observation.state list | action list | skill.type stringclasses 3
values | skill.progress float32 0 1 | skill.goal_position.joint list | skill.goal_position.world_xyzrpy list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 1 | skill.natural_language stringclasses 57
values | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | timestamp float32 0 28.6 | frame_index int64 0 286 | episode_index int64 0 79 | index int64 0 20.4k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | move_to_position | 0.967244 | [
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] | [
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] | 1 | pick up the red block and place it into the center of the blue dish: retract with red block | [
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[
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] | move_to_position | 0.993534 | [
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] | [
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] | 1 | pick up the red block and place it into the center of the blue dish: retract with red block | [
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[
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] | [
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] | move_to_position | 0.998445 | [
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] | [
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] | 1 | pick up the red block and place it into the center of the blue dish: retract with red block | [
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[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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[
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] | move_to_position | 0 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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[
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] | [
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] | move_to_position | 0.002518 | [
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] | [
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0
] | [
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0,
0
] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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] | 0 | 12.7 | 127 | 2 | 605 | 0 |
[
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] | [
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1
] | move_to_position | 0.010822 | [
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] | [
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0
] | [
-0.015219548717141151,
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0,
0,
0
] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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] | 0 | 12.8 | 128 | 2 | 606 | 0 |
[
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] | [
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] | move_to_position | 0.026265 | [
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] | [
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] | [
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0,
0
] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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[
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] | [
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] | move_to_position | 0.049459 | [
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] | [
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0
] | [
-0.015219548717141151,
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0.07079702615737915,
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0,
0
] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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[
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] | [
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1
] | move_to_position | 0.083661 | [
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] | [
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0
] | [
-0.015219548717141151,
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0.07079702615737915,
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0,
0
] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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] | 0 | 13.1 | 131 | 2 | 609 | 0 |
[
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] | [
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1
] | move_to_position | 0.125311 | [
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] | [
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0
] | [
-0.015219548717141151,
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0.07079702615737915,
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0,
0
] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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] | 0 | 13.2 | 132 | 2 | 610 | 0 |
[
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] | [
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1
] | move_to_position | 0.180642 | [
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] | [
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] | [
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0,
0
] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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] | 0 | 13.3 | 133 | 2 | 611 | 0 |
[
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] | [
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1
] | move_to_position | 0.245091 | [
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2.9949190616607666,
1
] | [
0.015219548717141151,
0.7098866105079651,
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0,
0
] | [
-0.015219548717141151,
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0.07079702615737915,
0,
0,
0
] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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] | 0 | 13.4 | 134 | 2 | 612 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.316426 | [
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-1.05697500705719,
1.7415223121643066,
-2.6064698696136475,
-1.5810891389846802,
2.9949190616607666,
1
] | [
0.015219548717141151,
0.7098866105079651,
0.07079702615737915,
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0,
0
] | [
-0.015219548717141151,
-0.7098866105079651,
0.07079702615737915,
0,
0,
0
] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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] | 0 | 13.5 | 135 | 2 | 613 | 0 |
[
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] | [
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1
] | move_to_position | 0.387476 | [
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-1.05697500705719,
1.7415223121643066,
-2.6064698696136475,
-1.5810891389846802,
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] | [
0.015219548717141151,
0.7098866105079651,
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0,
0
] | [
-0.015219548717141151,
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0.07079702615737915,
0,
0,
0
] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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] | 0 | 13.6 | 136 | 2 | 614 | 0 |
[
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] | [
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1
] | move_to_position | 0.466987 | [
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] | [
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0
] | [
-0.015219548717141151,
-0.7098866105079651,
0.07079702615737915,
0,
0,
0
] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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] | 0 | 13.7 | 137 | 2 | 615 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.548878 | [
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-2.6064698696136475,
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2.9949190616607666,
1
] | [
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0
] | [
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0,
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] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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[
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] | move_to_position | 0.628308 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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[
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] | move_to_position | 0.699833 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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[
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] | move_to_position | 0.765649 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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[
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] | move_to_position | 0.827813 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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[
