Datasets:
observation.state list | action list | skill.type stringclasses 4
values | skill.progress float32 0 1 ⌀ | skill.goal_position.joint list | skill.goal_position.world_xyzrpy list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 1 ⌀ | skill.natural_language stringclasses 68
values | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 ⌀ | timestamp float32 0 61.2 ⌀ | frame_index int64 0 1.84k ⌀ | episode_index int64 0 33 ⌀ | index int64 0 58.3k ⌀ | task_index int64 0 0 ⌀ |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.012274 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.042918 | [
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] | 0 | move to initial position to start the task | [
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[
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.072323 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.072323 | [
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] | 0 | move to initial position to start the task | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.102745 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.102745 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.433333 | 13 | 0 | 13 | 0 |
[
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] | [
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] | move_to_position | 0.140997 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.140997 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.140997 | [
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[
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] | move_to_position | 0.191362 | [
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[
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] | move_to_position | 0.851723 | [
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0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.001764971762895584,
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0.3471612334251404,
2.792938232421875,
0.060907699167728424,
3.069645643234253
] | 1 | 1.766667 | 53 | 0 | 53 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.926868 | [
-1.9004755020141602,
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1.9313576221466064,
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] | [
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0,
0
] | [
0,
-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
0.001764971762895584,
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0.3471612334251404,
2.792938232421875,
0.060907699167728424,
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] | 1 | 1.8 | 54 | 0 | 54 | 0 |
[
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0
] | [
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1.9313576221466064,
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0
] | move_to_position | 0.926868 | [
-1.9004755020141602,
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1.9313576221466064,
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] | [
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0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.00104544369969517,
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0.34943896532058716,
2.792905807495117,
0.06094704195857048,
3.0696420669555664
] | 1 | 1.833333 | 55 | 0 | 55 | 0 |
[
-1.893015742301941,
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0
] | [
-1.9004755020141602,
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1.9313576221466064,
-1.895455002784729,
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0
] | move_to_position | 0.926868 | [
-1.9004755020141602,
-1.9582394361495972,
1.9313576221466064,
-1.895455002784729,
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] | [
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0.4399999976158142,
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0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.00104544369969517,
-0.44301819801330566,
0.34943896532058716,
2.792905807495117,
0.06094704195857048,
3.0696420669555664
] | 1 | 1.866667 | 56 | 0 | 56 | 0 |
[
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0
] | [
-1.9004755020141602,
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1.9313576221466064,
-1.895455002784729,
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0
] | move_to_position | 0.964281 | [
-1.9004755020141602,
-1.9582394361495972,
1.9313576221466064,
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] | [
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0,
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] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.0003724193957168609,
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0.35166695713996887,
2.7929086685180664,
0.0608990341424942,
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] | 1 | 1.9 | 57 | 0 | 57 | 0 |
[
-1.8968089818954468,
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-1.9030653238296509,
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0
] | [
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1.9313576221466064,
-1.895455002784729,
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0
] | move_to_position | 0.964281 | [
-1.9004755020141602,
-1.9582394361495972,
1.9313576221466064,
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] | [
