Iamlab CMU Pickup Insert Augmented
Collection
6 items
•
Updated
Datasets:
observation.widowX.joints
listlengths 7
7
| observation.widowX.ee_pose
listlengths 7
7
| observation.widowX.base_position
listlengths 3
3
| observation.widowX.base_orientation
float32 0
0
| observation.widowX.ee_error
listlengths 7
7
| observation.sawyer.joints
listlengths 8
8
| observation.sawyer.ee_pose
listlengths 7
7
| observation.sawyer.base_position
listlengths 3
3
| observation.sawyer.base_orientation
float32 0
0
| observation.sawyer.ee_error
listlengths 7
7
| observation.ur5e.joints
listlengths 7
7
| observation.ur5e.ee_pose
listlengths 7
7
| observation.ur5e.base_position
listlengths 3
3
| observation.ur5e.base_orientation
float32 0
0
| observation.ur5e.ee_error
listlengths 7
7
| observation.google_robot.joints
listlengths 8
8
| observation.google_robot.ee_pose
listlengths 7
7
| observation.google_robot.base_position
listlengths 3
3
| observation.google_robot.base_orientation
float32 0
0
| observation.google_robot.ee_error
listlengths 7
7
| observation.jaco.joints
listlengths 7
7
| observation.jaco.ee_pose
listlengths 7
7
| observation.jaco.base_position
listlengths 3
3
| observation.jaco.base_orientation
float32 0
0
| observation.jaco.ee_error
listlengths 7
7
| observation.kinova3.joints
listlengths 8
8
| observation.kinova3.ee_pose
listlengths 7
7
| observation.kinova3.base_position
listlengths 3
3
| observation.kinova3.base_orientation
float32 0
0
| observation.kinova3.ee_error
listlengths 7
7
| observation.kuka_iiwa.joints
listlengths 8
8
| observation.kuka_iiwa.ee_pose
listlengths 7
7
| observation.kuka_iiwa.base_position
listlengths 3
3
| observation.kuka_iiwa.base_orientation
float32 0
0
| observation.kuka_iiwa.ee_error
listlengths 7
7
| observation.xarm7.joints
listlengths 8
8
| observation.xarm7.ee_pose
listlengths 7
7
| observation.xarm7.base_position
listlengths 3
3
| observation.xarm7.base_orientation
float32 0
0
| observation.xarm7.ee_error
listlengths 7
7
| natural_language_instruction
stringclasses 7
values | observation.state
listlengths 20
20
| observation.joints
listlengths 8
8
| observation.ee_pose
listlengths 7
7
| timestamp
float32 0
24.5
| frame_index
int64 0
736
| episode_index
int64 0
99
| index
int64 0
23k
| task_index
int64 0
6
|
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
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[
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Pick up green block.
|
[
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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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Pick up green block.
|
[
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| 1
| 0
| 1
| 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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4.274135112762451,
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0
] |
[
0.5767226219177246,
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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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[
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] | 0
|
[
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] |
Pick up green block.
|
[
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[
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[
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| 2
| 0
| 2
| 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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[
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
|
[
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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
|
[
0.000003159046173095703,
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0.00012897542910650373,
9.5367431640625e-7,
-0.0001483163796365261,
-0.000049200840294361115
] |
Pick up green block.
|
[
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1.2680573463439941,
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[
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[
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] | 0.1
| 3
| 0
| 3
| 0
|
[
-0.041304707527160645,
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] |
[
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[
-0.15000000596046448,
0,
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] | 0
|
[
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[
-0.9360862374305725,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000004351139068603516,
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[
-1.8464431762695312,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-5.960464477539062e-7,
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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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-0.00013202102854847908,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000003933906555175781,
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-0.0000028759241104125977,
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-8.344650268554688e-7,
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[
-0.08460572361946106,
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-1.5914944410324097,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
0.0000017881393432617188,
2.421438694000244e-7,
-5.662441253662109e-7,
-0.0000018617138266563416,
1.7881393432617188e-7,
-0.0000014347024261951447,
-0.000023679807782173157
] |
[
0.3573968708515167,
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-0.4699713885784149,
1.4392952919006348,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
0.000003159046173095703,
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0.00012903125025331974,
8.940696716308594e-7,
-0.00014830799773335457,
-0.000049124471843242645
] |
Pick up green block.
|
[
-0.05811944603919983,
0.20313429832458496,
0.018800245597958565,
-2.1044983863830566,
-0.0059317308478057384,
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1,
1.2350741624832153,
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-0.6020445823669434,
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-0.38899582624435425,
0.19131684303283691
] |
[
-0.057945672422647476,
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-2.1034579277038574,
-0.0059372372925281525,
2.322390556335449,
0.7416243553161621,
0
] |
[
0.5764233469963074,
-0.022951776161789894,
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0.9999600052833557,
0.004123382735997438,
0.007909126579761505,
0.0006170072010718286
] | 0.133333
| 4
| 0
| 4
| 0
|
[
-0.04152580350637436,
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-0.3821706175804138,
-0.027098579332232475,
1.357552409172058,
-3.141580104827881,
0
] |
[
0.4257206320762634,
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0.013435454107820988,
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-0.018008753657341003,
0.008053204976022243
] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.000013619661331176758,
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] |
[
-0.9361292719841003,
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-0.4892061948776245,
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0
] |
[
0.5761173367500305,
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] |
[
0,
0,
0
] | 0
|
[
-0.000004351139068603516,
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0.000005111098289489746,
-0.00013334344839677215,
-7.152557373046875e-7,
0.0001340257003903389,
0.00003993324935436249
] |
[
-1.846616506576538,
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1.7646888494491577,
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0
] |
[
0.5761135220527649,
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] |
[
0,
0,
0
] | 0
|
[
-5.364418029785156e-7,
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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,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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] |
[
0.357534795999527,
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] |
[
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[
0,
0,
0
] | 0
|
[
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0.00012914245598949492,
8.940696716308594e-7,
-0.000148282153531909,
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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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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,
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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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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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0.00010028807446360588
] |
[
-0.08469698578119278,
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0
] |
[
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0.9999653100967407,
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0.007398840039968491
] |
[
0,
0,
0
] | 0
|
[
0.0000017881393432617188,
2.4400651454925537e-7,
-5.662441253662109e-7,
-0.0000018329010345041752,
1.7881393432617188e-7,
-0.0000014570541679859161,
-0.00002362951636314392
] |
[
0.35759419202804565,
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1.4376572370529175,
0.22842064499855042,
1.0335983037948608,
2.945559024810791,
0
] |
[
0.5759238004684448,
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0.9999646544456482,
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] |
[
0,
0,
0
] | 0
|
[
0.0000030994415283203125,
0.000005679205060005188,
0.0000010728836059570312,
0.00012920208973810077,
8.344650268554688e-7,
-0.00014826166443526745,
-0.000048885587602853775
] |
Pick up green block.
