observation.state list | action list | skill.type stringclasses 3
values | skill.progress float32 0 1 | skill.goal_position.joint list | skill.goal_position.world_xyzrpy list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 1 | skill.natural_language stringclasses 11
values | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | timestamp float32 0 23.5 | frame_index int64 0 235 | episode_index int64 0 2 | index int64 0 706 | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | move_to_position | 1 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 1 | [
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] | 0 | move to initial position to start the task | [
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[
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] | [
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] | move_to_position | 1 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.2 | 2 | 0 | 2 | 0 |
[
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] | move_to_position | 1 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.3 | 3 | 0 | 3 | 0 |
[
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] | [
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] | move_to_position | 1 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.4 | 4 | 0 | 4 | 0 |
[
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] | [
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] | move_to_position | 1 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.5 | 5 | 0 | 5 | 0 |
[
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] | [
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0
] | move_to_position | 1 | [
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] | [
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0,
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] | [
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0,
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] | 0 | move to initial position to start the task | [
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0.3529919683933258,
2.7961366176605225,
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] | 1 | 0.6 | 6 | 0 | 6 | 0 |
[
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] | [
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0
] | move_to_position | 1 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
-2.103489151750182e-7,
-0.4399931728839874,
0.3529738783836365,
2.796149730682373,
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] | 1 | 0.7 | 7 | 0 | 7 | 0 |
[
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] | [
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0
] | move_to_position | 1 | [
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] | [
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0,
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] | [
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0,
0
] | 0 | move to initial position to start the task | [
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0.35297682881355286,
2.7961840629577637,
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] | 1 | 0.8 | 8 | 0 | 8 | 0 |
[
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] | [
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0
] | move_to_position | 1 | [
-1.9002708196640015,
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1.928730845451355,
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] | [
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0.4399999976158142,
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0,
0,
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] | [
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-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
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0.35299187898635864,
2.796140432357788,
0.060399990528821945,
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] | 1 | 0.9 | 9 | 0 | 9 | 0 |
[
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0
] | [
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0
] | move_to_position | 1 | [
-1.9002708196640015,
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] | [
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0,
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] | [
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0,
0
] | 0 | move to initial position to start the task | [
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0.35298097133636475,
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] | 1 | 1 | 10 | 0 | 10 | 0 |
[
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0
] | [
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0
] | move_to_position | 1 | [
-1.9002708196640015,
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] | [
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0,
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] | [
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-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
-2.5989729124376026e-7,
-0.4399874806404114,
0.3529660999774933,
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] | 1 | 1.1 | 11 | 0 | 11 | 0 |
[
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0
] | [
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0
] | move_to_position | 1 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
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0.35300564765930176,
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] | 1 | 1.2 | 12 | 0 | 12 | 0 |
[
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0
] | [
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0
] | move_to_position | 1 | [
-1.9002708196640015,
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1.928730845451355,
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] | [
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0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.000011441185961302835,
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0.35299381613731384,
2.7961459159851074,
0.06037053093314171,
3.070173740386963
] | 1 | 1.3 | 13 | 0 | 13 | 0 |
[
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0
] | [
-1.9002708196640015,
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1.928730845451355,
-1.8913804292678833,
-1.5383127927780151,
2.8815550804138184,
0
] | move_to_position | 1 | [
-1.9002708196640015,
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1.928730845451355,
-1.8913804292678833,
-1.5383127927780151,
2.8815550804138184,
0
] | [
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0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.0000015202444956230465,
-0.440003365278244,
0.35297149419784546,
2.7961597442626953,
0.06036040559411049,
3.0701518058776855
] | 1 | 1.4 | 14 | 0 | 14 | 0 |
[
-1.900286078453064,
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0
] | [
-1.9002708196640015,
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1.928730845451355,
-1.8913804292678833,
-1.5383127927780151,
2.8815550804138184,
0
] | move_to_position | 1 | [
-1.9002708196640015,
-1.9564186334609985,
1.928730845451355,
-1.8913804292678833,
-1.5383127927780151,
2.8815550804138184,
0
] | [
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0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.0000046938143896113615,
-0.4399898946285248,
0.3529941439628601,
