Iamlab CMU Pickup Insert Augmented
Collection
6 items
•
Updated
Datasets:
Dataset Viewer
observation.widowX.joints
list | observation.widowX.ee_pose
list | observation.widowX.base_position
list | observation.widowX.base_orientation
float32 0
0
| observation.widowX.ee_error
list | observation.sawyer.joints
list | observation.sawyer.ee_pose
list | observation.sawyer.base_position
list | observation.sawyer.base_orientation
float32 0
0
| observation.sawyer.ee_error
list | observation.ur5e.joints
list | observation.ur5e.ee_pose
list | observation.ur5e.base_position
list | observation.ur5e.base_orientation
float32 0
0
| observation.ur5e.ee_error
list | observation.google_robot.joints
list | observation.google_robot.ee_pose
list | observation.google_robot.base_position
list | observation.google_robot.base_orientation
float32 0
0
| observation.google_robot.ee_error
list | observation.jaco.joints
list | observation.jaco.ee_pose
list | observation.jaco.base_position
list | observation.jaco.base_orientation
float32 0
0
| observation.jaco.ee_error
list | observation.kinova3.joints
list | observation.kinova3.ee_pose
list | observation.kinova3.base_position
list | observation.kinova3.base_orientation
float32 0
0
| observation.kinova3.ee_error
list | observation.kuka_iiwa.joints
list | observation.kuka_iiwa.ee_pose
list | observation.kuka_iiwa.base_position
list | observation.kuka_iiwa.base_orientation
float32 0
0
| observation.kuka_iiwa.ee_error
list | observation.xarm7.joints
list | observation.xarm7.ee_pose
list | observation.xarm7.base_position
list | observation.xarm7.base_orientation
float32 0
0
| observation.xarm7.ee_error
list | natural_language_instruction
stringclasses 7
values | observation.state
list | observation.joints
list | observation.ee_pose
list | timestamp
float32 0
25.4
| frame_index
int64 0
762
| episode_index
int64 0
99
| index
int64 0
23k
| task_index
int64 0
6
|
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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Pick up green block.
|
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Pick up green block.
|
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-0.00013839034363627434,
-0.00004865723894909024
] |
[
0.028943585231900215,
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2.0359933376312256,
0.0433061346411705,
0.8752077221870422,
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0
] |
[
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0.0004096226184628904
] |
[
0,
0,
0
] | 0
|
[
-0.0000054836273193359375,
7.096678018569946e-7,
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0.000013132928870618343,
0,
-0.000006358139216899872,
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] |
[
-0.050487153232097626,
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-2.094399929046631,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.011885970830917358,
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] |
[
-0.6412004232406616,
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] |
[
0.337425172328949,
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[
0,
0,
0
] | 0
|
[
0.000003933906555175781,
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0.00013994568143971264,
7.152557373046875e-7,
-0.00014393310993909836,
-0.000047582725528627634
] |
Pick up green block.
|
[
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[
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] |
[
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] | 0.066667
| 2
| 0
| 2
| 0
|
[
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] |
[
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[
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] | 0
|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
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-2.980232238769531e-7,
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[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
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6.556510925292969e-7,
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] |
[
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.0000054836273193359375,
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0.000013132637832313776,
-5.960464477539063e-8,
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0.00013956916518509388
] |
[
-0.05053063482046127,
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-2.094399929046631,
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0
] |
[
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0.0016873911954462528,
0.9916356205940247,
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-0.12897688150405884
] |
[
0,
0,
0
] | 0
|
[
-0.011885881423950195,
-0.00018465332686901093,
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-0.0014032041653990746,
0.00835341215133667,
0.00007236842066049576,
0.12952715158462524
] |
[
-0.6411989331245422,
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0.6222619414329529,
0.5759048461914062,
0.3263740837574005,
1.001571536064148,
2.8768818378448486,
0
] |
[
0.3374260663986206,
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0.00014424111577682197,
0.9999883770942688,
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0.0005978470435366035
] |
[
0,
0,
0
] | 0
|
[
0.0000039637088775634766,
0.000006696674972772598,
-0.0000022798776626586914,
0.00013994585606269538,
6.556510925292969e-7,
-0.00014393310993909836,
-0.00004758266732096672
] |
Pick up green block.
|
[
0.0028298727702349424,
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0.013964170590043068,
-2.847938299179077,
0.008839904330670834,
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1,
2.6385533809661865,
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1.195263147354126,
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-0.07515735924243927
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[
0.002832236234098673,
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0.008840853348374367,
2.3186707496643066,
0.7849845290184021,
0
] |
[
0.33743003010749817,
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0.17511287331581116,
0.9999890327453613,
0.004640987142920494,
0.0005502643762156367,
0.00028418697183951735
] | 0.1
| 3
| 0
| 3
| 0
|
[
0.028433777391910553,
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0.776793897151947,
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1.1515414714813232,
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0
] |
[
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] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.000001862645149230957,
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-0.00019396585412323475,
-6.556510925292969e-7,
0.0001514749601483345,
-0.000013861572369933128
] |
[
-0.3982057571411133,
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0.613253653049469,
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0
] |
[
0.337438702583313,
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0.0006578173488378525,
0.9999897480010986,
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0.00028126209508627653
] |
[
0,
0,
0
] | 0
|
[
-0.000009149312973022461,
-0.000011667143553495407,
-0.000004082918167114258,
-0.00037066635559313,
-7.748603820800781e-7,
0.00017429189756512642,
0.00027054938254877925
] |
[
-1.963723063468933,
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2.2910263538360596,
-1.902993083000183,
-1.570984959602356,
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0
] |
[
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0.9999890923500061,
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0.00048715679440647364
] |
[
0,
0,
0
] | 0
|
[
-0.0000030994415283203125,
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-0.000019686267478391528,
-1.1920928955078125e-7,
0.0000201384536921978,
0.00006465468322858214
] |
[
0.2924918532371521,
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2.136080026626587,
-1.6325565576553345,
0.6349694728851318,
-0.8845254182815552,
0
] |
[
0.3374381959438324,
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0.0003342720738146454,
0.9999892711639404,
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0.0003684379335027188
] |
[
0,
0,
0
] | 0
|
[
-0.00000864267349243164,
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-0.000047121080569922924,
-2.980232238769531e-7,
0.000044304411858320236,
0.00018337354413233697
] |
[
0.1724492609500885,
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5.233471393585205,
0.18090566992759705,
-0.7019242644309998,
-2.777719736099243,
0
] |
[
0.33742836117744446,
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0.9999883770942688,
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0.0006004689494147897
] |
[
0,
0,
0
] | 0
|
[
0.0000011920928955078125,
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-4.3213367462158203e-7,
0.0003286041901446879,
5.960464477539062e-7,
-0.00013839080929756165,
-0.000048657471779733896
] |
[
0.028943246230483055,
0.23234884440898895,
-0.14208436012268066,
2.035993814468384,
0.04331013932824135,
0.8752076625823975,
-0.1277993619441986,
0
] |
[
0.3374350368976593,
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0.17511926591396332,
0.0002740178897511214,
0.9999890327453613,
0.004656342789530754,
0.0004122420505154878
] |
[
0,
0,
0
] | 0
|
[
-0.0000054836273193359375,
7.092021405696869e-7,
-0.000005424022674560547,
0.000013133103493601084,
-5.960464477539063e-8,
-0.000006357207894325256,
0.000139569427119568
] |
[
-0.05055166408419609,
0.4703870415687561,
0.07802551984786987,
-2.094399929046631,
-0.04553747922182083,
0.837399959564209,
0.04929095506668091,
0
] |
[
0.3493156135082245,
0.005325641017407179,
0.1762658655643463,
0.001690627308562398,
0.9916355609893799,
0.004577155224978924,
-0.1289771944284439
] |
[
0,
0,
0
] | 0
|
[
-0.011886060237884521,
-0.00018479535356163979,
-0.0011520236730575562,
-0.001403476344421506,
0.00835341215133667,
0.00007283035665750504,
0.12952899932861328
] |
[
-0.6412059664726257,
-0.4821073114871979,
0.6222781538963318,
0.5759031772613525,
0.32638251781463623,
1.0015742778778076,
2.876866340637207,
0
] |
[
0.3374256193637848,
0.005134149454534054,
0.17511612176895142,
0.0001472068834118545,
0.999988317489624,
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0.0005993943195790052
] |
[
0,
0,
0
] | 0
|
[
0.000003933906555175781,
0.0000066962093114852905,
-0.0000022798776626586914,
0.00013994410983286798,
6.556510925292969e-7,
-0.00014393264427781105,
-0.00004758284194394946
] |
Pick up green block.
