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 | 0.520148 | [
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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 | 3 | 900 | 0 |
[
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] | move_to_position | 0.593104 | [
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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 | 18.1 | 181 | 3 | 901 | 0 |
[
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] | [
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] | move_to_position | 0.67429 | [
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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 | 3 | 902 | 0 |
[
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] | [
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] | move_to_position | 0.757593 | [
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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 | 3 | 903 | 0 |
[
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] | move_to_position | 0.843204 | [
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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 | 3 | 904 | 0 |
[
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] | move_to_position | 0.914713 | [
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] | [
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0
] | [
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0.06406120210886002,
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0,
0
] | 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 | 3 | 905 | 0 |
[
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] | [
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] | move_to_position | 0.967083 | [
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] | [
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0,
0
] | [
-0.03217995911836624,
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0.06406120210886002,
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0,
0
] | 0 | pick up the red block and place it into the center of the blue dish: retract after place | [
-0.03190786764025688,
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] | 1 | 18.6 | 186 | 3 | 906 | 0 |
[
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] | [
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] | move_to_position | 0.992276 | [
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] | [
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0,
0
] | [
-0.03217995911836624,
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0,
0
] | 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 | 3 | 907 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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0,
0
] | [
-0.0032091159373521805,
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0.3334921896457672,
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0,
0
] | 0 | return to home after placing the block | [
-0.032047249376773834,
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0.06407122313976288,
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0.060904935002326965,
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] | 1 | 18.799999 | 188 | 3 | 908 | 0 |
[
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0
] | [
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1.6936699151992798,
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0
] | move_to_position | 0 | [
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2.0109059810638428,
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] | [
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0,
0,
0
] | [
-0.0032091159373521805,
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0.3334921896457672,
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0,
0
] | 0 | return to home after placing the block | [
-0.03204186260700226,
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0.06402982771396637,
2.794416666030884,
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] | 1 | 18.9 | 189 | 3 | 909 | 0 |
[
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] | [
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0
] | move_to_position | 0.000085 | [
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] | [
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0,
0
] | [
-0.0032091159373521805,
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0.3334921896457672,
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0,
0
] | 0 | return to home after placing the block | [
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0.06409291923046112,
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] | 1 | 19 | 190 | 3 | 910 | 0 |
[
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] | [
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0
] | move_to_position | 0.001032 | [
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] | [
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0,
0
] | [
-0.0032091159373521805,
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0.3334921896457672,
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0,
0
] | 0 | return to home after placing the block | [
-0.03192885220050812,
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0.06448019295930862,
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] | 1 | 19.1 | 191 | 3 | 911 | 0 |
[
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] | [
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0
] | move_to_position | 0.002784 | [
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2.0109059810638428,
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2.8501875400543213,
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] | [
0.0032091159373521805,
0.4204513728618622,
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0,
0,
0
] | [
-0.0032091159373521805,
-0.4204513728618622,
0.3334921896457672,
0,
0,
0
] | 0 | return to home after placing the block | [
-0.03180501610040665,
-0.7249827980995178,
0.06509821861982346,
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] | 1 | 19.200001 | 192 | 3 | 912 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.0057 | [
-1.931441307067871,
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2.8501875400543213,
0
] | [
0.0032091159373521805,
0.4204513728618622,
0.3334921896457672,
0,
0,
0
] | [
-0.0032091159373521805,
-0.4204513728618622,
0.3334921896457672,
0,
0,
0
] | 0 | return to home after placing the block | [
-0.03175165131688118,
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2.7944343090057373,
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] | 1 | 19.299999 | 193 | 3 | 913 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.009877 | [
-1.931441307067871,
-2.01300311088562,
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-1.9176583290100098,
-1.5268234014511108,
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0
] | [
0.0032091159373521805,
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0,
0,
0
] | [
-0.0032091159373521805,
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0.3334921896457672,
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0,
0
] | 0 | return to home after placing the block | [
-0.031619202345609665,
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0.06743235886096954,
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] | 1 | 19.4 | 194 | 3 | 914 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.015442 | [
-1.931441307067871,
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2.0109059810638428,
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] | [
0.0032091159373521805,
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0,
0,
0
] | [
-0.0032091159373521805,
-0.4204513728618622,
0.3334921896457672,
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0,
0
] | 0 | return to home after placing the block | [
-0.031459953635931015,
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0.06908181309700012,
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] | 1 | 19.5 | 195 | 3 | 915 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.021969 | [
-1.931441307067871,
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0
] | [
0.0032091159373521805,
0.4204513728618622,
0.3334921896457672,
0,
0,
0
] | [
-0.0032091159373521805,
-0.4204513728618622,
0.3334921896457672,
0,
0,
0
] | 0 | return to home after placing the block | [
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] | move_to_position | 0.302822 | [
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] | [
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] | [
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] | move_to_position | 0.372272 | [
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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 | 0.408211 | [
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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 | 0.447124 | [
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] | [
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[
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] | move_to_position | 0.878765 | [
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] | move_to_position | 0.900507 | [
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] | [
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] | move_to_position | 0.920598 | [
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] | [
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[
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] | move_to_position | 0.937758 | [
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] | [
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[
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] | move_to_position | 0.952929 | [
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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 | 0.965012 | [
