observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 30
values | skill.verification_question stringclasses 22
values | skill.type stringclasses 5
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 4
values | subtask.object_name stringclasses 7
values | subtask.target_position list | timestamp float32 0 97.5 | frame_index int64 0 2.93k | episode_index int64 0 99 | index int64 0 286k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.000942 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.002747 | [
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] | 0.033333 | 1 | 0 | 1 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.003547 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.005012 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.006374 | [
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] | 0.133333 | 4 | 0 | 4 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.007042 | [
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] | 0.166667 | 5 | 0 | 5 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.008395 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.009814 | [
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] | [
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] | 0.233333 | 7 | 0 | 7 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.010628 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.012852 | [
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] | 0.3 | 9 | 0 | 9 | 0 | ||
[
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.015885 | [
2.2691292762756348,
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72.75862121582031,
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] | [
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] | 0 | [
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] | 0.333333 | 10 | 0 | 10 | 0 | ||
[
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] | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.017705 | [
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] | 0.366667 | 11 | 0 | 11 | 0 | ||
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.021954 | [
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[
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] | [
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1.4658817052841187,
1.2013957500457764,
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-0.0006604482186958194
] | Move to initial position | Is the robot at initial position? | move_initial | 0.027014 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
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0
] | 0.433333 | 13 | 0 | 13 | 0 | ||
[
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] | [
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] | 1 | [
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1.2014389038085938,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.029847 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 0.466667 | 14 | 0 | 14 | 0 | ||
[
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] | [
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] | [
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3.1060144901275635,
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.036115 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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0
] | 0.5 | 15 | 0 | 15 | 0 | ||
[
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] | [
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] | [
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.04318 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
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] | 0.533333 | 16 | 0 | 16 | 0 | ||
[
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] | [
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] | [
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] | 1 | [
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1.2016791105270386,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.047008 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
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] | 0.566667 | 17 | 0 | 17 | 0 | ||
[
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] | [
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] | [
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3.105710506439209,
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] | 1 | [
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] | [
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1.2017863988876343,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.05525 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
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] | 0 | [
0,
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0
] | 0.6 | 18 | 0 | 18 | 0 | ||
[
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] | [
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] | [
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3.1055569648742676,
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] | 1 | [
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1.201899766921997,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.064262 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 0.633333 | 19 | 0 | 19 | 0 | ||
[
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] | [
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] | [
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3.105473756790161,
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] | 1 | [
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] | [
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1.4024933576583862,
1.2019585371017456,
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-0.0007202868582680821
] | Move to initial position | Is the robot at initial position? | move_initial | 0.069052 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 0.666667 | 20 | 0 | 20 | 0 | ||
[
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] | [
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] | [
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0.003901782678440213,
0.03631210699677467,
3.105294704437256,
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] | 1 | [
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] | [
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1.3887438774108887,
1.2020807266235352,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.079192 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
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] | 0 | [
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0,
0
] | 0.7 | 21 | 0 | 21 | 0 | ||
[
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72.32225799560547,
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] | [
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] | [
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3.1050994396209717,
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] | 1 | [
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1.2018612623214722,
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] | [
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1.374367117881775,
1.202208399772644,
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-0.0007468381081707776
] | Move to initial position | Is the robot at initial position? | move_initial | 0.090065 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 0.733333 | 22 | 0 | 22 | 0 | ||
[
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72.32508850097656,
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] | [
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90.8741455078125,
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] | [
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0.0036576122511178255,
0.03845329210162163,
3.1049959659576416,
0.6365869641304016,
3.1077733039855957
] | 1 | [
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1.2019115686416626,
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] | [
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1.3669512271881104,
1.202274203300476,
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-0.0007538387435488403
] | Move to initial position | Is the robot at initial position? | move_initial | 0.09577 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 0.766667 | 23 | 0 | 23 | 0 | ||
[
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72.33094024658203,
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] | [
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89.97367095947266,
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] | [
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0.0034815494436770678,
0.03999940678477287,
3.1047773361206055,
0.6385437250137329,
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] | 1 | [