|
[
-0.058082543313503265,
0.20313292741775513,
0.018923413008451462,
-2.105149507522583,
-0.005890312138944864,
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0.7423967123031616,
1,
1.082283616065979,
0.44589775800704956,
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0.2085554599761963
] |
[
-0.05811944603919983,
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-2.1044983863830566,
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0
] |
[
0.5759268999099731,
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0.1582774817943573,
0.999965488910675,
0.0037749537732452154,
0.007375210523605347,
0.0005919635877944529
] | 0.2
| 6
| 0
| 6
| 0
|
[
-0.04169326648116112,
0.5781726241111755,
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0
] |
[
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0.007717031054198742
] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.000013232231140136719,
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-0.012817127630114555,
0.0002498030662536621,
0.021789513528347015,
-0.0004754848778247833
] |
[
-0.9362321496009827,
-1.1111469268798828,
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0.9175703525543213,
-2.659228801727295,
0
] |
[
0.5758087635040283,
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0.0007169815362431109,
0.9999673962593079,
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0.007201660890132189
] |
[
0,
0,
0
] | 0
|
[
-0.000004351139068603516,
-0.000006137415766716003,
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-0.00013333192327991128,
-6.556510925292969e-7,
0.00013395189307630062,
0.00003988528624176979
] |
[
-1.8467775583267212,
-1.3302772045135498,
1.7654050588607788,
-2.020097255706787,
-1.5679478645324707,
-0.2833481729030609,
0
] |
[
0.5758050084114075,
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0.9999670386314392,
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0.007204234600067139
] |
[
0,
0,
0
] | 0
|
[
-5.960464477539062e-7,
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-0.0000016689300537109375,
-0.000003564986400306225,
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0.000037311576306819916
] |
[
0.3174244463443756,
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1.5086071491241455,
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0.5309231877326965,
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0
] |
[
0.5754389762878418,
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0.18316683173179626,
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0.9999659657478333,
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] |
[
0,
0,
0
] | 0
|
[
0.0000032782554626464844,
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4.3213367462158203e-7,
-0.0000728362356312573,
7.748603820800781e-7,
0.00010580173693597317,
-0.00014963094145059586
] |
[
0.14369012415409088,
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4.2773518562316895,
0.360892117023468,
-1.2955902814865112,
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0
] |
[
0.5757958889007568,
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0.0004175207868684083,
0.999965250492096,
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0.007389754522591829
] |
[
0,
0,
0
] | 0
|
[
0.00000852346420288086,
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0.0001661288260947913,
0.0000014901161193847656,
-0.00013195653446018696,
-0.0001482083462178707
] |
[
0.03207555040717125,
0.7335001826286316,
-0.06895152479410172,
1.2346638441085815,
0.05180104449391365,
1.1608232259750366,
-0.03175605461001396,
0
] |
[
0.5758083462715149,
-0.023052550852298737,
0.15817277133464813,
0.0005739351618103683,
0.9999674558639526,
0.003709257347509265,
0.007141246926039457
] |
[
0,
0,
0
] | 0
|
[
-0.000003933906555175781,
4.5262277126312256e-7,
-0.0000028759241104125977,
0.000009714451152831316,
-7.152557373046875e-7,
-0.0000016025733202695847,
0.00010029925033450127
] |
[
-0.08471354842185974,
0.7495563626289368,
0.06436806172132492,
-1.5926356315612793,
-0.06272751837968826,
0.7868379354476929,
-0.0013077636249363422,
0
] |
[
0.5758025646209717,
-0.023052342236042023,
0.15817046165466309,
0.0005854765768162906,
0.999966561794281,
0.0037091164849698544,
0.00726516405120492
] |
[
0,
0,
0
] | 0
|
[
0.0000018477439880371094,
2.4400651454925537e-7,
-5.662441253662109e-7,
-0.0000018269638530910015,
1.7881393432617188e-7,
-0.0000014617107808589935,
-0.000023617874830961227
] |
[
0.3576394319534302,
0.4433261454105377,
-0.4701709747314453,
1.4372645616531372,
0.22838911414146423,
1.0335614681243896,
2.9456567764282227,
0
] |
[
0.5758012533187866,
-0.02305777743458748,
0.15816880762577057,
0.0004544087569229305,
0.9999659061431885,
0.0038559038657695055,
0.007290375418961048
] |
[
0,
0,
0
] | 0
|
[
0.000003159046173095703,
0.000005679205060005188,
0.000001087784767150879,
0.00012924085604026914,
8.344650268554688e-7,
-0.00014824909158051014,
-0.00004882924258708954
] |
Pick up green block.
|
[
-0.05790860205888748,
0.2031216323375702,
0.019370809197425842,
-2.105774164199829,
-0.005642128176987171,
2.321977376937866,
0.7426551580429077,
1,
0.7735288739204407,
0.6598780751228333,
1.020331859588623,
-0.44896605610847473,
0.01770373061299324,
0.16960327327251434,
0.7918373942375183,
-0.6531426310539246,
-1.0105847120285034,
-0.2809790074825287,
-0.4364964962005615,
0.22280724346637726
] |
[
-0.058147720992565155,
0.20313076674938202,
0.01879585161805153,
-2.1047475337982178,
-0.0059241848066449165,
2.322355031967163,
0.7422303557395935,
0
] |
[
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] | 0.233333
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| 0
| 7
| 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
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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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[
0,
0,
0
] | 0
|
[
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[
0.35782477259635925,
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] |
[
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[
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] | 0
|
[
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0.00012930080993101,
8.344650268554688e-7,
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] |
Pick up green block.
|
[
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[
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[
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] | 0.266667
| 8
| 0
| 8
| 0
|
[
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[
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[
-0.15000000596046448,
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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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[
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,
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] | 0
|
[
-0.000003874301910400391,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
0.0000018477439880371094,
2.477318048477173e-7,
-5.513429641723633e-7,
-0.0000017758284229785204,
1.1920928955078125e-7,
-0.000001482432708144188,
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] |
[
0.3582584261894226,
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] |
[
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[
0,
0,
0
] | 0
|
[
0.000003159046173095703,
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0.00012941882596351206,
8.344650268554688e-7,
-0.00014818250201642513,
-0.00004858244210481644
] |
Pick up green block.
