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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-1.7530659437179565,
-1.1066893339157104,
1.7265948057174683,
-2.1875922679901123,
-1.5701535940170288,
2.962979316711426,
0.24705882370471954
] | [
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1.72659170627594,
-2.187572717666626,
-1.570143222808838,
2.9629859924316406,
0
] | gripper_open | 0.752941 | [
-1.752898097038269,
-1.1067854166030884,
1.726483702659607,
-2.1875035762786865,
-1.570114016532898,
2.963078260421753,
0
] | [
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] | [
0.022069640457630157,
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0.05010584741830826,
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-0.0007821775507181883,
-3.141273260116577
] | 0 | pick green block and place on green dish: release at green dish | [
0.022005654871463776,
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0.05001449957489967,
-3.1394782066345215,
-0.0007988369325175881,
-3.141289234161377
] | 1 | 54.099998 | 541 | 16 | 9,700 | 0 |
[
-1.7530463933944702,
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1.726575255393982,
-2.187568426132202,
-1.5701535940170288,
2.9629485607147217,
0.01568627543747425
] | [
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1.72659170627594,
-2.187572717666626,
-1.570143222808838,
2.9629859924316406,
0
] | gripper_open | 0.984311 | [
-1.752898097038269,
-1.1067854166030884,
1.726483702659607,
-2.1875035762786865,
-1.570114016532898,
2.963078260421753,
0
] | [
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0.05010584741830826,
-3.1395671367645264,
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] | [
0.022069640457630157,
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0.05010584741830826,
-3.1395671367645264,
-0.0007821775507181883,
-3.141273260116577
] | 0 | pick green block and place on green dish: release at green dish | [
0.021976515650749207,
-0.6229855418205261,
0.05003071948885918,
-3.1395199298858643,
-0.0008052287739701569,
-3.1413469314575195
] | 1 | 54.200001 | 542 | 16 | 9,701 | 0 |
[
-1.7530583143234253,
-1.1066689491271973,
1.7265914678573608,
-2.187584161758423,
-1.5701264142990112,
2.962963819503784,
0.0117647061124444
] | [
-1.7530651092529297,
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1.72659170627594,
-2.187572717666626,
-1.570143222808838,
2.9629859924316406,
0
] | gripper_open | 0.988232 | [
-1.752898097038269,
-1.1067854166030884,
1.726483702659607,
-2.1875035762786865,
-1.570114016532898,
2.963078260421753,
0
] | [
-0.022069640457630157,
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0.05010584741830826,
-3.1395671367645264,
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] | [
0.022069640457630157,
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0.05010584741830826,
-3.1395671367645264,
-0.0007821775507181883,
-3.141273260116577
] | 0 | pick green block and place on green dish: release at green dish | [
0.021992484107613564,
-0.6229704022407532,
0.05001147463917732,
-3.1394705772399902,
-0.0008350781281478703,
-3.141350030899048
] | 1 | 54.299999 | 543 | 16 | 9,702 | 0 |
[
-1.7530583143234253,
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1.726610541343689,
-2.1875722408294678,
-1.5701602697372437,
2.9629993438720703,
0.0117647061124444
] | [
-1.7530651092529297,
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1.72659170627594,
-2.187572717666626,
-1.570143222808838,
2.9629859924316406,
0
] | gripper_open | 0.988232 | [
-1.752898097038269,
-1.1067854166030884,
1.726483702659607,
-2.1875035762786865,
-1.570114016532898,
2.963078260421753,
0
] | [
-0.022069640457630157,
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0.05010584741830826,
-3.1395671367645264,
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] | [
0.022069640457630157,
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0.05010584741830826,
-3.1395671367645264,
-0.0007821775507181883,
-3.141273260116577
] | 0 | pick green block and place on green dish: release at green dish | [
0.021983277052640915,
-0.6229941844940186,
0.05003039166331291,
-3.1395225524902344,
-0.0008361600921489298,
-3.141390323638916
] | 1 | 54.400002 | 544 | 16 | 9,703 | 0 |
[
-1.7530745267868042,
-1.106680989265442,
1.7266019582748413,
-2.187584161758423,
-1.5701297521591187,
2.9629831314086914,
0.0117647061124444
] | [
-1.7530651092529297,
-1.1066628694534302,
1.72659170627594,
-2.187572717666626,
-1.570143222808838,
2.9629859924316406,
0
] | gripper_open | 0.988232 | [
-1.752898097038269,
-1.1067854166030884,
1.726483702659607,
-2.1875035762786865,
-1.570114016532898,
2.963078260421753,
0
] | [
-0.022069640457630157,
0.6230010986328125,
0.05010584741830826,
-3.1395671367645264,