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1.415954351425171,
1.2020155191421509,
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] | [
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1.351680874824524,
1.2024097442626953,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.107706 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 0.8 | 24 | 0 | 24 | 0 | ||
[
-4.130937099456787,
-92.27558135986328,
93.03523254394531,
72.3371353149414,
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] | [
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89.0400390625,
72.36105346679688,
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] | [
0.17176303267478943,
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0.04163622111082077,
3.104543447494507,
0.640633761882782,
3.104475259780884
] | 1 | [
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] | [
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1.3358482122421265,
1.2025504112243652,
-0.0014529151376336813,
-0.0007831999682821333
] | Move to initial position | Is the robot at initial position? | move_initial | 0.120326 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 0.833333 | 25 | 0 | 25 | 0 | ||
[
-4.083065986633301,
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72.34033203125,
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] | [
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88.56129455566406,
72.3651123046875,
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] | [
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0.042487625032663345,
3.1044209003448486,
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] | 1 | [
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1.2021822929382324,
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] | [
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1.32772958278656,
1.2026225328445435,
-0.001516378833912313,
-0.0007908640545792878
] | Move to initial position | Is the robot at initial position? | move_initial | 0.126886 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 0.866667 | 26 | 0 | 26 | 0 | ||
[
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72.34693908691406,
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] | [
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] | [
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3.1041648387908936,
0.6440067887306213,
3.1017661094665527
] | 1 | [
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1.383843183517456,
1.20229971408844,
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] | [
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1.311105728149414,
1.2027701139450073,
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-0.0008065569563768804
] | Move to initial position | Is the robot at initial position? | move_initial | 0.140493 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 0.9 | 27 | 0 | 27 | 0 | ||
[
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] | [
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86.5717544555664,
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] | [
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3.1038949489593506,
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3.099853277206421
] | 1 | [
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] | [
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1.2939906120300293,
1.202921986579895,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.154728 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 0.933333 | 28 | 0 | 28 | 0 | ||
[
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90.62288665771484,
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] | [
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86.05681610107422,
72.38634490966797,
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] | [
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0.0026731309480965137,
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3.103754997253418,
0.6476449966430664,
3.0988664627075195
] | 1 | [
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] | [
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1.285258173942566,
1.2029997110366821,
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-0.0008309569675475359
] | Move to initial position | Is the robot at initial position? | move_initial | 0.162073 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 0.966667 | 29 | 0 | 29 | 0 | ||
[
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72.36461639404297,
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] | [
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] | [
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3.103464365005493,
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] | 1 | [
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] | [
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1.267462968826294,
1.203157663345337,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.177204 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1 | 30 | 0 | 30 | 0 | ||
[
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72.37213897705078,
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] | [
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83.93363952636719,
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] | [
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0.002208103658631444,
0.05105404183268547,
3.1031606197357178,
0.6528746485710144,
3.094719409942627
] | 1 | [
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1.2033194303512573,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.1929 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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] | 0 | [
0,
0,
0
] | 1.033333 | 31 | 0 | 31 | 0 | ||
[
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88.37458801269531,
72.37599182128906,
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] | [
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83.38815307617188,
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] | [
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0.002085690852254629,
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3.103003978729248,
0.6542454957962036,
3.0936355590820312
] | 1 | [
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] | [
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1.2400026321411133,
1.2034015655517578,
-0.00220213970169425,
-0.0008736784220673144
] | Move to initial position | Is the robot at initial position? | move_initial | 0.200951 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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] | 0 | [
0,
0,
0
] | 1.066667 | 32 | 0 | 32 | 0 | ||
[
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87.42063903808594,
72.38384246826172,
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] | [
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82.28120422363281,
72.41835021972656,
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] | [
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0.0018336058128625154,
0.054231949150562286,
3.1026809215545654,
0.6570562124252319,
3.091413974761963
] | 1 | [
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1.2029552459716797,
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] | [
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1.2212308645248413,
1.2035682201385498,
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-0.0008913989877328277
] | Move to initial position | Is the robot at initial position? | move_initial | 0.217443 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 1.1 | 33 | 0 | 33 | 0 | ||
[
-3.299715995788574,
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86.43794250488281,
72.39189910888672,
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] | [
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81.15458679199219,
72.42790222167969,
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] | [
0.17541489005088806,
0.0015719558577984571,
0.05642759054899216,
3.102346181869507,
0.659956157207489,
3.0891246795654297
] | 1 | [
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1.2917214632034302,
1.2030984163284302,
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] | [
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1.2021254301071167,
1.2037378549575806,
-0.0024982246104627848,
-0.0009094344568438828
] | Move to initial position | Is the robot at initial position? | move_initial | 0.23443 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.133333 | 34 | 0 | 34 | 0 | ||
[
-3.2366201877593994,
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72.39602661132812,
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] | [
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80.58452606201172,
72.43273162841797,
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] | [