|
[
-0.057664066553115845,
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0.023608505725860596,
-2.1087539196014404,
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0.5392035841941833,
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[
-0.05790860205888748,
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-2.105774164199829,
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] |
[
0.5752447247505188,
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0.003802468301728368,
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0.00038865295937284827
] | 0.3
| 9
| 0
| 9
| 0
|
[
-0.038967255502939224,
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] |
[
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0.006339795887470245
] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.000013262033462524414,
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-0.012407192029058933,
0.0002148747444152832,
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-0.0004371912218630314
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[
-0.9351199865341187,
-1.109059453010559,
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-0.49107420444488525,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000004291534423828125,
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-0.00013303945888765156,
-7.152557373046875e-7,
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[
-1.8447397947311401,
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-2.0194106101989746,
-1.5678640604019165,
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] |
[
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[
0,
0,
0
] | 0
|
[
-5.960464477539062e-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
|
[
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-0.0000016730045899748802,
1.1920928955078125e-7,
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-0.000023539643734693527
] |
[
0.3594318926334381,
0.4422760307788849,
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1.4336836338043213,
0.22807514667510986,
1.0334844589233398,
2.947296142578125,
0
] |
[
0.574680507183075,
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[
0,
0,
0
] | 0
|
[
0.0000030994415283203125,
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0.00012970357784070075,
8.940696716308594e-7,
-0.00014813756570219994,
-0.00004823412746191025
] |
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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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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2.980232238769531e-7,
0.0001057167537510395,
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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
|
[
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[
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
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-5.811452865600586e-7,
-0.0000014826655387878418,
1.1920928955078125e-7,
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[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
0.000003039836883544922,
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0.00013017008313909173,
0.0000010132789611816406,
-0.00014809425920248032,
-0.00004767952486872673
] |
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,
-0.10000000149011612
] | 0
|
[
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] |
[
-0.9320882558822632,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.000004231929779052734,
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-0.00013251486234366894,
-9.5367431640625e-7,
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0.00003866199404001236
] |
[
-1.8397676944732666,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-5.960464477539062e-7,
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-0.000003669760189950466,
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0.000013961456716060638,
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] |
[
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-0.6740484833717346,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
0.0000032782554626464844,
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3.8743019104003906e-7,
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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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0.00016812403919175267,
0.000001430511474609375,
-0.0001315283589065075,
-0.000145789235830307
] |
[
0.02588595636188984,
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1.242227554321289,
0.05059421434998512,
1.1589038372039795,
-0.03620406240224838,
0
] |
[
0.5731576085090637,
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] |
[
0,
0,
0
] | 0
|
[
-0.000003933906555175781,
4.470348358154297e-7,
-0.00000286102294921875,
0.000009419803973287344,
-4.172325134277344e-7,
-0.000001916196197271347,
0.00010056840255856514
] |
[
-0.07862512022256851,
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-1.5977818965911865,
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0
] |
[
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-0.01808151602745056,
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-0.0006383280269801617,
0.9999772310256958,
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0.004200638737529516
] |
[
0,
0,
0
] | 0
|
[
0.0000017881393432617188,
2.775341272354126e-7,
-5.811452865600586e-7,
-0.0000013239332474768162,
5.960464477539063e-8,
-0.0000016456469893455505,
-0.00002338457852602005
] |
[
0.36341890692710876,
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-0.4662414789199829,
1.428226113319397,
0.22760583460330963,
1.0327401161193848,
2.9505465030670166,
0
] |
[
0.5731506943702698,
-0.018086962401866913,
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-0.0007702498696744442,
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] |
[
0,
0,
0
] | 0
|
[
0.0000029802322387695312,
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0.00013059790944680572,
0.0000010728836059570312,
-0.00014804024249315262,
-0.00004717148840427399
] |
Pick up green block.
|
[
-0.05757636949419975,
0.20303308963775635,
0.03383249789476395,
-2.1156110763549805,
-0.004858308471739292,
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0.7510570883750916,
1,
0.6771221160888672,
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1.1097347736358643,
-0.703061044216156,
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0.17426656186580658,
0.6949313282966614,
-1.0617923736572266,
-1.1040408611297607,
-0.45435672998428345,
-0.4168100655078888,
0.4438142478466034
] |
[
-0.05769756808876991,
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0.026291046291589737,
-2.110485076904297,
-0.005079770460724831,
2.321812629699707,
0.7463905811309814,
0
] |
[
0.5731536746025085,
-0.018081238493323326,
0.15568792819976807,
0.9999772906303406,
0.005244836211204529,
0.004177254159003496,
-0.0006396519602276385
] | 0.4
| 12
| 0
| 12
| 0
|
[
-0.028535904362797737,
0.5709347128868103,
-0.3536483347415924,
-0.019915740936994553,
1.3464818000793457,
-3.141580104827881,
0
] |
[
0.4219600558280945,
-0.015163195319473743,
0.07967735081911087,
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0.9998735189437866,
-0.012092376127839088,
0.003374994732439518
] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.000014930963516235352,
-0.0008524274453520775,
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-0.010869055055081844,
0.00010412931442260742,
0.017940592020750046,
-0.0003377178218215704
] |
[
-0.930079996585846,
-1.1035559177398682,
1.0034315586090088,
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-0.49539899826049805,
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-2.6436755657196045,
0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.000004231929779052734,
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-0.0001322030439041555,
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0.0001325402408838272,
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] |
[
-1.8367003202438354,
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-2.018667459487915,
-1.5670661926269531,
-0.2775631248950958,
0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-5.960464477539062e-7,
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-0.0000016987323760986328,
-0.0000037045683711767197,
-2.384185791015625e-7,
0.000013847369700670242,
0.00003737863153219223
] |
[
0.32492759823799133,
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1.5071898698806763,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
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-0.00007208902388811111,
-2.384185791015625e-7,
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] |
[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
0.000008285045623779297,
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0.000001862645149230957,
0.00016900175251066685,
0.0000013709068298339844,
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] |
[
0.0231363233178854,
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1.2452998161315918,
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0
] |
[
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0.9999779462814331,
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[
0,
0,
0
] | 0
|
[
-0.000003993511199951172,
4.4330954551696777e-7,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
0.3659687936306,
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] |
[
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[
0,
0,
0
] | 0
|
[
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0.00013119075447320938,
0.0000011324882507324219,
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] |
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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[
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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
] | 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,
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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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3.1013041734695435e-7,
-5.811452865600586e-7,
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0,
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[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
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0.00013192370533943176,
0.0000012516975402832031,
-0.00014792615547776222,
-0.000045560416765511036
] |
Pick up green block.