-0.0007821775507181883,
-3.141273260116577
] | [
0.022069640457630157,
-0.6230010986328125,
0.05010584741830826,
-3.1395671367645264,
-0.0007821775507181883,
-3.141273260116577
] | 0 | pick green block and place on green dish: release at green dish | [
0.021974878385663033,
-0.6229817271232605,
0.050005052238702774,
-3.139488697052002,
-0.0008109657792374492,
-3.1413588523864746
] | 1 | 54.5 | 545 | 16 | 9,704 | 0 |
[
-1.7530707120895386,
-1.1066653728485107,
1.7265914678573608,
-2.1875765323638916,
-1.5701569318771362,
2.9629955291748047,
0
] | [
-1.7530651092529297,
-1.1066628694534302,
1.72659170627594,
-2.187572717666626,
-1.570143222808838,
2.9629859924316406,
0
] | move_to_position | 0 | [
-1.6795998811721802,
-1.1544785499572754,
1.6857566833496094,
-2.098980188369751,
-1.569921612739563,
3.036353588104248,
0
] | [
-0.06758417189121246,
0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | [
0.06758417189121246,
-0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.02197602018713951,
-0.6229882836341858,
0.05002560466527939,
-3.1394896507263184,
-0.0008107111789286137,
-3.1413867473602295
] | 1 | 54.599998 | 546 | 16 | 9,705 | 0 |
[
-1.753062129020691,
-1.1066653728485107,
1.7265790700912476,
-2.1875722408294678,
-1.5701602697372437,
2.962999105453491,
0
] | [
-1.7528834342956543,
-1.1067585945129395,
1.7264937162399292,
-2.1874287128448486,
-1.5701754093170166,
2.9631030559539795,
0
] | move_to_position | 0.000057 | [
-1.6795998811721802,
-1.1544785499572754,
1.6857566833496094,
-2.098980188369751,
-1.569921612739563,
3.036353588104248,
0
] | [
-0.06758417189121246,
0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | [
0.06758417189121246,
-0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.02199733443558216,
-0.6229785084724426,
0.05003119260072708,
-3.1394755840301514,
-0.0008190617663785815,
-3.1413540840148926
] | 1 | 54.700001 | 547 | 16 | 9,706 | 0 |
[
-1.7520912885665894,
-1.1072728633880615,
1.726174235343933,
-2.186518907546997,
-1.5701655149459839,
2.963874101638794,
0
] | [
-1.7508686780929565,
-1.1082603931427002,
1.7256313562393188,
-2.185131311416626,
-1.570168137550354,
2.965057373046875,
0
] | move_to_position | 0.012208 | [
-1.6795998811721802,
-1.1544785499572754,
1.6857566833496094,
-2.098980188369751,
-1.569921612739563,
3.036353588104248,
0
] | [
-0.06758417189121246,
0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | [
0.06758417189121246,
-0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.022845253348350525,
-0.6229639649391174,
0.0507148876786232,
-3.139528274536133,
-0.000768080004490912,
-3.141247272491455
] | 1 | 54.799999 | 548 | 16 | 9,707 | 0 |
[
-1.7493103742599487,
-1.1094532012939453,
1.7249597311019897,
-2.183212995529175,
-1.5701807737350464,
2.9666833877563477,
0
] | [
-1.7472611665725708,
-1.11098051071167,
1.7240976095199585,
-2.1808714866638184,
-1.5701549053192139,
2.9686684608459473,
0
] | move_to_position | 0.050158 | [
-1.6795998811721802,
-1.1544785499572754,
1.6857566833496094,
-2.098980188369751,
-1.569921612739563,
3.036353588104248,
0
] | [
-0.06758417189121246,
0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | [
0.06758417189121246,
-0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.024836918339133263,
-0.6227965354919434,
0.052341777831315994,
-3.1394541263580322,
-0.0007854896830394864,
-3.1412785053253174
] | 1 | 54.900002 | 549 | 16 | 9,708 | 0 |
[
-1.7443660497665405,
-1.1131559610366821,
1.722899317741394,
-2.1775476932525635,
-1.5701621770858765,
2.971546173095703,
0
] | [
-1.7424122095108032,
-1.1145637035369873,
1.7219350337982178,
-2.175086259841919,
-1.5701370239257812,
2.973550796508789,
0
] | move_to_position | 0.11579 | [
-1.6795998811721802,
-1.1544785499572754,
1.6857566833496094,
-2.098980188369751,
-1.569921612739563,
3.036353588104248,
0
] | [
-0.06758417189121246,
0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | [
0.06758417189121246,
-0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.027729259803891182,
-0.6226261854171753,
0.05479364097118378,
-3.139622926712036,
-0.0007549913134425879,
-3.141213893890381
] | 1 | 55 | 550 | 16 | 9,709 | 0 |
[
-1.7389987707138062,
-1.1170049905776978,
1.7203415632247925,
-2.1710283756256104,
-1.5701607465744019,
2.976961612701416,
0
] | [
-1.7368483543395996,
-1.1185320615768433,
1.719272255897522,
-2.1684153079986572,
-1.5701169967651367,
2.9791479110717773,
0
] | move_to_position | 0.189142 | [
-1.6795998811721802,
-1.1544785499572754,
1.6857566833496094,
-2.098980188369751,
-1.569921612739563,
3.036353588104248,
0
] | [
-0.06758417189121246,
0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | [
0.06758417189121246,
-0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.031134480610489845,