|
[
0.002829951699823141,
-0.5303778052330017,
0.013966702856123447,
-2.8479459285736084,
0.008840514346957207,
2.3186707496643066,
0.7849815487861633,
1,
2.6223084926605225,
0.8095973134040833,
-1.217422604560852,
-0.058294836431741714,
1.4859004020690918,
0.33211255073547363,
2.6284217834472656,
-0.7859141230583191,
1.2198156118392944,
0.14393684267997742,
-0.45312976837158203,
-0.07266264408826828
] |
[
0.002834134269505739,
-0.5303881168365479,
0.013969172723591328,
-2.8479373455047607,
0.008839904330670834,
2.3186700344085693,
0.784977912902832,
0
] |
[
0.33742955327033997,
0.005140845663845539,
0.17511384189128876,
0.9999889731407166,
0.004649985581636429,
0.0005518114776350558,
0.0002871509932447225
] | 0.133333
| 4
| 0
| 4
| 0
|
[
0.02841794490814209,
-0.358644962310791,
0.7767977714538574,
-0.0010799783049151301,
1.1515380144119263,
-3.1217234134674072,
0
] |
[
0.18739964067935944,
0.005168484523892403,
0.10011275857686996,
0.00047985531273297966,
0.9999896287918091,
0.0044938609935343266,
0.000564479676540941
] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.0000018477439880371094,
-0.000015974044799804688,
-1.7881393432617188e-7,
-0.00019396809511817992,
-5.960464477539062e-7,
0.0001514754258096218,
-0.00001385906944051385
] |
[
-0.39821821451187134,
-1.5656912326812744,
-0.10646560788154602,
2.5221292972564697,
-0.0005740575143136084,
0.6132508516311646,
-3.480217695236206,
0
] |
[
0.3374382555484772,
0.00515001080930233,
0.17511668801307678,
0.0006565541843883693,
0.9999897480010986,
0.0044710454531013966,
0.0002800673246383667
] |
[
0,
0,
0
] | 0
|
[
-0.000009179115295410156,
-0.0000116666778922081,
-0.000004082918167114258,
-0.0003706669667735696,
-7.152557373046875e-7,
0.0001742909662425518,
0.00027055328246206045
] |
[
-1.9637322425842285,
-1.959964394569397,
2.2910282611846924,
-1.902992844581604,
-1.5709835290908813,
-0.40218642354011536,
0
] |
[
0.3374321758747101,
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0.17511478066444397,
0.000305573659716174,
0.9999891519546509,
0.0046251979656517506,
0.0004859656619373709
] |
[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
0,
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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0,
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[
-0.05058597773313522,
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.01188609004020691,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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0.00013994502660352737,
7.152557373046875e-7,
-0.00014393264427781105,
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] |
Pick up green block.
|
[
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[
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[
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] | 0.166667
| 5
| 0
| 5
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
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] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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6.556510925292969e-7,
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] |
[
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0.8752012252807617,
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.0000054836273193359375,
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0.000013133249012753367,
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-0.000006357673555612564,
0.000139569427119568
] |
[
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0
] |
[
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0.9916338920593262,
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] |
[
0,
0,
0
] | 0
|
[
-0.011886507272720337,
-0.00018472271040081978,
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-0.0014033630723133683,
0.008355140686035156,
0.0000726776197552681,
0.129533052444458
] |
[
-0.6412003636360168,
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0.6222717761993408,
0.5758892893791199,
0.3263741731643677,
1.001571536064148,
2.8768773078918457,
0
] |
[
0.33742016553878784,
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0.9999883770942688,
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0.00059030472766608
] |
[
0,
0,
0
] | 0
|
[
0.000003933906555175781,
0.0000066962093114852905,
-0.000002294778823852539,
0.00013994672917760909,
6.556510925292969e-7,
-0.00014393171295523643,
-0.00004758278373628855
] |
Pick up green block.