|
[
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[
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] |
[
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] | 0.466667
| 14
| 0
| 14
| 0
|
[
-0.018745943903923035,
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] |
[
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[
-0.15000000596046448,
0,
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] | 0
|
[
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[
-0.9248330593109131,
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.0000040531158447265625,
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[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-5.960464477539062e-7,
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-1.1920928955078125e-7,
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] |
[
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
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-8.344650268554688e-7,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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0.00017120130360126495,
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-0.00013109901919960976,
-0.00014209328219294548
] |
[
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1.2530628442764282,
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1.1555206775665283,
-0.04365146532654762,
0
] |
[
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0.15238037705421448,
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] |
[
0,
0,
0
] | 0
|
[
-0.000003993511199951172,
4.377216100692749e-7,
-0.00000286102294921875,
0.000009022653102874756,
0,
-0.0000023939646780490875,
0.00010105341789312661
] |
[
-0.06900060176849365,
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-1.6050736904144287,
-0.06090276688337326,
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] |
[
0.5695139765739441,
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0.152378112077713,
-0.002064513275399804,
0.9999710917472839,
0.00731433741748333,
0.0002915484074037522
] |
[
0,
0,
0
] | 0
|
[
0.0000017285346984863281,
3.3061951398849487e-7,
-5.960464477539062e-7,
-4.654284566640854e-7,
0,
-0.0000019688159227371216,
-0.000022995955077931285
] |
[
0.3723389804363251,
0.43639931082725525,
-0.4607207477092743,
1.41547691822052,
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1.0308115482330322,
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0
] |
[
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-0.002197690075263381,
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] |
[
0,
0,
0
] | 0
|
[
0.00000286102294921875,
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0.0001327113714069128,
0.0000013709068298339844,
-0.0001478707417845726,
-0.000044574233470484614
] |
Pick up green block.
|
[
-0.057589538395404816,
0.20242911577224731,
0.043568920344114304,
-2.1218810081481934,
-0.004853138234466314,
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0.7581813931465149,
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0.7725205421447754,
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1.0655204057693481,
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-0.933609127998352,
-1.0622954368591309,
-0.5298295021057129,
-0.4722927212715149,
0.46323052048683167
] |
[
-0.05760890990495682,
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-2.1187171936035156,
-0.004853634163737297,
2.321810245513916,
0.7538832426071167,
0
] |
[
0.5695157051086426,
-0.010789823718369007,
0.15237751603126526,
0.9999710917472839,
0.007312368601560593,
0.0002685524523258209,
-0.002064978703856468
] | 0.5
| 15
| 0
| 15
| 0
|
[
-0.015058313496410847,
0.5641371011734009,
-0.3297179937362671,
-0.012642866931855679,
1.336949348449707,
-3.141580104827881,
0
] |
[
0.4187091290950775,
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0.07667957991361618,
0.006146591622382402,
0.9999626278877258,
-0.00606874143704772,
-0.00033230611006729305
] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.000016421079635620117,
-0.0006573600694537163,
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-0.00855962187051773,
0.000004708766937255859,
0.013759898021817207,
-0.00023563942522741854
] |
[
-0.9226998090744019,
-1.0973113775253296,
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-0.5003821849822998,
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-2.628295421600342,
0
] |
[
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0.9999686479568481,
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-0.0006043511675670743
] |
[
0,
0,
0
] | 0
|
[
-0.0000040531158447265625,
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-0.00013129482977092266,
-0.0000013113021850585938,
0.0001312466338276863,
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] |
[
-1.8261244297027588,
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1.7826651334762573,
-2.0178568363189697,
-1.5664583444595337,
-0.2706890404224396,
0
] |
[
0.5686967968940735,
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-0.0024092351086437702,
0.9999674558639526,
0.007677714340388775,
-0.0006054138648323715
] |
[
0,
0,
0
] | 0
|
[
-5.960464477539062e-7,
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0.000013441778719425201,
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[
0.33368736505508423,
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1.5068352222442627,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
0.0000032782554626464844,
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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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[
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,
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[
0.37471869587898254,
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] |
[
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[
0,
0,
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] | 0
|
[
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0.000001430511474609375,
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] |
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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|
[
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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
|
[
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[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
0.0000017285346984863281,
3.543682396411896e-7,
-6.109476089477539e-7,
-2.7008354663848877e-8,
-5.960464477539063e-8,
-0.0000021513551473617554,
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] |
[
0.37625646591186523,
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2.9632723331451416,
0
] |
[
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[
0,
0,
0
] | 0
|
[
0.0000027418136596679688,
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0.00013363664038479328,
0.000001430511474609375,
-0.00014789681881666183,
-0.00004342698957771063
] |
Pick up green block.