-0.6223950386047363,
0.057602401822805405,
-3.1394734382629395,
-0.0007740121800452471,
-3.14131498336792
] | 1 | 55.099998 | 551 | 16 | 9,710 | 0 |
[
-1.7331384420394897,
-1.121114730834961,
1.717337965965271,
-2.163912534713745,
-1.570114016532898,
2.9828951358795166,
0
] | [
-1.7305558919906616,
-1.1227854490280151,
1.7159698009490967,
-2.160848379135132,
-1.5700948238372803,
2.985447645187378,
0
] | move_to_position | 0.269473 | [
-1.6795998811721802,
-1.1544785499572754,
1.6857566833496094,
-2.098980188369751,
-1.569921612739563,
3.036353588104248,
0
] | [
-0.06758417189121246,
0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | [
0.06758417189121246,
-0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.035204291343688965,
-0.6221940517425537,
0.06098997965455055,
-3.1394400596618652,
-0.0007614362402819097,
-3.14131498336792
] | 1 | 55.200001 | 552 | 16 | 9,711 | 0 |
[
-1.7260559797286987,
-1.1257458925247192,
1.7133883237838745,
-2.155362367630005,
-1.5700525045394897,
2.9899446964263916,
0
] | [
-1.7228461503982544,
-1.1277832984924316,
1.7116546630859375,
-2.151540994644165,
-1.570068120956421,
2.993149757385254,
0
] | move_to_position | 0.365885 | [
-1.6795998811721802,
-1.1544785499572754,
1.6857566833496094,
-2.098980188369751,
-1.569921612739563,
3.036353588104248,
0
] | [
-0.06758417189121246,
0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | [
0.06758417189121246,
-0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.03982141241431236,
-0.6220364570617676,
0.06483378261327744,
-3.139538049697876,
-0.0007486915565095842,
-3.1413090229034424
] | 1 | 55.299999 | 553 | 16 | 9,712 | 0 |
[
-1.7175706624984741,
-1.131171703338623,
1.7085946798324585,
-2.145189046859741,
-1.5700510740280151,
2.9984562397003174,
0
] | [
-1.7124927043914795,
-1.1343799829483032,
1.7057135105133057,
-2.1390106678009033,
-1.5700325965881348,
3.003493070602417,
0
] | move_to_position | 0.481191 | [
-1.6795998811721802,
-1.1544785499572754,
1.6857566833496094,
-2.098980188369751,
-1.569921612739563,
3.036353588104248,
0
] | [
-0.06758417189121246,
0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | [
0.06758417189121246,
-0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.045052420347929,
-0.6217897534370422,
0.06916404515504837,
-3.13948655128479,
-0.0007414513383992016,
-3.1414120197296143
] | 1 | 55.400002 | 554 | 16 | 9,713 | 0 |
[
-1.7079919576644897,
-1.137163758277893,
1.7031391859054565,
-2.133599042892456,
-1.5699738264083862,
3.0079360008239746,
0
] | [
-1.7050036191940308,
-1.1391090154647827,
1.7013615369796753,
-2.1299352645874023,
-1.570007085800171,
3.010974645614624,
0
] | move_to_position | 0.611167 | [
-1.6795998811721802,
-1.1544785499572754,
1.6857566833496094,
-2.098980188369751,
-1.569921612739563,
3.036353588104248,
0
] | [
-0.06758417189121246,
0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | [
0.06758417189121246,
-0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.051187802106142044,
-0.6214401721954346,
0.07419699430465698,
-3.1394734382629395,
-0.0008454354829154909,
-3.141284942626953
] | 1 | 55.5 | 555 | 16 | 9,714 | 0 |
[
-1.699004054069519,
-1.1428989171981812,
1.697860598564148,
-2.122614622116089,
-1.5699619054794312,
3.016968011856079,
0
] | [
-1.6961055994033813,
-1.1446961164474487,
1.696150779724121,
-2.1191442012786865,
-1.5699766874313354,
3.019864082336426,
0
] | move_to_position | 0.734522 | [
-1.6795998811721802,
-1.1544785499572754,
1.6857566833496094,
-2.098980188369751,
-1.569921612739563,
3.036353588104248,
0
] | [
-0.06758417189121246,
0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | [
0.06758417189121246,
-0.6202390789985657,
0.08785419166088104,
0,
0,
0
] | 0 | pick green block and place on green dish: retract after place | [
0.05668231099843979,
-0.6210328340530396,
0.07876031845808029,
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] | 1 | 55.599998 | 556 | 16 | 9,715 | 0 |
[
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[
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[
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[
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[
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[
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] | 0 | return to home after task completion | [
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[
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] | [
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] | move_to_position | 0.00003 | [
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] | [
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-0.4399999976158142,
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] | 0 | return to home after task completion | [
