Iamlab CMU Pickup Insert Augmented
Collection
6 items
•
Updated
Datasets:
Dataset Viewer
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
17.2
| frame_index
int64 0
517
| episode_index
int64 0
99
| index
int64 0
22.4k
| task_index
int64 0
6
|
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Pick up pink flower.
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Pick up pink flower.
|
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5.144865989685059,
0.2503133714199066,
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0
] |
[
0.3383658230304718,
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[
0,
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0
] | 0
|
[
0.0000013113021850585938,
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9.238719940185547e-7,
0.00026994338259100914,
2.384185791015625e-7,
-0.0001375339925289154,
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[
0.012211805209517479,
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1.9408352375030518,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000004947185516357422,
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0.000010653049685060978,
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0.00012244930258020759
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[
-0.024668218567967415,
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[
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[
0,
0,
0
] | 0
|
[
-0.01043689250946045,
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[
-0.6860336661338806,
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0.6792835593223572,
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1.1720746755599976,
2.868778944015503,
0
] |
[
0.33836355805397034,
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[
0,
0,
0
] | 0
|
[
0.0000035762786865234375,
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0.00011185812763869762,
5.364418029785156e-7,
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] |
Pick up pink flower.
|
[
0.0029001282528042793,
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[
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[
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| 2
| 0
| 2
| 0
|
[
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] |
[
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[
-0.15000000596046448,
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|
[
0.00000286102294921875,
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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,
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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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7.748603820800781e-7,
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[
0.12950195372104645,
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] |
[
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[
0,
0,
0
] | 0
|
[
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2.980232238769531e-7,
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] |
[
0.012245343066751957,
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1.9408440589904785,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000004947185516357422,
6.48200511932373e-7,
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0.00001065374817699194,
-5.960464477539063e-8,
-0.000007635448127985,
0.00012245133984833956
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.010438412427902222,
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0.006199181079864502,
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0.11173444241285324
] |
[
-0.6861035823822021,
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0.6792832016944885,
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0
] |
[
0.33836492896080017,
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[
0,
0,
0
] | 0
|
[
0.0000035762786865234375,
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-0.0000011324882507324219,
0.00011184276081621647,
5.364418029785156e-7,
-0.0001436104066669941,
-0.000049194961320608854
] |
Pick up pink flower.
|
[
0.0026330365799367428,
-0.6164533495903015,
0.0514715276658535,
-2.773331880569458,
0.03128933161497116,
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1,
2.518000841140747,
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[
0.0032582618296146393,
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-2.773226737976074,
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] |
[
0.3383685052394867,
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0.0007696694228798151,
0.0018244931707158685
] | 0.1
| 3
| 0
| 3
| 0
|
[
0.09664874523878098,
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1.3632725477218628,
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] |
[
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[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.00000286102294921875,
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-0.00014843582175672054,
-3.5762786865234375e-7,
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] |
[
-0.19470977783203125,
-1.6212023496627808,
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] |
[
0.3384019732475281,
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] |
[
0,
0,
0
] | 0
|
[
-0.000005543231964111328,
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-0.000004842877388000488,
-0.000284434761852026,
-3.5762786865234375e-7,
0.00017274729907512665,
0.00016731407959014177
] |
[
-1.923408031463623,
-1.9927858114242554,
2.1840932369232178,
-1.7650963068008423,
-1.5736212730407715,
-0.36173954606056213,
0
] |
[
0.3383992910385132,
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0.22268272936344147,
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0.9999874830245972,
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0.0009079943993128836
] |
[
0,
0,
0
] | 0
|
[
-0.00000286102294921875,
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-0.00002201041206717491,
-1.1920928955078125e-7,
0.000018205493688583374,
0.0000535285216756165
] |
[
-0.5305794477462769,
1.5904580354690552,
1.6049022674560547,
1.8908036947250366,
1.5604568719863892,
-1.6121516227722168,
1.350000023841858,
0
] |
[
0.3383643329143524,
0.017570054158568382,
0.24767102301120758,
0.001623518648557365,
0.9999867081642151,
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0.0008692942792549729
] |
[
0,
0,
0
] | 0
|
[
-0.000016391277313232422,
0.000011770054697990417,
0.000009760260581970215,
0.00020095158834010363,
6.556510925292969e-7,
-0.00024004559963941574,
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] |
[
0.1299012154340744,
2.802891731262207,
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0
] |
[
0.3383951187133789,
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[
0,
0,
0
] | 0
|
[
0.0000013113021850585938,
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9.08970832824707e-7,
0.00026995688676834106,
1.7881393432617188e-7,
-0.00013759033754467964,
-0.000045877997763454914
] |
[
0.012509961612522602,
0.16419313848018646,
-0.16292831301689148,
1.9408512115478516,
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1.0378144979476929,
-0.15696658194065094,
0
] |
[
0.3384013772010803,
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[
0,
0,
0
] | 0
|
[
-0.000004947185516357422,
6.50063157081604e-7,
-0.000005081295967102051,
0.000010663177818059921,
-1.1920928955078125e-7,
-0.000007635913789272308,
0.000122463156003505
] |
[
-0.024845905601978302,
0.3450627028942108,
0.09112808853387833,
-2.094399929046631,
-0.0399482361972332,
0.9265384674072266,
0.0832008421421051,
0
] |
[
0.34884005784988403,
0.018054362386465073,
0.22504101693630219,
0.007238334976136684,
0.9938032031059265,
0.004348129499703646,
-0.11083262413740158
] |
[
0,
0,
0
] | 0
|
[
-0.010443627834320068,
-0.0005635395646095276,
-0.002360031008720398,
-0.005413864739239216,
0.0061841607093811035,
0.00023183226585388184,
0.11179414391517639
] |
[
-0.6865156888961792,
-0.568304717540741,
0.6449319124221802,
0.6793181896209717,
0.3552548289299011,
1.1721936464309692,
2.8684895038604736,
0
] |
[
0.33839285373687744,
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0.22268211841583252,
0.0017126944148913026,
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[
0,
0,
0
] | 0
|
[
0.0000035762786865234375,
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-0.0000011324882507324219,
0.00011177582200616598,
4.76837158203125e-7,
-0.00014362111687660217,
-0.000049167778342962265
] |
Pick up pink flower.
|
[
0.002460733288899064,
-0.617134690284729,
0.051443856209516525,
-2.7734010219573975,
0.03128707781434059,
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0.8038650751113892,
1,
2.1473143100738525,
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-0.0084801334887743,
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1.1956053972244263,
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2.155197858810425,
-0.9017373323440552,
0.011419624090194702,
0.11073227971792221,
-0.5810104608535767,
0.11481468379497528
] |
[
0.0029001282528042793,
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0.05149856209754944,
-2.7732794284820557,
0.03128599375486374,
2.1595892906188965,
0.8038582801818848,
0
] |
[
0.33839643001556396,
0.017490822821855545,
0.2226809859275818,
0.9999873638153076,
0.0045799617655575275,
0.0009615229209885001,
0.0018244702368974686
] | 0.133333
| 4
| 0
| 4
| 0
|
[
0.09614743292331696,
-0.4176032841205597,
0.6227043867111206,
-0.0042354329489171505,
1.3635603189468384,
-3.053145170211792,
0
] |
[
0.18837526440620422,
0.017499176785349846,
0.14785325527191162,
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0.9999880790710449,
0.004283522721379995,
0.0012539781164377928
] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.0000028461217880249023,
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0.0000016689300537109375,
-0.0001484473468735814,
-2.980232238769531e-7,
0.00014806492254137993,
-0.000033806427381932735
] |
[
-0.1944243609905243,
-1.621520757675171,
-0.29044872522354126,
2.3803043365478516,
-0.023893708363175392,
0.8061936497688293,
-3.4436192512512207,
0
] |
[
0.3384450376033783,
0.017404740676283836,
0.22286000847816467,
0.0021016006357967854,
0.9999881982803345,
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] |
[
0,
0,
0
] | 0
|
[
-0.000005513429641723633,
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-0.000004842877388000488,
-0.00028438924346119165,
-4.172325134277344e-7,
0.00017283251509070396,
0.0001673103542998433
] |
[
-1.9238121509552002,
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2.1839609146118164,
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0
] |
[
0.3384423851966858,
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[
0,
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0
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|
[
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[
-0.5312280654907227,
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] |
[
0.33839452266693115,
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[
0,
0,
0
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|
[
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6.556510925292969e-7,
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[
0.13023662567138672,
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] |
[
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[
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|
[
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2.384185791015625e-7,
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[
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] |
[
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[
0,
0,
0
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|
[
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0.0001224800944328308
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[
-0.025016983970999718,
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[
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[
0,
0,
0
] | 0
|
[
-0.01044890284538269,
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[
-0.6869697570800781,
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] |
[
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[
0,
0,
0
] | 0
|
[
0.0000035762786865234375,
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0.00011168653145432472,
5.364418029785156e-7,
-0.00014363275840878487,
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] |
Pick up pink flower.