|
[
0.002826679963618517,
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0.013964197598397732,
-2.8479533195495605,
0.008840509690344334,
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1,
2.64812970161438,
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1.189436912536621,
0.14862948656082153,
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-0.07382814586162567
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[
0.002829951699823141,
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-2.8479459285736084,
0.008840514346957207,
2.3186707496643066,
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0
] |
[
0.337424099445343,
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0.9999890327453613,
0.00464477576315403,
0.0005427219439297915,
0.0002863363770302385
] | 0.2
| 6
| 0
| 6
| 0
|
[
0.028418034315109253,
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0.7768087387084961,
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1.1515395641326904,
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0
] |
[
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] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.0000018477439880371094,
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-1.7881393432617188e-7,
-0.0001939693174790591,
-5.960464477539062e-7,
0.0001514744944870472,
-0.000013858953025192022
] |
[
-0.3982178866863251,
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-3.4802165031433105,
0
] |
[
0.33743512630462646,
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0.00065660011023283,
0.9999897480010986,
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0.0002780421928036958
] |
[
0,
0,
0
] | 0
|
[
-0.000009149312973022461,
-0.000011667143553495407,
-0.000004082918167114258,
-0.0003706668212544173,
-7.152557373046875e-7,
0.0001742900349199772,
0.0002705524966586381
] |
[
-1.9637349843978882,
-1.9599705934524536,
2.2910332679748535,
-1.9029879570007324,
-1.570985198020935,
-0.40218618512153625,
0
] |
[
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0.9999891519546509,
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0.0004839395987801254
] |
[
0,
0,
0
] | 0
|
[
-0.000003069639205932617,
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-0.0000021904706954956055,
-0.000019686820451170206,
-1.1920928955078125e-7,
0.0000201384536921978,
0.00006465509068220854
] |
[
0.2924806773662567,
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2.136080026626587,
-1.6325602531433105,
0.6349693536758423,
-0.8845198750495911,
0
] |
[
0.3374345898628235,
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0.17511412501335144,
0.0003330547478981316,
0.9999892711639404,
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0.00036521986476145685
] |
[
0,
0,
0
] | 0
|
[
-0.000008612871170043945,
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-0.0000024586915969848633,
-0.00004712145891971886,
-2.384185791015625e-7,
0.00004430348053574562,
0.00018337482470087707
] |
[
0.17245979607105255,
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5.233482360839844,
0.180901437997818,
-0.7019170522689819,
-2.777721643447876,
0
] |
[
0.33742478489875793,
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-0.000042672600102378055,
0.9999883770942688,
0.004782241769134998,
0.0005972536164335907
] |
[
0,
0,
0
] | 0
|
[
0.0000011920928955078125,
0.000008279923349618912,
-4.470348358154297e-7,
0.0003286058781668544,
6.556510925292969e-7,
-0.00013838987797498703,
-0.00004865892697125673
] |
[
0.028949134051799774,
0.23234908282756805,
-0.14207997918128967,
2.0360023975372314,
0.04330494627356529,
0.8752048015594482,
-0.1277984380722046,
0
] |
[
0.3374314606189728,
0.0051375627517700195,
0.1751171052455902,
0.0002728002145886421,
0.9999890923500061,
0.004650209564715624,
0.00040902532055042684
] |
[
0,
0,
0
] | 0
|
[
-0.0000054836273193359375,
7.092021405696869e-7,
-0.0000054389238357543945,
0.000013133074389770627,
-5.960464477539063e-8,
-0.000006357673555612564,
0.00013956936891190708
] |
[
-0.05063021928071976,
0.4703971743583679,
0.0781075730919838,
-2.094399929046631,
-0.045581698417663574,
0.837409257888794,
0.04933631420135498,
0
] |
[
0.3493124842643738,
0.0053229667246341705,
0.17626366019248962,
0.001689119846560061,
0.9916346073150635,
0.0045712292194366455,
-0.12898492813110352
] |
[
0,
0,
0
] | 0
|
[
-0.011886507272720337,
-0.00018469477072358131,
-0.0011519938707351685,
-0.0014031865866854787,
0.008354425430297852,
0.00007262267172336578,
0.1295335292816162
] |
[
-0.6412112712860107,
-0.48211240768432617,
0.6222758293151855,
0.5758941769599915,
0.3263862729072571,
1.0015777349472046,
2.8768668174743652,
0
] |
[
0.3374220132827759,
0.005131575744599104,
0.1751139611005783,
0.00014598961570300162,
0.9999883770942688,
0.004787784069776535,
0.0005961771821603179
] |
[
0,
0,
0
] | 0
|
[
0.0000039637088775634766,
0.0000066962093114852905,
-0.000002294778823852539,
0.00013994367327541113,
6.556510925292969e-7,
-0.00014393217861652374,
-0.00004758249269798398
] |
Pick up green block.
|
[
0.0028269048780202866,
-0.5303943753242493,
0.01396411843597889,
-2.847961664199829,
0.008840513415634632,
2.318671703338623,
0.7849808931350708,
1,
2.6687586307525635,
0.7986010909080505,
-1.1490479707717896,
-0.0519375242292881,
1.489540457725525,
0.32830724120140076,
2.6748366355895996,
-0.7744584679603577,
1.1515029668807983,
0.1474786102771759,
-0.4688178300857544,
-0.07281075417995453
] |
[
0.0028298727702349424,
-0.5303916931152344,
0.013964168727397919,
-2.847944736480713,
0.008839904330670834,
2.318667411804199,
0.7849815487861633,
0
] |
[
0.33742597699165344,
0.005138271953910589,
0.17511166632175446,
0.9999890327453613,
0.004643851891160011,
0.0005485946894623339,
0.00028593328897841275
] | 0.233333
| 7
| 0
| 7
| 0
|
[
0.028412342071533203,
-0.35865363478660583,
0.7768281698226929,
-0.0010793901747092605,
1.151528000831604,
-3.12172269821167,
0
] |
[
0.1873934119939804,
0.005167343653738499,
0.10010744631290436,
0.0004797247820533812,
0.9999896287918091,
0.004490560386329889,
0.0005586659535765648
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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[
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[
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[
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[
0,
0,
0
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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-5.960464477539063e-8,
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.011886924505233765,
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[
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] |
[
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[
0,
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|
[
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0.00013994492474012077,
6.556510925292969e-7,
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] |
Pick up green block.
|
[
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[
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[
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| 8
| 0
| 8
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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] | 0
|
[
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] |
[
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] |
[
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[
0,
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] | 0
|
[
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-5.960464477539063e-8,
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.011887431144714355,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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0.00013994384789839387,
6.556510925292969e-7,
-0.00014393078163266182,
-0.00004758196882903576
] |
Pick up green block.
|
[
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[
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] |
[
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0.0046424102038145065,
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] | 0.3
| 9
| 0
| 9
| 0
|
[
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[
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[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
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-6.556510925292969e-7,
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[
-0.3982485234737396,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000009149312973022461,
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[
-1.9637531042099,
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] |
[
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[
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] | 0
|
[
-0.000003069639205932617,
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-1.1920928955078125e-7,
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[
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] |
[
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[
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] | 0
|
[
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[
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[
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[
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] | 0
|
[
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[
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[
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[
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|
[
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[
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[
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[
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] | 0
|
[
-0.011887699365615845,
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[
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[
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[
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] | 0
|
[
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0.00013994374603498727,
6.556510925292969e-7,
-0.00014393078163266182,
-0.00004758161958307028
] |
Pick up green block.
|
[
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[
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[
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] | 0.333333
| 10
| 0
| 10
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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0,
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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0.00013994312030263245,
7.152557373046875e-7,
-0.00014393124729394913,
-0.00004758179420605302
] |
Pick up green block.
|
[
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[
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] |
[
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] | 0.366667
| 11
| 0
| 11
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
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[
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
0,
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0
] | 0
|
[
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] |
[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
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] | 0
|
[
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5.960464477539062e-7,
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] |
[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000054836273193359375,
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-0.0000054389238357543945,
0.000013133394531905651,
-5.960464477539063e-8,
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] |
[
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-2.094399929046631,
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] |
[
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0.001687132171355188,
0.9916322231292725,
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-0.1290031224489212
] |
[
0,
0,
0
] | 0
|
[
-0.01188763976097107,
-0.000184542965143919,
-0.0011518001556396484,
-0.001402274239808321,
0.008356809616088867,
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0.12954458594322205
] |
[
-0.6412196755409241,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
0.000003933906555175781,
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-0.000002294778823852539,
0.00013994393520988524,
6.556510925292969e-7,
-0.00014393078163266182,
-0.00004758196882903576
] |
Pick up green block.