0.06752270460128784,
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[
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] | move_to_position | 0.000282 | [
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] | [
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-0.4399999976158142,
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] | 0 | return to home after task completion | [
0.06748788058757782,
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0.08792158216238022,
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] | 1 | 56.400002 | 564 | 16 | 9,723 | 0 |
[
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] | [
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] | move_to_position | 0.001986 | [
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] | [
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] | 0 | return to home after task completion | [
0.06734588742256165,
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[
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] | [
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] | move_to_position | 0.005268 | [
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] | [
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] | [
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-0.4399999976158142,
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] | 0 | return to home after task completion | [
0.06696970015764236,
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] | 1 | 56.599998 | 566 | 16 | 9,725 | 0 |
[
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] | [
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] | move_to_position | 0.010929 | [
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] | [
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] | [
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-0.4399999976158142,
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] | 0 | return to home after task completion | [
0.06650255620479584,
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0.09121543169021606,
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] | 1 | 56.700001 | 567 | 16 | 9,726 | 0 |
[
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] | [
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] | move_to_position | 0.018142 | [
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] | [
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] | [
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-0.4399999976158142,
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] | 0 | return to home after task completion | [
0.06600073724985123,
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0.09354709088802338,
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] | 1 | 56.799999 | 568 | 16 | 9,727 | 0 |
[
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] | [
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] | move_to_position | 0.028809 | [
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] | [
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] | [
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-0.4399999976158142,
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] | 0 | return to home after task completion | [
0.06513434648513794,
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0.09695668518543243,
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] | 1 | 56.900002 | 569 | 16 | 9,728 | 0 |
[
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] | [
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] | move_to_position | 0.042802 | [
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] | [
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] | [
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-0.4399999976158142,
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] | 0 | return to home after task completion | [
0.06404967606067657,
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] | 1 | 57 | 570 | 16 | 9,729 | 0 |
[
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] | [
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] | move_to_position | 0.059975 | [
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] | [
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] | [
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-0.4399999976158142,
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0,
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] | 0 | return to home after task completion | [
0.06273970007896423,
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[
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] | [
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] | move_to_position | 0.081006 | [
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] | [