|
[
0.002420906675979495,
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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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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.000005513429641723633,
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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
|
[
-0.000016391277313232422,
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5.960464477539062e-7,
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0.00009197031613439322
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[
0.1304846554994583,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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1.7881393432617188e-7,
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] |
[
0.012947725132107735,
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1.9408425092697144,
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1.0378926992416382,
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0
] |
[
0.3384535610675812,
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[
0,
0,
0
] | 0
|
[
-0.0000049173831939697266,
6.51925802230835e-7,
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0.00001067272387444973,
-1.7881393432617188e-7,
-0.000007638707756996155,
0.00012248556595295668
] |
[
-0.025134308263659477,
0.34403207898139954,
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] |
[
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0.9938411712646484,
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] |
[
0,
0,
0
] | 0
|
[
-0.010457783937454224,
-0.0005592964589595795,
-0.002374410629272461,
-0.005394972860813141,
0.006146728992462158,
0.00023188255727291107,
0.11195465922355652
] |
[
-0.6874591112136841,
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0.6448841094970703,
0.6794496178627014,
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1.1726022958755493,
2.8677139282226562,
0
] |
[
0.3384450674057007,
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0.2230425328016281,
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0.9999874234199524,
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] |
[
0,
0,
0
] | 0
|
[
0.0000035762786865234375,
0.0000066552311182022095,
-0.0000011324882507324219,
0.00011157186236232519,
4.76837158203125e-7,
-0.00014363648369908333,
-0.000049085007049143314
] |
Pick up pink flower.
|
[
0.0023118024691939354,
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0.05139484256505966,
-2.773705244064331,
0.03128591552376747,
2.1592135429382324,
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1,
1.8847764730453491,
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0.13336814939975739
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[
0.002460733288899064,
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-2.7734010219573975,
0.03128707781434059,
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0
] |
[
0.3384486436843872,
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0.22304140031337738,
0.9999879002571106,
0.0043312255293130875,
0.0014514480717480183,
0.0018139950698241591
] | 0.2
| 6
| 0
| 6
| 0
|
[
0.09574762731790543,
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0.6222243905067444,
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1.3641072511672974,
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] |
[
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0.0015833558281883597
] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.0000028312206268310547,
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-0.00014843721874058247,
-2.980232238769531e-7,
0.00014812080189585686,
-0.00003377627581357956
] |
[
-0.19378513097763062,
-1.622028112411499,
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2.379891872406006,
-0.023725638166069984,
0.806493878364563,
-3.4439613819122314,
0
] |
[
0.3384559452533722,
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0.22311466932296753,
0.0020987200550734997,
0.999988317489624,
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0.0013823455665260553
] |
[
0,
0,
0
] | 0
|
[
-0.000005513429641723633,
-0.000011118128895759583,
-0.000004872679710388184,
-0.0002842957619577646,
-4.172325134277344e-7,
0.0001729424111545086,
0.00016723398584872484
] |
[
-1.9242491722106934,
-1.9937399625778198,
2.1837880611419678,
-1.7649331092834473,
-1.57318913936615,
-0.36203113198280334,
0
] |
[
0.3384532928466797,
0.017310848459601402,
0.22311152517795563,
0.0018364930292591453,
0.9999880194664001,
0.004286677110940218,
0.0014959928812459111
] |
[
0,
0,
0
] | 0
|
[
-0.00000286102294921875,
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-0.000022068736143410206,
-1.1920928955078125e-7,
0.00001823296770453453,
0.00005358667112886906
] |
[
-0.53204745054245,
1.5908734798431396,
1.6064437627792358,
1.8917992115020752,
1.559439778327942,
-1.6134804487228394,
1.350000023841858,
0
] |
[
0.33838894963264465,
0.01738717034459114,
0.24809972941875458,
0.0016134778270497918,
0.9999873042106628,
0.004545077681541443,
0.0014576652320101857
] |
[
0,
0,
0
] | 0
|
[
-0.000016391277313232422,
0.000011788681149482727,
0.000009775161743164062,
0.00020094646606594324,
5.960464477539062e-7,
-0.00024016760289669037,
0.00009191432036459446
] |
[
0.13055478036403656,
2.8041820526123047,
5.144955635070801,
0.2499963790178299,
-0.9301862716674805,
-2.75839900970459,
0
] |
[
0.338449090719223,
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0.22310887277126312,
0.0015444213058799505,
0.9999876618385315,
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] |
[
0,
0,
0
] | 0
|
[
0.000001341104507446289,
0.00000840798020362854,
9.238719940185547e-7,
0.00027000298723578453,
2.384185791015625e-7,
-0.00013773329555988312,
-0.00004603620618581772
] |
[
0.013006271794438362,
0.16290895640850067,
-0.16283787786960602,
1.9408689737319946,
0.035151150077581406,
1.0378926992416382,
-0.1568857878446579,
0
] |
[
0.33845534920692444,
0.01730792038142681,
0.22311487793922424,
0.0018037501722574234,
0.9999880790710449,
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0.001427087583579123
] |
[
0,
0,
0
] | 0
|
[
-0.0000049173831939697266,
6.51925802230835e-7,
-0.000005081295967102051,
0.000010674120858311653,
-1.7881393432617188e-7,
-0.00000763963907957077,
0.00012249196879565716
] |
[
-0.025146886706352234,
0.34383895993232727,
0.09084681421518326,
-2.094399929046631,
-0.039748821407556534,
0.9269784688949585,
0.08303020149469376,
0
] |
[
0.34891265630722046,
0.017867635935544968,
0.22548730671405792,
0.007209308445453644,
0.9938468337059021,
0.004072548821568489,
-0.11045311391353607
] |
[
0,
0,
0
] | 0
|
[
-0.01046222448348999,
-0.0005590636283159256,
-0.0023775100708007812,
-0.005394884385168552,
0.006141066551208496,
0.00023236125707626343,
0.11200269311666489
] |
[
-0.6876596212387085,
-0.5699606537818909,
0.6449241042137146,
0.6794493794441223,
0.3563311994075775,
1.172697901725769,
2.867514133453369,
0
] |
[
0.33844685554504395,
0.01730191707611084,
0.22311091423034668,
0.0017028975998982787,
0.9999873638153076,
0.004448547028005123,
0.001598644070327282
] |
[
0,
0,
0
] | 0
|
[
0.0000035762786865234375,
0.0000066552311182022095,
-0.0000011175870895385742,
0.00011152669321745634,
5.364418029785156e-7,
-0.00014363694936037064,
-0.000049064517952501774
] |
Pick up pink flower.
