [
-1.8532533645629883,
-1.9301193952560425,
1.9415241479873657,
-1.9324673414230347,
-1.5546367168426514,
2.926032066345215,
0
] | move_to_position | 0.045253 | [
-1.2425732612609863,
-1.0539835691452026,
1.6293100118637085,
-2.4445624351501465,
-1.7569868564605713,
3.5068559646606445,
0
] | [
-0.31034648418426514,
0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | [
0.31034648418426514,
-0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.012668956071138382,
-0.4483589828014374,
0.34264031052589417,
2.7952516078948975,
0.06069245561957359,
3.0698888301849365
] | 1 | 2.7 | 27 | 7 | 3,993 | 0 |
[
-1.8456577062606812,
-1.9254800081253052,
1.943407416343689,
-1.9390069246292114,
-1.5573276281356812,
2.93331241607666,
0
] | [
-1.8406128883361816,
-1.9225114583969116,
1.9445912837982178,
-1.9433257579803467,
-1.5589971542358398,
2.9379184246063232,
0
] | move_to_position | 0.05805 | [
-1.2425732612609863,
-1.0539835691452026,
1.6293100118637085,
-2.4445624351501465,
-1.7569868564605713,
3.5068559646606445,
0
] | [
-0.31034648418426514,
0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | [
0.31034648418426514,
-0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.01621450111269951,
-0.45062533020973206,
0.3397585451602936,
2.795207977294922,
0.06062580645084381,
3.0697734355926514
] | 1 | 2.8 | 28 | 7 | 3,994 | 0 |
[
-1.8322738409042358,
-1.917328953742981,
1.9464343786239624,
-1.9505563974380493,
-1.561890959739685,
2.9457204341888428,
0
] | [
-1.8268072605133057,
-1.9137492179870605,
1.9476834535598755,
-1.955303430557251,
-1.5637587308883667,
2.950901746749878,
0
] | move_to_position | 0.072346 | [
-1.2425732612609863,
-1.0539835691452026,
1.6293100118637085,
-2.4445624351501465,
-1.7569868564605713,
3.5068559646606445,
0
] | [
-0.31034648418426514,
0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | [
0.31034648418426514,
-0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.020492952316999435,
-0.45339372754096985,
0.3363454043865204,
2.7950780391693115,
0.06077289581298828,
3.0698182582855225
] | 1 | 2.9 | 29 | 7 | 3,995 | 0 |
[
-1.8180965185165405,
-1.9078561067581177,
1.9494374990463257,
-1.9629603624343872,
-1.5667656660079956,
2.95916485786438,
0
] | [
-1.8118432760238647,
-1.9035807847976685,
1.9506516456604004,
-1.9684605598449707,
-1.5689184665679932,
2.9649770259857178,
0
] | move_to_position | 0.087957 | [
-1.2425732612609863,
-1.0539835691452026,
1.6293100118637085,
-2.4445624351501465,
-1.7569868564605713,
3.5068559646606445,
0
] | [
-0.31034648418426514,
0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | [
0.31034648418426514,
-0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.024943599477410316,
-0.45640915632247925,
0.33272480964660645,
2.7949817180633545,
0.060717806220054626,
3.069728136062622
] | 1 | 3 | 30 | 7 | 3,996 | 0 |
[
-1.8021401166915894,
-1.8965822458267212,
1.9522918462753296,
-1.9770838022232056,
-1.5722154378890991,
2.974080801010132,
0
] | [
-1.7955621480941772,
-1.8916375637054443,
1.9533851146697998,
-1.9830083847045898,
-1.574530839920044,
2.9802942276000977,
0
] | move_to_position | 0.105774 | [
-1.2425732612609863,
-1.0539835691452026,
1.6293100118637085,
-2.4445624351501465,
-1.7569868564605713,
3.5068559646606445,
0
] | [
-0.31034648418426514,
0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | [
0.31034648418426514,
-0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.029818745329976082,
-0.459794819355011,
0.32873156666755676,
2.7950589656829834,
0.06062332168221474,
3.069852828979492
] | 1 | 3.1 | 31 | 7 | 3,997 | 0 |
[
-1.7853049039840698,
-1.8840161561965942,
1.955098032951355,
-1.9922186136245728,
-1.5780404806137085,
2.9899134635925293,
0
] | [
-1.7779655456542969,
-1.878475308418274,
1.9563090801239014,
-1.9988614320755005,
-1.5806041955947876,
2.9968442916870117,
0
] | move_to_position | 0.1249 | [
-1.2425732612609863,
-1.0539835691452026,
1.6293100118637085,
-2.4445624351501465,
-1.7569868564605713,
3.5068559646606445,
0
] | [
-0.31034648418426514,
0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | [
0.31034648418426514,
-0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.03527872636914253,
-0.4635813236236572,
0.3241356909275055,
2.7952516078948975,
0.06067347526550293,
3.0698204040527344
] | 1 | 3.2 | 32 | 7 | 3,998 | 0 |
[
-1.766720175743103,
-1.8699594736099243,
1.9581702947616577,
-2.009032964706421,
-1.5844935178756714,
3.0074055194854736,
0
] | [
-1.7571566104888916,
-1.8626071214675903,
1.9596556425094604,
-2.0177218914031982,
-1.5877902507781982,
3.016413688659668,
0
] | move_to_position | 0.146003 | [
-1.2425732612609863,
-1.0539835691452026,
1.6293100118637085,
-2.4445624351501465,
-1.7569868564605713,
3.5068559646606445,
0
] | [
-0.31034648418426514,
0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | [
0.31034648418426514,
-0.6458050012588501,
0.09976771473884583,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.04138583317399025,
-0.4675694406032562,
0.31906965374946594,
2.7953662872314453,
0.06067758798599243,
3.069896936416626
] | 1 | 3.3 | 33 | 7 | 3,999 | 0 |
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