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] | [
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] | 0 | return to home after task completion | [
0.06112241744995117,
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0.11280056834220886,
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] | 1 | 57.200001 | 572 | 16 | 9,731 | 0 |
[
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] | [
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] | move_to_position | 0.103888 | [
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] | [
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] | [
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] | 0 | return to home after task completion | [
0.059410374611616135,
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] | 1 | 57.299999 | 573 | 16 | 9,732 | 0 |
[
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] | [
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] | move_to_position | 0.132406 | [
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1.642702341079712,
-1.4711898565292358,
-1.570038914680481,
2.835007429122925,
0
] | move_to_position | 0.125049 | [
-1.8803995847702026,
-1.7349473237991333,
1.64268958568573,
-1.471187949180603,
-1.570064902305603,
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0
] | [
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 | [
0.000022834135961602442,
-0.4400213658809662,
0.35301631689071655,
-3.1354448795318604,
-0.0017627525376155972,
3.1414802074432373
] | 1 | 0.7 | 7 | 17 | 9,769 | 0 |
[
-1.8804067373275757,
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1.64268958568573,
-1.4712036848068237,
-1.570006251335144,
2.835010528564453,
0
] | [
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1.642699956893921,
-1.4711894989013672,
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2.835005044937134,
0
] | move_to_position | 0.024997 | [
-1.8803995847702026,
-1.7349473237991333,
1.64268958568573,
-1.471187949180603,
-1.570064902305603,
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0
] | [
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 | [
0.000030928968044463545,
-0.43999341130256653,
0.35300707817077637,
-3.135378360748291,
-0.0017351084388792515,
3.1415395736694336
] | 1 | 0.8 | 8 | 17 | 9,770 | 0 |
[
-1.8803876638412476,
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1.6427096128463745,
-1.4712071418762207,
-1.5700687170028687,
2.835038661956787,
0
] | [
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1.6426979303359985,
-1.471189260482788,
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2.835003137588501,
0
] | move_to_position | 0.093576 | [
-1.8803995847702026,
-1.7349473237991333,
1.64268958568573,
-1.471187949180603,
-1.570064902305603,
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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 | [
0.000017009679140755907,
-0.4400188624858856,
0.3530007302761078,
-3.135417938232422,
-0.0017465883865952492,
3.1415154933929443
] | 1 | 0.9 | 9 | 17 | 9,771 | 0 |
[
-1.8803876638412476,
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1.6426748037338257,
-1.4711915254592896,
-1.5700143575668335,
2.8350141048431396,
0
] | [
-1.8803913593292236,
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1.642695665359497,
-1.4711889028549194,
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2.835000991821289,
0
] | move_to_position | 0.125164 | [
-1.8803995847702026,
-1.7349473237991333,
1.64268958568573,
-1.471187949180603,
-1.570064902305603,
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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 | [
0.000022462501874542795,
-0.439993292093277,
0.3530086576938629,
-3.1353843212127686,
-0.0017408615676686168,
3.141531229019165
] | 1 | 1 | 10 | 17 | 9,772 | 0 |
[
-1.8803757429122925,
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1.64268958568573,
-1.4712105989456177,
-1.5700687170028687,
2.8350021839141846,
0
] | [
-1.8803941011428833,
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1.6426936388015747,
-1.4711885452270508,
-1.570056676864624,
2.8349990844726562,
0
] | move_to_position | 0.457846 | [
-1.8803995847702026,
-1.7349473237991333,
1.64268958568573,
-1.471187949180603,
-1.570064902305603,
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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 | [
-0.0000051684369282156695,
-0.44000741839408875,
0.3530004918575287,
-3.135380983352661,
-0.0016797357238829136,
3.1414973735809326
] | 1 | 1.1 | 11 | 17 | 9,773 | 0 |
[
-1.8803805112838745,
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1.64268958568573,
-1.4712105989456177,
-1.57005774974823,
2.8350260257720947,
0
] | [
-1.8803962469100952,