|
[
0.002275248058140278,
-0.6187861561775208,
0.05139368399977684,
-2.7738218307495117,
0.03128773719072342,
2.159198760986328,
0.8038711547851562,
1,
2.281803607940674,
0.7855081558227539,
-0.18021249771118164,
-0.09060556441545486,
1.2995418310165405,
0.09433642774820328,
2.2876405715942383,
-0.7669548392295837,
0.1863364428281784,
0.14083987474441528,
-0.5876265168190002,
0.12985999882221222
] |
[
0.002420906675979495,
-0.6174131631851196,
0.051436278969049454,
-2.773452043533325,
0.031284790486097336,
2.1593897342681885,
0.8038709759712219,
0
] |
[
0.33845043182373047,
0.017308572307229042,
0.22310979664325714,
0.9999879002571106,
0.0043049100786447525,
0.0015495795523747802,
0.001814424293115735
] | 0.233333
| 7
| 0
| 7
| 0
|
[
0.09552555531263351,
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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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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
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|
[
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5.364418029785156e-7,
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] |
Pick up pink flower.
|
[
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[
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[
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| 8
| 0
| 8
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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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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[
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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
|
[
-0.01049184799194336,
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0.006129562854766846,
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[
-0.688612163066864,
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] |
[
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[
0,
0,
0
] | 0
|
[
0.0000035762786865234375,
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0.00011130573693662882,
5.364418029785156e-7,
-0.0001436290331184864,
-0.00004895403981208801
] |
Pick up pink flower.
|
[
0.00223058694973588,
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0.051372841000556946,
-2.7739593982696533,
0.031287167221307755,
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1,
2.1400070190429688,
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[
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[
0.3383992314338684,
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0.9999876022338867,
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] | 0.3
| 9
| 0
| 9
| 0
|
[
0.09540500491857529,
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
0.0000028312206268310547,
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-0.00014847982674837112,
-2.980232238769531e-7,
0.00014819111675024033,
-0.00003373227082192898
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[
-0.19287118315696716,
-1.6227647066116333,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000054836273193359375,
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-0.00028424873016774654,
-4.76837158203125e-7,
0.0001730932854115963,
0.00016718218103051186
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[
-1.9248353242874146,
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-1.5728768110275269,
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] |
[
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[
0,
0,
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] | 0
|
[
-0.00000286102294921875,
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-1.7881393432617188e-7,
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[
-0.5331607460975647,
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] |
[
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[
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] | 0
|
[
-0.000016421079635620117,
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[
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[
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[
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] | 0
|
[
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2.384185791015625e-7,
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[
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[
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[
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|
[
-0.0000049173831939697266,
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[
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[
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[
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|
[
-0.01049688458442688,
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-0.0053992485627532005,
0.006132185459136963,
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[
-0.6887083649635315,
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[
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[
0,
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] | 0
|
[
0.0000035762786865234375,
0.0000066533684730529785,
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0.00011128815822303295,
4.76837158203125e-7,
-0.00014362623915076256,
-0.00004894076846539974
] |
Pick up pink flower.
|
[
0.002235623076558113,
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0.031286466866731644,
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2.2632322311401367,
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[
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[
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0.0019824481569230556,
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] | 0.333333
| 10
| 0
| 10
| 0
|
[
0.09536006301641464,
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[
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[
-0.15000000596046448,
0,
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.0000054836273193359375,
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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
|
[
-0.000016391277313232422,
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0.00020094879437237978,
4.76837158203125e-7,
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0.00009159999899566174
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[
0.1309720128774643,
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5.145474910736084,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
0.000001341104507446289,
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2.384185791015625e-7,
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] |
[
0.013332698494195938,
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1.9412837028503418,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000049173831939697266,
6.51925802230835e-7,
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0.000010681222192943096,
-2.384185791015625e-7,
-0.000007642898708581924,
0.0001225301530212164
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[
-0.025283582508563995,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.010500699281692505,
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0.006135404109954834,
0.0002340557985007763,
0.1124003678560257
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[
-0.6887702941894531,
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1.173268437385559,
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0
] |
[
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0.0020402700174599886
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[
0,
0,
0
] | 0
|
[
0.0000035762786865234375,
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0.00011127837933599949,
5.364418029785156e-7,
-0.00014362437650561333,
-0.00004893215373158455
] |
Pick up pink flower.
|
[
0.002242895308881998,
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0.05137493461370468,
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0.031288694590330124,
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1,
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[
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] |
[
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] | 0.366667
| 11
| 0
| 11
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
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-2.384185791015625e-7,
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] |
[
-0.19287800788879395,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000054836273193359375,
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-0.000004902482032775879,
-0.0002842674730345607,
-4.76837158203125e-7,
0.00017309421673417091,
0.00016719894483685493
] |
[
-1.9248971939086914,
-1.9948410987854004,
2.1838879585266113,
-1.7647322416305542,
-1.5728811025619507,
-0.362429678440094,
0
] |
[
0.33835092186927795,
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0.999987781047821,
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] |
[
0,
0,
0
] | 0
|
[
-0.00000286102294921875,
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-1.1920928955078125e-7,
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0.00005365768447518349
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[
-0.5332412719726562,
1.5915871858596802,
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1.8928210735321045,
1.5583901405334473,
-1.6147934198379517,
1.350000023841858,
0
] |
[
0.33826521039009094,
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0.24837350845336914,
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0.0018858312396332622
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[
0,
0,
0
] | 0
|
[
-0.000016391277313232422,
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0.0002009510062634945,
4.76837158203125e-7,
-0.0002401880919933319,
0.00009159522596746683
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[
0.13097220659255981,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
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9.238719940185547e-7,
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2.384185791015625e-7,
-0.0001378403976559639,
-0.00004611164331436157
] |
[
0.01332919206470251,
0.16172197461128235,
-0.16289110481739044,
1.9413390159606934,
0.03507751226425171,
1.0377464294433594,
-0.15683916211128235,
0
] |
[
0.3383529782295227,
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0.0018005350138992071,
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[
0,
0,
0
] | 0
|
[
-0.0000049173831939697266,
6.51925802230835e-7,
-0.000005081295967102051,
0.000010681687854230404,
-2.384185791015625e-7,
-0.000007641967386007309,
0.00012253166642040014
] |
[
-0.025268346071243286,
0.34310439229011536,
0.09069501608610153,
-2.094399929046631,
-0.039628513157367706,
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0
] |
[
0.3488517701625824,
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0.007212572265416384,
0.9938474893569946,
0.003945752512663603,
-0.11045180261135101
] |
[
0,
0,
0
] | 0
|
[
-0.010503709316253662,
-0.0005587581545114517,
-0.0023949742317199707,
-0.005401355680078268,
0.006140172481536865,
0.00023432914167642593,
0.11242923140525818
] |
[
-0.6887904405593872,
-0.5719286799430847,
0.6452229619026184,
0.6791062951087952,
0.35767385363578796,
1.1732808351516724,
2.866255521774292,
0
] |
[
0.3383444845676422,
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] |
[
0,
0,
0
] | 0
|
[
0.0000035762786865234375,
0.0000066533684730529785,
-0.0000011175870895385742,
0.00011127605102956295,
5.364418029785156e-7,
-0.00014362065121531487,
-0.000048927729949355125
] |
Pick up pink flower.
