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 104
values | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 ⌀ | timestamp float32 0 56.1 ⌀ | frame_index int64 0 1.68k ⌀ | episode_index int64 0 31 ⌀ | index int64 0 49.5k ⌀ | task_index int64 0 0 ⌀ |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | move_to_position | 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 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.01263 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.01263 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.166667 | 5 | 0 | 5 | 0 |
[
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] | [
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] | move_to_position | 0.01263 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.2923024594783783,
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] | 1 | 0.2 | 6 | 0 | 6 | 0 |
[
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] | [
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] | move_to_position | 0.043446 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.233333 | 7 | 0 | 7 | 0 |
[
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] | move_to_position | 0.043446 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.266667 | 8 | 0 | 8 | 0 |
[
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] | [
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] | move_to_position | 0.073943 | [
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] | [
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] | [
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0,
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] | 0 | move to initial position to start the task | [
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0.294209361076355,
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] | 1 | 0.3 | 9 | 0 | 9 | 0 |
[
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] | [
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] | move_to_position | 0.073943 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.333333 | 10 | 0 | 10 | 0 |
[
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] | [
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] | move_to_position | 0.073943 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.366667 | 11 | 0 | 11 | 0 |
[
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] | [
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] | move_to_position | 0.103942 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.4 | 12 | 0 | 12 | 0 |
[
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] | [
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] | move_to_position | 0.103942 | [
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1.931380271911621,
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] | [
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0,
0,
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] | [
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0,
0
] | 0 | move to initial position to start the task | [
0.017157001420855522,
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0.29809945821762085,
2.792874574661255,
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] | 1 | 0.433333 | 13 | 0 | 13 | 0 |
[
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] | [
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0
] | move_to_position | 0.144647 | [
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] | [
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] | [
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0,
0
] | 0 | move to initial position to start the task | [
0.017157001420855522,
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0.29809945821762085,
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] | 1 | 0.466667 | 14 | 0 | 14 | 0 |
[
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] | [
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0
] | move_to_position | 0.144647 | [
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] | [
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] | [
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0,
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.5 | 15 | 0 | 15 | 0 |
[
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] | [
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0
] | move_to_position | 0.144647 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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[
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] | [
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0
] | move_to_position | 0.194234 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.243998 | [
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] | move_to_position | 0.243998 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.243998 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.293012 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.293012 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.342033 | [
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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 | 0.342033 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.833333 | 25 | 0 | 25 | 0 |
[