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1.642691969871521,
-1.4711883068084717,
-1.570059895515442,
2.8349974155426025,
0
] | move_to_position | 0.317443 | [
-1.8803995847702026,
-1.7349473237991333,
1.64268958568573,
-1.471187949180603,
-1.570064902305603,
2.8349950313568115,
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 | [
-0.0000018566375956652337,
-0.4400079548358917,
0.3530043363571167,
-3.135373830795288,
-0.0017070858739316463,
3.141493558883667
] | 1 | 1.2 | 12 | 17 | 9,774 | 0 |
[
-1.880372405052185,
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1.6427019834518433,
-1.4711915254592896,
-1.5700925588607788,
2.834998607635498,
0
] | [
-1.8803980350494385,
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1.642690658569336,
-1.4711881875991821,
-1.570062518119812,
2.834996223449707,
0
] | move_to_position | 0.372579 | [
-1.8803995847702026,
-1.7349473237991333,
1.64268958568573,
-1.471187949180603,
-1.570064902305603,
2.8349950313568115,
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 | [
0.000011399331924621947,
-0.44001197814941406,
0.35301780700683594,
-3.1354212760925293,
-0.0017159059643745422,
3.1415014266967773
] | 1 | 1.3 | 13 | 17 | 9,775 | 0 |
[
-1.88040292263031,
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1.642712950706482,
-1.4711692333221436,
-1.5700887441635132,
2.835024833679199,
0
] | [
-1.8803991079330444,
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1.642689824104309,
-1.4711880683898926,
-1.5700643062591553,
2.8349952697753906,
0
] | move_to_position | 0.181639 | [
-1.8803995847702026,
-1.7349473237991333,
1.64268958568573,
-1.471187949180603,
-1.570064902305603,
2.8349950313568115,
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 | [
-0.0000016572968206673977,
-0.4400106370449066,
0.35300689935684204,
-3.135389566421509,
-0.0017062955303117633,
3.14152455329895
] | 1 | 1.4 | 14 | 17 | 9,776 | 0 |
[
-1.8803995847702026,
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1.6426934003829956,
-1.4712036848068237,
-1.5700386762619019,
2.834991455078125,
0
] | [
-1.8803995847702026,
-1.7349473237991333,
1.64268958568573,
-1.471187949180603,
-1.570064902305603,
2.8349950313568115,
0
] | move_to_position | 0.515091 | [
-1.8803995847702026,
-1.7349473237991333,
1.64268958568573,
-1.471187949180603,
-1.570064902305603,
2.8349950313568115,
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 | [
-3.061271911519725e-7,
-0.44000425934791565,
0.3530172109603882,
-3.1354103088378906,
-0.0016796414274722338,
3.1415352821350098
] | 1 | 1.5 | 15 | 17 | 9,777 | 0 |
[
-1.880398154258728,
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1.6426748037338257,
-1.4711761474609375,
-1.5700191259384155,
2.834998607635498,
0
] | [
-1.8803995847702026,
-1.7349473237991333,
1.64268958568573,
-1.471187949180603,
-1.570064902305603,
2.8349950313568115,
0
] | move_to_position | 0.000009 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
1.1813589395615054e-7,
-0.4400020241737366,
0.35301461815834045,
-3.135399580001831,
-0.0016737317200750113,
3.1415019035339355
] | 1 | 1.6 | 16 | 17 | 9,778 | 0 |
[
-1.880372405052185,
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1.64268958568573,
-1.4712105989456177,
-1.5701006650924683,
2.835017681121826,
0
] | [
-1.8803415298461914,
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1.6426948308944702,
-1.471182107925415,
-1.5700695514678955,
2.8350064754486084,
0
] | move_to_position | 0.000036 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.00001039581184159033,
-0.44000759720802307,
0.3530329763889313,
-3.1354565620422363,
-0.0017013170290738344,
3.141536235809326
] | 1 | 1.7 | 17 | 17 | 9,779 | 0 |
[
-1.8803232908248901,
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1.6427019834518433,
-1.4712704420089722,
-1.570076823234558,
2.8350114822387695,
0
] | [
-1.8800594806671143,
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1.6428167819976807,
-1.4715856313705444,
-1.570068120956421,
2.835289239883423,
0
] | move_to_position | 0.000059 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.00003748064409592189,
-0.4400361180305481,
0.35299453139305115,
-3.135453224182129,
-0.0016725447494536638,
3.141505718231201
] | 1 | 1.8 | 18 | 17 | 9,780 | 0 |
[
-1.8797115087509155,
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1.6428498029708862,
-1.472109079360962,
-1.570069670677185,
2.8356258869171143,
0
] | [
-1.879420518875122,
-1.733937382698059,
1.643093228340149,
-1.4725890159606934,
-1.5700644254684448,
2.8359296321868896,
0
] | move_to_position | 0.000859 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.0002498037356417626,
-0.44037824869155884,
0.35270416736602783,
-3.135557174682617,
-0.0016354850959032774,
3.141568183898926