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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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0.32577088475227356,
2.794346570968628,
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] | 1 | 23.1 | 231 | 3 | 951 | 0 |
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] | move_to_position | 0.974922 | [
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] | [
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] | 0 | return to home after placing the block | [
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] | 1 | 23.200001 | 232 | 3 | 952 | 0 |
[
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] | move_to_position | 0.982743 | [
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] | [
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] | 0 | return to home after placing the block | [
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] | 1 | 23.299999 | 233 | 3 | 953 | 0 |
[
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] | move_to_position | 0.989519 | [
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] | 0 | return to home after placing the block | [
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] | 1 | 23.4 | 234 | 3 | 954 | 0 |
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] | move_to_position | 0.994299 | [
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] | [
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] | 0 | return to home after placing the block | [
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] | 1 | 23.5 | 235 | 3 | 955 | 0 |
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] | move_to_position | 0.997336 | [
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] | [
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] | 0 | return to home after placing the block | [
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] | move_to_position | 0.999061 | [
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] | [
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] | 0 | return to home after placing the block | [
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] | move_to_position | 0.999673 | [
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] | 0 | return to home after placing the block | [
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] | 1 | 23.799999 | 238 | 3 | 958 | 0 |
[
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] | move_to_position | 0.999878 | [
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] | [
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] | 0 | return to home after placing the block | [
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] | 1 | 23.9 | 239 | 3 | 959 | 0 |
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] | [
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] | move_to_position | 0.000265 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0 | 0 | 4 | 960 | 0 |
[
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] | [
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] | move_to_position | 0.000221 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.1 | 1 | 4 | 961 | 0 |
[
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] | [
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] | move_to_position | 0.009967 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.2 | 2 | 4 | 962 | 0 |
[
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] | move_to_position | 0.045642 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.3 | 3 | 4 | 963 | 0 |
[
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] | [
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] | move_to_position | 0.095608 | [
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] | [
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] | [
0.012711893767118454,
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.4 | 4 | 4 | 964 | 0 |
[
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] | [
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] | move_to_position | 0.169937 | [
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] | [
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] | [
0.012711893767118454,
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.5 | 5 | 4 | 965 | 0 |
[
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0
] | [
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] | move_to_position | 0.25745 | [
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] | [
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] | [
0.012711893767118454,
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] | 0 | move to initial position to start the task | [
0.0036142156459391117,
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2.7950334548950195,
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] | 1 | 0.6 | 6 | 4 | 966 | 0 |
[
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0
] | [
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] | move_to_position | 0.376858 | [
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] | [
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] | [
0.012711893767118454,
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0.3308526873588562,
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0,
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] | 0 | move to initial position to start the task | [
0.005031743552535772,
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0.351652592420578,
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] | 1 | 0.7 | 7 | 4 | 967 | 0 |
[
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0
] | [
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] | move_to_position | 0.50605 | [
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] | [
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] | [
0.012711893767118454,
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0.3308526873588562,
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.8 | 8 | 4 | 968 | 0 |
[
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] | [
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] | move_to_position | 0.634066 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.9 | 9 | 4 | 969 | 0 |
[
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] | [
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] | move_to_position | 0.74124 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1 | 10 | 4 | 970 | 0 |
[
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] | [
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] | move_to_position | 0.824914 | [
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] | [
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] | [
0.012711893767118454,
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.1 | 11 | 4 | 971 | 0 |
[
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] | [
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] | move_to_position | 0.899256 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.2 | 12 | 4 | 972 | 0 |
[
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] | [
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] | move_to_position | 0.956715 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.3 | 13 | 4 | 973 | 0 |
[
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] | [
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] | move_to_position | 0.990867 | [
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] | [
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] | [
0.012711893767118454,
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0,
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.4 | 14 | 4 | 974 | 0 |
[
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] | [
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] | move_to_position | 0.997968 | [
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] | [
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] | [
0.012711893767118454,
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0,
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.5 | 15 | 4 | 975 | 0 |
[
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] | [
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] | move_to_position | 0.000022 | [
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] | [
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] | [
0.14254918694496155,
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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: approach above red block | [
0.012668185867369175,
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0.33102020621299744,
2.7946841716766357,
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] | 1 | 1.6 | 16 | 4 | 976 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
0.14254918694496155,
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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: approach above red block | [
0.012643808498978615,
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0.33103111386299133,
2.7946674823760986,
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] | 1 | 1.7 | 17 | 4 | 977 | 0 |
[
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] | [
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] | move_to_position | 0.000404 | [
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] | [
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] | [
0.14254918694496155,
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0.06527236849069595,
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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: approach above red block | [
0.012699062936007977,
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] | 1 | 1.8 | 18 | 4 | 978 | 0 |
[
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] | [
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] | move_to_position | 0.002413 | [