|
[
0.0022828488145023584,
-0.6191523671150208,
0.051373932510614395,
-2.773998737335205,
0.03128596767783165,
2.1592319011688232,
0.8038738965988159,
1,
2.9926483631134033,
1.1488062143325806,
-0.6499536633491516,
-0.21786236763000488,
1.561053991317749,
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-1.1260221004486084,
0.6582219004631042,
0.12436332553625107,
-0.4878447651863098,
0.16107605397701263
] |
[
0.002235623076558113,
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0.05137567222118378,
-2.774007558822632,
0.031286466866731644,
2.159196615219116,
0.8038662075996399,
0
] |
[
0.33834806084632874,
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0.22338365018367767,
0.9999876618385315,
0.004180081654340029,
0.001977426465600729,
0.0018112167017534375
] | 0.4
| 12
| 0
| 12
| 0
|
[
0.09538807719945908,
-0.4197251498699188,
0.6221104860305786,
-0.004364930093288422,
1.3647103309631348,
-3.0533878803253174,
0
] |
[
0.1882523149251938,
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] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.0000028312206268310547,
-0.000015003606677055359,
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-0.0001485013635829091,
-2.384185791015625e-7,
0.00014819391071796417,
-0.000033724354580044746
] |
[
-0.192823126912117,
-1.62282133102417,
-0.2932742238044739,
2.3795878887176514,
-0.023545987904071808,
0.806729257106781,
-3.4445955753326416,
0
] |
[
0.3383612632751465,
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0.22340670228004456,
0.002094254596158862,
0.9999880790710449,
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0.0018375155050307512
] |
[
0,
0,
0
] | 0
|
[
-0.000005513429641723633,
-0.00001113303005695343,
-0.000004902482032775879,
-0.00028426467906683683,
-4.76837158203125e-7,
0.00017310259863734245,
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] |
[
-1.9248974323272705,
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-1.5728596448898315,
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] |
[
0.338358610868454,
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] |
[
0,
0,
0
] | 0
|
[
-0.00000286102294921875,
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-0.00002213427796959877,
-1.1920928955078125e-7,
0.000018262770026922226,
0.000053658848628401756
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[
-0.5332642197608948,
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1.8928519487380981,
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-1.614834189414978,
1.350000023841858,
0
] |
[
0.3382715582847595,
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] |
[
0,
0,
0
] | 0
|
[
-0.000016421079635620117,
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-0.00024019228294491768,
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[
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] |
[
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[
0,
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] | 0
|
[
0.000001341104507446289,
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2.384185791015625e-7,
-0.00013784738257527351,
-0.00004611513577401638
] |
[
0.01333171222358942,
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1.9413272142410278,
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1.0377476215362549,
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0
] |
[
0.33836066722869873,
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[
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] | 0
|
[
-0.0000049173831939697266,
6.51925802230835e-7,
-0.000005081295967102051,
0.000010681338608264923,
-2.384185791015625e-7,
-0.000007642898708581924,
0.00012253352906554937
] |
[
-0.025258652865886688,
0.3430503308773041,
0.09069126844406128,
-2.094399929046631,
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0.9276986718177795,
0.0829230323433876,
0
] |
[
0.3488592803478241,
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0.9938505291938782,
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] |
[
0,
0,
0
] | 0
|
[
-0.010503530502319336,
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0.006137073040008545,
0.00023434031754732132,
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] |
[
-0.6888159513473511,
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0.645231306552887,
0.6791244149208069,
0.35771673917770386,
1.1732903718948364,
2.8662216663360596,
0
] |
[
0.3383522033691406,
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] |
[
0,
0,
0
] | 0
|
[
0.000003546476364135742,
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0.00011126801837235689,
5.364418029785156e-7,
-0.0001436220481991768,
-0.00004892423748970032
] |
Pick up pink flower.
|
[
0.002397713717073202,
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0.031286295503377914,
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3.3369622230529785,
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[
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] |
[
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] | 0.433333
| 13
| 0
| 13
| 0
|
[
0.09546005725860596,
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[
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[
-0.15000000596046448,
0,
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|
[
0.0000028312206268310547,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000005513429641723633,
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
-0.533282458782196,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000016391277313232422,
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0.0002009307499974966,
5.364418029785156e-7,
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0.00009156670421361923
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[
0.13093295693397522,
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5.1454997062683105,
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] |
[
0.33837395906448364,
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[
0,
0,
0
] | 0
|
[
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2.384185791015625e-7,
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] |
[
0.013319612480700016,
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1.9413074254989624,
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] |
[
0.33838024735450745,
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0.22344166040420532,
0.00179973931517452,
0.9999876618385315,
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[
0,
0,
0
] | 0
|
[
-0.000004947185516357422,
6.51925802230835e-7,
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0.000010680872946977615,
-2.384185791015625e-7,
-0.000007644295692443848,
0.00012253981549292803
] |
[
-0.025229038670659065,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.010502874851226807,
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-0.005404205061495304,
0.006129741668701172,
0.00023479852825403214,
0.11242648959159851
] |
[
-0.6888638734817505,
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0.6452701091766357,
0.6791573762893677,
0.35781484842300415,
1.1732879877090454,
2.866145610809326,
0
] |
[
0.33837175369262695,
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[
0,
0,
0
] | 0
|
[
0.000003546476364135742,
0.0000066533684730529785,
-0.0000011175870895385742,
0.000111253815703094,
5.364418029785156e-7,
-0.00014362530782818794,
-0.00004891701973974705
] |
Pick up pink flower.
|
[
0.002663432387635112,
-0.6194194555282593,
0.05139254778623581,
-2.77398681640625,
0.031286824494600296,
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1,
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[
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0
] |
[
0.3383753001689911,
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0.9999874234199524,
0.004199311137199402,
0.0020671153906732798,
0.0018104201881214976
] | 0.466667
| 14
| 0
| 14
| 0
|
[
0.09567675739526749,
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] |
[
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[
-0.15000000596046448,
0,
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] | 0
|
[
0.0000028312206268310547,
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-0.00014845258556306362,
-2.384185791015625e-7,
0.0001482074148952961,
-0.00003376114182174206
] |
[
-0.19248293340206146,
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2.379476308822632,
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-3.444683790206909,
0
] |
[
0.33839935064315796,
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[
0,
0,
0
] | 0
|
[
-0.0000054836273193359375,
-0.000011134892702102661,
-0.000004902482032775879,
-0.0002842731773853302,
-4.76837158203125e-7,
0.00017314543947577477,
0.00016716774553060532
] |
[
-1.9247698783874512,
-1.9949803352355957,
2.183793306350708,
-1.764803171157837,
-1.5727670192718506,
-0.36246395111083984,
0
] |
[
0.33839672803878784,
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0.9999871253967285,
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] |
[
0,
0,
0
] | 0
|
[
-0.00000286102294921875,
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-0.000022136839106678963,
-1.1920928955078125e-7,
0.000018267426639795303,
0.000053663505241274834
] |
[
-0.5332323312759399,
1.591615080833435,
1.6080764532089233,
1.8929917812347412,
1.558145523071289,
-1.6150128841400146,
1.350000023841858,
0
] |
[
0.338302880525589,
0.017349036410450935,
0.24846996366977692,
0.0016102510271593928,
0.999986469745636,
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0.0020486724097281694
] |
[
0,
0,
0
] | 0
|
[
-0.000016421079635620117,
0.000011797994375228882,
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0.00020091317128390074,
5.364418029785156e-7,
-0.00024019088596105576,
0.00009155110456049442
] |
[
0.13082002103328705,
2.8055481910705566,
5.145474910736084,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
0.000001341104507446289,
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9.238719940185547e-7,
0.0002702003112062812,
2.384185791015625e-7,
-0.0001378823071718216,
-0.0000461104791611433
] |
[
0.013266013003885746,
0.16148161888122559,
-0.16300298273563385,
1.9412856101989746,
0.035108260810375214,
1.0377185344696045,
-0.15686482191085815,
0
] |
[
0.3383987843990326,
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0.22348521649837494,
0.0018004858866333961,
0.9999872446060181,
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[
0,
0,
0
] | 0
|
[
-0.0000049173831939697266,
6.537884473800659e-7,
-0.000005081295967102051,
0.000010678311809897423,
-2.384185791015625e-7,
-0.000007645227015018463,
0.00012254645116627216
] |
[
-0.025151779875159264,
0.34281471371650696,
0.09074924141168594,
-2.094399929046631,
-0.039643794298172,
0.9276630282402039,
0.08294367045164108,
0
] |
[
0.34889641404151917,
0.017831208184361458,
0.22587807476520538,
0.007221839856356382,
0.9938653111457825,
0.004025246482342482,
-0.11028778553009033
] |
[
0,
0,
0
] | 0
|
[
-0.010502547025680542,
-0.0005604736506938934,
-0.0023979395627975464,
-0.0054106758907437325,
0.006121695041656494,
0.00023563625290989876,
0.11242800951004028
] |
[
-0.6889052391052246,
-0.5722470879554749,
0.6453577280044556,
0.6791967749595642,
0.35796919465065,
1.1733123064041138,
2.8660082817077637,
0
] |
[
0.3383902907371521,
0.017264079302549362,
0.22348125278949738,
0.001699932967312634,
0.999986469745636,
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] |
[
0,
0,
0
] | 0
|
[
0.0000035762786865234375,
0.0000066552311182022095,
-0.0000011175870895385742,
0.00011123123113065958,
5.364418029785156e-7,
-0.00014362670481204987,
-0.00004890584386885166
] |
Pick up pink flower.