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] | move_to_position | 0.342033 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.866667 | 26 | 0 | 26 | 0 |
[
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] | move_to_position | 0.390883 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.9 | 27 | 0 | 27 | 0 |
[
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] | move_to_position | 0.390883 | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.3167261481285095,
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] | 1 | 0.933333 | 28 | 0 | 28 | 0 |
[
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] | [
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] | move_to_position | 0.439985 | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.3167261481285095,
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] | 1 | 0.966667 | 29 | 0 | 29 | 0 |
[
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] | [
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0
] | move_to_position | 0.439985 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.3197891414165497,
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] | 1 | 1 | 30 | 0 | 30 | 0 |
[
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] | [
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0
] | move_to_position | 0.439985 | [
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] | [
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] | [
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0.3529999852180481,
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0,
0
] | 0 | move to initial position to start the task | [
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0.3197891414165497,
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] | 1 | 1.033333 | 31 | 0 | 31 | 0 |
[
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] | [
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0
] | move_to_position | 0.489311 | [
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] | [
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] | [
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0.3529999852180481,
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0,
0
] | 0 | move to initial position to start the task | [
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0.32305213809013367,
2.7928271293640137,
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] | 1 | 1.066667 | 32 | 0 | 32 | 0 |
[
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] | [
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1.931380271911621,
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2.8819026947021484,
0
] | move_to_position | 0.489311 | [
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] | [
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] | [
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-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.009289855137467384,
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0.32305213809013367,
2.7928271293640137,
0.06093021482229233,
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] | 1 | 1.1 | 33 | 0 | 33 | 0 |
[
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0
] | [
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1.931380271911621,
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2.8819026947021484,
0
] | move_to_position | 0.543288 | [
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1.931380271911621,
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] | [
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0,
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] | [
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-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.009289855137467384,
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0.32305213809013367,
2.7928271293640137,
0.06093021482229233,
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] | 1 | 1.133333 | 34 | 0 | 34 | 0 |
[
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] | [
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1.931380271911621,
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2.8819026947021484,
0
] | move_to_position | 0.543288 | [
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1.931380271911621,
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] | [
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0.4399999976158142,
0.3529999852180481,
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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 | [
0.008125605061650276,
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0.3263522684574127,
2.792880058288574,
0.0609530471265316,
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] | 1 | 1.166667 | 35 | 0 | 35 | 0 |
[
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] | move_to_position | 0.598463 | [
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] | move_to_position | 0.650457 | [
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] | move_to_position | 0.650457 | [
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] | move_to_position | 0.650457 | [
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] | move_to_position | 0.704309 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.704309 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.433333 | 43 | 0 | 43 | 0 |