|
[
-0.05758106708526611,
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0.04624636471271515,
-2.1283888816833496,
-0.004855743609368801,
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0.9335393309593201,
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[
-0.057589538395404816,
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-2.1218810081481934,
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0
] |
[
0.5681466460227966,
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-0.0010937050683423877,
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] | 0.566667
| 17
| 0
| 17
| 0
|
[
-0.011074202135205269,
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] |
[
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[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.000016301870346069336,
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-0.0002057399833574891
] |
[
-0.9210121035575867,
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.000003993511199951172,
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0.0001307833008468151,
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[
-1.8230534791946411,
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-2.0174431800842285,
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] |
[
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[
0,
0,
0
] | 0
|
[
-5.960464477539062e-7,
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-0.000003825640305876732,
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] |
[
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1.5080459117889404,
-0.6721229553222656,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
0.0000032782554626464844,
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3.129243850708008e-7,
-0.00007031555287539959,
-0.0000012516975402832031,
0.00010506343096494675,
-0.00014898937661200762
] |
[
0.11917242407798767,
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0
] |
[
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-0.0017377081094309688
] |
[
0,
0,
0
] | 0
|
[
0.000008046627044677734,
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0.00017317035235464573,
0.0000013113021850585938,
-0.0001309458166360855,
-0.00013962574303150177
] |
[
0.010448252782225609,
0.7336268424987793,
-0.07469046115875244,
1.2601956129074097,
0.04843805357813835,
1.1533453464508057,
-0.04902900382876396,
0
] |
[
0.5671627521514893,
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-0.001978732645511627
] |
[
0,
0,
0
] | 0
|
[
-0.000003993511199951172,
4.3353065848350525e-7,
-0.0000028759241104125977,
0.000008797971531748772,
2.384185791015625e-7,
-0.0000027138739824295044,
0.00010139879304915667
] |
[
-0.06324980407953262,
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-1.610130786895752,
-0.060207415372133255,
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0
] |
[
0.5671570301055908,
-0.006660759914666414,
0.15074807405471802,
-0.002774114953354001,
0.9999629259109497,
0.007936031557619572,
-0.0018546407809481025
] |
[
0,
0,
0
] | 0
|
[
0.0000017285346984863281,
3.6228448152542114e-7,
-6.109476089477539e-7,
1.096632331609726e-7,
0,
-0.0000022063031792640686,
-0.000022693071514368057
] |
[
0.3773691654205322,
0.4327423870563507,
-0.45722079277038574,
1.4071508646011353,
0.22432681918144226,
1.0295164585113525,
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0
] |
[
0.5671560764312744,
-0.006666232831776142,
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-0.002908129710704088,
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-0.0018346041906625032
] |
[
0,
0,
0
] | 0
|
[
0.000002682209014892578,
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0.00013412442058324814,
0.0000014901161193847656,
-0.0001478707417845726,
-0.00004272966179996729
] |
Pick up green block.
|
[
-0.05759699270129204,
0.19630146026611328,
0.047317929565906525,
-2.1335010528564453,
-0.004851760342717171,
2.321824312210083,
0.7613255977630615,
1,
0.99652498960495,
1.0291774272918701,
1.2108110189437866,
-0.7655619978904724,
-0.012027373537421227,
0.10968320816755295,
1.0039149522781372,
-1.01999831199646,
-1.2124887704849243,
-0.5299085974693298,
-0.46633943915367126,
0.48344486951828003
] |
[
-0.05758633092045784,
0.20156562328338623,
0.045045219361782074,
-2.1243155002593994,
-0.004854672588407993,
2.3218038082122803,
0.7594153881072998,
0
] |
[
0.5671587586402893,
-0.006660397630184889,
0.15074746310710907,
0.9999629259109497,
0.007933825254440308,
-0.0018773338524624705,
-0.00277400529012084
] | 0.6
| 18
| 0
| 18
| 0
|
[
-0.009711258113384247,
0.5559180974960327,
-0.3092817962169647,
-0.009428951889276505,
1.32955002784729,
-3.141580104827881,
0
] |
[
0.4157263934612274,
-0.005507609341293573,
0.07514803111553192,
0.004561758134514093,
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[
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0,
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] | 0
|
[
0.000016123056411743164,
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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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[
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[
0,
0,
0
] | 0
|
[
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0,
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[
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0
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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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[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
0.0000016689300537109375,
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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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] |
Pick up green block.
|
[
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[
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[
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| 19
| 0
| 19
| 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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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,
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0
] | 0
|
[
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4.76837158203125e-7,
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[
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[
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[
0,
0,
0
] | 0
|
[
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-6.258487701416016e-7,
3.641471266746521e-7,
-5.960464477539063e-8,
-0.000002305954694747925,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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0.0001357044093310833,
0.0000014901161193847656,
-0.0001478344202041626,
-0.000040264101698994637
] |
Pick up green block.
|
[
-0.057599615305662155,
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-2.147270441055298,
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1.032734751701355,
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[
-0.05759699270129204,
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] |
[
0.5637691617012024,
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0.9999554753303528,
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] | 0.666667
| 20
| 0
| 20
| 0
|
[
-0.007474653422832489,
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[
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[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.0000158846378326416,
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0.01091411430388689,
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[
-0.9270309209823608,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000004112720489501953,
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-0.00013150135055184364,
-0.0000012516975402832031,
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[
-1.8217726945877075,
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-2.0155913829803467,
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] |
[
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[
0,
0,
0
] | 0
|
[
-6.556510925292969e-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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[
0,
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] | 0
|
[
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-0.00013072416186332703,
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[
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[
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[
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] | 0
|
[
-0.0000040531158447265625,
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[
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[
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[
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] | 0
|
[
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-6.109476089477539e-7,
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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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0.0001367491204291582,
0.000001430511474609375,
-0.00014786142855882645,
-0.000038568396121263504
] |
Pick up green block.
|
[
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1.2256354093551636,
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[
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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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[
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,
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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
|
[
0.0000016093254089355469,
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5.613546818494797e-7,
-1.1920928955078125e-7,
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] |
[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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0.00013790559023618698,
0.000001430511474609375,
-0.00014788657426834106,
-0.000036689918488264084
] |
Pick up green block.
|
[
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2.1070759296417236,
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[
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] |
[
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] | 0.733333
| 22
| 0
| 22
| 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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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.000004291534423828125,
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[
-1.8230078220367432,
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-2.0135364532470703,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-7.152557373046875e-7,
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] |
[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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0.00010340660810470581,
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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0.00017770822159945965,
7.748603820800781e-7,
-0.00013062451034784317,
-0.00013127410784363747
] |
[
0.008387305773794651,
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1.2970349788665771,
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1.143001914024353,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.000004172325134277344,
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-0.0000029355287551879883,
0.000008870614692568779,
7.152557373046875e-7,
-0.000002919696271419525,
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[
-0.0604797899723053,
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-1.6398918628692627,
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0
] |
[
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-0.0026854893658310175,
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-0.006451238412410021
] |
[
0,
0,
0
] | 0
|
[
0.0000015497207641601562,
3.8929283618927e-7,
-6.258487701416016e-7,
6.423797458410263e-7,
-1.1920928955078125e-7,
-0.0000023972243070602417,
-0.000020567327737808228
] |
[
0.37562447786331177,
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-0.44266870617866516,
1.364957571029663,
0.20298410952091217,
1.0221152305603027,
2.979301691055298,
0
] |
[
0.5562313795089722,
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-0.0028240899555385113,
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-0.006437281146645546
] |
[
0,
0,
0
] | 0
|
[
0.000002086162567138672,
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0.0001392429694533348,
0.000001430511474609375,
-0.00014796853065490723,
-0.000034524593502283096
] |
Pick up green block.
