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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-1.7577027082443237,
-1.099184274673462,
1.7333534955978394,
-2.202550172805786,
-1.5704277753829956,
2.9577457904815674,
1
] | [
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1.733092188835144,
-2.202564001083374,
-1.5703938007354736,
2.9576656818389893,
1
] | move_to_position | 0.964699 | [
-1.757964849472046,
-1.098551630973816,
1.7328308820724487,
-2.202608108520508,
-1.570394515991211,
2.9575366973876953,
1
] | [
-0.01885848678648472,
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0.04399999976158142,
0,
0,
0
] | [
0.01885848678648472,
-0.623049795627594,
0.04399999976158142,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.019050611183047295,
-0.6228445768356323,
0.04409854859113693,
-3.1401286125183105,
-0.000446215650299564,
-3.1407630443573
] | 0 | 46.5 | 465 | 8 | 5,000 | 0 |
[
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1.733073115348816,
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-1.5704048871994019,
2.9576005935668945,
1
] | [
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1.7328598499298096,
-2.202603340148926,
-1.5703943967819214,
2.9575510025024414,
1
] | move_to_position | 0.985015 | [
-1.757964849472046,
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1.7328308820724487,
-2.202608108520508,
-1.570394515991211,
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1
] | [
-0.01885848678648472,
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0,
0,
0
] | [
0.01885848678648472,
-0.623049795627594,
0.04399999976158142,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
0.01894107088446617,
-0.6229591965675354,
0.044050220400094986,
-3.14017391204834,
-0.0004577056970447302,
-3.1407737731933594
] | 0 | 46.599998 | 466 | 8 | 5,001 | 0 |
[
-1.7579506635665894,
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1.732897162437439,
-2.202598810195923,
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2.9575250148773193,
1
] | [
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1.7328308820724487,
-2.202608108520508,
-1.570394515991211,
2.9575366973876953,
1
] | move_to_position | 0.994579 | [
-1.757964849472046,
-1.098551630973816,
1.7328308820724487,
-2.202608108520508,
-1.570394515991211,
2.9575366973876953,
1
] | [
-0.01885848678648472,
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0,
0,
0
] | [
0.01885848678648472,
-0.623049795627594,
0.04399999976158142,
0,
0,
0
] | 1 | pick green block and place on green dish: descend to green dish | [
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0.04401741921901703,
-3.1401944160461426,
-0.0004895940073765814,
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] | 0 | 46.700001 | 467 | 8 | 5,002 | 0 |
[
-1.7579506635665894,
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-2.2025954723358154,
-1.5703810453414917,
2.957521438598633,
1
] | [
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1.7328308820724487,
-2.202608108520508,
-1.570394515991211,
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0
] | gripper_open | 0 | [
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-2.2025954723358154,
-1.5703810453414917,
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] | [
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] | [
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0.0440005399286747,
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-3.1407573223114014
] | 0 | pick green block and place on green dish: release at green dish | [
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0.043997254222631454,
-3.140183448791504,
-0.0004724414902739227,
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] | 0 | 46.799999 | 468 | 8 | 5,003 | 0 |
[
-1.757947325706482,
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2.9575369358062744,
0.5058823823928833
] | [
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1.7328308820724487,
-2.202608108520508,
-1.570394515991211,
2.9575366973876953,
0
] | gripper_open | 0.494118 | [
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-2.2025954723358154,
-1.5703810453414917,
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] | [
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] | [
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0.0440005399286747,
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-0.0004405488434713334,
-3.1407573223114014
] | 0 | pick green block and place on green dish: release at green dish | [
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0.04397760331630707,
-3.1401193141937256,
-0.0004564290284179151,