|
[
-0.00014377108891494572,
-0.5304279327392578,
0.013940762728452682,
-2.848163366317749,
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1,
2.591917037963867,
1.2360588312149048,
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1.4911808967590332,
0.3123786151409149,
2.5985360145568848,
-1.2204558849334717,
1.2297521829605103,
0.0406971201300621,
-0.4634605646133423,
0.09351231157779694
] |
[
0.0028185532428324223,
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-2.8479652404785156,
0.008841224946081638,
2.3186705112457275,
0.7849786281585693,
0
] |
[
0.33741769194602966,
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0.1751042753458023,
0.9999890327453613,
0.004637945909053087,
0.0005414696643128991,
0.00028485790244303644
] | 0.4
| 12
| 0
| 12
| 0
|
[
0.02334137074649334,
-0.35880446434020996,
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-0.0010678551625460386,
1.1514087915420532,
-3.123978614807129,
0
] |
[
0.1873272806406021,
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] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.000001773238182067871,
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-1.7881393432617188e-7,
-0.00019445785437710583,
-4.172325134277344e-7,
0.00015157298184931278,
-0.000013133947504684329
] |
[
-0.400877445936203,
-1.5654503107070923,
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-3.480311870574951,
0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.000009179115295410156,
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-0.00037043943302705884,
-4.76837158203125e-7,
0.00017426512204110622,
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] |
[
-1.9666167497634888,
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0
] |
[
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[
0,
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] | 0
|
[
-0.0000030994415283203125,
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-0.000019709113985300064,
-5.960464477539063e-8,
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] |
[
0.28990596532821655,
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0.6348039507865906,
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0
] |
[
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] |
[
0,
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0
] | 0
|
[
-0.00000864267349243164,
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-1.7881393432617188e-7,
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[
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] |
[
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] |
[
0,
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] | 0
|
[
0.0000012218952178955078,
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-4.3213367462158203e-7,
0.000328515307046473,
4.76837158203125e-7,
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] |
[
0.030653687193989754,
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] |
[
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[
0,
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] | 0
|
[
-0.0000054836273193359375,
7.185153663158417e-7,
-0.000005424022674560547,
0.000013209180906414986,
0,
-0.000006334856152534485,
0.0001395627623423934
] |
[
-0.05266951024532318,
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0.07718533277511597,
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0
] |
[
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0.001505284570157528,
0.9916154146194458,
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-0.12917619943618774
] |
[
0,
0,
0
] | 0
|
[
-0.011897891759872437,
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-0.001221727579832077,
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] |
[
-0.6421007513999939,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
0.0000039637088775634766,
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0.00014003852265886962,
4.76837158203125e-7,
-0.00014396663755178452,
-0.00004762291791848838
] |
Pick up green block.
|
[
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[
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] |
[
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] | 0.433333
| 13
| 0
| 13
| 0
|
[
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[
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[
-0.15000000596046448,
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] | 0
|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
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0
] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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] |
[
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000054836273193359375,
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0,
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0.00013956241309642792
] |
[
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] |
[
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0.9916127324104309,
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] |
[
0,
0,
0
] | 0
|
[
-0.011899232864379883,
-0.0001492239534854889,
-0.001149982213973999,
-0.001210917835123837,
0.008382201194763184,
0.000059537123888731,
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] |
[
-0.6421548128128052,
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2.877824544906616,
0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
0.0000039637088775634766,
0.000006684567779302597,
-0.000002294778823852539,
0.00014004429976921529,
4.76837158203125e-7,
-0.00014396803453564644,
-0.000047624314902350307
] |
Pick up green block.
|
[
-0.00035309322993271053,
-0.5304448008537292,
0.013941224664449692,
-2.848184823989868,
0.008836661465466022,
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[
-0.00014377108891494572,
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0
] |
[
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0.003141989465802908,
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0.0002822877431754023
] | 0.466667
| 14
| 0
| 14
| 0
|
[
0.022870616987347603,
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0.7773170471191406,
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] |
[
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] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.0000017583370208740234,
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-0.0001945070398505777,
-3.5762786865234375e-7,
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] |
[
-0.4011252820491791,
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-3.480323553085327,
0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.000009179115295410156,
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-0.0000040978193283081055,
-0.0003704226983245462,
-4.172325134277344e-7,
0.00017426209524273872,
0.00027120477170683444
] |
[
-1.9668912887573242,
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2.291271448135376,
-1.9029450416564941,
-1.5710477828979492,
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0
] |
[
0.33734235167503357,
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0.9999951124191284,
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0.0003936430730391294
] |
[
0,
0,
0
] | 0
|
[
-0.0000030994415283203125,
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-0.000019712111679837108,
-5.960464477539063e-8,
0.00002013961784541607,
0.00006474650581367314
] |
[
0.2896600067615509,
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2.136178970336914,
-1.6329131126403809,
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-0.8839728832244873,
0
] |
[
0.3373478949069977,
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0.999995231628418,
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0.00027485264581628144
] |
[
0,
0,
0
] | 0
|
[
-0.00000864267349243164,
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-0.00004702346632257104,
-1.7881393432617188e-7,
0.00004427158273756504,
0.00018353693303652108
] |
[
0.17558005452156067,
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0.18086718022823334,
-0.7016388177871704,
-2.7778046131134033,
0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
0.0000012218952178955078,
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-4.470348358154297e-7,
0.000328514986904338,
4.172325134277344e-7,
-0.00013836519792675972,
-0.000049118243623524904
] |
[
0.030811848118901253,
0.23234280943870544,
-0.1406220942735672,
2.0363118648529053,
0.04284273087978363,
0.8750235438346863,
-0.12732334434986115,
0
] |
[
0.3373447358608246,
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0.1750354766845703,
0.0002695640141610056,
0.9999951124191284,
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] |
[
0,
0,
0
] | 0
|
[
-0.0000054836273193359375,
7.194466888904572e-7,
-0.0000054389238357543945,
0.000013216398656368256,
-5.960464477539063e-8,
-0.000006333226338028908,
0.00013956293696537614
] |
[
-0.05287235602736473,
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-2.094399929046631,
-0.04501154273748398,
0.8375641703605652,
0.04880897328257561,
0
] |
[
0.3492392599582672,
0.0042465380392968655,
0.17618004977703094,
0.0014882333343848586,
0.9916119575500488,
0.0030385826248675585,
-0.1292063295841217
] |
[
0,
0,
0
] | 0
|
[
-0.011900007724761963,
-0.0001482008956372738,
-0.0011500120162963867,
-0.0012054529506713152,
0.008383095264434814,
0.00005923490971326828,
0.12966471910476685
] |
[
-0.642196536064148,
-0.48158055543899536,
0.6204037666320801,
0.5755228400230408,
0.3252243101596832,
1.0012352466583252,
2.8778398036956787,
0
] |
[
0.3373352885246277,
0.004091652575880289,
0.1750323325395584,
0.00014273547276388854,
0.9999946355819702,
0.003241786500439048,
0.0005060147377662361
] |
[
0,
0,
0
] | 0
|
[
0.0000039637088775634766,
0.000006684567779302597,
-0.000002294778823852539,
0.00014004494005348533,
4.172325134277344e-7,
-0.00014396896585822105,
-0.00004762515891343355
] |
Pick up green block.