|
[
-0.05761546641588211,
0.16340705752372742,
0.048739444464445114,
-2.1743295192718506,
-0.004835897125303745,
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0.762356162071228,
1,
0.7184683084487915,
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-1.220333456993103,
-1.7663986682891846,
-0.49994486570358276,
-0.3408036530017853,
0.4591946005821228
] |
[
-0.05760752409696579,
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-2.155801773071289,
-0.004848845303058624,
2.321876287460327,
0.7622435092926025,
0
] |
[
0.5562334656715393,
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0.999940037727356,
0.00841645896434784,
-0.006471805740147829,
-0.0026848469860851765
] | 0.766667
| 23
| 0
| 23
| 0
|
[
-0.006494478788226843,
0.5099706649780273,
-0.23238636553287506,
-0.009407750330865383,
1.3070886135101318,
-3.141580104827881,
0
] |
[
0.4036434590816498,
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-0.006952839903533459
] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.000015288591384887695,
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-0.0070259422063827515,
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0.010422398336231709,
-0.0001772083342075348
] |
[
-0.943804144859314,
-1.112892985343933,
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-0.4966892898082733,
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-2.6023716926574707,
0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.000004410743713378906,
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-0.00013267295435070992,
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[
-1.8240227699279785,
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-2.0122416019439697,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-7.152557373046875e-7,
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0.00003855442628264427
] |
[
0.3454234302043915,
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0
] |
[
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[
0,
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] | 0
|
[
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-0.00006725243292748928,
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[
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] |
[
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[
0,
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] | 0
|
[
0.000007271766662597656,
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6.556510925292969e-7,
-0.00013062264770269394,
-0.00012915395200252533
] |
[
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] |
[
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0.9999350905418396,
0.008429479785263538,
-0.0072339060716331005
] |
[
0,
0,
0
] | 0
|
[
-0.000004172325134277344,
4.386529326438904e-7,
-0.0000029653310775756836,
0.000008934643119573593,
8.344650268554688e-7,
-0.00000293925404548645,
0.00010385783389210701
] |
[
-0.060519326478242874,
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-1.6485836505889893,
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0.7739942073822021,
0.018994461745023727,
0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
0.0000015497207641601562,
3.925524652004242e-7,
-6.109476089477539e-7,
7.229391485452652e-7,
-1.1920928955078125e-7,
-0.0000024223700165748596,
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] |
[
0.3730422556400299,
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1.3532629013061523,
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1.0200457572937012,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
0.0000019669532775878906,
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0.0001406653318554163,
0.000001430511474609375,
-0.00014809425920248032,
-0.000032244715839624405
] |
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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] | 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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5.960464477539062e-7,
-0.00013062171638011932,
-0.0001269974745810032
] |
[
0.008942135609686375,
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1.3180140256881714,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.000004172325134277344,
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-0.0000029802322387695312,
0.00000900309532880783,
8.940696716308594e-7,
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0.00010442500934004784
] |
[
-0.06058143824338913,
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-1.6576354503631592,
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0
] |
[
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0.9999313950538635,
0.00845585111528635,
-0.00776216434314847
] |
[
0,
0,
0
] | 0
|
[
0.0000014901161193847656,
3.962777554988861e-7,
-6.109476089477539e-7,
8.034985512495041e-7,
-1.1920928955078125e-7,
-0.000002446584403514862,
-0.00001926068216562271
] |
[
0.369831919670105,
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1.3411343097686768,
0.18779414892196655,
1.017912745475769,
2.98821759223938,
0
] |
[
0.550248920917511,
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0.9999299049377441,
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-0.007751500234007835
] |
[
0,
0,
0
] | 0
|
[
0.0000017881393432617188,
0.000006002373993396759,
9.98377799987793e-7,
0.00014214427210390568,
0.0000013709068298339844,
-0.00014823302626609802,
-0.000029924791306257248
] |
Pick up green block.
|
[
-0.05762152373790741,
0.14612716436386108,
0.0487985759973526,
-2.1933505535125732,
-0.004815284628421068,
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0.7624542713165283,
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3.028942108154297,
1.005455732345581,
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[
-0.05761546641588211,
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-2.1743295192718506,
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2.3218955993652344,
0.762356162071228,
0
] |
[
0.5502507090568542,
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0.999931275844574,
0.008453404530882835,
-0.007781425025314093,
-0.002335433615371585
] | 0.833333
| 25
| 0
| 25
| 0
|
[
-0.006244183983653784,
0.48496049642562866,
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0
] |
[
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] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.000014841556549072266,
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-0.007028605788946152,
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0.01016665156930685,
-0.0001751156523823738
] |
[
-0.9591975212097168,
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0.9138427376747131,
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0
] |
[
0.5471770167350769,
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0.9999289512634277,
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-0.008289865218102932
] |
[
0,
0,
0
] | 0
|
[
-0.000004708766937255859,
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0.000006139278411865234,
-0.00013357633724808693,
-0.0000010132789611816406,
0.00012850016355514526,
0.000043140724301338196
] |
[
-1.8262702226638794,
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1.8302470445632935,
-2.009512186050415,
-1.5709964036941528,
-0.2723613679409027,
0
] |
[
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-0.008285772055387497
] |
[
0,
0,
0
] | 0
|
[
-7.152557373046875e-7,
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-0.000004165805876255035,
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0.00003904756158590317
] |
[
0.34995535016059875,
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1.572472333908081,
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0
] |
[
0.5475823283195496,
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-0.008097770623862743
] |
[
0,
0,
0
] | 0
|
[
0.000003159046173095703,
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5.066394805908203e-7,
-0.00006544403731822968,
-0.000002205371856689453,
0.00010173488408327103,
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] |
[
0.11888132244348526,
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-1.2354967594146729,
-2.6620521545410156,
0
] |
[
0.5471653342247009,
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0.9999274611473083,
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-0.008121895603835583
] |
[
0,
0,
0
] | 0
|
[
0.000006973743438720703,
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0.00018116622231900692,
4.76837158203125e-7,
-0.00013065803796052933,
-0.00012482888996601105
] |
[
0.009238045662641525,
0.6970028281211853,
-0.07912249118089676,
1.328952670097351,
0.05047989264130592,
1.1341882944107056,
-0.05671875923871994,
0
] |
[
0.5471764802932739,
-0.004469999577850103,
0.1517980396747589,
-0.0021485979668796062,
0.9999270439147949,
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-0.00835173949599266
] |
[
0,
0,
0
] | 0
|
[
-0.000004172325134277344,
4.4284388422966003e-7,
-0.0000030100345611572266,
0.000009075505658984184,
8.940696716308594e-7,
-0.0000029793009161949158,
0.00010501500219106674
] |
[
-0.060636430978775024,
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-1.6669955253601074,
-0.06117389723658562,
0.7692545056343079,
0.01986703649163246,
0
] |
[
0.547170877456665,
-0.004469956737011671,
0.1517956405878067,
-0.002140411641448736,
0.9999280571937561,
0.00846016500145197,
-0.008228158578276634
] |
[
0,
0,
0
] | 0
|
[
0.000001430511474609375,
4.00003045797348e-7,
-6.109476089477539e-7,
8.891802281141281e-7,
-1.1920928955078125e-7,
-0.0000024745240807533264,
-0.000018565915524959564
] |
[
0.36580634117126465,
0.3671899437904358,
-0.42437413334846497,
1.3287681341171265,
0.1793738305568695,
1.0157139301300049,
2.9933180809020996,
0
] |
[
0.5471706390380859,
-0.004475591238588095,
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-0.002283202251419425,
0.9999265670776367,
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-0.00821915827691555
] |
[
0,
0,
0
] | 0
|
[
0.0000016689300537109375,
0.000006034504622220993,
9.685754776000977e-7,
0.00014367979019880295,
0.0000013709068298339844,
-0.00014842208474874496,
-0.00002756621688604355
] |
Pick up green block.