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] | 0 | 46.900002 | 469 | 8 | 5,004 | 0 |
[
-1.7579401731491089,
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-2.202598810195923,
-1.5703858137130737,
2.957566738128662,
0.48627451062202454
] | [
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1.7328308820724487,
-2.202608108520508,
-1.570394515991211,
2.9575366973876953,
0
] | gripper_open | 0.513726 | [
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-1.0986053943634033,
1.7328451871871948,
-2.2025954723358154,
-1.5703810453414917,
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0
] | [
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0.623039722442627,
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-3.1401848793029785,
-0.0004405488434713334,
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] | [
0.018895383924245834,
-0.623039722442627,
0.0440005399286747,
-3.1401848793029785,
-0.0004405488434713334,
-3.1407573223114014
] | 0 | pick green block and place on green dish: release at green dish | [
0.018912101164460182,
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0.04398888349533081,
-3.140169143676758,
-0.0004590526514220983,
-3.1407384872436523
] | 1 | 47 | 470 | 8 | 5,005 | 0 |
[
-1.7579163312911987,
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1.7328485250473022,
-2.2026455402374268,
-1.5703896284103394,
2.957552433013916,
0.37254902720451355
] | [
-1.757964849472046,
-1.098551630973816,
1.7328308820724487,
-2.202608108520508,
-1.570394515991211,
2.9575366973876953,
0
] | gripper_open | 0.627451 | [
-1.7579506635665894,
-1.0986053943634033,
1.7328451871871948,
-2.2025954723358154,
-1.5703810453414917,
2.957521438598633,
0
] | [
-0.018895383924245834,
0.623039722442627,
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-3.1401848793029785,
-0.0004405488434713334,
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] | [
0.018895383924245834,
-0.623039722442627,
0.0440005399286747,
-3.1401848793029785,
-0.0004405488434713334,
-3.1407573223114014
] | 0 | pick green block and place on green dish: release at green dish | [
0.018889110535383224,
-0.6230226159095764,
0.04397285357117653,
-3.1401114463806152,
-0.0004262449801899493,
-3.14078688621521
] | 1 | 47.099998 | 471 | 8 | 5,006 | 0 |
[
-1.757947325706482,
-1.0985525846481323,
1.7328490018844604,
-2.202611207962036,
-1.57042396068573,
2.9575178623199463,
0.24705882370471954
] | [
-1.757964849472046,
-1.098551630973816,
1.7328308820724487,
-2.202608108520508,
-1.570394515991211,
2.9575366973876953,
0
] | gripper_open | 0.752941 | [
-1.7579506635665894,
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1.7328451871871948,
-2.2025954723358154,
-1.5703810453414917,
2.957521438598633,
0
] | [
-0.018895383924245834,
0.623039722442627,
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-3.1401848793029785,
-0.0004405488434713334,
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] | [
0.018895383924245834,
-0.623039722442627,
0.0440005399286747,
-3.1401848793029785,
-0.0004405488434713334,
-3.1407573223114014
] | 0 | pick green block and place on green dish: release at green dish | [
0.018888168036937714,
-0.6230334043502808,
0.04397718235850334,
-3.140148162841797,
-0.0004514455795288086,
-3.1407368183135986
] | 1 | 47.200001 | 472 | 8 | 5,007 | 0 |
[
-1.7579668760299683,
-1.0985610485076904,
1.7328490018844604,
-2.202611207962036,
-1.5703929662704468,
2.957547664642334,
0.12156862765550613
] | [
-1.757964849472046,
-1.098551630973816,
1.7328308820724487,
-2.202608108520508,
-1.570394515991211,
2.9575366973876953,
0
] | gripper_open | 0.878431 | [
-1.7579506635665894,
-1.0986053943634033,
1.7328451871871948,
-2.2025954723358154,
-1.5703810453414917,
2.957521438598633,
0
] | [
-0.018895383924245834,
0.623039722442627,
0.0440005399286747,
-3.1401848793029785,
-0.0004405488434713334,
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] | [
0.018895383924245834,
-0.623039722442627,
0.0440005399286747,
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-0.0004405488434713334,
-3.1407573223114014
] | 0 | pick green block and place on green dish: release at green dish | [
0.01888810470700264,
-0.6230282187461853,
0.04398324713110924,
-3.1401405334472656,
-0.0004489887796808034,
-3.1407487392425537
] | 1 | 47.299999 | 473 | 8 | 5,008 | 0 |
[
-1.757947325706482,
-1.0985417366027832,
1.7328213453292847,
-2.2026302814483643,
-1.5704048871994019,
2.957535743713379,
0.01568627543747425
] | [
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1.7328308820724487,
-2.202608108520508,
-1.570394515991211,
2.9575366973876953,
0
] | gripper_open | 0.984313 | [
-1.7579506635665894,
-1.0986053943634033,