0.1757277399301529,
0.0014375970931723714,
0.05754677951335907,
3.1021740436553955,
0.6614372134208679,
3.0879552364349365
] | 1 | [
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1.2832155227661133,
1.203171730041504,
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] | [
0.0003243383252993226,
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1.1924582719802856,
1.2038236856460571,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.2431 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.166667 | 35 | 0 | 35 | 0 | ||
[
-3.1080100536346436,
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84.91384887695312,
72.4044189453125,
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] | [
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79.43212890625,
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] | [
0.17638051509857178,
0.0011618976714089513,
0.05982508882880211,
3.1018216609954834,
0.6644591689109802,
3.085570812225342
] | 1 | [
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1.2658755779266357,
1.2033207416534424,
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] | [
0.0026465468108654022,
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1.1729156970977783,
1.2039971351623535,
-0.0027265571989119053,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.260772 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.2 | 36 | 0 | 36 | 0 | ||
[
-2.9763619899749756,
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83.86700439453125,
72.4129867553711,
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] | [
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] | [
0.1770695596933365,
0.0008770432323217392,
0.0621526725590229,
3.1014580726623535,
0.6675553917884827,
3.083127021789551
] | 1 | [
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1.248123049736023,
1.2034729719161987,
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] | [
0.00499831372871995,
-1.4718716144561768,
1.153124451637268,
1.204172968864441,
-0.002881265478208661,
-0.0009556915028952062
] | Move to initial position | Is the robot at initial position? | move_initial | 0.278865 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.233333 | 37 | 0 | 37 | 0 | ||
[
-2.9094696044921875,
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83.33502197265625,
72.4173355102539,
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] | [
-2.197957992553711,
-80.51720428466797,
77.67666625976562,
72.45738220214844,
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] | [
0.17742767930030823,
0.0007312337402254343,
0.06333344429731369,
3.1012721061706543,
0.6691295504570007,
3.0818846225738525
] | 1 | [
-0.00522160530090332,
-1.5420029163360596,
1.2391016483306885,
1.2035502195358276,
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] | [
0.006183996330946684,
-1.4637250900268555,
1.143146276473999,
1.2042615413665771,
-0.0029592642094939947,
-0.0009651108412072062
] | Move to initial position | Is the robot at initial position? | move_initial | 0.288058 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 1.266667 | 38 | 0 | 38 | 0 | ||
[
-2.773693323135376,
-84.01748657226562,
82.25516510009766,
72.4261474609375,
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0.025156255811452866
] | [
-2.0489661693573,
-79.61024475097656,
76.49144744873047,
72.4674301147461,
-0.07480163127183914,
0.025156255811452866
] | [
0.1781710982322693,
0.00043296499643474817,
0.06572583317756653,
3.100893020629883,
0.6723266839981079,
3.0793614387512207
] | 1 | [
-0.0030450979247689247,
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1.2207891941070557,
1.2037067413330078,
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] | [
0.008572350256145,
-1.4473152160644531,
1.1230472326278687,
1.2044399976730347,
-0.0031163792591542006,
-0.0009840844431892037
] | Move to initial position | Is the robot at initial position? | move_initial | 0.30672 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.3 | 39 | 0 | 39 | 0 | ||
[
-2.6354594230651855,
-83.17644500732422,
81.1556167602539,
72.43510437011719,
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0.024281296879053116
] | [
-1.8987786769866943,
-78.69601440429688,
75.29671478271484,
72.47755432128906,
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0.024281296879053116
] | [
0.17895057797431946,
0.00012599823821801692,
0.06815531849861145,
3.10050368309021,
0.6755837798118591,
3.076789379119873
] | 1 | [
-0.0008291947888210416,
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1.2021429538726807,
1.203865885734558,
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] | [
0.010979870334267616,
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1.1027867794036865,
1.2046198844909668,
-0.003274755086749792,
-0.0010032104328274727
] | Move to initial position | Is the robot at initial position? | move_initial | 0.325721 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 1.333333 | 40 | 0 | 40 | 0 | ||
[
-2.5654959678649902,
-82.75076293945312,
80.59907531738281,
72.43963623046875,
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] | [
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] | [
0.1793537139892578,
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3.1003055572509766,
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] | 1 | [
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] | [
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1.0926069021224976,
1.2047102451324463,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.335338 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.366667 | 41 | 0 | 41 | 0 | ||
[
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] | [
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] | [
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3.099902629852295,
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] | 1 | [
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] | [
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1.2048918008804321,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.354785 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
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0
] | 1.4 | 42 | 0 | 42 | 0 | ||
[
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] | [
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] | [
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3.0994911193847656,
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.374486 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.433333 | 43 | 0 | 43 | 0 | ||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.384422 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.466667 | 44 | 0 | 44 | 0 | ||
[
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] | [
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] | [
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3.0988593101501465,
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] | 1 | [
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] | [
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1.0208457708358765,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.40444 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.5 | 45 | 0 | 45 | 0 | ||
[
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] | [
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] | [
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] | 1 | [
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] | [
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1.000315546989441,
1.205529808998108,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.424626 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.533333 | 46 | 0 | 46 | 0 | ||
[
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] | [
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68.64987182617188,
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] | [
0.1838558465242386,
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0.08195079118013382,
3.098210573196411,
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3.061980962753296
] | 1 | [
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] | [
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0.9900685548782349,
1.2056208848953247,
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-0.0011096165981143713
] | Move to initial position | Is the robot at initial position? | move_initial | 0.434771 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.566667 | 47 | 0 | 47 | 0 | ||
[
-1.6940178871154785,
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72.49554443359375,
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] | [
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67.44480895996094,
72.54412078857422,
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] | [
0.1848522275686264,
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0.08449617773294449,