|
[
-0.05767539143562317,
0.13788893818855286,
0.04879291355609894,
-2.202085256576538,
-0.004809880629181862,
2.3221511840820312,
0.7624815106391907,
1,
0.8408374190330505,
1.0576130151748657,
1.216463327407837,
-0.7246421575546265,
-0.2582795321941376,
0.1329343616962433,
0.8371803164482117,
-1.0476857423782349,
-1.2275400161743164,
-0.4797907769680023,
-0.22771964967250824,
0.4543071687221527
] |
[
-0.05762112885713577,
0.15462681651115417,
0.04876994714140892,
-2.1840834617614746,
-0.004821502137929201,
2.321955919265747,
0.762431800365448,
0
] |
[
0.5471723079681396,
-0.004469556733965874,
0.15179502964019775,
0.9999279379844666,
0.008457690477371216,
-0.008246724493801594,
-0.002139522461220622
] | 0.866667
| 26
| 0
| 26
| 0
|
[
-0.006115364842116833,
0.47281414270401,
-0.1787605583667755,
-0.010649595409631729,
1.293496012687683,
-3.141580104827881,
0
] |
[
0.3947046101093292,
-0.004058523569256067,
0.07756412029266357,
0.005083382595330477,
0.999950647354126,
-0.0015633020084351301,
-0.008391940966248512
] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.000014662742614746094,
-0.0005064783617854118,
0.000008970499038696289,
-0.007027825340628624,
-0.000025272369384765625,
0.010052815079689026,
-0.0001745065674185753
] |
[
-0.9673634171485901,
-1.130685806274414,
1.0825650691986084,
2.0911731719970703,
-0.48935335874557495,
0.9124982953071594,
-2.5894176959991455,
0
] |
[
0.544295072555542,
-0.004465019330382347,
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-0.0018104829359799623,
0.9999263286590576,
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-0.008611191064119339
] |
[
0,
0,
0
] | 0
|
[
-0.000004887580871582031,
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0.000006362795829772949,
-0.0001339600421488285,
-9.5367431640625e-7,
0.00012823659926652908,
0.000044743530452251434
] |
[
-1.8273826837539673,
-1.381447434425354,
1.836540937423706,
-2.0082626342773438,
-1.571560263633728,
-0.27353236079216003,
0
] |
[
0.5442909598350525,
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0.9999251365661621,
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-0.008605740033090115
] |
[
0,
0,
0
] | 0
|
[
-7.748603820800781e-7,
-9.592622518539429e-7,
-0.0000017434358596801758,
-0.000004225759766995907,
2.384185791015625e-7,
0.000013566575944423676,
0.00003929249942302704
] |
[
0.3525535464286804,
1.199512004852295,
0.3507499396800995,
1.5842739343643188,
-0.7041861414909363,
0.4987333416938782,
-2.028524875640869,
0
] |
[
0.5447161197662354,
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0.9999276399612427,
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] |
[
0,
0,
0
] | 0
|
[
0.000003159046173095703,
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5.662441253662109e-7,
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[
0.1193932369351387,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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4.172325134277344e-7,
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[
0.009523770771920681,
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] |
[
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[
0,
0,
0
] | 0
|
[
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4.44706529378891e-7,
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9.5367431640625e-7,
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[
-0.06068960204720497,
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] |
[
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[
0,
0,
0
] | 0
|
[
0.000001430511474609375,
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-6.109476089477539e-7,
9.688083082437515e-7,
-1.1920928955078125e-7,
-0.000002498738467693329,
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] |
[
0.3613843023777008,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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0.00014514010399580002,
0.0000013709068298339844,
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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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[
-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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] |
[
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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
|
[
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] |
[
0.009863701649010181,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
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0.000009217066690325737,
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0.00010610371828079224
] |
[
-0.06080705672502518,
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0
] |
[
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0.008474744856357574,
-0.008780364878475666
] |
[
0,
0,
0
] | 0
|
[
0.0000013709068298339844,
4.0652230381965637e-7,
-6.109476089477539e-7,
0.0000010405201464891434,
-1.1920928955078125e-7,
-0.000002522021532058716,
-0.00001727510243654251
] |
[
0.35654038190841675,
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1.3062058687210083,
0.16326753795146942,
1.011710286140442,
3.003192186355591,
0
] |
[
0.541580319404602,
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-0.0018976656720042229,
0.999922513961792,
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-0.008774264715611935
] |
[
0,
0,
0
] | 0
|
[
0.000001430511474609375,
0.000006093643605709076,
9.238719940185547e-7,
0.00014650076627731323,
0.0000013709068298339844,
-0.00014883000403642654,
-0.000023375265300273895
] |
Pick up green block.