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] | [
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] | [
0.14254918694496155,
-0.5933355689048767,
0.06527236849069595,
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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: approach above red block | [
0.012992803938686848,
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] | 1 | 1.9 | 19 | 4 | 979 | 0 |
[
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] | [
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] | move_to_position | 0.005862 | [
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] | [
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] | [
0.14254918694496155,
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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: approach above red block | [
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] | 1 | 2 | 20 | 4 | 980 | 0 |
[
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] | [
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] | move_to_position | 0.010783 | [
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] | [
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0
] | [
0.14254918694496155,
-0.5933355689048767,
0.06527236849069595,
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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: approach above red block | [
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] | 1 | 2.1 | 21 | 4 | 981 | 0 |
[
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] | [
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0
] | move_to_position | 0.018378 | [
-1.512637972831726,
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] | [
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0
] | [
0.14254918694496155,
-0.5933355689048767,
0.06527236849069595,
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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: approach above red block | [
0.015211500227451324,
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] | 1 | 2.2 | 22 | 4 | 982 | 0 |
[
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] | [
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] | move_to_position | 0.028654 | [
-1.512637972831726,
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] | [
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0
] | [
0.14254918694496155,
-0.5933355689048767,
0.06527236849069595,
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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: approach above red block | [
0.016546856611967087,
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2.794675350189209,
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] | 1 | 2.3 | 23 | 4 | 983 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.041771 | [
-1.512637972831726,
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-2.706998825073242,
-1.6712325811386108,
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0
] | [
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0
] | [
0.14254918694496155,
-0.5933355689048767,
0.06527236849069595,
0,
0,
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
0.018312856554985046,
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0.3193935453891754,
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] | 1 | 2.4 | 24 | 4 | 984 | 0 |
[
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0
] | [
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-2.0138509273529053,
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0
] | move_to_position | 0.059151 | [
-1.512637972831726,
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] | [
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] | [
0.14254918694496155,
-0.5933355689048767,
0.06527236849069595,
0,
0,
0
] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
0.02065967582166195,
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] | 1 | 2.5 | 25 | 4 | 985 | 0 |
[
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] | move_to_position | 0.080043 | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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[
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] | move_to_position | 0.103164 | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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[
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] | move_to_position | 0.130785 | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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[
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] | [
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] | move_to_position | 0.160838 | [
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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: approach above red block | [
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] | 1 | 2.9 | 29 | 4 | 989 | 0 |
[
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] | move_to_position | 0.194758 | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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[
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] | [
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] | move_to_position | 0.230578 | [
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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: approach above red block | [
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] | 1 | 3.1 | 31 | 4 | 991 | 0 |
[
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] | [
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] | move_to_position | 0.269056 | [
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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: approach above red block | [
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] | 1 | 3.2 | 32 | 4 | 992 | 0 |
[
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] | [
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] | move_to_position | 0.307696 | [
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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: approach above red block | [
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] | 1 | 3.3 | 33 | 4 | 993 | 0 |
[
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] | [
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] | move_to_position | 0.349522 | [
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] | [
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] | [
0.14254918694496155,
-0.5933355689048767,
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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] | 1 | 3.4 | 34 | 4 | 994 | 0 |
[
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] | [
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0
] | move_to_position | 0.394559 | [
-1.512637972831726,
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-1.6712325811386108,
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] | [
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] | [
0.14254918694496155,
-0.5933355689048767,
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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: approach above red block | [
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] | 1 | 3.5 | 35 | 4 | 995 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.4401 | [
-1.512637972831726,
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-2.706998825073242,
-1.6712325811386108,
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] | [
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] | [
0.14254918694496155,
-0.5933355689048767,
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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: approach above red block | [
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] | 1 | 3.6 | 36 | 4 | 996 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.48634 | [
-1.512637972831726,
-1.2206441164016724,
2.0201284885406494,
-2.706998825073242,
-1.6712325811386108,
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] | [
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] | [
0.14254918694496155,
-0.5933355689048767,
0.06527236849069595,
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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: approach above red block | [
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0.06102615222334862,
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] | 1 | 3.7 | 37 | 4 | 997 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.5319 | [
-1.512637972831726,
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-2.706998825073242,
-1.6712325811386108,
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0
] | [
-0.14254918694496155,
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0,
0
] | [
0.14254918694496155,
-0.5933355689048767,
0.06527236849069595,
0,
0,
0
] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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-0.525050938129425,
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0.060932550579309464,
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] | 1 | 3.8 | 38 | 4 | 998 | 0 |
[
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3.1327226161956787,
0
] | [
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3.1382367610931396,
0
] | move_to_position | 0.578895 | [
-1.512637972831726,
-1.2206441164016724,
2.0201284885406494,
-2.706998825073242,
-1.6712325811386108,
3.2452874183654785,
0
] | [
-0.14254918694496155,
0.5933355689048767,
0.06527236849069595,
0,
0,
0
] | [
0.14254918694496155,
-0.5933355689048767,
0.06527236849069595,
0,
0,
0
] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
0.08691947907209396,
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2.7913882732391357,
0.06090328469872475,
3.0720903873443604
] | 1 | 3.9 | 39 | 4 | 999 | 0 |
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