[
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] | move_to_position | 0.757186 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.757186 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.5 | 45 | 0 | 45 | 0 |
[
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] | move_to_position | 0.757186 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.533333 | 46 | 0 | 46 | 0 |
[
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] | move_to_position | 0.810104 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.566667 | 47 | 0 | 47 | 0 |
[
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] | move_to_position | 0.810104 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.342685341835022,
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] | 1 | 1.6 | 48 | 0 | 48 | 0 |
[
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] | [
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] | move_to_position | 0.859617 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.342685341835022,
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] | 1 | 1.633333 | 49 | 0 | 49 | 0 |
[
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] | [
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] | move_to_position | 0.859617 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.34536978602409363,
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] | 1 | 1.666667 | 50 | 0 | 50 | 0 |
[
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] | [
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] | move_to_position | 0.859617 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.34536978602409363,
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] | 1 | 1.7 | 51 | 0 | 51 | 0 |
[
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] | [
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0
] | move_to_position | 0.897163 | [
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] | [
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] | [
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-0.4399999976158142,
0.3529999852180481,
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] | 0 | move to initial position to start the task | [
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0.3476834297180176,
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] | 1 | 1.733333 | 52 | 0 | 52 | 0 |
[
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] | [
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0
] | move_to_position | 0.897163 | [
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] | [
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-0.4399999976158142,
0.3529999852180481,
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0,
0
] | 0 | move to initial position to start the task | [
0.0016402616165578365,
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0.3476834297180176,
2.7928290367126465,
0.0609746016561985,
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] | 1 | 1.766667 | 53 | 0 | 53 | 0 |
[
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2.888214111328125,
0
] | [
-1.9003987312316895,
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1.931380271911621,
-1.8954836130142212,
-1.5381184816360474,
2.8819026947021484,
0
] | move_to_position | 0.934756 | [
-1.9003987312316895,
-1.9582871198654175,
1.931380271911621,
-1.8954836130142212,
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0
] | [
0,
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0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.0016402616165578365,
-0.4444875121116638,
0.3476834297180176,
2.7928290367126465,
0.0609746016561985,
3.069589614868164
] | 1 | 1.8 | 54 | 0 | 54 | 0 |
[
-1.8937333822250366,
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1.9360631704330444,
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2.888214111328125,
0
] | [
-1.9003987312316895,
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1.931380271911621,
-1.8954836130142212,
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0
] | move_to_position | 0.934756 | [
-1.9003987312316895,
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1.931380271911621,
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0
] | [
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0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.0009396829991601408,
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0.34992343187332153,
2.7928736209869385,
0.06092703714966774,
3.069608688354492
] | 1 | 1.833333 | 55 | 0 | 55 | 0 |
[
-1.8937333822250366,
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1.9360631704330444,
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2.888214111328125,
0
] | [
-1.9003987312316895,
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1.931380271911621,
-1.8954836130142212,
-1.5381184816360474,
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0
] | move_to_position | 0.934756 | [
-1.9003987312316895,
-1.9582871198654175,
1.931380271911621,
-1.8954836130142212,
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2.8819026947021484,
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] | [
0,
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 | [