] | 1 | 1.9 | 19 | 17 | 9,781 | 0 |
[
-1.8786181211471558,
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1.6433085203170776,
-1.4736555814743042,
-1.5700420141220093,
2.836625099182129,
0
] | [
-1.8782823085784912,
-1.7325408458709717,
1.6435439586639404,
-1.4744360446929932,
-1.5700578689575195,
2.8370704650878906,
0
] | move_to_position | 0.002564 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.0005655629211105406,
-0.44093599915504456,
0.3520725965499878,
-3.135416030883789,
-0.0016703242436051369,
-3.1415300369262695
] | 1 | 2 | 20 | 17 | 9,782 | 0 |
[
-1.8772763013839722,
-1.7313424348831177,
1.6438363790512085,
-1.476016640663147,
-1.5700539350509644,
2.8380136489868164,
0
] | [
-1.8766067028045654,
-1.7303534746170044,
1.644136667251587,
-1.4772130250930786,
-1.5700483322143555,
2.8387506008148193,
0
] | move_to_position | 0.00493 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.000946607964579016,
-0.4418288469314575,
0.3511899411678314,
-3.1354284286499023,
-0.0016779914731159806,
-3.141575336456299
] | 1 | 2.1 | 21 | 17 | 9,783 | 0 |
[
-1.8754700422286987,
-1.7288323640823364,
1.6444467306137085,
-1.4791085720062256,
-1.57001531124115,
2.839900016784668,
0
] | [
-1.8744198083877563,
-1.7273510694503784,
1.644819736480713,
-1.480893850326538,
-1.5700360536575317,
2.8409433364868164,
0
] | move_to_position | 0.008201 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.001427575247362256,
-0.4429904818534851,
0.3501105010509491,
-3.1354544162750244,
-0.0016419024905189872,
3.141547203063965
] | 1 | 2.2 | 22 | 17 | 9,784 | 0 |
[
-1.8728188276290894,
-1.7250419855117798,
1.6452792882919312,
-1.4836310148239136,
-1.5700615644454956,
2.842559337615967,
0
] | [
-1.8717756271362305,
-1.7235658168792725,
1.6455446481704712,
-1.4853993654251099,
-1.570021390914917,
2.843594789505005,
0
] | move_to_position | 0.013051 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.0020651682280004025,
-0.4445611834526062,
0.34862178564071655,
-3.1353819370269775,
-0.0016550789587199688,
3.1415421962738037
] | 1 | 2.3 | 23 | 17 | 9,785 | 0 |
[
-1.8697923421859741,
-1.7207037210464478,
1.6460493803024292,
-1.4887278079986572,
-1.570017695426941,
2.8455305099487305,
0
] | [
-1.8686376810073853,
-1.718910813331604,
1.6462950706481934,
-1.490801453590393,
-1.5700044631958008,
2.8467414379119873,
0
] | move_to_position | 0.018601 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.002891971729695797,
-0.4466269612312317,
0.34674757719039917,
-3.13539981842041,
-0.0016602693358436227,
3.1415905952453613
] | 1 | 2.4 | 24 | 17 | 9,786 | 0 |
[
-1.8661030530929565,
-1.7150894403457642,
1.6468795537948608,
-1.4951972961425781,
-1.5699857473373413,
2.849285125732422,
0
] | [
-1.8645702600479126,
-1.7126933336257935,
1.6471413373947144,
-1.497865080833435,
-1.5699827671051025,
2.850820541381836,
0
] | move_to_position | 0.025703 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.003887977683916688,
-0.44921889901161194,
0.344443142414093,
-3.1354312896728516,
-0.001662221155129373,
3.141558885574341
] | 1 | 2.5 | 25 | 17 | 9,787 | 0 |
[
-1.8615282773971558,
-1.7081624269485474,
1.6479228734970093,
-1.503096580505371,
-1.5699657201766968,
2.853874683380127,
0
] | [
-1.8594387769699097,
-1.7050305604934692,
1.6483368873596191,
-1.5067520141601562,
-1.5699551105499268,
2.855966806411743,
0
] | move_to_position | 0.034397 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.005140471737831831,
-0.45231226086616516,
0.3415544331073761,
-3.1353306770324707,
-0.0017190588405355811,
-3.141568899154663
] | 1 | 2.6 | 26 | 17 | 9,788 | 0 |
[
-1.855613112449646,
-1.6993900537490845,
1.649278998374939,
-1.513314962387085,
-1.5699342489242554,
2.8597142696380615,
0
] | [
-1.8531436920166016,
-1.6956826448440552,
1.6498451232910156,
-1.517655611038208,
-1.5699210166931152,
2.8622796535491943,
0
] | move_to_position | 0.045445 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.006733326241374016,
-0.45610949397087097,
0.3380649983882904,
-3.1355223655700684,
-0.0016588970320299268,
-3.1415905952453613
] | 1 | 2.7 | 27 | 17 | 9,789 | 0 |
[
-1.8487471342086792,
-1.689015507698059,
1.650835394859314,
-1.5253117084503174,
-1.5699175596237183,
2.8666751384735107,
0
] | [
-1.8457540273666382,
-1.6844351291656494,
1.651432991027832,
-1.5305324792861938,
-1.5698814392089844,
2.8696906566619873,
0
] | move_to_position | 0.058402 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.008530807681381702,
-0.4602915644645691,
0.33409973978996277,
-3.1355018615722656,
-0.001666329219006002,
3.1415185928344727
] | 1 | 2.8 | 28 | 17 | 9,790 | 0 |
[
-1.8413766622543335,
-1.6774884462356567,
1.6522263288497925,
-1.5382812023162842,
-1.5698622465133667,
2.874155282974243,
0
] | [