2.7961270809173584,
0.06040981411933899,
3.070176362991333
] | 1 | 1.5 | 15 | 0 | 15 | 0 |
[
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0
] | [
-1.9002708196640015,
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-1.8913804292678833,
-1.5383127927780151,
2.8815550804138184,
0
] | move_to_position | 0 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
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2.9086902141571045,
0
] | [
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0,
0,
0
] | [
-0.026313962414860725,
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0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
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0.3529861569404602,
2.7961292266845703,
0.060351017862558365,
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] | 1 | 1.6 | 16 | 0 | 16 | 0 |
[
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2.8815743923187256,
0
] | [
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1.9287433624267578,
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2.881556510925293,
0
] | move_to_position | 0 | [
-1.8723293542861938,
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2.17482852935791,
-2.707939386367798,
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0
] | [
0.026313962414860725,
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0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
0.000012392617463774513,
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0.35298529267311096,
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] | 1 | 1.7 | 17 | 0 | 17 | 0 |
[
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] | [
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] | move_to_position | 0.000541 | [
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] | [
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0,
0
] | [
-0.026313962414860725,
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0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.0000016075688336059102,
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] | 1 | 1.8 | 18 | 0 | 18 | 0 |
[
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] | [
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0
] | move_to_position | 0.00324 | [
-1.8723293542861938,
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] | [
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0,
0
] | [
-0.026313962414860725,
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0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.00007457898755092174,
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] | 1 | 1.9 | 19 | 0 | 19 | 0 |
[
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] | [
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0
] | move_to_position | 0.00816 | [
-1.8723293542861938,
-1.3866676092147827,
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] | [
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0,
0
] | [
-0.026313962414860725,
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0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.00021965835185255855,
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] | 1 | 2 | 20 | 0 | 20 | 0 |
[
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] | [
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0
] | move_to_position | 0.015165 | [
-1.8723293542861938,
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] | [
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0,
0
] | [
-0.026313962414860725,
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0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.00046236839261837304,
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] | 1 | 2.1 | 21 | 0 | 21 | 0 |
[
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] | [
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0
] | move_to_position | 0.025611 | [
-1.8723293542861938,
-1.3866676092147827,
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] | [
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0,
0
] | [
-0.026313962414860725,
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0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.000816195213701576,
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] | 1 | 2.2 | 22 | 0 | 22 | 0 |
[
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] | [
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0
] | move_to_position | 0.040904 | [
-1.8723293542861938,
-1.3866676092147827,
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] | [
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0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
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0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.0012737190118059516,
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] | 1 | 2.3 | 23 | 0 | 23 | 0 |
[
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] | [
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0
] | move_to_position | 0.059851 | [
-1.8723293542861938,
-1.3866676092147827,
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] | [
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0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.00182525091804564,
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2.7961411476135254,
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] | 1 | 2.4 | 24 | 0 | 24 | 0 |
[
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] | [
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0
] | move_to_position | 0.085168 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
-1.548816442489624,
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] | [
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0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.0024925873149186373,
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2.7962749004364014,
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] | 1 | 2.5 | 25 | 0 | 25 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.11231 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
-1.548816442489624,
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] | [
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0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.003413204802200198,
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] | 1 | 2.6 | 26 | 0 | 26 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.143706 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
-1.548816442489624,
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] | [
0.026313962414860725,
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0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.0043123564682900906,
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] | 1 | 2.7 | 27 | 0 | 27 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.182194 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
-1.548816442489624,
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] | [
0.026313962414860725,
0.5559726357460022,
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0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.0053793881088495255,
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0.06038351729512215,
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] | 1 | 2.8 | 28 | 0 | 28 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.222151 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