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] | [
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] | move_to_position | 0.881789 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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[
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] | [
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] | move_to_position | 0.927086 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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[
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] | [
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] | move_to_position | 0.958123 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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[
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] | [
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1
] | move_to_position | 0.979955 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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[
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] | [
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] | move_to_position | 0.992387 | [
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] | [
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] | [
-0.015219548717141151,
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] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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[
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] | [
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1
] | move_to_position | 0.99818 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it into the center of the blue dish: approach above blue dish | [
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[
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] | [
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1
] | move_to_position | 0.000136 | [
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] | [
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] | [
-0.02074963040649891,
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] | 1 | pick up the red block and place it into the center of the blue dish: descend to blue dish | [
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[
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] | [
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1
] | move_to_position | 0 | [
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] | [
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0
] | [
-0.02074963040649891,
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0,
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] | 1 | pick up the red block and place it into the center of the blue dish: descend to blue dish | [
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[
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] | [
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1
] | move_to_position | 0.015001 | [
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1.6743465662002563,
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] | [
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0
] | [
-0.02074963040649891,
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0.041999999433755875,
0,
0,
0
] | 1 | pick up the red block and place it into the center of the blue dish: descend to blue dish | [
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[
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1
] | [
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1
] | move_to_position | 0.05207 | [
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1.6743465662002563,
-2.6324760913848877,
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] | [
0.02074963040649891,
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0,
0
] | [
-0.02074963040649891,
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0.041999999433755875,
0,
0,
0
] | 1 | pick up the red block and place it into the center of the blue dish: descend to blue dish | [
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] | 0 | 15.2 | 152 | 2 | 630 | 0 |
[
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] | [
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1
] | move_to_position | 0.108044 | [
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1.6743465662002563,
-2.6324760913848877,
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] | [
0.02074963040649891,
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0
] | [
-0.02074963040649891,
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0.041999999433755875,
0,
0,
0
] | 1 | pick up the red block and place it into the center of the blue dish: descend to blue dish | [
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[
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1
] | [
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1
] | move_to_position | 0.18429 | [
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1.6743465662002563,
-2.6324760913848877,
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2.9947376251220703,
1
] | [
0.02074963040649891,
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0.041999999433755875,
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0,
0
] | [
-0.02074963040649891,
-0.7363463044166565,
0.041999999433755875,
0,
0,
0
] | 1 | pick up the red block and place it into the center of the blue dish: descend to blue dish | [
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] | 0 | 15.4 | 154 | 2 | 632 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.265103 | [
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] | [
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0
] | [
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0,
0,
0
] | 1 | pick up the red block and place it into the center of the blue dish: descend to blue dish | [
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] | 0 | 15.5 | 155 | 2 | 633 | 0 |
[
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] | [
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] | move_to_position | 0.366927 | [
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] | [
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] | [
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0
] | 1 | pick up the red block and place it into the center of the blue dish: descend to blue dish | [
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[
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] | [
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] | move_to_position | 0.490129 | [
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] | [
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] | [
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0,
0
] | 1 | pick up the red block and place it into the center of the blue dish: descend to blue dish | [
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] | 0 | 15.7 | 157 | 2 | 635 | 0 |
[
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] | [
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] | move_to_position | 0.62033 | [
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] | [
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] | [
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0,
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] | 1 | pick up the red block and place it into the center of the blue dish: descend to blue dish | [
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[
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] | [
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] | move_to_position | 0.742054 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it into the center of the blue dish: descend to blue dish | [
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[
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] | [
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] | move_to_position | 0.841413 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it into the center of the blue dish: descend to blue dish | [
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[
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] | [
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] | move_to_position | 0.912845 | [
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] | [
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] | [
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0,
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] | 1 | pick up the red block and place it into the center of the blue dish: descend to blue dish | [
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[
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] | [
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] | move_to_position | 0.959252 | [
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] | [
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] | [