|
[
-0.00044583118869923055,
-0.5304545760154724,
0.013939371332526207,
-2.848195791244507,
0.008837271481752396,
2.3186657428741455,
0.7849849462509155,
1,
2.591364860534668,
1.1323057413101196,
-1.223929762840271,
-0.21499080955982208,
1.4834846258163452,
0.28175538778305054,
2.597014904022217,
-1.1174767017364502,
1.2256451845169067,
0.06056864559650421,
-0.4572069048881531,
0.08941878378391266
] |
[
-0.00023055278870742768,
-0.5304417014122009,
0.01394077017903328,
-2.8481764793395996,
0.008837626315653324,
2.318669557571411,
0.7849929928779602,
0
] |
[
0.33733925223350525,
0.004098337143659592,
0.17503003776073456,
0.9999950528144836,
0.0030978175345808268,
0.0004583895788528025,
0.00028278041281737387
] | 0.5
| 15
| 0
| 15
| 0
|
[
0.022650742903351784,
-0.3588464856147766,
0.7773373126983643,
-0.0010663621360436082,
1.1513926982879639,
-3.124286413192749,
0
] |
[
0.1873103529214859,
0.004087013192474842,
0.10002721101045609,
0.0004778555012308061,
0.9999955892562866,
0.002889122348278761,
0.00046604129602201283
] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.0000017583370208740234,
-0.000016035046428442,
-1.7881393432617188e-7,
-0.0001945281110238284,
-3.5762786865234375e-7,
0.0001515855547040701,
-0.000013033743016421795
] |
[
-0.40123850107192993,
-1.565421223640442,
-0.10685287415981293,
2.5221993923187256,
-0.000675718707498163,
0.6130852103233337,
-3.480332612991333,
0
] |
[
0.3373439908027649,
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0.1750311404466629,
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0.9999956488609314,
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0.00018177898891735822
] |
[
0,
0,
0
] | 0
|
[
-0.000009179115295410156,
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-0.0000040978193283081055,
-0.00037040942697785795,
-4.172325134277344e-7,
0.0001742606982588768,
0.0002712285495363176
] |
[
-1.9670161008834839,
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2.2912800312042236,
-1.9029388427734375,
-1.5710529088974,
-0.40226104855537415,
0
] |
[
0.3373379111289978,
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0.0003030405496247113,
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] |
[
0,
0,
0
] | 0
|
[
-0.0000030994415283203125,
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-0.000002175569534301758,
-0.00001971315941773355,
-5.960464477539063e-8,
0.000020140083506703377,
0.00006475005648098886
] |
[
0.28955110907554626,
1.1586323976516724,
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2.1361846923828125,
-1.632922887802124,
0.6347909569740295,
-0.8839596509933472,
0
] |
[
0.3373434543609619,
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0.0003303461126051843,
0.9999954104423523,
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0.0002694652648642659
] |
[
0,
0,
0
] | 0
|
[
-0.00000864267349243164,
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0.00004427088424563408,
0.00018354228814132512
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[
0.17570343613624573,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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4.172325134277344e-7,
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[
0.030886519700288773,
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.011900573968887329,
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[
-0.6422343850135803,
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] |
[
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[
0,
0,
0
] | 0
|
[
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0.00014004801050759852,
4.172325134277344e-7,
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-0.00004762710887007415
] |
Pick up green block.
|
[
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[
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[
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] | 0.533333
| 16
| 0
| 16
| 0
|
[
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] |
[
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[
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0,
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] | 0
|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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] |
[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.0000054836273193359375,
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-5.960464477539063e-8,
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0.00013956226757727563
] |
[
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-2.094399929046631,
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0
] |
[
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0.9916101098060608,
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] |
[
0,
0,
0
] | 0
|
[
-0.01190119981765747,
-0.00014563696458935738,
-0.0011499375104904175,
-0.0011909841559827328,
0.008385241031646729,
0.000058353180065751076,
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] |
[
-0.6422713994979858,
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2.877892017364502,
0
] |
[
0.3373280465602875,
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0.0005008619627915323
] |
[
0,
0,
0
] | 0
|
[
0.0000039637088775634766,
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-0.000002294778823852539,
0.00014004955301061273,
4.172325134277344e-7,
-0.00014397082850337029,
-0.000047628069296479225
] |
Pick up green block.
|
[
-0.0005857624346390367,
-0.5304619073867798,
0.013941849581897259,
-2.8482062816619873,
0.008837865665555,
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1,
2.5588936805725098,
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[
-0.00044583118869923055,
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-2.848195791244507,
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2.3186657428741455,
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0
] |
[
0.33733201026916504,
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0.9999953508377075,
0.0029936516657471657,
0.00045323389349505305,
0.00028271813062019646
] | 0.566667
| 17
| 0
| 17
| 0
|
[
0.022364109754562378,
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] |
[
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] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.0000017583370208740234,
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-0.00019455549772828817,
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] |
[
-0.40137556195259094,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.000009179115295410156,
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-0.0000040978193283081055,
-0.00037039536982774734,
-4.172325134277344e-7,
0.00017426139675080776,
0.0002712635323405266
] |
[
-1.9671821594238281,
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2.2912909984588623,
-1.9029338359832764,
-1.571051001548767,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.0000030994415283203125,
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-0.000019714992959052324,
-5.960464477539063e-8,
0.00002014031633734703,
0.00006475517875514925
] |
[
0.289400190114975,
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2.136198043823242,
-1.632948875427246,
0.6347917318344116,
-0.8839215636253357,
0
] |
[
0.33733904361724854,
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0.9999956488609314,
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] |
[
0,
0,
0
] | 0
|
[
-0.00000864267349243164,
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-0.00004701438592746854,
-1.7881393432617188e-7,
0.000044268788769841194,
0.0001835523289628327
] |
[
0.17586614191532135,
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5.233823776245117,
0.18086254596710205,
-0.7016173005104065,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
0.0000012218952178955078,
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-4.470348358154297e-7,
0.0003285046841483563,
4.172325134277344e-7,
-0.00013836310245096684,
-0.00004916283069178462
] |
[
0.030984779819846153,
0.23233190178871155,
-0.14049188792705536,
2.0363409519195557,
0.04279934987425804,
0.8750112056732178,
-0.12727124989032745,
0
] |
[
0.33733588457107544,
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0.17503128945827484,
0.0002689749526325613,
0.9999955296516418,
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0.000313127035042271
] |
[
0,
0,
0
] | 0
|
[
-0.0000054836273193359375,
7.203780114650726e-7,
-0.0000054389238357543945,
0.000013223703717812896,
-5.960464477539063e-8,
-0.000006330432370305061,
0.00013956186012364924
] |
[
-0.053095243871212006,
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-2.094399929046631,
-0.04496990516781807,
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0.048762865364551544,
0
] |
[
0.34923189878463745,
0.0041483729146420956,
0.1761758029460907,
0.0014690920943394303,
0.9916096925735474,
0.002902626059949398,
-0.12922687828540802
] |
[
0,
0,
0
] | 0
|
[
-0.011901497840881348,
-0.0001448681578040123,
-0.0011499524116516113,
-0.0011868934379890561,
0.008385777473449707,
0.00005800928920507431,
0.12967956066131592
] |
[
-0.6422955393791199,
-0.4815492331981659,
0.6202380657196045,
0.5754888653755188,
0.325130820274353,
1.0012141466140747,
2.8779094219207764,
0
] |
[
0.33732643723487854,
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0.17502814531326294,
0.00014214827388059348,
0.9999950528144836,
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] |
[
0,
0,
0
] | 0
|
[
0.0000039637088775634766,
0.000006683170795440674,
-0.000002294778823852539,
0.00014005038246978074,
4.172325134277344e-7,
-0.0001439717598259449,
-0.0000476288259960711
] |
Pick up green block.