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0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.0003724193957168609,
-0.44114094972610474,
0.35166695713996887,
2.7929086685180664,
0.0608990341424942,
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] | 1 | 1.933333 | 58 | 0 | 58 | 0 |
[
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0
] | [
-1.9004755020141602,
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1.9313576221466064,
-1.895455002784729,
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0
] | move_to_position | 0.997618 | [
-1.9004755020141602,
-1.9582394361495972,
1.9313576221466064,
-1.895455002784729,
-1.5380662679672241,
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] | [
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0.4399999976158142,
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0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.0003724193957168609,
-0.44114094972610474,
0.35166695713996887,
2.7929086685180664,
0.0608990341424942,
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] | 1 | 1.966667 | 59 | 0 | 59 | 0 |
[
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0
] | [
-1.9004755020141602,
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1.9313576221466064,
-1.895455002784729,
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0
] | move_to_position | 0.997618 | [
-1.9004755020141602,
-1.9582394361495972,
1.9313576221466064,
-1.895455002784729,
-1.5380662679672241,
2.8817784786224365,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
-0.0000018407674815534847,
-0.4399983882904053,
0.35293811559677124,
2.7929749488830566,
0.06092289462685585,
3.0696308612823486
] | 1 | 2 | 60 | 0 | 60 | 0 |
[
-1.900229811668396,
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-1.8959676027297974,
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2.882007360458374,
0
] | [
-1.9004755020141602,
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1.9313576221466064,
-1.895455002784729,
-1.5380662679672241,
2.8817784786224365,
0
] | move_to_position | 0.997618 | [
-1.9004755020141602,
-1.9582394361495972,
1.9313576221466064,
-1.895455002784729,
-1.5380662679672241,
2.8817784786224365,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
-0.0000018407674815534847,
-0.4399983882904053,
0.35293811559677124,
2.7929749488830566,
0.06092289462685585,
3.0696308612823486
] | 1 | 2.033333 | 61 | 0 | 61 | 0 |
[
-1.9003785848617554,
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1.9314345121383667,
-1.8954635858535767,
-1.5381110906600952,
2.881807327270508,
0
] | [
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.000144 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.000025163682948914357,
-0.4400095045566559,
0.35291534662246704,
2.7930314540863037,
0.06089377775788307,
3.069744348526001
] | 1 | 2.066667 | 62 | 0 | 62 | 0 |
[
-1.9003785848617554,
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1.9314345121383667,
-1.8954635858535767,
-1.5381110906600952,
2.881807327270508,
0
] | [
-1.891535758972168,
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.000144 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.000025163682948914357,
-0.4400095045566559,
0.35291534662246704,
2.7930314540863037,
0.06089377775788307,
3.069744348526001
] | 1 | 2.1 | 63 | 0 | 63 | 0 |
[
-1.9003700017929077,
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1.9314416646957397,
-1.8954659700393677,
-1.5380734205245972,
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0
] | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.00017 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.000057979112170869485,
-0.43993332982063293,
0.35286271572113037,
2.793412923812866,
0.06082478538155556,
3.0699071884155273
] | 1 | 2.133333 | 64 | 0 | 64 | 0 |
[
-1.9003700017929077,
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1.9314416646957397,
-1.8954659700393677,
-1.5380734205245972,
2.881728410720825,
0
] | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.00017 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.000057979112170869485,
-0.43993332982063293,
0.35286271572113037,
2.793412923812866,
0.06082478538155556,
3.0699071884155273
] | 1 | 2.166667 | 65 | 0 | 65 | 0 |
[
-1.9003700017929077,
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-1.8954659700393677,
-1.5380734205245972,
2.881728410720825,
0
] | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.00017 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.000057979112170869485,
-0.43993332982063293,
0.35286271572113037,
2.793412923812866,
0.06082478538155556,
3.0699071884155273
] | 1 | 2.2 | 66 | 0 | 66 | 0 |
[
-1.9003394842147827,
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1.9303697347640991,
-1.8928056955337524,
-1.538169264793396,
2.8812878131866455,
0
] | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.006488 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0001452466385671869,
-0.4395736753940582,
0.3527124524116516,
2.7965052127838135,
0.06044439598917961,
3.0706608295440674
] | 1 | 2.233333 | 67 | 0 | 67 | 0 |
[
-1.9003394842147827,
-1.9577065706253052,
1.9303697347640991,
-1.8928056955337524,
-1.538169264793396,
2.8812878131866455,
0
] | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.006488 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0001452466385671869,