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0,
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] | 1 | pick up the red block and place it into the center of the blue dish: descend to blue dish | [
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] | 0 | 16.200001 | 162 | 2 | 640 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.986734 | [
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] | [
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] | [
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0,
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] | 1 | pick up the red block and place it into the center of the blue dish: descend to blue dish | [
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] | 0 | 16.299999 | 163 | 2 | 641 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.997789 | [
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] | [
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0
] | [
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] | 1 | pick up the red block and place it into the center of the blue dish: descend to blue dish | [
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] | 0 | 16.4 | 164 | 2 | 642 | 0 |
[
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1
] | [
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] | gripper_open | 0 | [
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] | [
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] | 0 | 16.5 | 165 | 2 | 643 | 0 |
[
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] | gripper_open | 0.490196 | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: release at blue dish | [
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] | 0 | 16.6 | 166 | 2 | 644 | 0 |
[
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] | gripper_open | 0.509804 | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: release at blue dish | [
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] | 1 | 16.700001 | 167 | 2 | 645 | 0 |
[
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] | [
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] | gripper_open | 0.623529 | [
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0
] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: release at blue dish | [
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] | 1 | 16.799999 | 168 | 2 | 646 | 0 |
[
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] | [
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] | gripper_open | 0.749019 | [
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0
] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: release at blue dish | [
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] | 1 | 16.9 | 169 | 2 | 647 | 0 |
[
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0
] | gripper_open | 0.874509 | [
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1.674557089805603,
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0
] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: release at blue dish | [
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] | 1 | 17 | 170 | 2 | 648 | 0 |
[
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] | gripper_open | 0.98039 | [
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] | gripper_open | 0.988232 | [
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] | 1 | 17.200001 | 172 | 2 | 650 | 0 |
[
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] | gripper_open | 0.988232 | [
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[
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] | gripper_open | 0.988232 | [
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[
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] | move_to_position | 0.000131 | [
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] | 0 | pick up the red block and place it into the center of the blue dish: retract after place | [
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] | 1 | 17.5 | 175 | 2 | 653 | 0 |
[
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] | move_to_position | 0.000162 | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: retract after place | [
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[
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] | move_to_position | 0.01297 | [
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] | 0 | pick up the red block and place it into the center of the blue dish: retract after place | [
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[
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] | move_to_position | 0.05005 | [
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[
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] | move_to_position | 0.106495 | [
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] | 0 | pick up the red block and place it into the center of the blue dish: retract after place | [
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[
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] | move_to_position | 0.174527 | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: retract after place | [
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] | 1 | 18 | 180 | 2 | 658 | 0 |
[
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] | [
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] | move_to_position | 0.256307 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: retract after place | [
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[
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] | [
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] | move_to_position | 0.363905 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: retract after place | [
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] | 1 | 18.200001 | 182 | 2 | 660 | 0 |
[
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] | move_to_position | 0.489642 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: retract after place | [
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] | 1 | 18.299999 | 183 | 2 | 661 | 0 |
[
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] | [
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] | move_to_position | 0.623528 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: retract after place | [
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] | 1 | 18.4 | 184 | 2 | 662 | 0 |
[
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] | [
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] | move_to_position | 0.745018 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: retract after place | [
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] | 1 | 18.5 | 185 | 2 | 663 | 0 |
[
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] | [
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] | move_to_position | 0.840562 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: retract after place | [
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] | 1 | 18.6 | 186 | 2 | 664 | 0 |
[
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] | [
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] | move_to_position | 0.906297 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: retract after place | [
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] | 1 | 18.700001 | 187 | 2 | 665 | 0 |
[
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[
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] | move_to_position | 0.000199 | [
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[
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] | move_to_position | 0.001297 | [
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] | move_to_position | 0.003012 | [
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] | move_to_position | 0.006064 | [
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] | [
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] | 0 | return to home after placing the block | [
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] | move_to_position | 0.01026 | [
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] | [
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] | [
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] | 0 | return to home after placing the block | [
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[
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] | [
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] | move_to_position | 0.015957 | [
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] | [
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] | 0 | return to home after placing the block | [
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[
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] | move_to_position | 0.023311 | [
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] | [
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] | [
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] | 0 | return to home after placing the block | [