-1.548816442489624,
2.9086902141571045,
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] | [
0.026313962414860725,
0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.006465963087975979,
-0.4686344563961029,
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] | 1 | 2.9 | 29 | 0 | 29 | 0 |
[
-1.8902677297592163,
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0
] | [
-1.8897939920425415,
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-2.1377902030944824,
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0
] | move_to_position | 0.264953 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
-1.548816442489624,
2.9086902141571045,
0
] | [
0.026313962414860725,
0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.007715621497482061,
-0.4740300178527832,
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2.796114444732666,
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] | 1 | 3 | 30 | 0 | 30 | 0 |
[
-1.8888815641403198,
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0
] | [
-1.8881349563598633,
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-2.183528423309326,
-1.5426543951034546,
2.8932790756225586,
0
] | move_to_position | 0.309357 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
-1.548816442489624,
2.9086902141571045,
0
] | [
0.026313962414860725,
0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.009054748341441154,
-0.47987133264541626,
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2.7959907054901123,
0.0603703036904335,
3.070180892944336
] | 1 | 3.1 | 31 | 0 | 31 | 0 |
[
-1.8873132467269897,
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0
] | [
-1.8867555856704712,
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-2.2226767539978027,
-1.5431629419326782,
2.894620895385742,
0
] | move_to_position | 0.36045 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
-1.548816442489624,
2.9086902141571045,
0
] | [
0.026313962414860725,
0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.010403100401163101,
-0.4858684837818146,
0.24853187799453735,
2.7961697578430176,
0.06031353771686554,
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] | 1 | 3.2 | 32 | 0 | 32 | 0 |
[
-1.8857840299606323,
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-2.2507078647613525,
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0
] | [
-1.88526451587677,
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2.108623743057251,
-2.2662620544433594,
-1.5437170267105103,
2.8960723876953125,
0
] | move_to_position | 0.412972 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
-1.548816442489624,
2.9086902141571045,
0
] | [
0.026313962414860725,
0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.011672068387269974,
-0.49145832657814026,
0.23557396233081818,
2.796065092086792,
0.06038842350244522,
3.070174217224121
] | 1 | 3.3 | 33 | 0 | 33 | 0 |
[
-1.884393572807312,
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-2.292066812515259,
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2.896913766860962,
0
] | [
-1.8838566541671753,
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2.1220364570617676,
-2.308983087539673,
-1.5442463159561157,
2.897444486618042,
0
] | move_to_position | 0.462297 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
-1.548816442489624,
2.9086902141571045,
0
] | [
0.026313962414860725,
0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.013023468665778637,
-0.4974658787250519,
0.22185777127742767,
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0.06037246435880661,
3.0701851844787598
] | 1 | 3.4 | 34 | 0 | 34 | 0 |
[
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] | [
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0
] | move_to_position | 0.514432 | [
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] | [
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0,
0
] | [
-0.026313962414860725,
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0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.014321485534310341,
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0.20900501310825348,
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] | 1 | 3.5 | 35 | 0 | 35 | 0 |
[
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] | [
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0
] | move_to_position | 0.564768 | [
-1.8723293542861938,
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2.17482852935791,
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] | [
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0,
0
] | [
-0.026313962414860725,
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0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.015761490911245346,
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] | 1 | 3.6 | 36 | 0 | 36 | 0 |
[
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] | [
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0
] | move_to_position | 0.618801 | [
-1.8723293542861938,
-1.3866676092147827,
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] | [
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0,
0
] | [
-0.026313962414860725,
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0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.01710566319525242,
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] | 1 | 3.7 | 37 | 0 | 37 | 0 |
[
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] | [
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0
] | move_to_position | 0.667265 | [
-1.8723293542861938,
-1.3866676092147827,
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] | [
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0,
0
] | [
-0.026313962414860725,
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0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.018248768523335457,
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] | 1 | 3.8 | 38 | 0 | 38 | 0 |
[
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] | [
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0
] | move_to_position | 0.715894 | [
-1.8723293542861938,
-1.3866676092147827,
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] | [
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0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.019321782514452934,
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] | 1 | 3.9 | 39 | 0 | 39 | 0 |
[
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] | [
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0
] | move_to_position | 0.761947 | [
-1.8723293542861938,
-1.3866676092147827,
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-1.548816442489624,
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] | [
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0,
0
] | [
-0.026313962414860725,
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0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.02045944333076477,
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] | 1 | 4 | 40 | 0 | 40 | 0 |
[
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] | [
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0
] | move_to_position | 0.803529 | [
-1.8723293542861938,
-1.3866676092147827,
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] | [
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0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