|
[
0.0029909845907241106,
-0.6194949150085449,
0.05141270160675049,
-2.7739243507385254,
0.03129316493868828,
2.159672975540161,
0.8038915395736694,
1,
4.366735935211182,
1.7271068096160889,
-0.7141000628471375,
-0.3840906620025635,
1.9411813020706177,
0.2662785053253174,
4.378753662109375,
-1.6898630857467651,
0.7297437787055969,
0.1241094321012497,
-0.4539048373699188,
0.23954470455646515
] |
[
0.002397713717073202,
-0.6192719340324402,
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-2.773996591567993,
0.031286295503377914,
2.1592562198638916,
0.8038687109947205,
0
] |
[
0.3383938670158386,
0.017270734533667564,
0.22348013520240784,
0.999987006187439,
0.00426088273525238,
0.002140223514288664,
0.0018111641984432936
] | 0.5
| 15
| 0
| 15
| 0
|
[
0.09617967158555984,
-0.4198569357395172,
0.6216301321983337,
-0.004424953367561102,
1.3647828102111816,
-3.0529985427856445,
0
] |
[
0.18832369148731232,
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0.9999864101409912,
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0.0023109850008040667
] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.0000028312206268310547,
-0.000014994293451309204,
0.0000016838312149047852,
-0.00014838622882962227,
-2.980232238769531e-7,
0.00014821486547589302,
-0.000033821212127804756
] |
[
-0.1920977383852005,
-1.6231058835983276,
-0.293580025434494,
2.3794028759002686,
-0.02333678863942623,
0.8066957592964172,
-3.4447362422943115,
0
] |
[
0.3384462594985962,
0.01737620308995247,
0.22354963421821594,
0.0020977319218218327,
0.9999867081642151,
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0.0021100209560245275
] |
[
0,
0,
0
] | 0
|
[
-0.0000054836273193359375,
-0.000011138617992401123,
-0.000004902482032775879,
-0.0002843081019818783,
-5.960464477539062e-7,
0.00017318734899163246,
0.00016714283265173435
] |
[
-1.924507737159729,
-1.9950547218322754,
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-1.7649272680282593,
-1.5726760625839233,
-0.36245790123939514,
0
] |
[
0.3384436368942261,
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0.22354646027088165,
0.0018355586798861623,
0.9999862909317017,
0.004370631650090218,
0.002223498187959194
] |
[
0,
0,
0
] | 0
|
[
-0.00000286102294921875,
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-0.0000017285346984863281,
-0.000022134860046207905,
-1.7881393432617188e-7,
0.00001827022060751915,
0.00005366560071706772
] |
[
-0.5330597162246704,
1.5916491746902466,
1.6082855463027954,
1.8930906057357788,
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-1.6151691675186157,
1.350000023841858,
0
] |
[
0.33834293484687805,
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0.24853451550006866,
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[
0,
0,
0
] | 0
|
[
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0.00009152130223810673
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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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[
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[
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|
[
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5.364418029785156e-7,
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] |
Pick up pink flower.
|
[
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[
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[
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| 16
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| 16
| 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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[
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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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|
[
-0.0000049173831939697266,
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[
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[
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[
0,
0,
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] | 0
|
[
-0.010490834712982178,
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[
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] |
[
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[
0,
0,
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] | 0
|
[
0.000003546476364135742,
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0.00011119607370346785,
5.960464477539062e-7,
-0.0001436467282474041,
-0.00004887254908680916
] |
Pick up pink flower.
|
[
0.0038489315193146467,
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0.051671352237463,
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0.03131185844540596,
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[
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[
0.3385504484176636,
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] | 0.566667
| 17
| 0
| 17
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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|
[
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[
-0.1911277323961258,
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[
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[
0,
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] | 0
|
[
-0.000005453824996948242,
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-0.00028454617131501436,
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0.0001733517274260521,
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[
-1.9235639572143555,
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2.183567523956299,
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0
] |
[
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[
0,
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] | 0
|
[
-0.00000286102294921875,
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-0.000022108200937509537,
-1.7881393432617188e-7,
0.000018279533833265305,
0.00005368213169276714
] |
[
-0.5322791337966919,
1.5915451049804688,
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1.55708909034729,
-1.6153151988983154,
1.350000023841858,
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] |
[
0.338580459356308,
0.017751544713974,
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[
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] | 0
|
[
-0.000016421079635620117,
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0.00020058115478605032,
5.960464477539062e-7,
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[
0.1296168863773346,
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[
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[
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] | 0
|
[
0.000001341104507446289,
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3.5762786865234375e-7,
-0.00013807183131575584,
-0.000045987311750650406
] |
[
0.012608425691723824,
0.16100271046161652,
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1.9410444498062134,
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1.0371322631835938,
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] |
[
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[
0,
0,
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] | 0
|
[
-0.0000049173831939697266,
6.48200511932373e-7,
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0.000010663177818059921,
-2.980232238769531e-7,
-0.000007665716111660004,
0.00012266263365745544
] |
[
-0.02436847798526287,
0.34202075004577637,
0.09121868014335632,
-2.094399929046631,
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] |
[
0.3491840660572052,
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0.22611409425735474,
0.007302251644432545,
0.9939560890197754,
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-0.10943938046693802
] |
[
0,
0,
0
] | 0
|
[
-0.010478973388671875,
-0.0005718637257814407,
-0.002401575446128845,
-0.005470581352710724,
0.006026625633239746,
0.00024442141875624657,
0.1122516319155693
] |
[
-0.688838541507721,
-0.5728142857551575,
0.6461578011512756,
0.6795503497123718,
0.3589446246623993,
1.1726776361465454,
2.8653547763824463,
0
] |
[
0.3387015163898468,
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[
0,
0,
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] | 0
|
[
0.0000035762786865234375,
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0.00011119584087282419,
6.556510925292969e-7,
-0.00014366907998919487,
-0.000048849498853087425
] |
Pick up pink flower.