3.0977704524993896,
0.6977942585945129,
3.059204578399658
] | 1 | [
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1.2049394845962524,
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] | [
0.02680233307182789,
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0.9696328639984131,
1.205802321434021,
-0.004315617494285107,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.455142 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.6 | 48 | 0 | 48 | 0 | ||
[
-1.5452700853347778,
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72.50496673583984,
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] | [
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66.24609375,
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] | [
0.18587718904018402,
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0.08703994750976562,
3.097325325012207,
0.7013059258460999,
3.05641508102417
] | 1 | [
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] | [
0.02921786531805992,
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0.9493048787117004,
1.2059829235076904,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.475592 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.633333 | 49 | 0 | 49 | 0 | ||
[
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72.50968933105469,
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] | [
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65.64978790283203,
72.55933380126953,
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] | [
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0.0883098766207695,
3.0971009731292725,
0.7030659914016724,
3.05501651763916
] | 1 | [
0.017840994521975517,
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1.2051907777786255,
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] | [
0.030419493094086647,
-1.297208547592163,
0.9391926527023315,
1.2060725688934326,
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-0.0011576435063034296
] | Move to initial position | Is the robot at initial position? | move_initial | 0.485836 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.666667 | 50 | 0 | 50 | 0 | ||
[
-1.3216471672058105,
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72.5191421508789,
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] | [
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64.46456146240234,
72.56938171386719,
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] | [
0.18746434152126312,
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0.09084228426218033,
3.096649169921875,
0.7065880298614502,
3.052215337753296
] | 1 | [
0.020231345668435097,
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1.0248854160308838,
1.205358624458313,
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] | [
0.0328078493475914,
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0.9190933704376221,
1.2062510251998901,
-0.004710683599114418,
-0.001176617108285427
] | Move to initial position | Is the robot at initial position? | move_initial | 0.506337 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.7 | 51 | 0 | 51 | 0 | ||
[
-1.1726123094558716,
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72.5285873413086,
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] | [
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63.290931701660156,
72.57933044433594,
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] | [
0.18855251371860504,
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0.09336072206497192,
3.096193552017212,
0.7101078033447266,
3.049412250518799
] | 1 | [
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1.2055264711380005,
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] | [
0.035172849893569946,
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0.8991907835006714,
1.206427812576294,
-0.004866262897849083,
-0.0011954052606597543
] | Move to initial position | Is the robot at initial position? | move_initial | 0.526828 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.733333 | 52 | 0 | 52 | 0 | ||
[
-1.0982072353363037,
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68.92503356933594,
72.53326416015625,
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] | [
-0.31641629338264465,
-69.06371307373047,
62.7091064453125,
72.58426666259766,
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0.015062808059155941
] | [
0.18910488486289978,
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0.09461327642202377,
3.0959646701812744,
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3.048011541366577
] | 1 | [
0.02381310984492302,
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1.2056094408035278,
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] | [
0.03634529560804367,
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0.8893240690231323,
1.2065154314041138,
-0.004943390376865864,
-0.0012047194177284837
] | Move to initial position | Is the robot at initial position? | move_initial | 0.537058 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 1.766667 | 53 | 0 | 53 | 0 | ||
[
-0.9497843980789185,
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67.7440185546875,
72.54257202148438,
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] | [
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-68.18187713623047,
61.55670928955078,
72.59403228759766,
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0.01421885471791029
] | [
0.1902245134115219,
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0.0971018522977829,
3.095505714416504,
0.7153728008270264,
3.045215368270874
] | 1 | [
0.02619234286248684,
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1.2057747840881348,
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] | [
0.038667503744363785,
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0.8697815537452698,
1.2066890001296997,
-0.005096154287457466,
-0.0012231676373630762
] | Move to initial position | Is the robot at initial position? | move_initial | 0.557464 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 1.8 | 54 | 0 | 54 | 0 | ||
[
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] | [
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3.095045566558838,
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1.2068599462509155,
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-0.001241348567418754
] | Move to initial position | Is the robot at initial position? | move_initial | 0.57777 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.833333 | 55 | 0 | 55 | 0 | ||
[
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] | [
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] | [
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3.0948150157928467,
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] | 1 | [
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1.206944465637207,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.587874 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.866667 | 56 | 0 | 56 | 0 | ||
[
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] | [
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] | [
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0.10320056974887848,
3.094353675842285,
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] | 1 | [
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1.207111120223999,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.607963 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.9 | 57 | 0 | 57 | 0 | ||
[
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] | [
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] | [
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.627862 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.933333 | 58 | 0 | 58 | 0 | ||
[
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] | [
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] | [
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3.093662738800049,
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] | 1 | [
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] | [
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1.2073549032211304,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.63773 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 1.966667 | 59 | 0 | 59 | 0 | ||
[
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] | [
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] | [
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3.0932044982910156,
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] | 1 | [
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] | [
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1.2075129747390747,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.65728 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2 | 60 | 0 | 60 | 0 | ||
[
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] | [