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0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.02155066654086113,
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] | 1 | 4.1 | 41 | 0 | 41 | 0 |
[
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] | [
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0
] | move_to_position | 0.842442 | [
-1.8723293542861938,
-1.3866676092147827,
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-2.707939386367798,
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] | [
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0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.02259637974202633,
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] | 1 | 4.2 | 42 | 0 | 42 | 0 |
[
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] | [
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0
] | move_to_position | 0.876735 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
-1.548816442489624,
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] | [
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0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.02347433753311634,
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] | 1 | 4.3 | 43 | 0 | 43 | 0 |
[
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] | [
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0
] | move_to_position | 0.907604 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
-1.548816442489624,
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] | [
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0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.024184029549360275,
-0.5464900135993958,
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] | 1 | 4.4 | 44 | 0 | 44 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.932984 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
-1.548816442489624,
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] | [
0.026313962414860725,
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0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.024827124550938606,
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] | 1 | 4.5 | 45 | 0 | 45 | 0 |
[
-1.8732913732528687,
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0
] | [
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0
] | move_to_position | 0.954143 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
-1.548816442489624,
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] | [
0.026313962414860725,
0.5559726357460022,
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0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.025263844057917595,
-0.5512940883636475,
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] | 1 | 4.6 | 46 | 0 | 46 | 0 |
[
-1.8729475736618042,
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0
] | [
-1.8728097677230835,
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-2.690258502960205,
-1.5486160516738892,
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0
] | move_to_position | 0.96934 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
-1.548816442489624,
2.9086902141571045,
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] | [
0.026313962414860725,
0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.02558254264295101,
-0.5527685880661011,
0.09506892412900925,
2.7961654663085938,
0.06037027761340141,
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] | 1 | 4.7 | 47 | 0 | 47 | 0 |
[
-1.8726953268051147,
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0
] | [
-1.8726003170013428,
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-2.6979496479034424,
-1.5487029552459717,
2.9084277153015137,
0
] | move_to_position | 0.981518 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
-1.548816442489624,
2.9086902141571045,
0
] | [
0.026313962414860725,
0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.0258675217628479,
-0.5540114045143127,
0.09207288175821304,
2.7961859703063965,
0.06037118285894394,
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] | 1 | 4.8 | 48 | 0 | 48 | 0 |
[
-1.872557520866394,
-1.3941912651062012,
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0
] | [
-1.8724539279937744,
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2.1752209663391113,
-2.703342914581299,
-1.5487641096115112,
2.908569574356079,
0
] | move_to_position | 0.990032 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
-1.548816442489624,
2.9086902141571045,
0
] | [
0.026313962414860725,
0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.02607487514615059,
-0.5549383163452148,
0.09011999517679214,
2.7961416244506836,
0.06036566197872162,
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] | 1 | 4.9 | 49 | 0 | 49 | 0 |
[
-1.8724225759506226,
-1.3895665407180786,
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-2.7052366733551025,
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2.9086110591888428,
0
] | [
-1.8723748922348022,
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2.17496395111084,
-2.706258773803711,
-1.548797369003296,
2.9086461067199707,
0
] | move_to_position | 0.996128 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
-1.548816442489624,
2.9086902141571045,
0
] | [
0.026313962414860725,
0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.026215268298983574,
-0.5555907487869263,
0.08871936053037643,
2.796207904815674,
0.0602935366332531,
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] | 1 | 5 | 50 | 0 | 50 | 0 |
[
-1.8723467588424683,
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2.1749470233917236,
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-1.5487779378890991,
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0
] | [
-1.872335433959961,
-1.3869060277938843,
2.174840211868286,
-2.7077126502990723,
-1.548813819885254,
2.908684253692627,
0
] | move_to_position | 0.999209 | [
-1.8723293542861938,
-1.3866676092147827,
2.17482852935791,
-2.707939386367798,
-1.548816442489624,
2.9086902141571045,
0
] | [
0.026313962414860725,
0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.026289042085409164,
-0.5558568239212036,
0.08810926228761673,
2.7961983680725098,
0.06032621115446091,
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] | 1 | 5.1 | 51 | 0 | 51 | 0 |
[
-1.8723725080490112,
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2.1748969554901123,
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0
] | [
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0
] | move_to_position | 0.999746 | [
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] | [
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0,
0,
0
] | [
-0.026313962414860725,
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0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.026310570538043976,
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0.08808016777038574,
2.7960033416748047,
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] | 1 | 5.2 | 52 | 0 | 52 | 0 |
[
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0
] | [
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0
] | gripper_open | 1 | [
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] | [
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] | [
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0.08807532489299774,