1.7328451871871948,
-2.2025954723358154,
-1.5703810453414917,
2.957521438598633,
0
] | [
-0.018895383924245834,
0.623039722442627,
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] | [
0.018895383924245834,
-0.623039722442627,
0.0440005399286747,
-3.1401848793029785,
-0.0004405488434713334,
-3.1407573223114014
] | 0 | pick green block and place on green dish: release at green dish | [
0.01888183131814003,
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0.04398611932992935,
-3.1401548385620117,
-0.00046566216042265296,
-3.140777111053467
] | 1 | 47.400002 | 474 | 8 | 5,009 | 0 |
[
-1.7579635381698608,
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1.7328413724899292,
-2.2026145458221436,
-1.5703548192977905,
2.957552433013916,
0.0117647061124444
] | [
-1.757964849472046,
-1.098551630973816,
1.7328308820724487,
-2.202608108520508,
-1.570394515991211,
2.9575366973876953,
0
] | gripper_open | 0.988235 | [
-1.7579506635665894,
-1.0986053943634033,
1.7328451871871948,
-2.2025954723358154,
-1.5703810453414917,
2.957521438598633,
0
] | [
-0.018895383924245834,
0.623039722442627,
0.0440005399286747,
-3.1401848793029785,
-0.0004405488434713334,
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] | [
0.018895383924245834,
-0.623039722442627,
0.0440005399286747,
-3.1401848793029785,
-0.0004405488434713334,
-3.1407573223114014
] | 0 | pick green block and place on green dish: release at green dish | [
0.018885863944888115,
-0.62302565574646,
0.04397880658507347,
-3.1401402950286865,
-0.0004766882339026779,
-3.140761613845825
] | 1 | 47.5 | 475 | 8 | 5,010 | 0 |
[
-1.7579635381698608,
-1.0985335111618042,
1.7328213453292847,
-2.2026302814483643,
-1.5704158544540405,
2.9575369358062744,
0.0117647061124444
] | [
-1.757964849472046,
-1.098551630973816,
1.7328308820724487,
-2.202608108520508,
-1.570394515991211,
2.9575366973876953,
0
] | gripper_open | 0.988235 | [
-1.7579506635665894,
-1.0986053943634033,
1.7328451871871948,
-2.2025954723358154,
-1.5703810453414917,
2.957521438598633,
0
] | [
-0.018895383924245834,
0.623039722442627,
0.0440005399286747,
-3.1401848793029785,
-0.0004405488434713334,
-3.1407573223114014
] | [
0.018895383924245834,
-0.623039722442627,
0.0440005399286747,
-3.1401848793029785,
-0.0004405488434713334,
-3.1407573223114014
] | 0 | pick green block and place on green dish: release at green dish | [
0.01890449784696102,
-0.623047947883606,
0.043994784355163574,
-3.1401801109313965,
-0.00044485359103418887,
-3.140767812728882
] | 1 | 47.599998 | 476 | 8 | 5,011 | 0 |
[
-1.7579821348190308,
-1.0985333919525146,
1.732817530632019,
-2.2026026248931885,
-1.5703738927841187,
2.957540512084961,
0
] | [
-1.757964849472046,
-1.098551630973816,
1.7328308820724487,
-2.202608108520508,
-1.570394515991211,
2.9575366973876953,
0
] | move_to_position | 0 | [
-1.7232506275177002,
-1.102580189704895,
1.7219923734664917,
-2.1877381801605225,
-1.5703277587890625,
2.9922051429748535,
0
] | [
-0.04022129625082016,
0.6238753199577332,
0.049478817731142044,
0,
0,
0
] | [
0.04022129625082016,
-0.6238753199577332,
0.049478817731142044,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.01887539215385914,
-0.6230204105377197,
0.04397902637720108,
-3.1401216983795166,
-0.00046370839118026197,
-3.140773057937622
] | 1 | 47.700001 | 477 | 8 | 5,012 | 0 |
[
-1.7579635381698608,
-1.0985453128814697,
1.7328027486801147,
-2.2026216983795166,
-1.570377230644226,
2.9575560092926025,
0
] | [
-1.757908582687378,
-1.0985920429229736,
1.7328252792358398,
-2.2026119232177734,
-1.5703966617584229,
2.9575695991516113,
0
] | move_to_position | 0.000389 | [
-1.7232506275177002,
-1.102580189704895,
1.7219923734664917,
-2.1877381801605225,
-1.5703277587890625,
2.9922051429748535,
0
] | [
-0.04022129625082016,
0.6238753199577332,
0.049478817731142044,
0,
0,
0
] | [
0.04022129625082016,
-0.6238753199577332,
0.049478817731142044,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.01890897937119007,
-0.6230353713035583,
0.043989937752485275,
-3.1401526927948,
-0.0004782074538525194,
-3.140734910964966
] | 1 | 47.799999 | 478 | 8 | 5,013 | 0 |
[
-1.7575634717941284,
-1.098628282546997,
1.732744574546814,
-2.2024519443511963,
-1.5704082250595093,
2.958028554916382,
0
] | [
-1.7569408416748047,
-1.098841667175293,
1.7325146198272705,
-2.2022197246551514,
-1.5703948736190796,
2.958547592163086,
0
] | move_to_position | 0.012609 | [
-1.7232506275177002,
-1.102580189704895,
1.7219923734664917,
-2.1877381801605225,
-1.5703277587890625,
2.9922051429748535,
0
] | [
-0.04022129625082016,
0.6238753199577332,
0.049478817731142044,
0,
0,
0
] | [
0.04022129625082016,
-0.6238753199577332,