-0.4395736753940582,
0.3527124524116516,
2.7965052127838135,
0.06044439598917961,
3.0706608295440674
] | 1 | 2.266667 | 68 | 0 | 68 | 0 |
[
-1.9002708196640015,
-1.9566789865493774,
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-1.8874679803848267,
-1.5385817289352417,
2.8805084228515625,
0
] | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.018952 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0001452466385671869,
-0.4395736753940582,
0.3527124524116516,
2.7965052127838135,
0.06044439598917961,
3.0706608295440674
] | 1 | 2.3 | 69 | 0 | 69 | 0 |
[
-1.9002708196640015,
-1.9566789865493774,
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-1.8874679803848267,
-1.5385817289352417,
2.8805084228515625,
0
] | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.018952 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0003058508737012744,
-0.43885374069213867,
0.3522956371307373,
2.801940441131592,
0.05977733060717583,
3.071790933609009
] | 1 | 2.333333 | 70 | 0 | 70 | 0 |
[
-1.9002708196640015,
-1.9566789865493774,
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-1.8874679803848267,
-1.5385817289352417,
2.8805084228515625,
0
] | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.018952 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0003058508737012744,
-0.43885374069213867,
0.3522956371307373,
2.801940441131592,
0.05977733060717583,
3.071790933609009
] | 1 | 2.366667 | 71 | 0 | 71 | 0 |
[
-1.9000753164291382,
-1.9552236795425415,
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-1.879475712776184,
-1.539122462272644,
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0
] | [
-1.891535758972168,
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.037651 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0005496813682839274,
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0.3518630862236023,
2.8091070652008057,
0.05890919640660286,
3.073408842086792
] | 1 | 2.4 | 72 | 0 | 72 | 0 |
[
-1.9000753164291382,
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1.9257553815841675,
-1.879475712776184,
-1.539122462272644,
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0
] | [
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | move_to_joint_state | 0.037651 | [
-1.891535758972168,
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1.7786179780960083,
-1.4688977003097534,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0005496813682839274,
-0.4379238486289978,
0.3518630862236023,
2.8091070652008057,
0.05890919640660286,
3.073408842086792
] | 1 | 2.433333 | 73 | 0 | 73 | 0 |
[
-1.8998106718063354,
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1.921970248222351,
-1.8689442873001099,
-1.539885401725769,
2.877896785736084,
0
] | [
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | move_to_joint_state | 0.062359 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0005496813682839274,
-0.4379238486289978,
0.3518630862236023,
2.8091070652008057,
0.05890919640660286,
3.073408842086792
] | 1 | 2.466667 | 74 | 0 | 74 | 0 |
[
-1.8998106718063354,
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1.921970248222351,
-1.8689442873001099,
-1.539885401725769,
2.877896785736084,
0
] | [
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | move_to_joint_state | 0.062359 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0008464917191304266,
-0.4366636276245117,
0.3512401878833771,
2.8185269832611084,
0.057739052921533585,
3.075388193130493
] | 1 | 2.5 | 75 | 0 | 75 | 0 |
[
-1.8998106718063354,
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1.921970248222351,
-1.8689442873001099,
-1.539885401725769,
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0
] | [
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | move_to_joint_state | 0.062359 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0008464917191304266,
-0.4366636276245117,
0.3512401878833771,
2.8185269832611084,
0.057739052921533585,
3.075388193130493
] | 1 | 2.533333 | 76 | 0 | 76 | 0 |
[
-1.8995498418807983,
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-1.8562151193618774,
-1.5407685041427612,
2.8760905265808105,
0
] | [
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-1.4688977003097534,
-1.5696816444396973,
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0
] | move_to_joint_state | 0.0922 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.001195473363623023,
-0.4351796805858612,
0.3505394160747528,
2.8297176361083984,
0.056329887360334396,
3.077787399291992
] | 1 | 2.566667 | 77 | 0 | 77 | 0 |
[
-1.8995498418807983,
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-1.8562151193618774,
-1.5407685041427612,
2.8760905265808105,
0
] | [
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | move_to_joint_state | 0.0922 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.001195473363623023,
-0.4351796805858612,
0.3505394160747528,
2.8297176361083984,
0.056329887360334396,
3.077787399291992
] | 1 | 2.6 | 78 | 0 | 78 | 0 |
[
-1.899237036705017,
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1.9122456312179565,
-1.8417969942092896,
-1.5418494939804077,
2.874145030975342,
0
] | [
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | move_to_joint_state | 0.126001 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | [
0,
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0,
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0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.001195473363623023,
-0.4351796805858612,
0.3505394160747528,
2.8297176361083984,
0.056329887360334396,
3.077787399291992
] | 1 | 2.633333 | 79 | 0 | 79 | 0 |
[
-1.899237036705017,
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1.9122456312179565,
-1.8417969942092896,
-1.5418494939804077,
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0
] | [
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | move_to_joint_state | 0.126001 | [
-1.891535758972168,
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | [
0,
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0,
0
] | [
0,
0,
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0,
0,
0
] | 0 | level TCP before picking first battery | [
0.001637757639400661,
-0.4334469735622406,
0.3497978150844574,
2.8423547744750977,
0.05467461422085762,
3.080528736114502
] | 1 | 2.666667 | 80 | 0 | 80 | 0 |
[
-1.899237036705017,
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1.9122456312179565,
-1.8417969942092896,
-1.5418494939804077,
2.874145030975342,
0
] | [
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.126001 | [
-1.891535758972168,
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | [
0,
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0,
0
] | [
0,
0,
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0,
0,
0
] | 0 | level TCP before picking first battery | [
0.001637757639400661,
-0.4334469735622406,
0.3497978150844574,
2.8423547744750977,
0.05467461422085762,
3.080528736114502
] | 1 | 2.7 | 81 | 0 | 81 | 0 |
[
-1.8988946676254272,
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1.906384825706482,
-1.8253360986709595,
-1.5430597066879272,
2.871835231781006,
0
] | [
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.164561 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.002085280604660511,
-0.43151217699050903,
0.34904971718788147,
2.8561081886291504,
0.05280383303761482,
3.0834097862243652
] | 1 | 2.733333 | 82 | 0 | 82 | 0 |
[
-1.8988946676254272,
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-1.8253360986709595,
-1.5430597066879272,
2.871835231781006,
0
] | [
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.164561 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | [
0,
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0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.002085280604660511,
-0.43151217699050903,
0.34904971718788147,
2.8561081886291504,
0.05280383303761482,
3.0834097862243652
] | 1 | 2.766667 | 83 | 0 | 83 | 0 |
[
-1.8985131978988647,
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-1.5444010496139526,
2.869401216506958,
0
] | [
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.206116 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
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0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.002085280604660511,
-0.43151217699050903,
0.34904971718788147,
2.8561081886291504,
0.05280383303761482,
3.0834097862243652
] | 1 | 2.8 | 84 | 0 | 84 | 0 |
[
-1.8985131978988647,
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1.9000176191329956,
-1.8076239824295044,
-1.5444010496139526,
2.869401216506958,
0
] | [
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.206116 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.002592918463051319,
-0.4293624758720398,
0.34826189279556274,
2.871274948120117,
0.050733841955661774,
3.0866408348083496
] | 1 | 2.833333 | 85 | 0 | 85 | 0 |
[
-1.8985131978988647,
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1.9000176191329956,
-1.8076239824295044,
-1.5444010496139526,
2.869401216506958,
0
] | [
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.206116 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.002592918463051319,
-0.4293624758720398,
0.34826189279556274,
2.871274948120117,
0.050733841955661774,
3.0866408348083496
] | 1 | 2.866667 | 86 | 0 | 86 | 0 |
[
-1.8981202840805054,
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1.893086314201355,
-1.7882391214370728,
-1.5458368062973022,
2.866750717163086,
0
] | [
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.251528 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.003176375525072217,
-0.42700761556625366,
0.3474287986755371,
2.8875725269317627,
0.04832468926906586,
3.0900776386260986
] | 1 | 2.9 | 87 | 0 | 87 | 0 |
[
-1.8981202840805054,
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1.893086314201355,
-1.7882391214370728,
-1.5458368062973022,
2.866750717163086,
0
] | [
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.251528 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.003176375525072217,
-0.42700761556625366,
0.3474287986755371,
2.8875725269317627,
0.04832468926906586,
3.0900776386260986
] | 1 | 2.933333 | 88 | 0 | 88 | 0 |
[
-1.8977149724960327,
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1.8857992887496948,
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-1.5473169088363647,
2.8640100955963135,
0
] | [
-1.891535758972168,
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.299103 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.003176375525072217,