2.7960100173950195,
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] | 0 | pick up the red block and place it on the center of the blue dish: open gripper | [
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0.0880749523639679,
2.7960023880004883,
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] | 1 | 5.3 | 53 | 0 | 53 | 0 |
[
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] | [
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0
] | gripper_open | 1 | [
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] | [
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] | [
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0.08807532489299774,
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] | 0 | pick up the red block and place it on the center of the blue dish: open gripper | [
-0.026311926543712616,
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] | 1 | 5.4 | 54 | 0 | 54 | 0 |
[
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] | [
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0
] | gripper_open | 1 | [
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] | [
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] | [
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2.7960100173950195,
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] | 0 | pick up the red block and place it on the center of the blue dish: open gripper | [
-0.026314357295632362,
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2.7961068153381348,
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] | 1 | 5.5 | 55 | 0 | 55 | 0 |
[
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] | [
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0
] | gripper_open | 1 | [
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] | [
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] | [
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0.08807532489299774,
2.7960100173950195,
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] | 0 | pick up the red block and place it on the center of the blue dish: open gripper | [
-0.02631022222340107,
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] | 1 | 5.6 | 56 | 0 | 56 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000189 | [
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] | [
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0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.03799999877810478,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: descend to red block | [
-0.02632313035428524,
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0.08800458908081055,
2.7960751056671143,
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] | 1 | 5.7 | 57 | 0 | 57 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000368 | [
-1.872391700744629,
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-1.54902184009552,
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] | [
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0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.03799999877810478,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: descend to red block | [
-0.026312565430998802,
-0.5559648275375366,
0.08793962001800537,
2.796164035797119,
0.0603763684630394,
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] | 1 | 5.8 | 58 | 0 | 58 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.01178 | [
-1.872391700744629,
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2.217282295227051,
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-1.54902184009552,
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] | [
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0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.03799999877810478,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: descend to red block | [
-0.026292074471712112,
-0.5559567809104919,
0.08708275109529495,
2.796386241912842,
0.060293447226285934,
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] | 1 | 5.9 | 59 | 0 | 59 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.041654 | [
-1.872391700744629,
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-1.54902184009552,
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] | [
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0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.03799999877810478,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: descend to red block | [
-0.026267368346452713,
-0.5559254288673401,
0.08544883877038956,
2.796217679977417,
0.06033056601881981,
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] | 1 | 6 | 60 | 0 | 60 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.091307 | [
-1.872391700744629,
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2.217282295227051,
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0
] | [
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0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.03799999877810478,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: descend to red block | [
-0.026298340409994125,
-0.5559378266334534,
0.08278000354766846,
2.796154737472534,
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] | 1 | 6.1 | 61 | 0 | 61 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.16363 | [
-1.872391700744629,
-1.2762430906295776,
2.217282295227051,
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0
] | [
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0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.03799999877810478,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: descend to red block | [
-0.026313165202736855,
-0.5560064315795898,
0.07895349711179733,
2.796017646789551,
0.06040135771036148,
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] | 1 | 6.2 | 62 | 0 | 62 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.261037 | [
-1.872391700744629,
-1.2762430906295776,
2.217282295227051,
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-1.54902184009552,
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0
] | [
0.026313962414860725,
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0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.03799999877810478,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: descend to red block | [
-0.026321742683649063,
-0.5560351610183716,
0.07365448772907257,
2.7962348461151123,
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3.07018780708313
] | 1 | 6.3 | 63 | 0 | 63 | 0 |
[
-1.8723124265670776,
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0
] | [
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0
] | move_to_position | 0.375529 | [
-1.872391700744629,
-1.2762430906295776,
2.217282295227051,
-2.860816478729248,
-1.54902184009552,
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0
] | [
0.026313962414860725,
0.5559726357460022,
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0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.03799999877810478,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: descend to red block | [
-0.02631668746471405,
-0.5560742616653442,
0.06768406182527542,
2.796156167984009,
0.060330718755722046,
3.070176124572754
] | 1 | 6.4 | 64 | 0 | 64 | 0 |
[
-1.8723567724227905,
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2.908742666244507,
0
] | [
-1.872357964515686,
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2.200676918029785,