|
[
-0.0006290976307354867,
-0.5304747819900513,
0.01394327636808157,
-2.8482110500335693,
0.008840251713991165,
2.3186631202697754,
0.7849945425987244,
1,
2.6080706119537354,
1.099028468132019,
-1.1940362453460693,
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1.4586296081542969,
0.26527121663093567,
2.613337755203247,
-1.0845838785171509,
1.1957913637161255,
0.06253384798765182,
-0.4384882152080536,
0.09477780014276505
] |
[
-0.000509611505549401,
-0.5304608941078186,
0.013938218355178833,
-2.8482000827789307,
0.00883802305907011,
2.318662643432617,
0.7849856615066528,
0
] |
[
0.3373304009437561,
0.004003504756838083,
0.1750258505344391,
0.9999954700469971,
0.0029606353491544724,
0.00045268889516592026,
0.0002821986563503742
] | 0.6
| 18
| 0
| 18
| 0
|
[
0.02223287895321846,
-0.3588715195655823,
0.7773721218109131,
-0.0010658373357728124,
1.151386022567749,
-3.124467611312866,
0
] |
[
0.1873042732477188,
0.00400864752009511,
0.10002394765615463,
0.000477783614769578,
0.9999959468841553,
0.00277071725577116,
0.00046436884440481663
] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.0000017434358596801758,
-0.00001603970304131508,
-1.7881393432617188e-7,
-0.00019456809968687594,
-3.5762786865234375e-7,
0.00015159440226852894,
-0.000012974167475476861
] |
[
-0.4014452397823334,
-1.5654089450836182,
-0.10689923167228699,
2.5222015380859375,
-0.0006752314511686563,
0.6130736470222473,
-3.48034930229187,
0
] |
[
0.33733782172203064,
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0.17502787709236145,
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0.9999960064888,
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] |
[
0,
0,
0
] | 0
|
[
-0.000009179115295410156,
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-0.00037039132439531386,
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0.0001742611639201641,
0.0002712786663323641
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[
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2.291297674179077,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
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|
[
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[
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[
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[
0,
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] | 0
|
[
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-5.960464477539063e-8,
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[
-0.05315056070685387,
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[
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[
0,
0,
0
] | 0
|
[
-0.011901825666427612,
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[
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] |
[
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[
0,
0,
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] | 0
|
[
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0.00014005322009325027,
4.172325134277344e-7,
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] |
Pick up green block.
|
[
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[
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[
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] | 0.633333
| 19
| 0
| 19
| 0
|
[
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[
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[
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] | 0
|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
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] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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] |
[
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] |
[
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[
0,
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0
] | 0
|
[
-0.0000054836273193359375,
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0.00001322722528129816,
-5.960464477539063e-8,
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0.00013956223847344518
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[
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[
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] |
[
0,
0,
0
] | 0
|
[
-0.011902183294296265,
-0.00014350935816764832,
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-0.0011801894288510084,
0.008386433124542236,
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[
-0.6423485279083252,
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
0.000003933906555175781,
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-0.000002294778823852539,
0.0001400522596668452,
4.172325134277344e-7,
-0.00014397362247109413,
-0.00004763007746078074
] |
Pick up green block.
|
[
-0.0005964395240880549,
-0.5305701494216919,
0.013946124352514744,
-2.848205804824829,
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1,
3.3532748222351074,
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[
-0.0006290976307354867,
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-2.8482110500335693,
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] |
[
0.3373279869556427,
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0.9999956488609314,
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] | 0.666667
| 20
| 0
| 20
| 0
|
[
0.022165954113006592,
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[
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[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.0000017583370208740234,
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-1.7881393432617188e-7,
-0.0001945662370417267,
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] |
[
-0.4013979732990265,
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-3.4804160594940186,
0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.000009179115295410156,
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-0.0000040978193283081055,
-0.0003703766851685941,
-4.172325134277344e-7,
0.0001742758322507143,
0.00027128536021336913
] |
[
-1.9673006534576416,
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2.2912752628326416,
-1.9029369354248047,
-1.5710304975509644,
-0.40227359533309937,
0
] |
[
0.33734187483787537,
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[
0,
0,
0
] | 0
|
[
-0.0000030994415283203125,
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-0.000019716768292710185,
-5.960464477539063e-8,
0.000020141247659921646,
0.00006475992267951369
] |
[
0.289283812046051,
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-1.6329905986785889,
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-0.8838528394699097,
0
] |
[
0.3373474180698395,
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] |
[
0,
0,
0
] | 0
|
[
-0.00000864267349243164,
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-0.0000024437904357910156,
-0.00004701336729340255,
-1.7881393432617188e-7,
0.00004426692612469196,
0.00018356437794864178
] |
[
0.17597945034503937,
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-0.701615035533905,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
0.0000012218952178955078,
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-4.3213367462158203e-7,
0.00032850453862920403,
4.172325134277344e-7,
-0.000138372415676713,
-0.00004918637569062412
] |
[
0.03105616755783558,
0.23227554559707642,
-0.1404450386762619,
2.03633975982666,
0.0427868627011776,
0.8750082850456238,
-0.1272580921649933,
0
] |
[
0.3373442590236664,
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] |
[
0,
0,
0
] | 0
|
[
-0.0000054836273193359375,
7.208436727523804e-7,
-0.0000054389238357543945,
0.000013227021554484963,
0,
-0.0000063301995396614075,
0.00013956351904198527
] |
[
-0.053190529346466064,
0.47059518098831177,
0.0770290419459343,
-2.094399929046631,
-0.04495885223150253,
0.8375949859619141,
0.048754263669252396,
0
] |
[
0.34924080967903137,
0.004109422210603952,
0.17619556188583374,
0.0014634638791903853,
0.99161297082901,
0.0028469578828662634,
-0.1292034089565277
] |
[
0,
0,
0
] | 0
|
[
-0.011902034282684326,
-0.00014356710016727448,
-0.001150667667388916,
-0.0011799091007560492,
0.008382678031921387,
0.00005774153396487236,
0.12968558073043823
] |
[
-0.6423869132995605,
-0.4815991222858429,
0.6202077865600586,
0.575496256351471,
0.32515108585357666,
1.0012149810791016,
2.877894163131714,
0
] |
[
0.3373348116874695,
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0.00014351271966006607,
0.999995231628418,
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] |
[
0,
0,
0
] | 0
|
[
0.0000039637088775634766,
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-0.0000022798776626586914,
0.0001400420005666092,
4.172325134277344e-7,
-0.0001439752522855997,
-0.00004762937896884978
] |
Pick up green block.
|
[
-0.00036586259375326335,
-0.530833899974823,
0.013976621441543102,
-2.8481740951538086,
0.00883678812533617,
2.318697690963745,
0.7849903106689453,
1,
4.007822513580322,
1.4222056865692139,
-1.7625797986984253,
-0.31694063544273376,
1.9205536842346191,
0.32096195220947266,
4.014093399047852,
-1.3988078832626343,
1.7671260833740234,
0.02911589853465557,
-0.3769990801811218,
0.14218822121620178
] |
[
-0.0006234002648852766,
-0.5305232405662537,
0.013942246325314045,
-2.848205089569092,
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0
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[
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] | 0.7
| 21
| 0
| 21
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
0,
0,
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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0,
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.011902213096618652,
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[
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] |
[
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[
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] | 0
|
[
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0.00014003171236254275,
4.172325134277344e-7,
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] |
Pick up green block.