0.049478817731142044,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.019281910732388496,
-0.6230470538139343,
0.04407883062958717,
-3.1401560306549072,
-0.000448690407210961,
-3.140807867050171
] | 1 | 47.900002 | 479 | 8 | 5,014 | 0 |
[
-1.7558635473251343,
-1.0988420248031616,
1.7321285009384155,
-2.2018039226531982,
-1.5703810453414917,
2.9596338272094727,
0
] | [
-1.7548905611038208,
-1.0991544723510742,
1.7318931818008423,
-2.2013580799102783,
-1.5703908205032349,
2.960601568222046,
0
] | move_to_position | 0.06034 | [
-1.7232506275177002,
-1.102580189704895,
1.7219923734664917,
-2.1877381801605225,
-1.5703277587890625,
2.9922051429748535,
0
] | [
-0.04022129625082016,
0.6238753199577332,
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0,
0,
0
] | [
0.04022129625082016,
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0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.020400572568178177,
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0.04447987303137779,
-3.140385389328003,
-0.0004341317689977586,
-3.1408298015594482
] | 1 | 48 | 480 | 8 | 5,015 | 0 |
[
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1.7313064336776733,
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0
] | [
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-2.2001116275787354,
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0
] | move_to_position | 0.136717 | [
-1.7232506275177002,
-1.102580189704895,
1.7219923734664917,
-2.1877381801605225,
-1.5703277587890625,
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] | [
-0.04022129625082016,
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0,
0,
0
] | [
0.04022129625082016,
-0.6238753199577332,
0.049478817731142044,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.022085996344685555,
-0.6233024597167969,
0.04501178488135338,
-3.1405742168426514,
-0.00037518038880079985,
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] | 1 | 48.099998 | 481 | 8 | 5,016 | 0 |
[
-1.7497304677963257,
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-2.1991918087005615,
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] | [
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] | move_to_position | 0.237292 | [
-1.7232506275177002,
-1.102580189704895,
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-2.1877381801605225,
-1.5703277587890625,
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0
] | [
-0.04022129625082016,
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0,
0,
0
] | [
0.04022129625082016,
-0.6238753199577332,
0.049478817731142044,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.024358445778489113,
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0.045466937124729156,
-3.140312910079956,
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] | 1 | 48.200001 | 482 | 8 | 5,017 | 0 |
[
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] | [
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-2.1970012187957764,
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] | move_to_position | 0.342263 | [
-1.7232506275177002,
-1.102580189704895,
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-2.1877381801605225,
-1.5703277587890625,
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] | [
-0.04022129625082016,
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0,
0
] | [
0.04022129625082016,
-0.6238753199577332,
0.049478817731142044,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.026668664067983627,
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] | 1 | 48.299999 | 483 | 8 | 5,018 | 0 |
[
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] | [
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] | move_to_position | 0.456287 | [
-1.7232506275177002,
-1.102580189704895,
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-2.1877381801605225,
-1.5703277587890625,
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] | [
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0,
0
] | [
0.04022129625082016,
-0.6238753199577332,
0.049478817731142044,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
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0.046644046902656555,
-3.140270233154297,
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] | 1 | 48.400002 | 484 | 8 | 5,019 | 0 |
[
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-2.194420576095581,
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] | [
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] | move_to_position | 0.556551 | [
-1.7232506275177002,
-1.102580189704895,
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-1.5703277587890625,
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] | [