-2.7937707901000977,
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0
] | move_to_position | 0.510737 | [
-1.872391700744629,
-1.2762430906295776,
2.217282295227051,
-2.860816478729248,
-1.54902184009552,
2.9087674617767334,
0
] | [
0.026313962414860725,
0.5559726357460022,
0.03799999877810478,
0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.03799999877810478,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: descend to red block | [
-0.026313619688153267,
-0.5560712218284607,
0.06140544265508652,
2.795973062515259,
0.0603945255279541,
3.0701870918273926
] | 1 | 6.5 | 65 | 0 | 65 | 0 |
[
-1.8723448514938354,
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0
] | [
-1.8723660707473755,
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2.205322742462158,
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-1.5489524602890015,
2.9087510108947754,
0
] | move_to_position | 0.627968 | [
-1.872391700744629,
-1.2762430906295776,
2.217282295227051,
-2.860816478729248,
-1.54902184009552,
2.9087674617767334,
0
] | [
0.026313962414860725,
0.5559726357460022,
0.03799999877810478,
0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.03799999877810478,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: descend to red block | [
-0.026302101090550423,
-0.5559943318367004,
0.05586974695324898,
2.796113967895508,
0.06034158170223236,
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] | 1 | 6.6 | 66 | 0 | 66 | 0 |
[
-1.872353434562683,
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2.9087390899658203,
0
] | [
-1.872373104095459,
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2.2089250087738037,
-2.825004816055298,
-1.5489717721939087,
2.9087562561035156,
0
] | move_to_position | 0.729796 | [
-1.872391700744629,
-1.2762430906295776,
2.217282295227051,
-2.860816478729248,
-1.54902184009552,
2.9087674617767334,
0
] | [
0.026313962414860725,
0.5559726357460022,
0.03799999877810478,
0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.03799999877810478,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: descend to red block | [
-0.026285674422979355,
-0.5559504628181458,
0.05045017600059509,
2.7960453033447266,
0.06041327491402626,
3.0701963901519775
] | 1 | 6.7 | 67 | 0 | 67 | 0 |
[
-1.8723586797714233,
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0
] | [
-1.8723806142807007,
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2.2124485969543457,
-2.839677095413208,
-1.5489921569824219,
2.9087610244750977,
0
] | move_to_position | 0.827189 | [
-1.872391700744629,
-1.2762430906295776,
2.217282295227051,
-2.860816478729248,
-1.54902184009552,
2.9087674617767334,
0
] | [
0.026313962414860725,
0.5559726357460022,
0.03799999877810478,
0,
0,
0
] | [
-0.026313962414860725,
-0.5559726357460022,
0.03799999877810478,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: descend to red block | [
-0.026266206055879593,
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0.04558930546045303,
2.7961747646331787,
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3.0702412128448486
] | 1 | 6.8 | 68 | 0 | 68 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.911117 | [
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] | [
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0,
0,
0
] | [
-0.026313962414860725,
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0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: descend to red block | [
-0.02630002610385418,
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0.041739191859960556,
2.7961223125457764,
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] | 1 | 6.9 | 69 | 0 | 69 | 0 |
[
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] | [
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0
] | move_to_position | 0.967415 | [
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] | [
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0,
0,
0
] | [
-0.026313962414860725,
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0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: descend to red block | [
-0.0263028796762228,
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0.03936084359884262,
2.7961113452911377,
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] | 1 | 7 | 70 | 0 | 70 | 0 |
[
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] | [
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0
] | move_to_position | 0.992924 | [
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] | [
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0,
0,
0
] | [
-0.026313962414860725,
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0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: descend to red block | [
-0.026323841884732246,
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0.038257017731666565,
2.7960002422332764,
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] | 1 | 7.1 | 71 | 0 | 71 | 0 |
[
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] | [
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0
] | move_to_position | 0.998373 | [
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] | [
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0,
0,
0
] | [
-0.026313962414860725,
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0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: descend to red block | [
-0.02634294517338276,
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0.038167767226696014,
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] | 1 | 7.2 | 72 | 0 | 72 | 0 |
[
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0
] | [
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1
] | gripper_close | 0 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
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0.038140248507261276,
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] | 1 | 7.3 | 73 | 0 | 73 | 0 |
[
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1
] | gripper_close | 0.05098 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
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] | 1 | 7.4 | 74 | 0 | 74 | 0 |
[
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] | [
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1
] | gripper_close | 0.180392 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
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2.796121835708618,
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] | 1 | 7.5 | 75 | 0 | 75 | 0 |
[
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] | [
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1
] | gripper_close | 0.321569 | [
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1
] | [
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] | [
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0.038135696202516556,
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] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
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0.03799275681376457,
2.796074390411377,
0.06035643070936203,
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] | 1 | 7.6 | 76 | 0 | 76 | 0 |
[
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] | [
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1
] | gripper_close | 0.45098 | [
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1
] | [