|
[
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[
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[
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| 22
| 0
| 22
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
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0
] | 0
|
[
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[
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[
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[
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|
[
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[
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] |
[
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[
0,
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0
] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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4.172325134277344e-7,
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] |
[
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] |
[
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[
0,
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] | 0
|
[
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-5.960464477539063e-8,
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[
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[
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-0.12901203334331512
] |
[
0,
0,
0
] | 0
|
[
-0.01190096139907837,
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-0.0011987648904323578,
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[
-0.6425934433937073,
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] |
[
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[
0,
0,
0
] | 0
|
[
0.0000039637088775634766,
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0.00013997213682159781,
4.76837158203125e-7,
-0.00014398363418877125,
-0.000047620153054594994
] |
Pick up green block.
|
[
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0.014057314954698086,
-2.848137855529785,
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1,
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[
-0.00036586259375326335,
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] |
[
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] | 0.766667
| 23
| 0
| 23
| 0
|
[
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] |
[
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] |
[
-0.15000000596046448,
0,
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] | 0
|
[
0.0000017583370208740234,
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-1.7881393432617188e-7,
-0.00019441748736426234,
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[
-0.4002709984779358,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000009179115295410156,
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-0.0003703541005961597,
-5.364418029785156e-7,
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[
-1.966854214668274,
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-1.9030174016952515,
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] |
[
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[
0,
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] | 0
|
[
-0.0000030994415283203125,
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-1.1920928955078125e-7,
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[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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[
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[
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[
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] | 0
|
[
-0.0000054836273193359375,
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[
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[
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[
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] | 0
|
[
-0.011900573968887329,
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-0.0012116392608731985,
0.008342981338500977,
0.00006224424578249454,
0.1296813189983368
] |
[
-0.6427239775657654,
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0.5757119655609131,
0.32587066292762756,
1.001348853111267,
2.8773040771484375,
0
] |
[
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[
0,
0,
0
] | 0
|
[
0.0000039637088775634766,
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0.00013992757885716856,
4.76837158203125e-7,
-0.00014398829080164433,
-0.00004761473974213004
] |
Pick up green block.
|
[
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[
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[
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] | 0.8
| 24
| 0
| 24
| 0
|
[
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[
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[
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0,
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
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] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.011899799108505249,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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0.00013989207218401134,
4.76837158203125e-7,
-0.00014398782514035702,
-0.00004760845331475139
] |
Pick up green block.
|
[
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5.121745586395264,
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[
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] |
[
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] | 0.833333
| 25
| 0
| 25
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000009149312973022461,
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-5.960464477539062e-7,
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[
-1.9661058187484741,
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-1.9030967950820923,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.000003069639205932617,
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-1.1920928955078125e-7,
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] |
[
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.00000864267349243164,
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-2.980232238769531e-7,
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[
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] |
[
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[
0,
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0
] | 0
|
[
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-4.3213367462158203e-7,
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4.76837158203125e-7,
-0.000138517701998353,
-0.00004903058288618922
] |
[
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000054836273193359375,
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-0.0000054389238357543945,
0.000013213575584813952,
-5.960464477539063e-8,
-0.000006345333531498909,
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[
-0.05230775848031044,
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-2.094399929046631,
-0.045309875160455704,
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] |
[
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-0.1287480890750885
] |
[
0,
0,
0
] | 0
|
[
-0.011898994445800781,
-0.0001583392731845379,
-0.0011607557535171509,
-0.0012606196105480194,
0.008323311805725098,
0.00007167202420532703,
0.1296711564064026
] |
[
-0.6428168416023254,
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] |
[
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[
0,
0,
0
] | 0
|
[
0.0000039637088775634766,
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0.00013986103294882923,
5.364418029785156e-7,
-0.00014398852363228798,
-0.00004760711453855038
] |
Pick up green block.
|
[
0.00043478404404595494,
-0.5315324068069458,
0.01449861004948616,
-2.8479464054107666,
0.008842408657073975,
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5.380775451660156,
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1.9275399446487427,
0.05267462134361267,
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0.1613658219575882
] |
[
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-2.8481204509735107,
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2.3187296390533447,
0.7850003838539124,
0
] |
[
0.3375069200992584,
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0.00350693566724658,
0.0009230657014995813,
0.00034923150087706745
] | 0.866667
| 26
| 0
| 26
| 0
|
[
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-0.3594970703125,
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0
] |
[
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] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.0000018030405044555664,
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-1.6391277313232422e-7,
-0.00019419725867919624,
-4.172325134277344e-7,
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-0.000013367622159421444
] |
[
-0.3989059329032898,
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.000009179115295410156,
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-5.960464477539062e-7,
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] |
[
-1.9659264087677002,
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-1.9031600952148438,
-1.5708032846450806,
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0
] |
[
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[
0,
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] | 0
|
[
-0.0000030994415283203125,
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-1.1920928955078125e-7,
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] |
[
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] |
[
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[
0,
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] | 0
|
[
-0.00000864267349243164,
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-2.980232238769531e-7,
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] |
[
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] |
[
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] |
[
0,
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] | 0
|
[
0.0000011920928955078125,
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0.0003286569262854755,
4.76837158203125e-7,
-0.00013855448924005032,
-0.000048984773457050323
] |
[
0.030206743627786636,
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2.0360546112060547,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000054836273193359375,
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[
-0.05215553939342499,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.011897414922714233,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
0.000003933906555175781,
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0.00013982897507958114,
5.364418029785156e-7,
-0.00014399527572095394,
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] |
Pick up green block.
|
[
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[
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[
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] | 0.9
| 27
| 0
| 27
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
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|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
0,
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] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.011889815330505371,
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
0.0000039637088775634766,
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0.00013979955110698938,
5.364418029785156e-7,
-0.00014401203952729702,
-0.00004761305171996355
] |
Pick up green block.
|
[
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6.653133869171143,
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[
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] |
[
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] | 0.933333
| 28
| 0
| 28
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000009119510650634766,
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[
-1.9645787477493286,
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.000003069639205932617,
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] |
[
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.00000864267349243164,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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-4.172325134277344e-7,
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5.960464477539062e-7,
-0.00013893144205212593,
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] |
[
0.029629241675138474,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.0000054836273193359375,
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-0.000005453824996948242,
0.000013220123946666718,
-2.980232238769531e-7,
-0.000006372109055519104,
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] |
[
-0.05146273598074913,
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-2.094399929046631,
-0.04575284942984581,
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0
] |
[
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0.9919372200965881,
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-0.12665651738643646
] |
[
0,
0,
0
] | 0
|
[
-0.011812776327133179,
-0.0001706089824438095,
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-0.0013276401441544294,
0.008052170276641846,
0.00009317463263869286,
0.12885381281375885
] |
[
-0.6429418921470642,
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0.5777809023857117,
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0
] |
[
0.3384251594543457,
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[
0,
0,
0
] | 0
|
[
0.0000039637088775634766,
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-0.0000022798776626586914,
0.00013981809024699032,
6.556510925292969e-7,
-0.00014416128396987915,
-0.00004762876778841019
] |
Pick up green block.