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0,
0
] | [
0.04022129625082016,
-0.6238753199577332,
0.049478817731142044,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
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0.04714949056506157,
-3.1401336193084717,
-0.0004505136457737535,
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] | 1 | 48.5 | 485 | 8 | 5,020 | 0 |
[
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0
] | [
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] | move_to_position | 0.651076 | [
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-1.102580189704895,
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-1.5703277587890625,
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] | [
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0,
0
] | [
0.04022129625082016,
-0.6238753199577332,
0.049478817731142044,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
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0.04762008413672447,
-3.140124559402466,
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] | 1 | 48.599998 | 486 | 8 | 5,021 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.723487 | [
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-1.5703277587890625,
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] | [
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0,
0
] | [
0.04022129625082016,
-0.6238753199577332,
0.049478817731142044,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.034646231681108475,
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0.04801710322499275,
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] | 1 | 48.700001 | 487 | 8 | 5,022 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.796232 | [
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-1.5703277587890625,
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] | [
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0,
0
] | [
0.04022129625082016,
-0.6238753199577332,
0.049478817731142044,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.03622036054730415,
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0.04842614009976387,
-3.1401102542877197,
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] | 1 | 48.799999 | 488 | 8 | 5,023 | 0 |
[
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0
] | [
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1.7232403755187988,
-2.189321756362915,
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0
] | move_to_position | 0.864489 | [
-1.7232506275177002,
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1.7219923734664917,
-2.1877381801605225,
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] | [
-0.04022129625082016,
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0,
0
] | [
0.04022129625082016,
-0.6238753199577332,
0.049478817731142044,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.0376133993268013,
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0.0487823449075222,
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] | 1 | 48.900002 | 489 | 8 | 5,024 | 0 |
[
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2.989722490310669,
0
] | [
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0
] | move_to_position | 0.927516 | [
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1.7219923734664917,
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0
] | [
-0.04022129625082016,
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0,
0,
0
] | [
0.04022129625082016,
-0.6238753199577332,
0.049478817731142044,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.038919802755117416,
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0.049095865339040756,
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] | 1 | 49 | 490 | 8 | 5,025 | 0 |
[
-1.7241634130477905,
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0
] | [
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1.7221415042877197,
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0
] | move_to_position | 0.972685 | [
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-1.102580189704895,
1.7219923734664917,
-2.1877381801605225,
-1.5703277587890625,
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0
] | [
-0.04022129625082016,
0.6238753199577332,
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0,
0,
0
] | [
0.04022129625082016,
-0.6238753199577332,
0.049478817731142044,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.039806757122278214,
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0.049325622618198395,
-3.140045166015625,
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] | 1 | 49.099998 | 491 | 8 | 5,026 | 0 |
[
-1.7234500646591187,