0.0009396829991601408,
-0.4426097273826599,
0.34992343187332153,
2.7928736209869385,
0.06092703714966774,
3.069608688354492
] | 1 | 1.866667 | 56 | 0 | 56 | 0 |
[
-1.897530436515808,
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-1.9014021158218384,
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2.884591579437256,
0
] | [
-1.9003987312316895,
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1.931380271911621,
-1.8954836130142212,
-1.5381184816360474,
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0
] | move_to_position | 0.972246 | [
-1.9003987312316895,
-1.9582871198654175,
1.931380271911621,
-1.8954836130142212,
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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 | [
0.00025408342480659485,
-0.4406902492046356,
0.352199912071228,
2.7928414344787598,
0.06092468649148941,
3.069565773010254
] | 1 | 1.9 | 57 | 0 | 57 | 0 |
[
-1.897530436515808,
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-1.9014021158218384,
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2.884591579437256,
0
] | [
-1.9003987312316895,
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1.931380271911621,
-1.8954836130142212,
-1.5381184816360474,
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0
] | move_to_position | 0.972246 | [
-1.9003987312316895,
-1.9582871198654175,
1.931380271911621,
-1.8954836130142212,
-1.5381184816360474,
2.8819026947021484,
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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 | [
0.00025408342480659485,
-0.4406902492046356,
0.352199912071228,
2.7928414344787598,
0.06092468649148941,
3.069565773010254
] | 1 | 1.933333 | 58 | 0 | 58 | 0 |
[
-1.90033757686615,
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1.931418776512146,
-1.8955680131912231,
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2.882002592086792,
0
] | [
-1.9003987312316895,
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1.931380271911621,
-1.8954836130142212,
-1.5381184816360474,
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0
] | move_to_position | 0.999375 | [
-1.9003987312316895,
-1.9582871198654175,
1.931380271911621,
-1.8954836130142212,
-1.5381184816360474,
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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 | [
0.00025408342480659485,
-0.4406902492046356,
0.352199912071228,
2.7928414344787598,
0.06092468649148941,
3.069565773010254
] | 1 | 1.966667 | 59 | 0 | 59 | 0 |
[
-1.90033757686615,
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1.931418776512146,
-1.8955680131912231,
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2.882002592086792,
0
] | [
-1.9003987312316895,
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1.931380271911621,
-1.8954836130142212,
-1.5381184816360474,
2.8819026947021484,
0
] | move_to_position | 0.999375 | [
-1.9003987312316895,
-1.9582871198654175,
1.931380271911621,
-1.8954836130142212,
-1.5381184816360474,
2.8819026947021484,
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 | [
0.0000367122920579277,
-0.43998512625694275,
0.35295525193214417,
2.7929224967956543,
0.060970865190029144,
3.0695931911468506
] | 1 | 2 | 60 | 0 | 60 | 0 |
[
-1.90033757686615,
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1.931418776512146,
-1.8955680131912231,
-1.538232684135437,
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0
] | [
-1.9003987312316895,
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1.931380271911621,
-1.8954836130142212,
-1.5381184816360474,
2.8819026947021484,
0
] | move_to_position | 0.999375 | [
-1.9003987312316895,
-1.9582871198654175,
1.931380271911621,
-1.8954836130142212,
-1.5381184816360474,
2.8819026947021484,
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 | [
0.0000367122920579277,
-0.43998512625694275,
0.35295525193214417,
2.7929224967956543,
0.060970865190029144,
3.0695931911468506
] | 1 | 2.033333 | 61 | 0 | 61 | 0 |
[
-1.9003256559371948,
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1.9314574003219604,
-1.8955155611038208,
-1.5381134748458862,
2.8819079399108887,
0
] | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.000095 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.00004669090412789956,
-0.4399961829185486,
0.3529301583766937,
2.7929558753967285,
0.06089633330702782,
3.069673538208008
] | 1 | 2.066667 | 62 | 0 | 62 | 0 |
[
-1.9003256559371948,
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1.9314574003219604,
-1.8955155611038208,
-1.5381134748458862,
2.8819079399108887,
0
] | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.000095 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.00004669090412789956,
-0.4399961829185486,
0.3529301583766937,
2.7929558753967285,
0.06089633330702782,
3.069673538208008
] | 1 | 2.1 | 63 | 0 | 63 | 0 |
[
-1.9002755880355835,
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1.9314697980880737,
-1.8953949213027954,
-1.5381096601486206,
2.8819222450256348,
0
] | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.000331 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.00010136061609955505,
-0.4398997128009796,
0.35285863280296326,
2.793470621109009,
0.06080086901783943,
3.0698583126068115