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[
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] | move_to_position | 0.032362 | [
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] | [
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] | [
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] | 0 | return to home after placing the block | [
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[
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] | move_to_position | 0.044172 | [
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] | [
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] | [
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0,
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] | 0 | return to home after placing the block | [
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[
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] | [
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] | move_to_position | 0.05834 | [
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] | [
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] | [
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] | 0 | return to home after placing the block | [
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[
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] | move_to_position | 0.074598 | [
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] | [
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] | [
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] | 0 | return to home after placing the block | [
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[
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] | [
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] | move_to_position | 0.092539 | [
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] | [
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] | [
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] | 0 | return to home after placing the block | [
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[
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] | [
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] | move_to_position | 0.113252 | [
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] | 0 | return to home after placing the block | [
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] | 1 | 20.5 | 205 | 2 | 683 | 0 |
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] | 0 | return to home after placing the block | [
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[
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] | move_to_position | 0.1598 | [
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] | 0 | return to home after placing the block | [
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[
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] | move_to_position | 0.186738 | [
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] | [
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] | 0 | return to home after placing the block | [
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[
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] | move_to_position | 0.216332 | [
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] | 0 | return to home after placing the block | [
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[
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] | move_to_position | 0.245745 | [
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] | [
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] | 0 | return to home after placing the block | [
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[
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] | move_to_position | 0.27867 | [
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] | [
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] | 0 | return to home after placing the block | [
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[
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] | move_to_position | 0.313745 | [
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] | [
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] | 0 | return to home after placing the block | [
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[
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] | move_to_position | 0.348868 | [
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] | [
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] | [
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] | 0 | return to home after placing the block | [
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[
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] | move_to_position | 0.382213 | [
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] | [
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] | 0 | return to home after placing the block | [
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] | 1 | 21.4 | 214 | 2 | 692 | 0 |
[
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] | move_to_position | 0.420809 | [
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] | [
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] | [
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] | 0 | return to home after placing the block | [
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] | 1 | 21.5 | 215 | 2 | 693 | 0 |
[
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] | [
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] | move_to_position | 0.457383 | [
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] | [
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] | [
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] | 0 | return to home after placing the block | [
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] | 1 | 21.6 | 216 | 2 | 694 | 0 |
[
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] | [
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] | move_to_position | 0.497077 | [
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] | [
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] | [
-0.003092795377597213,
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0,
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] | 0 | return to home after placing the block | [
0.009616037830710411,
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] | 1 | 21.700001 | 217 | 2 | 695 | 0 |
[
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] | [
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] | move_to_position | 0.536175 | [
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] | [
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] | [
-0.003092795377597213,
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0.3515351414680481,
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0,
0
] | 0 | return to home after placing the block | [
0.008626516908407211,
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] | 1 | 21.799999 | 218 | 2 | 696 | 0 |
[
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] | [
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] | move_to_position | 0.572961 | [
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] | [
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] | [
-0.003092795377597213,
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0.3515351414680481,
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0,
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] | 0 | return to home after placing the block | [
0.007607086095958948,
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] | 1 | 21.9 | 219 | 2 | 697 | 0 |
[
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] | [
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] | move_to_position | 0.609423 | [
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] | [
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] | [
-0.003092795377597213,
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0.3515351414680481,
0,
0,
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] | 0 | return to home after placing the block | [
0.006573916878551245,
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0.26182472705841064,
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] | 1 | 22 | 220 | 2 | 698 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.647255 | [
-1.9360625743865967,
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0
] | [
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0,
0
] | [
-0.003092795377597213,
-0.4160207211971283,
0.3515351414680481,
0,
0,
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] | 0 | return to home after placing the block | [
0.00550996046513319,
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0.2712183892726898,
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] | 1 | 22.1 | 221 | 2 | 699 | 0 |
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