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0
] | [
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1.7219927310943604,
-2.1877386569976807,
-1.5703277587890625,
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0
] | move_to_position | 0.99457 | [
-1.7232506275177002,
-1.102580189704895,
1.7219923734664917,
-2.1877381801605225,
-1.5703277587890625,
2.9922051429748535,
0
] | [
-0.04022129625082016,
0.6238753199577332,
0.049478817731142044,
0,
0,
0
] | [
0.04022129625082016,
-0.6238753199577332,
0.049478817731142044,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.04011911153793335,
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0.04939836263656616,
-3.1399800777435303,
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] | 1 | 49.200001 | 492 | 8 | 5,027 | 0 |
[
-1.723427653312683,
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2.9921371936798096,
0
] | [
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-1.102580189704895,
1.7219923734664917,
-2.1877381801605225,
-1.5703277587890625,
2.9922051429748535,
0
] | move_to_position | 0 | [
-1.8806087970733643,
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1.6465555429458618,
-1.4766806364059448,
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2.8340342044830322,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
0.040110982954502106,
-0.6238667964935303,
0.04943181201815605,
-3.1400704383850098,
-0.0005023437552154064,
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] | 1 | 49.299999 | 493 | 8 | 5,028 | 0 |
[
-1.7234476804733276,
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0
] | [
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1.7220853567123413,
-2.1877453327178955,
-1.5703489780426025,
2.992152214050293,
0
] | move_to_position | 0 | [
-1.8806087970733643,
-1.7380995750427246,
1.6465555429458618,
-1.4766806364059448,
-1.569832444190979,
2.8340342044830322,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
0.0401163324713707,
-0.623853862285614,
0.04942775145173073,
-3.1400094032287598,
-0.0005155548569746315,
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] | 1 | 49.400002 | 494 | 8 | 5,029 | 0 |
[
-1.723460078239441,
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1.7221077680587769,
-2.187659502029419,
-1.570309042930603,
2.9921371936798096,
0
] | [
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1.7224397659301758,
-2.1874735355377197,
-1.5703482627868652,
2.992084503173828,
0
] | move_to_position | 0.000243 | [
-1.8806087970733643,
-1.7380995750427246,
1.6465555429458618,
-1.4766806364059448,
-1.569832444190979,
2.8340342044830322,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
0.040097855031490326,
-0.623781681060791,
0.049666617065668106,
-3.140197515487671,
-0.00044162815902382135,
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] | 1 | 49.5 | 495 | 8 | 5,030 | 0 |
[
-1.7235239744186401,
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1.7227834463119507,
-2.1869523525238037,
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2.991969108581543,
0
] | [
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-1.1050366163253784,
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-2.186384439468384,
-1.5703455209732056,
2.991821527481079,
0
] | move_to_position | 0.001678 | [
-1.8806087970733643,
-1.7380995750427246,
1.6465555429458618,
-1.4766806364059448,
-1.569832444190979,
2.8340342044830322,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
0.04008708521723747,
-0.6233698725700378,
0.05017087981104851,
-3.140115261077881,
-0.0004448326653800905,
-3.140822410583496
] | 1 | 49.599998 | 496 | 8 | 5,031 | 0 |
[
-1.7239350080490112,
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-2.18548846244812,
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2.991609573364258,
0
] | [
-1.7241675853729248,
-1.1078088283538818,
1.7244982719421387,
-2.1847729682922363,
-1.5703415870666504,
2.991441488265991,
0
] | move_to_position | 0.004317 | [
-1.8806087970733643,
-1.7380995750427246,
1.6465555429458618,
-1.4766806364059448,
-1.569832444190979,
2.8340342044830322,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
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0,
0
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0,
0
] | 0 | move to initial position to start the task | [
0.000004659446403820766,
-0.4400094449520111,
0.3529786467552185,
-3.139733076095581,
-0.0002853877085726708,
-3.141434907913208
] | 1 | 1.3 | 13 | 9 | 5,086 | 0 |
[
-1.8803366422653198,
-1.7378803491592407,
1.6462911367416382,
-1.4764496088027954,
-1.5700730085372925,
2.8347949981689453,
0
] | [
-1.880347728729248,
-1.7378544807434082,