] | 1 | 2.133333 | 64 | 0 | 64 | 0 |
[
-1.9002755880355835,
-1.9582263231277466,
1.9314697980880737,
-1.8953949213027954,
-1.5381096601486206,
2.8819222450256348,
0
] | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.000331 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.00010136061609955505,
-0.4398997128009796,
0.35285863280296326,
2.793470621109009,
0.06080086901783943,
3.0698583126068115
] | 1 | 2.166667 | 65 | 0 | 65 | 0 |
[
-1.9002755880355835,
-1.9582263231277466,
1.9314697980880737,
-1.8953949213027954,
-1.5381096601486206,
2.8819222450256348,
0
] | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.000331 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.00010136061609955505,
-0.4398997128009796,
0.35285863280296326,
2.793470621109009,
0.06080086901783943,
3.0698583126068115
] | 1 | 2.2 | 66 | 0 | 66 | 0 |
[
-1.900255560874939,
-1.9577356576919556,
1.9303520917892456,
-1.8926640748977661,
-1.5381954908370972,
2.8814282417297363,
0
] | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.006833 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.00017323976499028504,
-0.439522385597229,
0.3527088761329651,
2.7966442108154297,
0.06038011610507965,
3.070528745651245
] | 1 | 2.233333 | 67 | 0 | 67 | 0 |
[
-1.900255560874939,
-1.9577356576919556,
1.9303520917892456,
-1.8926640748977661,
-1.5381954908370972,
2.8814282417297363,
0
] | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.006833 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.00017323976499028504,
-0.439522385597229,
0.3527088761329651,
2.7966442108154297,
0.06038011610507965,
3.070528745651245
] | 1 | 2.266667 | 68 | 0 | 68 | 0 |
[
-1.9002193212509155,
-1.9566751718521118,
1.9284781217575073,
-1.8870521783828735,
-1.5386580228805542,
2.8806991577148438,
0
] | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.01988 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.00017323976499028504,
-0.439522385597229,
0.3527088761329651,
2.7966442108154297,
0.06038011610507965,
3.070528745651245
] | 1 | 2.3 | 69 | 0 | 69 | 0 |
[
-1.9002193212509155,
-1.9566751718521118,
1.9284781217575073,
-1.8870521783828735,
-1.5386580228805542,
2.8806991577148438,
0
] | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.01988 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0003282207471784204,
-0.4387900233268738,
0.3522728383541107,
2.802236318588257,
0.059722546488046646,
3.0716795921325684
] | 1 | 2.333333 | 70 | 0 | 70 | 0 |
[
-1.9002193212509155,
-1.9566751718521118,
1.9284781217575073,
-1.8870521783828735,
-1.5386580228805542,
2.8806991577148438,
0
] | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.01988 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0003282207471784204,
-0.4387900233268738,
0.3522728383541107,
2.802236318588257,
0.059722546488046646,
3.0716795921325684
] | 1 | 2.366667 | 71 | 0 | 71 | 0 |
[
-1.9000142812728882,
-1.955220341682434,
1.9255965948104858,
-1.8788682222366333,
-1.539166808128357,
2.879539966583252,
0
] | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.038986 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0005973567022010684,
-0.43777310848236084,
0.3517953157424927,
2.809798240661621,
0.05880114436149597,
3.073354721069336
] | 1 | 2.4 | 72 | 0 | 72 | 0 |
[
-1.9000142812728882,
-1.955220341682434,
1.9255965948104858,
-1.8788682222366333,
-1.539166808128357,
2.879539966583252,
0
] | [
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.038986 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0005973567022010684,
-0.43777310848236084,
0.3517953157424927,
2.809798240661621,
0.05880114436149597,
3.073354721069336
] | 1 | 2.433333 | 73 | 0 | 73 | 0 |
[
-1.8998092412948608,
-1.9532638788223267,
1.9217413663864136,
-1.867965817451477,
-1.5399812459945679,
2.8780438899993896,
0
] | [
-1.8916584253311157,
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.064462 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0005973567022010684,
-0.43777310848236084,
0.3517953157424927,
2.809798240661621,
0.05880114436149597,
3.073354721069336
] | 1 | 2.466667 | 74 | 0 | 74 | 0 |
[
-1.8998092412948608,
-1.9532638788223267,
1.9217413663864136,
-1.867965817451477,
-1.5399812459945679,
2.8780438899993896,
0
] | [
-1.8916584253311157,
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.064462 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0009206020622514188,
-0.43648818135261536,
0.3511771857738495,
2.819490671157837,
0.05752654746174812,
3.0754148960113525
] | 1 | 2.5 | 75 | 0 | 75 | 0 |
[
-1.8998092412948608,
-1.9532638788223267,
1.9217413663864136,
-1.867965817451477,
-1.5399812459945679,
2.8780438899993896,
0
] | [
-1.8916584253311157,
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.064462 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0009206020622514188,
-0.43648818135261536,
0.3511771857738495,
2.819490671157837,
0.05752654746174812,
3.0754148960113525
] | 1 | 2.533333 | 76 | 0 | 76 | 0 |
[
-1.8995016813278198,
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-1.8547765016555786,
-1.5408881902694702,
2.8762013912200928,
0
] | [
-1.8916584253311157,
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.095316 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0012656650505959988,
-0.43496596813201904,
0.3504981994628906,