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] | [
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3.0927491188049316,
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] | 1 | [
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0.7596320509910583,
1.2076669931411743,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.676555 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.033333 | 61 | 0 | 61 | 0 | ||
[
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72.60063934326172,
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] | [
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] | [
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0.11245369911193848,
3.092522621154785,
0.7374783158302307,
3.0275158882141113
] | 1 | [
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1.2068063020706177,
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] | [
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0.7511340975761414,
1.2077425718307495,
-0.006023620255291462,
-0.0013351710513234138
] | Move to initial position | Is the robot at initial position? | move_initial | 0.686078 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.066667 | 62 | 0 | 62 | 0 | ||
[
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72.60902404785156,
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] | [
0.831192672252655,
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53.57993698120117,
72.66165161132812,
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0.008377096615731716
] | [
0.19899266958236694,
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0.11464529484510422,
3.0920727252960205,
0.7407094240188599,
3.024916648864746
] | 1 | [
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0.8300336003303528,
1.2069553136825562,
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] | [
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0.7345101833343506,
1.2078901529312134,
-0.006153569091111422,
-0.0013508639531210065
] | Move to initial position | Is the robot at initial position? | move_initial | 0.704875 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2.1 | 63 | 0 | 63 | 0 | ||
[
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72.61721801757812,
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] | [
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72.6697006225586,
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] | [
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0.11678117513656616,
3.091628074645996,
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3.0223641395568848
] | 1 | [
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0.8119381070137024,
1.2071008682250977,
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] | [
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0.718406617641449,
1.2080330848693848,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.723314 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.133333 | 64 | 0 | 64 | 0 | ||
[
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57.62060546875,
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] | [
1.0087400674819946,
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72.67362976074219,
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] | [
0.20075611770153046,
-0.007514578755944967,
0.11782711744308472,
3.0914080142974854,
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3.0211071968078613
] | 1 | [
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-1.1862013339996338,
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1.2071725130081177,
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] | [
0.05758768320083618,
-1.1105420589447021,
0.7105588316917419,
1.208102822303772,
-0.00634079659357667,
-0.001373474020510912
] | Move to initial position | Is the robot at initial position? | move_initial | 0.732388 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.166667 | 65 | 0 | 65 | 0 | ||
[
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-64.38919067382812,
56.58823013305664,
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] | [
1.121936321258545,
-60.308048248291016,
51.26708984375,
72.68125915527344,
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] | [
0.20191991329193115,
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0.11987327039241791,
3.090972900390625,
0.748505175113678,
3.0186331272125244
] | 1 | [
0.04866597428917885,
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0.7855253219604492,
1.2073129415512085,
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] | [
0.0594022311270237,
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0.6952885985374451,
1.2082383632659912,
-0.006460164207965136,
-0.001387889264151454
] | Move to initial position | Is the robot at initial position? | move_initial | 0.750227 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.2 | 66 | 0 | 66 | 0 | ||
[
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-63.61908721923828,
55.581268310546875,
72.6368408203125,
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] | [
1.2307651042938232,
-59.64557647705078,
50.40135955810547,
72.6885986328125,
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] | [
0.203070268034935,
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0.12185598909854889,
3.090545415878296,
0.7514961957931519,
3.0162177085876465
] | 1 | [
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-1.157982349395752,
0.768449068069458,
1.2074494361877441,
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] | [
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-1.0860884189605713,
0.6806073784828186,
1.2083687782287598,
-0.006574926432222128,
-0.001401748275384307
] | Move to initial position | Is the robot at initial position? | move_initial | 0.767627 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2.233333 | 67 | 0 | 67 | 0 | ||
[
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72.6406021118164,
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] | [
1.2834818363189697,
-59.32467269897461,
49.98200225830078,
72.69215393066406,
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] | [
0.20363934338092804,
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0.12282262742519379,
3.090334892272949,
0.7529612183570862,
3.01503324508667
] | 1 | [
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1.2075161933898926,
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] | [
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-0.006630517542362213,
-0.0014084615977481008
] | Move to initial position | Is the robot at initial position? | move_initial | 0.776153 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.266667 | 68 | 0 | 68 | 0 | ||
[
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] | [
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] | [
0.20476315915584564,
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3.0899202823638916,
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3.012712240219116
] | 1 | [
0.053633783012628555,
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] | [
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1.2085540294647217,
-0.006737996824085712,
-0.0014214410912245512
] | Move to initial position | Is the robot at initial position? | move_initial | 0.792838 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.3 | 69 | 0 | 69 | 0 | ||
[
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] | [
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] | [
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0.12651751935482025,
3.0895161628723145,
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] | 1 | [
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] | [
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1.2086703777313232,
-0.006840383633971214,
-0.00143380556255579
] | Move to initial position | Is the robot at initial position? | move_initial | 0.809009 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
0.21971745789051056,
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] | 0 | [
0,
0,
0
] | 2.333333 | 70 | 0 | 70 | 0 | ||
[
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] | [
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] | [
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3.089318037033081,
0.7599620223045349,
3.0093629360198975
] | 1 | [
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] | [
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1.2087262868881226,
-0.006889610551297665,
-0.0014397504273802042
] | Move to initial position | Is the robot at initial position? | move_initial | 0.816893 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
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] | 0 | [
0,
0,
0
] | 2.366667 | 71 | 0 | 71 | 0 | ||
[
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] | [