|
[
0.00413310993462801,
-0.6196498274803162,
0.05185667425394058,
-2.7737529277801514,
0.03131804242730141,
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0.8039158582687378,
1,
5.572179317474365,
2.3290956020355225,
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5.59079647064209,
-2.273386240005493,
0.9011428952217102,
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-0.49206674098968506,
0.3223315477371216
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[
0.00345159531570971,
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-2.773887872695923,
0.03130412474274635,
2.1601929664611816,
0.803901195526123,
0
] |
[
0.3387050926685333,
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0.2237125188112259,
0.9999827146530151,
0.0048279897309839725,
0.0028122547082602978,
0.0018316704081371427
] | 0.6
| 18
| 0
| 18
| 0
|
[
0.09875142574310303,
-0.4194483160972595,
0.6203574538230896,
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1.364145278930664,
-3.051760673522949,
0
] |
[
0.1886661797761917,
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[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.0000028908252716064453,
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-0.0001480609644204378,
-3.5762786865234375e-7,
0.00014826282858848572,
-0.000034132739529013634
] |
[
-0.19060075283050537,
-1.623546838760376,
-0.2934066951274872,
2.379202127456665,
-0.022661594673991203,
0.8059191703796387,
-3.444920778274536,
0
] |
[
0.3388270139694214,
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0.22378596663475037,
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[
0,
0,
0
] | 0
|
[
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0.00017342297360301018,
0.00016719847917556763
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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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[
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[
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|
[
-0.0000049173831939697266,
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0.0001227057073265314
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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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1.172417163848877,
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0
] |
[
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[
0,
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|
[
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0.00011119351256638765,
7.152557373046875e-7,
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] |
Pick up pink flower.
|
[
0.004296374972909689,
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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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[
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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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6.556510925292969e-7,
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[
0.12857067584991455,
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] |
[
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[
0,
0,
0
] | 0
|
[
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4.172325134277344e-7,
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] |
[
0.011993663385510445,
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1.9408174753189087,
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] |
[
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[
0,
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] | 0
|
[
-0.0000049173831939697266,
6.463378667831421e-7,
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0.00012274645268917084
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.010457515716552734,
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[
-0.6888088583946228,
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] |
[
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[
0,
0,
0
] | 0
|
[
0.0000035762786865234375,
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0.00011119036935269833,
7.152557373046875e-7,
-0.00014370400458574295,
-0.00004882761277258396
] |
Pick up pink flower.
|
[
0.0044872877188026905,
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0.05241831764578819,
-2.7735466957092285,
0.031327713280916214,
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1,
5.681073188781738,
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[
0.00413310993462801,
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-2.7737529277801514,
0.03131804242730141,
2.1609020233154297,
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0
] |
[
0.33894509077072144,
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0.0019101322395727038
] | 0.666667
| 20
| 0
| 20
| 0
|
[
0.1001884788274765,
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
0.000002905726432800293,
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-0.00014784326776862144,
-3.5762786865234375e-7,
0.00014827726408839226,
-0.000034320168197155
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[
-0.18970778584480286,
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2.378953456878662,
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] |
[
0.33903056383132935,
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0.0022451630793511868,
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[
0,
0,
0
] | 0
|
[
-0.000005453824996948242,
-0.000011164695024490356,
-0.000004932284355163574,
-0.00028479285538196564,
-8.940696716308594e-7,
0.00017354032024741173,
0.00016713328659534454
] |
[
-1.9220974445343018,
-1.9949818849563599,
2.1832938194274902,
-1.7667924165725708,
-1.5721638202667236,
-0.3621874153614044,
0
] |
[
0.3390279710292816,
0.018091632053256035,
0.22392740845680237,
0.0019824241753667593,
0.9999775886535645,
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] |
[
0,
0,
0
] | 0
|
[
-0.00000286102294921875,
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-0.0000017434358596801758,
-0.000022053951397538185,
-2.384185791015625e-7,
0.000018289312720298767,
0.0000536823645234108
] |
[
-0.5310496687889099,
1.5914620161056519,
1.6092060804367065,
1.8933225870132446,
1.5561072826385498,
-1.6157933473587036,
1.350000023841858,
0
] |
[
0.33887025713920593,
0.018174702301621437,
0.24891512095928192,
0.0017601423896849155,
0.9999766945838928,
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] |
[
0,
0,
0
] | 0
|
[
-0.000016421079635620117,
0.00001173652708530426,
0.000009775161743164062,
0.00020022783428430557,
6.556510925292969e-7,
-0.00023983698338270187,
0.00009134900756180286
] |
[
0.12818807363510132,
2.806241512298584,
5.1444993019104,
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-0.9287359118461609,
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0
] |
[
0.33902379870414734,
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[
0,
0,
0
] | 0
|
[
0.0000013113021850585938,
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9.238719940185547e-7,
0.0002707761013880372,
4.172325134277344e-7,
-0.00013826042413711548,
-0.000045764725655317307
] |
[
0.011761493049561977,
0.1606791615486145,
-0.16433243453502655,
1.9406849145889282,
0.036001697182655334,
1.0366861820220947,
-0.15772166848182678,
0
] |
[
0.33903002738952637,
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0.22393076121807098,
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[
0,
0,
0
] | 0
|
[
-0.0000049173831939697266,
6.444752216339111e-7,
-0.0000050961971282958984,
0.000010669929906725883,
-4.172325134277344e-7,
-0.000007684342563152313,
0.0001227657776325941
] |
[
-0.023399734869599342,
0.34128308296203613,
0.09167630970478058,
-2.094399929046631,
-0.04045107960700989,
0.9258564114570618,
0.08378969877958298,
0
] |
[
0.349473774433136,
0.018674002960324287,
0.22632871568202972,
0.007493482902646065,
0.9940449595451355,
0.005193559918552637,
-0.10858887434005737
] |
[
0,
0,
0
] | 0
|
[
-0.010448664426803589,
-0.000584648922085762,
-0.002403050661087036,
-0.005533112678676844,
0.0059323906898498535,
0.00026515545323491096,
0.11200395226478577
] |
[
-0.6888378858566284,
-0.5732637047767639,
0.6471946239471436,
0.6800051331520081,
0.3597131371498108,
1.1720523834228516,
2.8648202419281006,
0
] |
[
0.33902156352996826,
0.018082689493894577,
0.22392678260803223,
0.001849187072366476,
0.9999765753746033,
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[
0,
0,
0
] | 0
|
[
0.000003546476364135742,
0.000006664544343948364,
-0.0000011175870895385742,
0.00011118315160274506,
7.748603820800781e-7,
-0.00014371518045663834,
-0.00004882831126451492
] |
Pick up pink flower.
|
[
0.004575581289827824,
-0.6197497248649597,
0.052762094885110855,
-2.7734861373901367,
0.03133160248398781,
2.161405324935913,
0.8039203882217407,
1,
5.693295955657959,
2.5537891387939453,
-0.7843294143676758,
-0.6363131999969482,
2.3830268383026123,
0.42412158846855164,
5.71709680557251,
-2.4901092052459717,
0.8158056139945984,
0.1110747829079628,
-0.49122199416160583,
0.3336627185344696
] |
[
0.004296374972909689,
-0.6196726560592651,
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-2.7736568450927734,
0.03132360056042671,
2.1610629558563232,
0.8039137721061707,
0
] |
[
0.3390251100063324,
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0.0034150772262364626,
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| 21
| 0
| 21
| 0
|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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4.76837158203125e-7,
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[
0.011390261352062225,
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1.9405266046524048,
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[
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[
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[
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0.00012279232032597065
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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,
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|
[
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7.748603820800781e-7,
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] |
Pick up pink flower.