2.8307857513427734,
0.05614963546395302,
3.0777995586395264
] | 1 | 2.566667 | 77 | 0 | 77 | 0 |
[
-1.8995016813278198,
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-1.8547765016555786,
-1.5408881902694702,
2.8762013912200928,
0
] | [
-1.8916584253311157,
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.095316 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0012656650505959988,
-0.43496596813201904,
0.3504981994628906,
2.8307857513427734,
0.05614963546395302,
3.0777995586395264
] | 1 | 2.6 | 78 | 0 | 78 | 0 |
[
-1.8992165327072144,
-1.9480911493301392,
1.9117120504379272,
-1.8399077653884888,
-1.542040228843689,
2.874155282974243,
0
] | [
-1.8916584253311157,
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.130158 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0012656650505959988,
-0.43496596813201904,
0.3504981994628906,
2.8307857513427734,
0.05614963546395302,
3.0777995586395264
] | 1 | 2.633333 | 79 | 0 | 79 | 0 |
[
-1.8992165327072144,
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-1.8399077653884888,
-1.542040228843689,
2.874155282974243,
0
] | [
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.130158 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0017205346375703812,
-0.43315717577934265,
0.34971967339515686,
2.8438620567321777,
0.0543489009141922,
3.0805821418762207
] | 1 | 2.666667 | 80 | 0 | 80 | 0 |
[
-1.8992165327072144,
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-1.8399077653884888,
-1.542040228843689,
2.874155282974243,
0
] | [
-1.8916584253311157,
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.130158 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0017205346375703812,
-0.43315717577934265,
0.34971967339515686,
2.8438620567321777,
0.0543489009141922,
3.0805821418762207
] | 1 | 2.7 | 81 | 0 | 81 | 0 |
[
-1.8988770246505737,
-1.9450846910476685,
1.9057291746139526,
-1.8232136964797974,
-1.543237566947937,
2.8718514442443848,
0
] | [
-1.8916584253311157,
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.169224 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.002172678243368864,
-0.431174635887146,
0.34896886348724365,
2.8580214977264404,
0.05246860161423683,
3.08351993560791
] | 1 | 2.733333 | 82 | 0 | 82 | 0 |
[
-1.8988770246505737,
-1.9450846910476685,
1.9057291746139526,
-1.8232136964797974,
-1.543237566947937,
2.8718514442443848,
0
] | [
-1.8916584253311157,
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.169224 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.002172678243368864,
-0.431174635887146,
0.34896886348724365,
2.8580214977264404,
0.05246860161423683,
3.08351993560791
] | 1 | 2.766667 | 83 | 0 | 83 | 0 |
[
-1.898504614830017,
-1.9416805505752563,
1.899093508720398,
-1.8046823740005493,
-1.544627070426941,
2.8693277835845947,
0
] | [
-1.8916584253311157,
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.212609 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.002172678243368864,
-0.431174635887146,
0.34896886348724365,
2.8580214977264404,
0.05246860161423683,
3.08351993560791
] | 1 | 2.8 | 84 | 0 | 84 | 0 |
[
-1.898504614830017,
-1.9416805505752563,
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-1.8046823740005493,
-1.544627070426941,
2.8693277835845947,
0
] | [
-1.8916584253311157,
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.212609 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0027013029903173447,
-0.4289720952510834,
0.3481675088405609,
2.8733394145965576,
0.050329744815826416,
3.086796760559082
] | 1 | 2.833333 | 85 | 0 | 85 | 0 |
[
-1.898504614830017,
-1.9416805505752563,
1.899093508720398,
-1.8046823740005493,
-1.544627070426941,
2.8693277835845947,
0
] | [
-1.8916584253311157,
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.212609 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0027013029903173447,
-0.4289720952510834,
0.3481675088405609,
2.8733394145965576,
0.050329744815826416,
3.086796760559082
] | 1 | 2.866667 | 86 | 0 | 86 | 0 |
[
-1.8980931043624878,
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1.8919671773910522,
-1.7847801446914673,
-1.5460771322250366,
2.866593599319458,
0
] | [
-1.8916584253311157,
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.259221 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.00329725188203156,
-0.42654183506965637,
0.3472936451435089,
2.8901398181915283,
0.047843050211668015,
3.090312957763672
] | 1 | 2.9 | 87 | 0 | 87 | 0 |
[
-1.8980931043624878,
-1.9379802942276,
1.8919671773910522,
-1.7847801446914673,
-1.5460771322250366,
2.866593599319458,
0
] | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.259221 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.00329725188203156,
-0.42654183506965637,
0.3472936451435089,
2.8901398181915283,
0.047843050211668015,
3.090312957763672
] | 1 | 2.933333 | 88 | 0 | 88 | 0 |
[
-1.8976444005966187,
-1.9342900514602661,
1.8846677541732788,
-1.7642179727554321,
-1.5476340055465698,
2.8638062477111816,
0
] | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.307284 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.00329725188203156,
-0.42654183506965637,
0.3472936451435089,
2.8901398181915283,
0.047843050211668015,
3.090312957763672
] | 1 | 2.966667 | 89 | 0 | 89 | 0 |
[
-1.8976444005966187,
-1.9342900514602661,