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] | [
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3.088930130004883,
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] | 1 | [
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] | [
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1.2088334560394287,
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-0.0014511520275846124
] | Move to initial position | Is the robot at initial position? | move_initial | 0.832241 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.4 | 72 | 0 | 72 | 0 | ||
[
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] | [
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] | [
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0.13072901964187622,
3.0885543823242188,
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] | 1 | [
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1.208067536354065,
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] | [
0.06871680170297623,
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0.6169018745422363,
1.2089344263076782,
-0.0070729125291109085,
-0.0014618864515796304
] | Move to initial position | Is the robot at initial position? | move_initial | 0.847006 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.433333 | 73 | 0 | 73 | 0 | ||
[
1.208092212677002,
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] | [
1.7431391477584839,
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] | [
0.20900678634643555,
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0.1315145492553711,
3.088371515274048,
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] | 1 | [
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1.2081226110458374,
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] | [
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0.6114875674247742,
1.2089825868606567,
-0.007115236483514309,
-0.0014669975498691201
] | Move to initial position | Is the robot at initial position? | move_initial | 0.854162 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.466667 | 74 | 0 | 74 | 0 | ||
[
1.308769941329956,
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72.68077850341797,
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] | [
1.8192994594573975,
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45.7196044921875,
72.72828674316406,
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] | [
0.2099885195493698,
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0.13302694261074066,
3.0880165100097656,
0.7687429785728455,
3.002225875854492
] | 1 | [
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1.208229899406433,
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] | [
0.07058103382587433,
-1.0212676525115967,
0.6012134552001953,
1.209073781967163,
-0.007195549085736275,
-0.0014766963431611657
] | Move to initial position | Is the robot at initial position? | move_initial | 0.868004 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2.5 | 75 | 0 | 75 | 0 | ||
[
1.4047542810440063,
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49.00895690917969,
72.68648529052734,
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] | [
1.889868974685669,
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45.158226013183594,
72.73304748535156,
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] | [
0.21093250811100006,
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0.13446027040481567,
3.0876760482788086,
0.7710098028182983,
3.0003790855407715
] | 1 | [
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0.6569948196411133,
1.2083312273025513,
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] | [
0.07171227037906647,
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0.5916935205459595,
1.2091583013534546,
-0.007269965950399637,
-0.0014856831403449178
] | Move to initial position | Is the robot at initial position? | move_initial | 0.881201 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.533333 | 76 | 0 | 76 | 0 | ||
[
1.4509330987930298,
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72.68923950195312,
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] | [
1.9230180978775024,
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44.894527435302734,
72.73528289794922,
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] | [
0.21138939261436462,
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0.13514676690101624,
3.0875115394592285,
0.7720999717712402,
2.9994900226593018
] | 1 | [
0.06467608362436295,
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0.6507644653320312,
1.2083802223205566,
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] | [
0.07224365323781967,
-1.0098443031311035,
0.5872216820716858,
1.209197998046875,
-0.007304922211915255,
-0.001489904592745006
] | Move to initial position | Is the robot at initial position? | move_initial | 0.88755 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.566667 | 77 | 0 | 77 | 0 | ||
[
1.5395591259002686,
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47.93645477294922,
72.69451904296875,
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] | [
1.984972357749939,
-55.05449676513672,
44.40168380737305,
72.73945617675781,
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] | [
0.21227119863033295,
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0.1364586055278778,
3.0871946811676025,
0.7741912007331848,
2.9977829456329346
] | 1 | [
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0.6388071179389954,
1.2084739208221436,
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] | [
0.07323678582906723,
-1.0030206441879272,
0.5788639187812805,
1.2092721462249756,
-0.00737025449052453,
-0.0014977942919358611
] | Move to initial position | Is the robot at initial position? | move_initial | 0.899736 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.6 | 78 | 0 | 78 | 0 | ||
[
1.6230851411819458,
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47.271934509277344,
72.69944763183594,
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] | [
2.041045665740967,
-54.713165283203125,
43.955623626708984,
72.74324035644531,
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] | [
0.21310819685459137,
-0.011725181713700294,
0.13768836855888367,
3.0868940353393555,
0.7761635780334473,
2.996171712875366
] | 1 | [
0.06743569672107697,
-1.0429801940917969,
0.6275380849838257,
1.2085615396499634,
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] | [
0.07413564622402191,
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0.5712995529174805,
1.2093393802642822,
-0.007429385092109442,
-0.0015049350913614035
] | Move to initial position | Is the robot at initial position? | move_initial | 0.91122 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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3.0845351219177246,
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] | 0 | [
0,
0,
0
] | 2.633333 | 79 | 0 | 79 | 0 | ||
[
1.6628899574279785,
-57.020748138427734,
46.95525360107422,
72.7018051147461,
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] | [
2.066845417022705,
-54.556114196777344,
43.750389099121094,
72.74497985839844,
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] | [
0.21350903809070587,
-0.011863893829286098,
0.13827206194400787,
3.0867505073547363,
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2.99540376663208
] | 1 | [
0.06807377189397812,
-1.0385966300964355,
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1.2086033821105957,
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] | [
0.07454922050237656,
-0.9940032362937927,
0.5678191781044006,
1.2093702554702759,
-0.007456591352820396,
-0.0015082205645740032
] | Move to initial position | Is the robot at initial position? | move_initial | 0.916693 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
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3.0845351219177246,
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2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.666667 | 80 | 0 | 80 | 0 | ||
[
1.73849356174469,
-56.560569763183594,
46.35379409790039,
72.70623779296875,
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] | [
2.113914966583252,
-54.26958465576172,
43.375953674316406,
72.74815368652344,
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0.0009042430901899934
] | [
0.21427392959594727,
-0.012129044160246849,
0.13937649130821228,
3.0864765644073486,
0.7788882851600647,
2.993943929672241
] | 1 | [
0.06928570568561554,
-1.0302704572677612,
0.6119681000709534,
1.2086820602416992,
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] | [
0.07530374825000763,
-0.9888190031051636,
0.5614694356918335,
1.2094266414642334,
-0.007506227120757103,
-0.001514214789494872
] | Move to initial position | Is the robot at initial position? | move_initial | 0.927087 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.7 | 81 | 0 | 81 | 0 | ||