|
[
0.0033873398788273335,
-0.5311243534088135,
0.01566094160079956,
-2.8398611545562744,
0.009931107051670551,
2.319814920425415,
0.7850742936134338,
1,
7.104224681854248,
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-2.588658094406128,
2.0469579696655273,
-0.06181379780173302,
-0.7153525352478027,
0.36759594082832336
] |
[
0.0008961295825429261,
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-2.846776247024536,
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2.3196370601654053,
0.7850121855735779,
0
] |
[
0.33842912316322327,
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0.1760869026184082,
0.99998939037323,
0.00402218708768487,
0.0021972928661853075,
0.00048007327131927013
] | 0.966667
| 29
| 0
| 29
| 0
|
[
0.02921270579099655,
-0.35737425088882446,
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-0.0014880843227729201,
1.1548645496368408,
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0
] |
[
0.1897546797990799,
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0.0038348978850990534
] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.0000018924474716186523,
-0.000015895813703536987,
-1.1175870895385742e-7,
-0.000192196574062109,
-5.960464477539062e-7,
0.00015205470845103264,
-0.00001447298564016819
] |
[
-0.39113208651542664,
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-3.4827871322631836,
0
] |
[
0.33995670080184937,
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] |
[
0,
0,
0
] | 0
|
[
-0.000009000301361083984,
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] |
[
-1.962077021598816,
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-1.9050023555755615,
-1.568662166595459,
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0
] |
[
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0.003755908226594329
] |
[
0,
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Pick up green block.
|
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Pick up green block.
|
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| 31
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| 31
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|
End of preview. Expand
in Data Studio
iamlab_cmu_pickup_insert_train_0_100
Overview
- Codebase version:
v2.1 - Robots: google_robot, images, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7
- FPS: 30
- Episodes: 100
- Frames: 23,023
- Videos: 900
- Chunks: 1
- Splits:
train:0:100
Data Layout
data_path : data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
Features
| Feature | dtype | shape | description |
|---|---|---|---|
observation.images.google_robot |
video |
360×640×3 |
Augmented image for google_robot robot |
observation.images.image |
video |
360×640×3 |
Source robot's image from original dataset |
observation.images.jaco |
video |
360×640×3 |
Augmented image for jaco robot |
observation.images.kinova3 |
video |
360×640×3 |
Augmented image for kinova3 robot |
observation.images.kuka_iiwa |
video |
360×640×3 |
Augmented image for kuka_iiwa robot |
observation.images.sawyer |
video |
360×640×3 |
Augmented image for sawyer robot |
observation.images.ur5e |
video |
360×640×3 |
Augmented image for ur5e robot |
observation.images.widowX |
video |
360×640×3 |
Augmented image for widowX robot |
observation.images.xarm7 |
video |
360×640×3 |
Augmented image for xarm7 robot |
episode_index |
int64 |
1 |
- |
frame_index |
int64 |
1 |
- |
index |
int64 |
1 |
- |
natural_language_instruction |
string |
1 |
- |
observation.ee_pose |
float32 |
7 |
Source robot's eef position |
observation.google_robot.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.google_robot.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.google_robot.ee_error |
float32 |
7 |
The eef difference between the augmented google_robot robot and the original robot |
observation.google_robot.ee_pose |
float32 |
7 |
The eef position of google_robot robot |
observation.google_robot.joints |
float32 |
8 |
The joint position of google_robot robot |
observation.jaco.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.jaco.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.jaco.ee_error |
float32 |
7 |
The eef difference between the augmented jaco robot and the original robot |
observation.jaco.ee_pose |
float32 |
7 |
The eef position of jaco robot |
observation.jaco.joints |
float32 |
7 |
The joint position of jaco robot |
observation.joints |
float32 |
8 |
Joint angle of source robot |
observation.kinova3.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.kinova3.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.kinova3.ee_error |
float32 |
7 |
The eef difference between the augmented kinova3 robot and the original robot |
observation.kinova3.ee_pose |
float32 |
7 |
The eef position of kinova3 robot |
observation.kinova3.joints |
float32 |
8 |
The joint position of kinova3 robot |
observation.kuka_iiwa.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.kuka_iiwa.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.kuka_iiwa.ee_error |
float32 |
7 |
The eef difference between the augmented kuka_iiwa robot and the original robot |
observation.kuka_iiwa.ee_pose |
float32 |
7 |
The eef position of kuka_iiwa robot |
observation.kuka_iiwa.joints |
float32 |
8 |
The joint position of kuka_iiwa robot |
observation.sawyer.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.sawyer.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.sawyer.ee_error |
float32 |
7 |
The eef difference between the augmented sawyer robot and the original robot |
observation.sawyer.ee_pose |
float32 |
7 |
The eef position of sawyer robot |
observation.sawyer.joints |
float32 |
8 |
The joint position of sawyer robot |
observation.state |
float32 |
20 |
Copy of the state field in source robot's RLDS dataset |
observation.ur5e.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.ur5e.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.ur5e.ee_error |
float32 |
7 |
The eef difference between the augmented ur5e robot and the original robot |
observation.ur5e.ee_pose |
float32 |
7 |
The eef position of ur5e robot |
observation.ur5e.joints |
float32 |
7 |
The joint position of ur5e robot |
observation.widowX.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.widowX.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.widowX.ee_error |
float32 |
7 |
The eef difference between the augmented widowX robot and the original robot |
observation.widowX.ee_pose |
float32 |
7 |
The eef position of widowX robot |
observation.widowX.joints |
float32 |
7 |
The joint position of widowX robot |
observation.xarm7.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.xarm7.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.xarm7.ee_error |
float32 |
7 |
The eef difference between the augmented xarm7 robot and the original robot |
observation.xarm7.ee_pose |
float32 |
7 |
The eef position of xarm7 robot |
observation.xarm7.joints |
float32 |
8 |
The joint position of xarm7 robot |
task_index |
int64 |
1 |
- |
timestamp |
float32 |
1 |
- |
Website
- Website page: https://oxe-aug.github.io/
- Project repository: https://github.com/GuanhuaJi/oxe-aug
Paper
Citation Policy
If you use OXE-Aug datasets, please cite both our dataset and the upstream datasets.
Upstream Dataset Citation (original dataset)
@inproceedings{saxena2023multiresolution,
title={Multi-Resolution Sensing for Real-Time Control with Vision-Language Models},
author={Saumya Saxena and Mohit Sharma and Oliver Kroemer},
booktitle={7th Annual Conference on Robot Learning},
year={2023},
url={https://openreview.net/forum?id=WuBv9-IGDUA}
}
OXE-Aug Dataset Citation (ours)
@misc{
ji2025oxeaug,
title = {OXE-Aug: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
author = {Ji, Guanhua and Polavaram, Harsha and Chen, Lawrence Yunliang and Bajamahal, Sandeep and Ma, Zehan and Adebola, Simeon and Xu, Chenfeng and Goldberg, Ken},
year = {2025},
note = {Manuscript}
}
- Downloads last month
- 91
Size of downloaded dataset files:
26.2 MB
Size of the auto-converted Parquet files:
26.2 MB
Number of rows:
23,023