1.8846677541732788,
-1.7642179727554321,
-1.5476340055465698,
2.8638062477111816,
0
] | [
-1.8916584253311157,
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.307284 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0038837185129523277,
-0.42397981882095337,
0.3465326130390167,
2.907294273376465,
0.045301489531993866,
3.0938780307769775
] | 1 | 3 | 90 | 0 | 90 | 0 |
[
-1.8976444005966187,
-1.9342900514602661,
1.8846677541732788,
-1.7642179727554321,
-1.5476340055465698,
2.8638062477111816,
0
] | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.307284 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0038837185129523277,
-0.42397981882095337,
0.3465326130390167,
2.907294273376465,
0.045301489531993866,
3.0938780307769775
] | 1 | 3.033333 | 91 | 0 | 91 | 0 |
[
-1.897208571434021,
-1.9303213357925415,
1.87690007686615,
-1.7428103685379028,
-1.5492233037948608,
2.860867500305176,
0
] | [
-1.8916584253311157,
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1.778472900390625,
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2.82346248626709,
0
] | move_to_joint_state | 0.357493 | [
-1.8916584253311157,
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] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.004535248968750238,
-0.42131471633911133,
0.34586796164512634,
2.9248664379119873,
0.04255184531211853,
3.0976006984710693
] | 1 | 3.066667 | 92 | 0 | 92 | 0 |
[
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0
] | [
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1.778472900390625,
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-1.5696815252304077,
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] | move_to_joint_state | 0.357493 | [
-1.8916584253311157,
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1.778472900390625,
-1.4684277772903442,
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] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.004535248968750238,
-0.42131471633911133,
0.34586796164512634,
2.9248664379119873,
0.04255184531211853,
3.0976006984710693
] | 1 | 3.1 | 93 | 0 | 93 | 0 |
[
-1.8967913389205933,
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1.8689569234848022,
-1.720758080482483,
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0
] | [
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] | move_to_joint_state | 0.409176 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.004535248968750238,
-0.42131471633911133,
0.34586796164512634,
2.9248664379119873,
0.04255184531211853,
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] | 1 | 3.133333 | 94 | 0 | 94 | 0 |
[
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-1.720758080482483,
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0
] | [
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
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] | move_to_joint_state | 0.409176 | [
-1.8916584253311157,
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0052191512659192085,
-0.4184581935405731,
0.3451571762561798,
2.9434659481048584,
0.0394863523542881,
3.1014647483825684
] | 1 | 3.166667 | 95 | 0 | 95 | 0 |
[
-1.8967913389205933,
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-1.720758080482483,
-1.5508488416671753,
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0
] | [
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
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0
] | move_to_joint_state | 0.409176 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.0052191512659192085,
-0.4184581935405731,
0.3451571762561798,
2.9434659481048584,
0.0394863523542881,
3.1014647483825684
] | 1 | 3.2 | 96 | 0 | 96 | 0 |
[
-1.8963264226913452,
-1.9220572710037231,
1.860824465751648,
-1.697909951210022,
-1.5525258779525757,
2.854745626449585,
0
] | [
-1.8916584253311157,
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.462609 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.005904725752770901,
-0.4155225455760956,
0.3444918394088745,
2.9619460105895996,
0.03643455728888512,
3.105287790298462
] | 1 | 3.233333 | 97 | 0 | 97 | 0 |
[
-1.8963264226913452,
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1.860824465751648,
-1.697909951210022,
-1.5525258779525757,
2.854745626449585,
0
] | [
-1.8916584253311157,
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.462609 | [
-1.8916584253311157,
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1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.005904725752770901,
-0.4155225455760956,
0.3444918394088745,
2.9619460105895996,
0.03643455728888512,
3.105287790298462
] | 1 | 3.266667 | 98 | 0 | 98 | 0 |
[
-1.8958581686019897,
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1.8529008626937866,
-1.675744652748108,
-1.554202914237976,
2.851698398590088,
0
] | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | move_to_joint_state | 0.514491 | [
-1.8916584253311157,
-1.8798999786376953,
1.778472900390625,
-1.4684277772903442,
-1.5696815252304077,
2.82346248626709,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first battery | [
0.005904725752770901,
-0.4155225455760956,
0.3444918394088745,
2.9619460105895996,
0.03643455728888512,
3.105287790298462
] | 1 | 3.3 | 99 | 0 | 99 | 0 |
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