|
[
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[
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[
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| 22
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| 22
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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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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[
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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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] | 0
|
[
-0.010431736707687378,
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[
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[
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[
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] | 0
|
[
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0.00011116149835288525,
7.748603820800781e-7,
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] |
Pick up pink flower.
|
[
0.0046554007567465305,
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[
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[
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] | 0.766667
| 23
| 0
| 23
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
0.0000029355287551879883,
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-4.172325134277344e-7,
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[
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[
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[
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] | 0
|
[
-0.000005453824996948242,
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[
-1.9205684661865234,
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[
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[
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] | 0
|
[
-0.00000286102294921875,
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[
-0.5298093557357788,
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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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|
[
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[
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0.6804437041282654,
0.3602675795555115,
1.1717607975006104,
2.8643383979797363,
0
] |
[
0.33924680948257446,
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0.002137233270332217,
0.9999709725379944,
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] |
[
0,
0,
0
] | 0
|
[
0.000003546476364135742,
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0.00011115591041743755,
8.344650268554688e-7,
-0.00014375103637576103,
-0.000048841116949915886
] |
Pick up pink flower.
|
[
0.004665715619921684,
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0.05410441756248474,
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0.0313752144575119,
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[
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[
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] | 0.8
| 24
| 0
| 24
| 0
|
[
0.10334395617246628,
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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
|
[
-0.000005453824996948242,
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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
|
[
-0.000016450881958007812,
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7.152557373046875e-7,
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0.00009121419861912727
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[
0.12621340155601501,
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] |
[
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[
0,
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] | 0
|
[
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4.172325134277344e-7,
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[
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] |
[
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[
0,
0,
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] | 0
|
[
-0.0000049173831939697266,
6.407499313354492e-7,
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0.000010732561349868774,
-4.76837158203125e-7,
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0.0001228400506079197
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[
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] |
[
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0.9941194653511047,
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[
0,
0,
0
] | 0
|
[
-0.010417580604553223,
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0.005850613117218018,
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[
-0.6893358826637268,
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] |
[
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[
0,
0,
0
] | 0
|
[
0.000003546476364135742,
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0.00011114613153040409,
8.344650268554688e-7,
-0.00014375895261764526,
-0.000048851361498236656
] |
Pick up pink flower.
|
[
0.004738337825983763,
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0.05457460507750511,
-2.7732133865356445,
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[
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] |
[
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0.003905607620254159,
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] | 0.833333
| 25
| 0
| 25
| 0
|
[
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[
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[
-0.15000000596046448,
0,
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] | 0
|
[
0.0000029653310775756836,
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-4.172325134277344e-7,
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[
-0.18725048005580902,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000005453824996948242,
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0.00017373356968164444,
0.0001665954478085041
] |
[
-1.9194512367248535,
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2.1829423904418945,
-1.7680461406707764,
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0
] |
[
0.33933666348457336,
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0.003930521663278341
] |
[
0,
0,
0
] | 0
|
[
-0.00000286102294921875,
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-2.980232238769531e-7,
0.00001829909160733223,
0.000053639523684978485
] |
[
-0.5289013981819153,
1.591840147972107,
1.6102120876312256,
1.8932808637619019,
1.5547168254852295,
-1.6177175045013428,
1.350000023841858,
0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.000016450881958007812,
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0.00019973213784396648,
7.152557373046875e-7,
-0.0002395915798842907,
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[
0.12560421228408813,
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] |
[
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[
0,
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] | 0
|
[
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4.172325134277344e-7,
-0.0001385137438774109,
-0.000045103952288627625
] |
[
0.01003952231258154,
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1.9401413202285767,
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1.0366030931472778,
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] |
[
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[
0,
0,
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] | 0
|
[
-0.0000049173831939697266,
6.388872861862183e-7,
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0.000010757939890027046,
-4.76837158203125e-7,
-0.000007708556950092316,
0.00012285658158361912
] |
[
-0.02143763191998005,
0.3404550552368164,
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-2.094399929046631,
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0.925050675868988,
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] |
[
0.3497461676597595,
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0.9941300749778748,
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-0.10770922899246216
] |
[
0,
0,
0
] | 0
|
[
-0.010412365198135376,
-0.0006079114973545074,
-0.002404257655143738,
-0.0056424932554364204,
0.005837917327880859,
0.00033535808324813843,
0.11169338971376419
] |
[
-0.6895442008972168,
-0.5743533372879028,
0.6496298313140869,
0.6806480884552002,
0.3605795204639435,
1.1717100143432617,
2.864030122756958,
0
] |
[
0.33933025598526,
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[
0,
0,
0
] | 0
|
[
0.000003546476364135742,
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-0.0000011324882507324219,
0.0001111379824578762,
8.344650268554688e-7,
-0.00014376593753695488,
-0.00004886137321591377
] |
Pick up pink flower.
|
[
0.004877771716564894,
-0.6197897791862488,
0.05549092963337898,
-2.773101329803467,
0.03195986524224281,
2.161858320236206,
0.8039537668228149,
1,
5.952961444854736,
2.931133270263672,
-0.9171422123908997,
-0.7386279702186584,
2.514103651046753,
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5.985562801361084,
-2.8529865741729736,
0.9512056112289429,
0.12060415744781494,
-0.5022177696228027,
0.42138901352882385
] |
[
0.004665715619921684,
-0.6197808980941772,
0.05410441756248474,
-2.773268222808838,
0.0313752144575119,
2.161703109741211,
0.8039290904998779,
0
] |
[
0.33933380246162415,
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0.22417691349983215,
0.9999679923057556,
0.006464749108999968,
0.00398416118696332,
0.0025149742141366005
] | 0.866667
| 26
| 0
| 26
| 0
|
[
0.10525499284267426,
-0.4185609519481659,
0.6179623007774353,
-0.006384972017258406,
1.3638074398040771,
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] |
[
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0.004085325635969639
] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.0000029802322387695312,
-0.000014865770936012268,
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-0.00014708936214447021,
-4.172325134277344e-7,
0.00014819670468568802,
-0.00003498885780572891
] |
[
-0.18675103783607483,
-1.6242481470108032,
-0.29300323128700256,
2.3780994415283203,
-0.023418337106704712,
0.8052476048469543,
-3.443293333053589,
0
] |
[
0.33937421441078186,
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] |
[
0,
0,
0
] | 0
|
[
-0.000005424022674560547,
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-0.0000010132789611816406,
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[
-1.9188759326934814,
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] |
[
0.33937162160873413,
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[
0,
0,
0
] | 0
|
[
-0.0000028312206268310547,
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-0.000021900050342082977,
-2.384185791015625e-7,
0.000018293503671884537,
0.00005362369120121002
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[
-0.5284692049026489,
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] |
[
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[
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] | 0
|
[
-0.000016450881958007812,
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-0.0002395613119006157,
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[
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] |
[
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[
0,
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] | 0
|
[
0.0000012814998626708984,
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4.76837158203125e-7,
-0.0001385509967803955,
-0.00004496844485402107
] |
[
0.009669167920947075,
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0.037887707352638245,
1.0365962982177734,
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0
] |
[
0.33937370777130127,
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0.22420945763587952,
0.0025770291686058044,
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[
0,
0,
0
] | 0
|
[
-0.0000049173831939697266,
6.388872861862183e-7,
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0.000010766088962554932,
-4.172325134277344e-7,
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0.00012286938726902008
] |
[
-0.021015647798776627,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.01040726900100708,
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[
-0.6896101832389832,
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0
] |
[
0.33936524391174316,
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[
0,
0,
0
] | 0
|
[
0.000003546476364135742,
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0.00011113123036921024,
8.940696716308594e-7,
-0.0001437733881175518,
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] |
Pick up pink flower.