[
1.8086494207382202,
-56.13353729248047,
45.795692443847656,
72.71038055419922,
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0.0006656076293438673
] | [
2.154877185821533,
-54.02023696899414,
43.05010223388672,
72.75091552734375,
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] | [
0.21498768031597137,
-0.012377068400382996,
0.14039625227451324,
3.08622145652771,
0.7805435657501221,
2.992588520050049
] | 1 | [
0.07041031122207642,
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0.602503776550293,
1.2087557315826416,
-0.007137938402593136,
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] | [
0.07596037536859512,
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0.5559436082839966,
1.2094757556915283,
-0.0075494227930903435,
-0.0015194311272352934
] | Move to initial position | Is the robot at initial position? | move_initial | 0.936733 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
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0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.733333 | 82 | 0 | 82 | 0 | ||
[
1.84164559841156,
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45.5332145690918,
72.71231842041016,
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0.0005597662529908121
] | [
2.1730449199676514,
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42.90557861328125,
72.75214385986328,
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0.0005597662529908121
] | [
0.21532472968101501,
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0.14087419211864471,
3.0861012935638428,
0.7813221216201782,
2.9919509887695312
] | 1 | [
0.07093924283981323,
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0.5980526208877563,
1.2087901830673218,
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] | [
0.07625160366296768,
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0.5534927248954773,
1.2094975709915161,
-0.0075685810297727585,
-0.0015217447653412819
] | Move to initial position | Is the robot at initial position? | move_initial | 0.941269 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.766667 | 83 | 0 | 83 | 0 | ||
[
1.9034013748168945,
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45.0419921875,
72.7159423828125,
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0.0003752684569917619
] | [
2.204714059829712,
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42.65365219116211,
72.75428009033203,
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0.0003752684569917619
] | [
0.21595779061317444,
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0.1417657434940338,
3.0858752727508545,
0.7827785611152649,
2.9907562732696533
] | 1 | [
0.0719291940331459,
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0.5897223949432373,
1.2088545560836792,
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] | [
0.07675926387310028,
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0.5492205619812012,
1.2095354795455933,
-0.00760197639465332,
-0.0015257777413353324
] | Move to initial position | Is the robot at initial position? | move_initial | 0.949759 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
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] | 0 | [
0,
0,
0
] | 2.8 | 84 | 0 | 84 | 0 | ||
[
1.9594160318374634,
-55.2158203125,
44.596405029296875,
72.71923065185547,
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0.00022728025214746594
] | [
2.230116367340088,
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42.451576232910156,
72.75598907470703,
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0.00022728025214746594
] | [
0.2165345847606659,
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0.14257122576236725,
3.085669994354248,
0.7840997576713562,
2.9896726608276367
] | 1 | [
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0.5821660757064819,
1.208912968635559,
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] | [
0.07716646790504456,
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0.5457937121391296,
1.2095658779144287,
-0.007628764025866985,
-0.0015290125738829374
] | Move to initial position | Is the robot at initial position? | move_initial | 0.95746 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.833333 | 85 | 0 | 85 | 0 | ||
[
1.9852410554885864,
-55.05862808227539,
44.3909912109375,
72.72074127197266,
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0.00016706023598089814
] | [
2.2404532432556152,
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42.369346618652344,
72.7566909790039,
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0.00016706023598089814
] | [
0.21680130064487457,
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0.14294150471687317,
3.0855751037597656,
0.7847087979316711,
2.98917293548584
] | 1 | [
0.07324109226465225,
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0.5786826014518738,
1.208939790725708,
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] | [
0.07733216881752014,
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0.5443992614746094,
1.2095783948898315,
-0.007639664225280285,
-0.0015303289983421564
] | Move to initial position | Is the robot at initial position? | move_initial | 0.96101 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.866667 | 86 | 0 | 86 | 0 | ||
[
2.0324676036834717,
-54.771148681640625,
44.01533508300781,
72.72349548339844,
-0.21019873023033142,
0.00007430330151692033
] | [
2.2563750743865967,
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42.24269104003906,
72.75775909423828,
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0.00007430330151692033
] | [
0.21729041635990143,
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0.1436169445514679,
3.0854008197784424,
0.7858226299285889,
2.9882583618164062
] | 1 | [
0.07399813830852509,
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0.5723121762275696,
1.2089886665344238,
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] | [
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0.5422514081001282,
1.2095973491668701,
-0.00765645457431674,
-0.0015323566040024161
] | Move to initial position | Is the robot at initial position? | move_initial | 0.967503 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
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0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.9 | 87 | 0 | 87 | 0 | ||
[
2.0737295150756836,
-54.51997756958008,
43.68714904785156,
72.72587585449219,
-0.21155370771884918,
0.00001858397627074737
] | [
2.265939235687256,
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42.16660690307617,
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0.00001858397627074737
] | [
0.2177191525697708,
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0.1442052125930786,
3.0852484703063965,
0.7867957353591919,
2.9874589443206787
] | 1 | [
0.0746595710515976,
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0.566746711730957,
1.2090309858322144,
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] | [
0.07774071395397186,
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0.5409611463546753,
1.209608793258667,
-0.007666540332138538,
-0.0015335745410993695
] | Move to initial position | Is the robot at initial position? | move_initial | 0.973175 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.933333 | 88 | 0 | 88 | 0 | ||
[
2.092099666595459,
-54.408145904541016,
43.541038513183594,
72.72693634033203,
-0.21217237412929535,
0.0000046465038394671865
] | [
2.26833176612854,
-53.32960891723633,
42.14757537841797,
72.7585678100586,
-0.2197534441947937,
0.0000046465038394671865
] | [
0.21791045367717743,
-0.013398841954767704,
0.1444665491580963,
3.0851800441741943,
0.7872288227081299,
2.9871022701263428
] | 1 | [
0.07495404779911041,
-0.9913260340690613,
0.564268946647644,
1.2090498208999634,
-0.007430954836308956,
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] | [
0.07777906209230423,
-0.9718117117881775,
0.5406383872032166,
1.2096116542816162,
-0.007669062819331884,
-0.0015338791999965906
] | Move to initial position | Is the robot at initial position? | move_initial | 0.9757 | [
2.2691292762756348,
-53.32475280761719,
42.141231536865234,
72.75862121582031,
-0.21978022158145905,
0
] | [
0.21971745789051056,
-0.014048943296074867,
0.1468789279460907,
3.0845351219177246,
0.7907770276069641,
2.9836387634277344
] | 0 | [
0,
0,
0
] | 2.966667 | 89 | 0 | 89 | 0 | ||
[
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
0.2999997138977051
] | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
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0.2999997138977051
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 1 | [
0.07546988129615784,
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0.5599288940429688,
1.2090823650360107,
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0.00502378074452281