1.6463185548782349,
-1.4764600992202759,
-1.5700589418411255,
2.834794759750366,
0
] | move_to_position | 0 | [
-1.8803476095199585,
-1.7378545999526978,
1.646318793296814,
-1.4764602184295654,
-1.5700587034225464,
2.8347949981689453,
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 | [
0.00002033775490417611,
-0.4400249719619751,
0.35297977924346924,
-3.1397721767425537,
-0.0003254426410421729,
-3.141434907913208
] | 1 | 1.4 | 14 | 9 | 5,087 | 0 |
[
-1.88036048412323,
-1.7378612756729126,
1.6463254690170288,
-1.4764496088027954,
-1.570076823234558,
2.834791660308838,
0
] | [
-1.8803476095199585,
-1.7378545999526978,
1.646318793296814,
-1.4764602184295654,
-1.5700587034225464,
2.8347949981689453,
0
] | move_to_position | 0.253777 | [
-1.8803476095199585,
-1.7378545999526978,
1.646318793296814,
-1.4764602184295654,
-1.5700587034225464,
2.8347949981689453,
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 | [
0.000012570601029437967,
-0.4400247037410736,
0.3529815375804901,
-3.1397619247436523,
-0.00032525029382668436,
-3.1414389610290527
] | 1 | 1.5 | 15 | 9 | 5,088 | 0 |
[
-1.8803519010543823,
-1.7378612756729126,
1.646318793296814,
-1.476465106010437,
-1.5700420141220093,
2.8347949981689453,
0
] | [
-1.8803476095199585,
-1.7378545999526978,
1.646318793296814,
-1.4764602184295654,
-1.5700587034225464,
2.8347949981689453,
0
] | move_to_position | 0.000017 | [
-2.1881165504455566,
-0.9445737600326538,
1.425389051437378,
-2.048985242843628,
-1.5716065168380737,
2.52799391746521,
0
] | [
0.29347532987594604,
0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | [
-0.29347532987594604,
-0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.000027708123525371775,
-0.44002118706703186,
0.3529752194881439,
-3.139752149581909,
-0.00033538840943947434,
-3.1414077281951904
] | 1 | 1.6 | 16 | 9 | 5,089 | 0 |
[
-1.8803828954696655,
-1.7378488779067993,
1.646302580833435,
-1.4764496088027954,
-1.570076823234558,
2.834810256958008,
0
] | [
-1.8803319931030273,
-1.7378582954406738,
1.6463243961334229,
-1.4764533042907715,
-1.570069670677185,
2.834779977798462,
0
] | move_to_position | 0.000025 | [
-2.1881165504455566,
-0.9445737600326538,
1.425389051437378,
-2.048985242843628,
-1.5716065168380737,
2.52799391746521,
0
] | [
0.29347532987594604,
0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | [
-0.29347532987594604,
-0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.000015209959201456513,
-0.4400244355201721,
0.3529911935329437,
-3.139787197113037,
-0.0003007036866620183,
-3.1414036750793457
] | 1 | 1.7 | 17 | 9 | 5,090 | 0 |
[
-1.8804067373275757,
-1.737805962562561,
1.646330714225769,
-1.4765490293502808,
-1.570069670677185,
2.8347394466400146,
0
] | [
-1.8805603981018066,
-1.7376948595046997,
1.6465247869491577,
-1.4767862558364868,
-1.5700700283050537,
2.834552049636841,
0
] | move_to_position | 0.00012 | [
-2.1881165504455566,
-0.9445737600326538,
1.425389051437378,
-2.048985242843628,
-1.5716065168380737,
2.52799391746521,
0
] | [
0.29347532987594604,
0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | [
-0.29347532987594604,
-0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.000015320361853810027,
-0.4400470554828644,
0.3529638946056366,
-3.1398251056671143,
-0.0002997578994836658,
-3.1413795948028564
] | 1 | 1.8 | 18 | 9 | 5,091 | 0 |
[
-1.8808821439743042,
-1.7376333475112915,
1.6466339826583862,
-1.4771760702133179,
-1.5700920820236206,
2.8342597484588623,
0
] | [
-1.8811132907867432,
-1.7373230457305908,
1.6469919681549072,
-1.4776115417480469,
-1.5700712203979492,
2.8339998722076416,
0
] | move_to_position | 0.000725 | [
-2.1881165504455566,
-0.9445737600326538,
1.425389051437378,
-2.048985242843628,
-1.5716065168380737,
2.52799391746521,
0
] | [
0.29347532987594604,
0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | [
-0.29347532987594604,
-0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.0003183225344400853,
-0.4402141273021698,
0.3527435064315796,
-3.1399619579315186,
-0.0002210402744822204,
-3.1413724422454834
] | 1 | 1.9 | 19 | 9 | 5,092 | 0 |
[
-1.8817366361618042,
-1.7369619607925415,
1.647478461265564,
-1.478461742401123,
-1.570069670677185,
2.8334052562713623,
0
] | [
-1.8821611404418945,
-1.7365689277648926,
1.647842288017273,
-1.4792133569717407,
-1.5700734853744507,
2.832953929901123,
0
] | move_to_position | 0.002068 | [
-2.1881165504455566,
-0.9445737600326538,
1.425389051437378,
-2.048985242843628,
-1.5716065168380737,
2.52799391746521,
0
] | [
0.29347532987594604,
0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | [
-0.29347532987594604,
-0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.0008446041028946638,