|
[
0.0049402350559830666,
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[
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[
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] | 0.9
| 27
| 0
| 27
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.000005424022674560547,
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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
|
[
-0.000016480684280395508,
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7.748603820800781e-7,
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0.00009104376658797264
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[
0.123954638838768,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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4.76837158203125e-7,
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] |
[
0.008977638557553291,
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1.9399192333221436,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000049173831939697266,
6.370246410369873e-7,
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0.000010767020285129547,
-4.76837158203125e-7,
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0.00012288521975278854
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[
-0.02022825926542282,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.010398417711257935,
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0.005808055400848389,
0.00035591423511505127,
0.11157044768333435
] |
[
-0.689625084400177,
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0.6809259653091431,
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1.171797275543213,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
0.0000035762786865234375,
0.000006677582859992981,
-0.0000011324882507324219,
0.00011111400090157986,
8.940696716308594e-7,
-0.00014378409832715988,
-0.000048854853957891464
] |
Pick up pink flower.
|
[
0.004985426086932421,
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0.05673209950327873,
-2.773003101348877,
0.03246225416660309,
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1,
5.922059535980225,
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[
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] |
[
0.3394174873828888,
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0.9999635815620422,
0.006965080741792917,
0.004144792445003986,
0.0026660319417715073
] | 0.933333
| 28
| 0
| 28
| 0
|
[
0.1085447371006012,
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0.6174242496490479,
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] |
[
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[
-0.15000000596046448,
0,
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] | 0
|
[
0.0000030100345611572266,
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-0.00014664814807474613,
-5.364418029785156e-7,
0.0001480993814766407,
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] |
[
-0.1850212663412094,
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2.3778982162475586,
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.0000053942203521728516,
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-0.0002851388417184353,
-0.0000011324882507324219,
0.0001737670972943306,
0.0001660292036831379
] |
[
-1.9169105291366577,
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2.182753324508667,
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-1.573142647743225,
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0
] |
[
0.33944597840309143,
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0.0027803422417491674,
0.9999615550041199,
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] |
[
0,
0,
0
] | 0
|
[
-0.0000028312206268310547,
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-0.000021837418898940086,
-2.980232238769531e-7,
0.000018264632672071457,
0.000053561292588710785
] |
[
-0.5270546078681946,
1.5929574966430664,
1.6114017963409424,
1.8930481672286987,
1.553493618965149,
-1.6195886135101318,
1.350000023841858,
0
] |
[
0.33924853801727295,
0.019522055983543396,
0.2492719143629074,
0.002559100976213813,
0.9999604225158691,
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] |
[
0,
0,
0
] | 0
|
[
-0.000016480684280395508,
0.000011654570698738098,
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0.00019940384663641453,
8.344650268554688e-7,
-0.00023951195180416107,
0.00009098043665289879
] |
[
0.12310244888067245,
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5.142899990081787,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
0.0000012814998626708984,
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8.940696716308594e-7,
0.0002714688889682293,
4.76837158203125e-7,
-0.00013865157961845398,
-0.00004452839493751526
] |
[
0.008419802412390709,
0.16036273539066315,
-0.16661624610424042,
1.9398338794708252,
0.03849286213517189,
1.0366475582122803,
-0.16102169454097748,
0
] |
[
0.33944806456565857,
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0.22428804636001587,
0.0027477298863232136,
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] |
[
0,
0,
0
] | 0
|
[
-0.0000049173831939697266,
6.351619958877563e-7,
-0.0000050961971282958984,
0.000010774936527013779,
-4.76837158203125e-7,
-0.000007761642336845398,
0.00012289779260754585
] |
[
-0.019592484459280968,
0.3401184678077698,
0.09284581243991852,
-2.094399929046631,
-0.04282268509268761,
0.924704909324646,
0.08701696991920471,
0
] |
[
0.3498362600803375,
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0.2266869843006134,
0.008562881499528885,
0.9941638112068176,
0.006855781190097332,
-0.10732195526361465
] |
[
0,
0,
0
] | 0
|
[
-0.010393112897872925,
-0.0006320085376501083,
-0.00240403413772583,
-0.0058043766766786575,
0.005797445774078369,
0.0003680633381009102,
0.11152393370866776
] |
[
-0.689700722694397,
-0.5752353072166443,
0.6516699194908142,
0.6810360550880432,
0.3616221845149994,
1.1718699932098389,
2.863799810409546,
0
] |
[
0.3394395709037781,
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0.2242840826511383,
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0.9999603033065796,
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[
0,
0,
0
] | 0
|
[
0.0000035762786865234375,
0.000006679445505142212,
-0.0000011324882507324219,
0.00011110096238553524,
9.5367431640625e-7,
-0.00014379015192389488,
-0.000048852525651454926
] |
Pick up pink flower.
|
[
0.0053503974340856075,
-0.6197972893714905,
0.05732950568199158,
-2.772920846939087,
0.03293295204639435,
2.162099599838257,
0.8039833307266235,
1,
6.109851360321045,
2.7777161598205566,
-0.9601643681526184,
-0.6645525693893433,
2.5740652084350586,
0.385603129863739,
6.1433258056640625,
-2.6892001628875732,
0.9982612729072571,
0.1530679166316986,
-0.5016453862190247,
0.43090155720710754
] |
[
0.0049402350559830666,
-0.619796097278595,
0.05625484883785248,
-2.773037910461426,
0.03226248919963837,
2.1619081497192383,
0.8039567470550537,
0
] |
[
0.3394431471824646,
0.019397307187318802,
0.22428295016288757,
0.999961256980896,
0.007223844528198242,
0.004201977048069239,
0.0027585048228502274
] | 0.966667
| 29
| 0
| 29
| 0
|
[
0.10945573449134827,
-0.41820067167282104,
0.6173121333122253,
-0.006904569920152426,
1.3637992143630981,
-3.0452089309692383,
0
] |
[
0.1892409771680832,
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] |
[
-0.15000000596046448,
0,
-0.10000000149011612
] | 0
|
[
0.000003039836883544922,
-0.00001480989158153534,
0.0000017136335372924805,
-0.00014652893878519535,
-5.364418029785156e-7,
0.00014807051047682762,
-0.00003551878035068512
] |
[
-0.1845560073852539,
-1.6244866847991943,
-0.29264453053474426,
2.3778553009033203,
-0.023826351389288902,
0.805198609828949,
-3.4419302940368652,
0
] |
[
0.33946213126182556,
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0.9999609589576721,
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] |
[
0,
0,
0
] | 0
|
[
-0.0000053942203521728516,
-0.00001119077205657959,
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-0.0002851700410246849,
-0.0000011324882507324219,
0.00017376942560076714,
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[
-1.9163663387298584,
-1.994681715965271,
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-1.7686493396759033,
-1.5732245445251465,
-0.3603059649467468,
0
] |
[
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0.0028336765244603157,
0.9999601244926453,
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] |
[
0,
0,
0
] | 0
|
[
-0.0000028312206268310547,
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-0.0000017434358596801758,
-0.000021819258108735085,
-2.980232238769531e-7,
0.000018256716430187225,
0.0000535440631210804
] |
[
-0.5266635417938232,
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1.8929909467697144,
1.5532279014587402,
-1.6200103759765625,
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Pick up pink flower.
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Pick up pink flower.
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| 31
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| 31
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|
End of preview. Expand
in Data Studio
iamlab_cmu_pickup_insert_train_400_500_augmented
Overview
- Codebase version:
v3.0 - Robots: google_robot, images, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7
- FPS: 30
- Episodes: 100
- Frames: 22,420
- 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}
}
- Downloads last month
- 47
Size of downloaded dataset files:
24.2 MB
Size of the auto-converted Parquet files:
24.2 MB
Number of rows:
22,420