] | [
0.07546988129615784,
-0.987781822681427,
0.5599288940429688,
1.2090823650360107,
-0.0074632600881159306,
0.00502378074452281
] | Open gripper for red_block | Is the gripper open? | gripper_open | 0.009998 | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
30
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 30 | pick red block and place on red dish | [
0,
0,
0
] | 3 | 90 | 0 | 90 | 0 | |
[
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
0.8999991416931152
] | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
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0.8999991416931152
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 1 | [
0.07546988129615784,
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0.5599288940429688,
1.2090823650360107,
-0.0074632600881159306,
0.018139304593205452
] | [
0.07546988129615784,
-0.987781822681427,
0.5599288940429688,
1.2090823650360107,
-0.0074632600881159306,
0.018139304593205452
] | Open gripper for red_block | Is the gripper open? | gripper_open | 0.029998 | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
30
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 30 | pick red block and place on red dish | [
0,
0,
0
] | 3.033333 | 91 | 0 | 91 | 0 | |
[
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
1.1999988555908203
] | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
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1.1999988555908203
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 1 | [
0.07546988129615784,
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0.5599288940429688,
1.2090823650360107,
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0.024697065353393555
] | [
0.07546988129615784,
-0.987781822681427,
0.5599288940429688,
1.2090823650360107,
-0.0074632600881159306,
0.024697065353393555
] | Open gripper for red_block | Is the gripper open? | gripper_open | 0.039998 | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
30
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 30 | pick red block and place on red dish | [
0,
0,
0
] | 3.066667 | 92 | 0 | 92 | 0 | |
[
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
1.800001859664917
] | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
1.800001859664917
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 1 | [
0.07546988129615784,
-0.987781822681427,
0.5599288940429688,
1.2090823650360107,
-0.0074632600881159306,
0.037812668830156326
] | [
0.07546988129615784,
-0.987781822681427,
0.5599288940429688,
1.2090823650360107,
-0.0074632600881159306,
0.037812668830156326
] | Open gripper for red_block | Is the gripper open? | gripper_open | 0.059998 | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
30
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 30 | pick red block and place on red dish | [
0,
0,
0
] | 3.1 | 93 | 0 | 93 | 0 | |
[
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
2.400001287460327
] | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
2.400001287460327
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 1 | [
0.07546988129615784,
-0.987781822681427,
0.5599288940429688,
1.2090823650360107,
-0.0074632600881159306,
0.05092819035053253
] | [
0.07546988129615784,
-0.987781822681427,
0.5599288940429688,
1.2090823650360107,
-0.0074632600881159306,
0.05092819035053253
] | Open gripper for red_block | Is the gripper open? | gripper_open | 0.079998 | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
30
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 30 | pick red block and place on red dish | [
0,
0,
0
] | 3.133333 | 94 | 0 | 94 | 0 | |
[
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
2.7000010013580322
] | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
2.7000010013580322
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 1 | [
0.07546988129615784,
-0.987781822681427,
0.5599288940429688,
1.2090823650360107,
-0.0074632600881159306,
0.057485952973365784
] | [
0.07546988129615784,
-0.987781822681427,
0.5599288940429688,
1.2090823650360107,
-0.0074632600881159306,
0.057485952973365784
] | Open gripper for red_block | Is the gripper open? | gripper_open | 0.089998 | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
30
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 30 | pick red block and place on red dish | [
0,
0,
0
] | 3.166667 | 95 | 0 | 95 | 0 | |
[
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
3.3000004291534424
] | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
3.3000004291534424
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 1 | [
0.07546988129615784,
-0.987781822681427,
0.5599288940429688,
1.2090823650360107,
-0.0074632600881159306,
0.07060147821903229
] | [
0.07546988129615784,
-0.987781822681427,
0.5599288940429688,
1.2090823650360107,
-0.0074632600881159306,
0.07060147821903229
] | Open gripper for red_block | Is the gripper open? | gripper_open | 0.109998 | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
30
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 30 | pick red block and place on red dish | [
0,
0,
0
] | 3.2 | 96 | 0 | 96 | 0 | |
[
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
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] | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
3.8999998569488525
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 1 | [
0.07546988129615784,
-0.987781822681427,
0.5599288940429688,
1.2090823650360107,
-0.0074632600881159306,
0.0837169960141182
] | [
0.07546988129615784,
-0.987781822681427,
0.5599288940429688,
1.2090823650360107,
-0.0074632600881159306,
0.0837169960141182
] | Open gripper for red_block | Is the gripper open? | gripper_open | 0.129998 | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
30
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 30 | pick red block and place on red dish | [
0,
0,
0
] | 3.233333 | 97 | 0 | 97 | 0 | |
[
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
4.199999809265137
] | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
4.199999809265137
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 1 | [
0.07546988129615784,
-0.987781822681427,
0.5599288940429688,
1.2090823650360107,
-0.0074632600881159306,
0.09027476608753204
] | [
0.07546988129615784,
-0.987781822681427,
0.5599288940429688,
1.2090823650360107,
-0.0074632600881159306,
0.09027476608753204
] | Open gripper for red_block | Is the gripper open? | gripper_open | 0.139998 | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
30
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 30 | pick red block and place on red dish | [
0,
0,
0
] | 3.266667 | 98 | 0 | 98 | 0 | |
[
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
4.799999237060547
] | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
4.799999237060547
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 1 | [
0.07546988129615784,
-0.987781822681427,
0.5599288940429688,
1.2090823650360107,
-0.0074632600881159306,
0.10339029133319855
] | [
0.07546988129615784,
-0.987781822681427,
0.5599288940429688,
1.2090823650360107,
-0.0074632600881159306,
0.10339029133319855
] | Open gripper for red_block | Is the gripper open? | gripper_open | 0.159998 | [
2.1242787837982178,
-54.21226119995117,
43.28511047363281,
72.72876739501953,
-0.21320094168186188,
30
] | [
0.218246191740036,
-0.013516867533326149,
0.14492352306842804,
3.085061550140381,
0.7879878878593445,
2.9864797592163086
] | 30 | pick red block and place on red dish | [
0,
0,
0
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
IsaacLab SortCubesByColor SO-101 — 100 episodes
LeRobot v3.0 dataset collected via SCRAPE-IsaacLab — a Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
- Task: "Sort the blocks by color: place each block on its matching colored dish. Put the red block on the red dish, the green block on the green dish, and the blue block on the blue dish."
- Robot: SO-101 single-arm follower
- Observations: top-view + left-wrist RGB cameras @ 30 fps, 6-DoF joint state
- Episodes: 100 successful episodes (285,503 frames total)
- Labels: per-frame natural-language skill labels in
skill.natural_languageandsubtask.*columns (labeled by Gemini 3.1 flash-lite-preview)
20 failed episodes were removed from the original 120-episode collection (2 parallel single-env workers × 60 episodes each) after judge filtering.
Load
from datasets import load_dataset
ds = load_dataset("vpraise00/isaaclab-sortcubesbycolor-so101-100ep", streaming=True)
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("vpraise00/isaaclab-sortcubesbycolor-so101-100ep")
Generation
Generated on Isaac Sim 5.1 / IsaacLab 2.3.2 under Python 3.11, CUDA 12.1. Skill labels were backfilled post-collection using the same Gemini endpoint as the in-line labeler, once per episode (constant-size prompt).
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