-1.838422417640686,
-1.6727924346923828,
1.6526817083358765,
-1.543432593345642,
-1.569843053817749,
2.8770439624786377,
0
] | move_to_position | 0.07259 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.010813486762344837,
-0.46558865904808044,
0.329070508480072,
-3.135478973388672,
-0.001662742579355836,
3.1415319442749023
] | 1 | 2.9 | 29 | 17 | 9,791 | 0 |
[
-1.8333934545516968,
-1.6644479036331177,
1.6533316373825073,
-1.5524028539657593,
-1.569802165031433,
2.8821520805358887,
0
] | [
-1.8287802934646606,
-1.6565077304840088,
1.653663992881775,
-1.560642123222351,
-1.5697940587997437,
2.8867156505584717,
0
] | move_to_position | 0.08834 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.013075124472379684,
-0.47090592980384827,
0.32410264015197754,
-3.1354176998138428,
-0.0016439288156107068,
-3.1415579319000244
] | 1 | 3 | 30 | 17 | 9,792 | 0 |
[
-1.8243387937545776,
-1.6486202478408813,
1.6536349058151245,
-1.5686757564544678,
-1.5698250532150269,
2.891141414642334,
0
] | [
-1.8208149671554565,
-1.6420774459838867,
1.6538106203079224,
-1.5751137733459473,
-1.5697553157806396,
2.8947062492370605,
0
] | move_to_position | 0.107126 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.01544716116040945,
-0.4768944978713989,
0.3187800347805023,
-3.1356005668640137,
-0.0016232940834015608,
3.1415674686431885
] | 1 | 3.1 | 31 | 17 | 9,793 | 0 |
[
-1.8157628774642944,
-1.6326428651809692,
1.6536425352096558,
-1.584560513496399,
-1.5697463750839233,
2.899898052215576,
0
] | [
-1.8123282194137573,
-1.6263694763183594,
1.6537220478057861,
-1.5907429456710815,
-1.5697144269943237,
2.9032206535339355,
0
] | move_to_position | 0.125709 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.018308792263269424,
-0.48401468992233276,
0.31221362948417664,
-3.135474681854248,
-0.0016772662056609988,
3.141517162322998
] | 1 | 3.2 | 32 | 17 | 9,794 | 0 |
[
-1.8054932355880737,
-1.613620400428772,
1.6535123586654663,
-1.6033693552017212,
-1.569658637046814,
2.9100353717803955,
0
] | [
-1.8008660078048706,
-1.6046513319015503,
1.6531767845153809,
-1.6120550632476807,
-1.569659948348999,
2.9147210121154785,
0
] | move_to_position | 0.147618 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.02146347239613533,
-0.4914037883281708,
0.30519992113113403,
-3.1353814601898193,
-0.0017206514021381736,
-3.141533613204956
] | 1 | 3.3 | 33 | 17 | 9,795 | 0 |
[
-1.7951210737228394,
-1.5934592485427856,
1.6526826620101929,
-1.6227470636367798,
-1.569642424583435,
2.9204201698303223,
0
] | [
-1.7898623943328857,
-1.582947850227356,
1.651931643486023,
-1.6326470375061035,
-1.56960928440094,
2.9257616996765137,
0
] | move_to_position | 0.170541 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.02482783794403076,
-0.49941009283065796,
0.2977443039417267,
-3.1355600357055664,
-0.0016153175383806229,
3.1415789127349854
] | 1 | 3.4 | 34 | 17 | 9,796 | 0 |
[
-1.7842530012130737,
-1.5713964700698853,
1.6509531736373901,
-1.643297791481018,
-1.569531798362732,
2.9314727783203125,
0
] | [
-1.7790639400482178,
-1.560523271560669,
1.649760127067566,
-1.652928113937378,
-1.5695616006851196,
2.9365975856781006,
0
] | move_to_position | 0.195349 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.02844133786857128,
-0.5078977942466736,
0.2897932231426239,
-3.1356515884399414,
-0.001608742168173194,
3.1414642333984375
] | 1 | 3.5 | 35 | 17 | 9,797 | 0 |
[
-1.7732142210006714,
-1.5476857423782349,
1.6480997800827026,
-1.6639806032180786,
-1.5695618391036987,
2.9424967765808105,
0
] | [
-1.7678712606430054,
-1.5357024669647217,
1.6461793184280396,
-1.6739850044250488,
-1.5695152282714844,
2.947829484939575,
0
] | move_to_position | 0.221471 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.032213903963565826,
-0.5167643427848816,
0.28145158290863037,
-3.1355204582214355,
-0.0016602163668721914,
3.141552209854126
] | 1 | 3.6 | 36 | 17 | 9,798 | 0 |
[
-1.7616313695907593,
-1.5210422277450562,
1.643485426902771,
-1.685782551765442,
-1.5695027112960815,
2.9540791511535645,
0
] | [
-1.7578190565109253,
-1.511868953704834,
1.6416480541229248,
-1.6930028200149536,
-1.5694764852523804,
2.957918167114258,
0
] | move_to_position | 0.250423 | [
-1.5786988735198975,
-0.8358569145202637,
1.2195512056350708,
-1.9473323822021484,
-1.5692938566207886,
3.1376166343688965,
0
] | [
-0.12915147840976715,
0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | [
0.12915147840976715,
-0.7480130791664124,
0.0659802034497261,
0,
0,
0
] | 0 | pick red block and place on red dish: approach above red block | [
0.03605527803301811,
-0.5260097980499268,
0.27290475368499756,
-3.135279893875122,
-0.0017211496597155929,
3.141582489013672
] | 1 | 3.7 | 37 | 17 | 9,799 | 0 |
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