-0.42700761556625366,
0.3474287986755371,
2.8875725269317627,
0.04832468926906586,
3.0900776386260986
] | 1 | 2.966667 | 89 | 0 | 89 | 0 |
[
-1.8977149724960327,
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1.8857992887496948,
-1.7679363489151,
-1.5473169088363647,
2.8640100955963135,
0
] | [
-1.891535758972168,
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.299103 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0037993339356034994,
-0.4244718849658966,
0.34665238857269287,
2.904660701751709,
0.04572666436433792,
3.0936713218688965
] | 1 | 3 | 90 | 0 | 90 | 0 |
[
-1.8977149724960327,
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1.8857992887496948,
-1.7679363489151,
-1.5473169088363647,
2.8640100955963135,
0
] | [
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2.8235857486724854,
0
] | move_to_joint_state | 0.299103 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0037993339356034994,
-0.4244718849658966,
0.34665238857269287,
2.904660701751709,
0.04572666436433792,
3.0936713218688965
] | 1 | 3.033333 | 91 | 0 | 91 | 0 |
[
-1.89726722240448,
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1.8781875371932983,
-1.7466222047805786,
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2.8610918521881104,
0
] | [
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1.7786179780960083,
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0
] | move_to_joint_state | 0.349064 | [
-1.891535758972168,
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1.7786179780960083,
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] | [
0,
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0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0044041527435183525,
-0.4218565821647644,
0.3459286689758301,
2.9219346046447754,
0.043067559599876404,
3.0972278118133545
] | 1 | 3.066667 | 92 | 0 | 92 | 0 |
[
-1.89726722240448,
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1.8781875371932983,
-1.7466222047805786,
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2.8610918521881104,
0
] | [
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.349064 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0044041527435183525,
-0.4218565821647644,
0.3459286689758301,
2.9219346046447754,
0.043067559599876404,
3.0972278118133545
] | 1 | 3.1 | 93 | 0 | 93 | 0 |
[
-1.8968380689620972,
-1.9267245531082153,
1.8704241514205933,
-1.7250033617019653,
-1.550521731376648,
2.8581838607788086,
0
] | [
-1.891535758972168,
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0
] | move_to_joint_state | 0.39975 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0044041527435183525,
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0.3459286689758301,
2.9219346046447754,
0.043067559599876404,
3.0972278118133545
] | 1 | 3.133333 | 94 | 0 | 94 | 0 |
[
-1.8968380689620972,
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0
] | [
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-1.4688977003097534,
-1.5696816444396973,
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0
] | move_to_joint_state | 0.39975 | [
-1.891535758972168,
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.005083439406007528,
-0.4190814793109894,
0.3452385663986206,
2.9400689601898193,
0.040113624185323715,
3.1010489463806152
] | 1 | 3.166667 | 95 | 0 | 95 | 0 |
[
-1.8968380689620972,
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1.8704241514205933,
-1.7250033617019653,
-1.550521731376648,
2.8581838607788086,
0
] | [
-1.891535758972168,
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.39975 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.005083439406007528,
-0.4190814793109894,
0.3452385663986206,
2.9400689601898193,
0.040113624185323715,
3.1010489463806152
] | 1 | 3.2 | 96 | 0 | 96 | 0 |
[
-1.8963569402694702,
-1.9226385354995728,
1.8623489141464233,
-1.7027417421340942,
-1.55215585231781,
2.85512638092041,
0
] | [
-1.891535758972168,
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.451999 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.005760179366916418,
-0.4162241518497467,
0.34458786249160767,
2.958195447921753,
0.03706773370504379,
3.1047608852386475
] | 1 | 3.233333 | 97 | 0 | 97 | 0 |
[
-1.8963569402694702,
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1.8623489141464233,
-1.7027417421340942,
-1.55215585231781,
2.85512638092041,
0
] | [
-1.891535758972168,
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1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.451999 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.005760179366916418,
-0.4162241518497467,
0.34458786249160767,
2.958195447921753,
0.03706773370504379,
3.1047608852386475
] | 1 | 3.266667 | 98 | 0 | 98 | 0 |
[
-1.8959006071090698,
-1.9184414148330688,
1.8543399572372437,
-1.6801344156265259,
-1.5538877248764038,
2.852098226547241,
0
] | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | move_to_joint_state | 0.504929 | [
-1.891535758972168,
-1.8795751333236694,
1.7786179780960083,
-1.4688977003097534,
-1.5696816444396973,
2.8235857486724854,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.005760179366916418,
-0.4162241518497467,
0.34458786249160767,
2.958195447921753,
0.03706773370504379,
3.1047608852386475
] | 1 | 3.3 | 99 | 0 | 99 | 0 |
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