0.026310695335268974,
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] | [
-0.026310695335268974,
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0.038135696202516556,
2.795818567276001,
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3.0701541900634766
] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
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0.03797399252653122,
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] | 1 | 7.7 | 77 | 0 | 77 | 0 |
[
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] | [
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1
] | gripper_close | 0.509804 | [
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1
] | [
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] | [
-0.026310695335268974,
-0.5560569763183594,
0.038135696202516556,
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0.06040599197149277,
3.0701541900634766
] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
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0.06048549711704254,
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] | 0 | 7.8 | 78 | 0 | 78 | 0 |
[
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] | [
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1
] | gripper_close | 0.509804 | [
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1
] | [
0.026310695335268974,
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] | [
-0.026310695335268974,
-0.5560569763183594,
0.038135696202516556,
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3.0701541900634766
] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
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0.03813938423991203,
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0.060425423085689545,
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] | 0 | 7.9 | 79 | 0 | 79 | 0 |
[
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] | [
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1
] | gripper_close | 0.509804 | [
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1
] | [
0.026310695335268974,
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] | [
-0.026310695335268974,
-0.5560569763183594,
0.038135696202516556,
2.795818567276001,
0.06040599197149277,
3.0701541900634766
] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
-0.026352500542998314,
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0.03810892254114151,
2.7958245277404785,
0.06041048839688301,
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] | 0 | 8 | 80 | 0 | 80 | 0 |
[
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] | [
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1
] | gripper_close | 0.509804 | [
-1.8723777532577515,
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1
] | [
0.026310695335268974,
0.5560569763183594,
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] | [
-0.026310695335268974,
-0.5560569763183594,
0.038135696202516556,
2.795818567276001,
0.06040599197149277,
3.0701541900634766
] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
-0.026342006400227547,
-0.5560174584388733,
0.03803779557347298,
2.795926332473755,
0.060406845062971115,
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] | 0 | 8.1 | 81 | 0 | 81 | 0 |
[
-1.872404932975769,
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2.9087753295898438,
0.5098039507865906
] | [
-1.872391700744629,
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2.217282295227051,
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-1.54902184009552,
2.9087674617767334,
1
] | gripper_close | 0.509804 | [
-1.8723777532577515,
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1
] | [
0.026310695335268974,
0.5560569763183594,
0.038135696202516556,
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] | [
-0.026310695335268974,
-0.5560569763183594,
0.038135696202516556,
2.795818567276001,
0.06040599197149277,
3.0701541900634766
] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
-0.02630910463631153,
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0.038002993911504745,
2.796024799346924,
0.060358237475156784,
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] | 0 | 8.2 | 82 | 0 | 82 | 0 |
[
-1.8724168539047241,
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2.9087791442871094,
0.5098039507865906
] | [
-1.872391700744629,
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2.217282295227051,
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-1.54902184009552,
2.9087674617767334,
1
] | gripper_close | 0.509804 | [
-1.8723777532577515,
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2.217116117477417,
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-1.5490435361862183,
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1
] | [
0.026310695335268974,
0.5560569763183594,
0.038135696202516556,
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0.06040599197149277,
3.0701541900634766
] | [
-0.026310695335268974,
-0.5560569763183594,
0.038135696202516556,
2.795818567276001,
0.06040599197149277,
3.0701541900634766
] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
-0.026297442615032196,
-0.5559685826301575,
0.0379825197160244,
2.7961008548736572,
0.060322850942611694,
3.0701546669006348
] | 0 | 8.3 | 83 | 0 | 83 | 0 |
[
-1.8724015951156616,
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2.217242479324341,
-2.860813856124878,
-1.549017310142517,
2.9087557792663574,
0.5098039507865906
] | [
-1.872391700744629,
-1.2762430906295776,
2.217282295227051,
-2.860816478729248,
-1.54902184009552,
2.9087674617767334,
1
] | gripper_close | 0.509804 | [
-1.8723777532577515,
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2.217116117477417,
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-1.5490435361862183,
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1
] | [
0.026310695335268974,
0.5560569763183594,
0.038135696202516556,
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3.0701541900634766
] | [
-0.026310695335268974,
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] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
-0.02631617709994316,
-0.5559633374214172,
0.037990592420101166,
2.7961084842681885,
0.06036617234349251,
3.070129156112671
] | 0 | 8.4 | 84 | 0 | 84 | 0 |
[
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] | [
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1
] | gripper_close | 0.509804 | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
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2.7960972785949707,
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] | 0 | 8.5 | 85 | 0 | 85 | 0 |
[
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] | [
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1
] | gripper_close | 0.509804 | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
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2.7960784435272217,
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] | 0 | 8.6 | 86 | 0 | 86 | 0 |
[
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] | [
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] | gripper_close | 0.509804 | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
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2.796067714691162,
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] | 0 | 8.7 | 87 | 0 | 87 | 0 |
[
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] | [