-0.4405313730239868,
0.3521096706390381,
-3.1397204399108887,
-0.00035322282928973436,
-3.1414082050323486
] | 1 | 2 | 20 | 9 | 5,093 | 0 |
[
-1.883001685142517,
-1.735876202583313,
1.648518443107605,
-1.4805902242660522,
-1.5700920820236206,
2.832104206085205,
0
] | [
-1.8836194276809692,
-1.7354313135147095,
1.6489782333374023,
-1.4814939498901367,
-1.570076584815979,
2.831498384475708,
0
] | move_to_position | 0.004271 | [
-2.1881165504455566,
-0.9445737600326538,
1.425389051437378,
-2.048985242843628,
-1.5716065168380737,
2.52799391746521,
0
] | [
0.29347532987594604,
0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | [
-0.29347532987594604,
-0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.001564490725286305,
-0.44099074602127075,
0.35135072469711304,
-3.139655828475952,
-0.0003170312847942114,
-3.141378164291382
] | 1 | 2.1 | 21 | 9 | 5,094 | 0 |
[
-1.8847826719284058,
-1.7344881296157837,
1.6498526334762573,
-1.4834035634994507,
-1.5701006650924683,
2.8303000926971436,
0
] | [
-1.8855465650558472,
-1.7338111400604248,
1.650421380996704,
-1.4845699071884155,
-1.5700809955596924,
2.8295750617980957,
0
] | move_to_position | 0.007203 | [
-2.1881165504455566,
-0.9445737600326538,
1.425389051437378,
-2.048985242843628,
-1.5716065168380737,
2.52799391746521,
0
] | [
0.29347532987594604,
0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | [
-0.29347532987594604,
-0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.0026563932187855244,
-0.4417382776737213,
0.3502938747406006,
-3.139707088470459,
-0.0003292688634246588,
-3.141394853591919
] | 1 | 2.2 | 22 | 9 | 5,095 | 0 |
[
-1.8871387243270874,
-1.7324172258377075,
1.6514915227890015,
-1.4870707988739014,
-1.5700849294662476,
2.8280444145202637,
0
] | [
-1.888351321220398,
-1.731274962425232,
1.6524367332458496,
-1.4891383647918701,
-1.5700876712799072,
2.8267760276794434,
0
] | move_to_position | 0.011193 | [
-2.1881165504455566,
-0.9445737600326538,
1.425389051437378,
-2.048985242843628,
-1.5716065168380737,
2.52799391746521,
0
] | [
0.29347532987594604,
0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | [
-0.29347532987594604,
-0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.003972047474235296,
-0.442634642124176,
0.3490493595600128,
-3.1397573947906494,
-0.0002983774174936116,
-3.1414268016815186
] | 1 | 2.3 | 23 | 9 | 5,096 | 0 |
[
-1.889769434928894,
-1.7298952341079712,
1.6534861326217651,
-1.49149751663208,
-1.570074439048767,
2.8253157138824463,
0
] | [
-1.8911125659942627,
-1.7286182641983032,
1.6543461084365845,
-1.4937162399291992,
-1.570094347000122,
2.8240206241607666,
0
] | move_to_position | 0.015954 | [
-2.1881165504455566,
-0.9445737600326538,
1.425389051437378,
-2.048985242843628,
-1.5716065168380737,
2.52799391746521,
0
] | [
0.29347532987594604,
0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | [
-0.29347532987594604,
-0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.005652335938066244,
-0.44386279582977295,
0.3472905158996582,
-3.139673948287964,
-0.0003534133720677346,
-3.141386032104492
] | 1 | 2.4 | 24 | 9 | 5,097 | 0 |
[
-1.8931931257247925,
-1.7265750169754028,
1.655701994895935,
-1.4971338510513306,
-1.570062518119812,
2.8220043182373047,
0
] | [
-1.8946444988250732,
-1.7250369787216187,
1.6567039489746094,
-1.4996631145477295,
-1.5701030492782593,
2.8204965591430664,
0
] | move_to_position | 0.02211 | [
-2.1881165504455566,
-0.9445737600326538,
1.425389051437378,
-2.048985242843628,
-1.5716065168380737,
2.52799391746521,
0
] | [
0.29347532987594604,
0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | [
-0.29347532987594604,
-0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.007726983167231083,
-0.44539231061935425,
0.34528547525405884,
-3.1397886276245117,
-0.000291636650217697,
-3.1413934230804443
] | 1 | 2.5 | 25 | 9 | 5,098 | 0 |
[
-1.8968614339828491,
-1.722687840461731,
1.6581991910934448,
-1.5034332275390625,
-1.5701402425765991,
2.8182880878448486,
0
] | [
-1.8991203308105469,
-1.7204550504684448,
1.6596912145614624,
-1.5072342157363892,
-1.5701141357421875,
2.816030740737915,
0
] | move_to_position | 0.029043 | [
-2.1881165504455566,
-0.9445737600326538,
1.425389051437378,
-2.048985242843628,
-1.5716065168380737,
2.52799391746521,
0
] | [
0.29347532987594604,
0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | [
-0.29347532987594604,
-0.6455193161964417,
0.060889579355716705,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
-0.01007736288011074,
-0.44712695479393005,
0.3428843915462494,
-3.1396749019622803,
-0.0003478021244518459,
-3.1413912773132324
] | 1 | 2.6 | 26 | 9 | 5,099 | 0 |
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