|
[
-0.05771033093333244,
0.12334296852350235,
0.04880047217011452,
-2.2174160480499268,
-0.004800550173968077,
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1,
2.088813304901123,
0.9906315207481384,
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0.463605672121048
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[
-0.05767539143562317,
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-2.202085256576538,
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2.3221511840820312,
0.7624815106391907,
0
] |
[
0.5415817499160767,
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0.9999238848686218,
0.008472222834825516,
-0.008797639980912209,
-0.0017511649057269096
] | 0.933333
| 28
| 0
| 28
| 0
|
[
-0.006064807530492544,
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0
] |
[
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] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.00001424551010131836,
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-0.00017325673252344131
] |
[
-0.9838175773620605,
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2.108538866043091,
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0
] |
[
0.539061427116394,
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0.9999237656593323,
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-0.008982165716588497
] |
[
0,
0,
0
] | 0
|
[
-0.000005185604095458984,
-0.000006472226232290268,
0.000006765127182006836,
-0.0001344794873148203,
-8.344650268554688e-7,
0.00012772902846336365,
0.000047909095883369446
] |
[
-1.8296178579330444,
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1.847983956336975,
-2.0060226917266846,
-1.5725191831588745,
-0.2757357060909271,
0
] |
[
0.5390570759773254,
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0.9999226927757263,
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-0.008974011987447739
] |
[
0,
0,
0
] | 0
|
[
-8.344650268554688e-7,
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-0.0000043405452743172646,
2.384185791015625e-7,
0.000013688579201698303,
0.00003975536674261093
] |
[
0.3578261733055115,
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0.34884077310562134,
1.6065465211868286,
-0.7150940299034119,
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-2.0073976516723633,
0
] |
[
0.5395004749298096,
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0.9999251961708069,
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-0.008785073645412922
] |
[
0,
0,
0
] | 0
|
[
0.0000030994415283203125,
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6.556510925292969e-7,
-0.00006249023135751486,
-0.0000022649765014648438,
0.00010003335773944855,
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] |
[
0.12049361318349838,
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4.431065082550049,
0.3345476984977722,
-1.2173272371292114,
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0
] |
[
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0.9999225735664368,
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-0.008815009146928787
] |
[
0,
0,
0
] | 0
|
[
0.000006556510925292969,
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0.00018443295266479254,
3.5762786865234375e-7,
-0.0001308433711528778,
-0.00011924747377634048
] |
[
0.010164272040128708,
0.6777220368385315,
-0.08090706169605255,
1.3582159280776978,
0.05178148299455643,
1.1257195472717285,
-0.059136759489774704,
0
] |
[
0.5390605330467224,
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0.15415845811367035,
-0.0015778652159497142,
0.9999219179153442,
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-0.009040880016982555
] |
[
0,
0,
0
] | 0
|
[
-0.000004291534423828125,
4.4889748096466064e-7,
-0.000003069639205932617,
0.000009284820407629013,
0.0000010132789611816406,
-0.0000030333176255226135,
0.00010662339627742767
] |
[
-0.06089179590344429,
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0.0701153576374054,
-1.6922142505645752,
-0.06181437894701958,
0.7622590065002441,
0.02100922353565693,
0
] |
[
0.5390549302101135,
-0.004557476844638586,
0.15415598452091217,
-0.001569690415635705,
0.999923050403595,
0.00848068855702877,
-0.008917583152651787
] |
[
0,
0,
0
] | 0
|
[
0.0000013113021850585938,
4.093162715435028e-7,
-5.960464477539062e-7,
0.0000011100200936198235,
-1.1920928955078125e-7,
-0.000002543441951274872,
-0.000016673468053340912
] |
[
0.3516327142715454,
0.3347838521003723,
-0.4025771915912628,
1.2958898544311523,
0.15583740174770355,
1.0097370147705078,
3.0078177452087402,
0
] |
[
0.5390549302101135,
-0.004563188645988703,
0.1541544795036316,
-0.00171638373285532,
0.9999216198921204,
0.008627182804048061,
-0.008912730030715466
] |
[
0,
0,
0
] | 0
|
[
0.0000013113021850585938,
0.0000061211176216602325,
9.08970832824707e-7,
0.0001478033373132348,
0.0000013113021850585938,
-0.0001490376889705658,
-0.00002152658998966217
] |
Pick up green block.
|
[
-0.05772058665752411,
0.11659220606088638,
0.04880325496196747,
-2.223926067352295,
-0.0047934711910784245,
2.3229899406433105,
0.7625848650932312,
1,
1.1284366846084595,
0.9798809289932251,
0.41757363080978394,
-0.6963582634925842,
0.12952806055545807,
0.07198606431484222,
1.1374821662902832,
-0.9617778062820435,
-0.43481501936912537,
-0.4714099168777466,
-0.11497141420841217,
0.46728789806365967
] |
[
-0.0577038899064064,
0.13015565276145935,
0.048797979950904846,
-2.2103779315948486,
-0.00480640958994627,
2.3224527835845947,
0.7624931931495667,
0
] |
[
0.5390562415122986,
-0.0045570675283670425,
0.15415538847446442,
0.9999229311943054,
0.008478145115077496,
-0.008934256620705128,
-0.0015685803955420852
] | 0.966667
| 29
| 0
| 29
| 0
|
[
-0.006017136853188276,
0.44116583466529846,
-0.13634590804576874,
-0.011778879910707474,
1.2833822965621948,
-3.141580104827881,
0
] |
[
0.38740086555480957,
-0.004144872073084116,
0.07989982515573502,
0.005606927443295717,
0.9999454021453857,
-0.0012961541069671512,
-0.008719589561223984
] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.000014096498489379883,
-0.0005011055618524551,
0.0000095367431640625,
-0.007012343034148216,
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Pick up green block.
|
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[
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[
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Pick up green block.
|
[
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[
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[
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| 31
| 0
| 31
| 0
|
End of preview. Expand
in Data Studio
iamlab_cmu_pickup_insert_train_100_200_augmented
Overview
- Codebase version:
v3.0 - Robots: google_robot, images, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7
- FPS: 30
- Episodes: 100
- Frames: 23,050
- Splits:
train:0:100
Data Layout
data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.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 |
Index of the current episode within the dataset. |
frame_index |
int64 |
1 |
Index of the current frame within its episode. |
index |
int64 |
1 |
Global frame index across the whole dataset. |
natural_language_instruction |
string |
1 |
Natural language command describing the task |
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 |
Integer ID of the high-level task this episode/frame belongs to. |
timestamp |
float32 |
1 |
Time stamp of the current frame within the episode (in second). |
Website
- Website page: https://oxe-auge.github.io/
- Project repository: https://github.com/GuanhuaJi/oxe-auge
Paper
Citation Policy
If you use OXE-AugE 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-AugE Dataset Citation (ours)
@misc{
ji2025oxeaug,
title = {OXE-AugE: 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}
}
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