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] | gripper_close | 0.509804 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
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2.7960855960845947,
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] | 0 | 8.8 | 88 | 0 | 88 | 0 |
[
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] | [
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] | gripper_close | 0.509804 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
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2.796079635620117,
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] | 0 | 8.9 | 89 | 0 | 89 | 0 |
[
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] | [
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1
] | gripper_close | 0.509804 | [
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1
] | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
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0.03799015283584595,
2.796092987060547,
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] | 0 | 9 | 90 | 0 | 90 | 0 |
[
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] | [
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1
] | gripper_close | 0.509804 | [
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1
] | [
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] | [
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-0.5560569763183594,
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] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
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0.038008544594049454,
2.7960617542266846,
0.060373835265636444,
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] | 0 | 9.1 | 91 | 0 | 91 | 0 |
[
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] | [
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1
] | gripper_close | 0.509804 | [
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1
] | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
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0.03799736127257347,
2.796082019805908,
0.060357578098773956,
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] | 0 | 9.2 | 92 | 0 | 92 | 0 |
[
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] | [
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1
] | gripper_close | 0.509804 | [
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1
] | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
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0.037998806685209274,
2.7960686683654785,
0.06036979705095291,
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] | 0 | 9.3 | 93 | 0 | 93 | 0 |
[
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] | [
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1
] | gripper_close | 0.509804 | [
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1
] | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
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0.03800037130713463,
2.796072244644165,
0.06034542992711067,
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] | 0 | 9.4 | 94 | 0 | 94 | 0 |
[
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] | [
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1
] | gripper_close | 0.509804 | [
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1
] | [
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] | [
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] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
-0.026312170550227165,
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0.038007840514183044,
2.796053886413574,
0.06034073606133461,
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] | 0 | 9.5 | 95 | 0 | 95 | 0 |
[
-1.8724015951156616,
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] | [
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1
] | gripper_close | 0.509804 | [
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1
] | [
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] | [
-0.026310695335268974,
-0.5560569763183594,
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] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
-0.026320019736886024,
-0.5559834837913513,
0.03802131488919258,
2.796027898788452,
0.06035829707980156,
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] | 0 | 9.6 | 96 | 0 | 96 | 0 |
[
-1.8723829984664917,
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0.5098039507865906
] | [
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1
] | gripper_close | 0.509804 | [
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1
] | [
0.026310695335268974,
0.5560569763183594,
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] | [
-0.026310695335268974,
-0.5560569763183594,
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2.795818567276001,
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3.0701541900634766
] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
-0.02631332539021969,
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0.03800500929355621,
2.7960450649261475,
0.060362424701452255,
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] | 0 | 9.7 | 97 | 0 | 97 | 0 |
[
-1.8724015951156616,
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0.5098039507865906
] | [
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1
] | gripper_close | 0.509804 | [
-1.8723777532577515,
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1
] | [
0.026310695335268974,
0.5560569763183594,
0.038135696202516556,
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] | [
-0.026310695335268974,
-0.5560569763183594,
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2.795818567276001,
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3.0701541900634766
] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
-0.026313364505767822,
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0.03798716887831688,
2.796116828918457,
0.060355301946401596,
3.0701189041137695
] | 0 | 9.8 | 98 | 0 | 98 | 0 |
[
-1.8723982572555542,
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-2.8608105182647705,
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2.9087791442871094,
0.5098039507865906
] | [
-1.872391700744629,
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2.217282295227051,
-2.860816478729248,
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1
] | gripper_close | 0.509804 | [
-1.8723777532577515,
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2.217116117477417,
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2.9087753295898438,
1
] | [
0.026310695335268974,
0.5560569763183594,
0.038135696202516556,
2.795818567276001,
0.06040599197149277,
3.0701541900634766
] | [
-0.026310695335268974,
-0.5560569763183594,
0.038135696202516556,
2.795818567276001,
0.06040599197149277,
3.0701541900634766
] | 1 | pick up the red block and place it on the center of the blue dish: grasp red block | [
-0.02631506323814392,
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0.03800642490386963,
2.7960364818573,
0.060371607542037964,
3.0701615810394287
] | 0 | 9.9 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "ur7e",
"total_episodes": 3,
"total_frames": 707,
"total_tasks": 1,
"chunks_size": 1000,
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}
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