Berkeley Autolab Ur5 Augmented
Collection
10 items
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Updated
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observation.kuka_iiwa.joints
listlengths 8
8
| observation.kuka_iiwa.ee_pose
listlengths 7
7
| observation.kuka_iiwa.base_position
listlengths 3
3
| observation.kuka_iiwa.base_orientation
float32 0
0
| observation.kuka_iiwa.ee_error
listlengths 7
7
| observation.xarm7.joints
listlengths 8
8
| observation.xarm7.ee_pose
listlengths 7
7
| observation.xarm7.base_position
listlengths 3
3
| observation.xarm7.base_orientation
float32 0
0
| observation.xarm7.ee_error
listlengths 7
7
| observation.sawyer.joints
listlengths 8
8
| observation.sawyer.ee_pose
listlengths 7
7
| observation.sawyer.base_position
listlengths 3
3
| observation.sawyer.base_orientation
float32 0
0
| observation.sawyer.ee_error
listlengths 7
7
| observation.panda.joints
listlengths 8
8
| observation.panda.ee_pose
listlengths 7
7
| observation.panda.base_position
listlengths 3
3
| observation.panda.base_orientation
float32 0
0
| observation.panda.ee_error
listlengths 7
7
| observation.kinova3.joints
listlengths 8
8
| observation.kinova3.ee_pose
listlengths 7
7
| observation.kinova3.base_position
listlengths 3
3
| observation.kinova3.base_orientation
float32 0
0
| observation.kinova3.ee_error
listlengths 7
7
| observation.jaco.joints
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7
| observation.jaco.ee_pose
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7
| observation.jaco.base_position
listlengths 3
3
| observation.jaco.base_orientation
float32 0
0
| observation.jaco.ee_error
listlengths 7
7
| observation.google_robot.joints
listlengths 8
8
| observation.google_robot.ee_pose
listlengths 7
7
| observation.google_robot.base_position
listlengths 3
3
| observation.google_robot.base_orientation
float32 0
0
| observation.google_robot.ee_error
listlengths 7
7
| observation.widowX.joints
listlengths 7
7
| observation.widowX.ee_pose
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7
| observation.widowX.base_position
listlengths 3
3
| observation.widowX.base_orientation
float32 0
0
| observation.widowX.ee_error
listlengths 7
7
| natural_language_instruction
stringclasses 5
values | observation.state
listlengths 15
15
| observation.joints
listlengths 7
7
| observation.ee_pose
listlengths 7
7
| timestamp
float64 0
32.6
| frame_index
int64 0
163
| episode_index
int64 0
99
| index
int64 0
9.89k
| task_index
int64 0
4
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sweep the green cloth to the left side of the table
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0.9835953712463379,
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] |
[
-0.05000000074505806,
0.10000000149011612,
0
] | 0
|
[
-5.662441253662109e-7,
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6.258487701416016e-7,
-0.000027805566787719727,
-0.00009915605187416077,
5.960464477539062e-7,
0.00018186122179031372
] |
[
-0.32789626717567444,
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0
] |
[
0.3102947175502777,
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] |
[
0,
0,
0
] | 0
|
[
-3.2782554626464844e-7,
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-0.00004349648952484131,
0.00006112083792686462,
0.000023365020751953125,
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[
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] |
[
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0.04977819696068764,
0.9896439909934998,
0.01647610403597355
] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.003734290599822998,
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0.03424416482448578,
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[
1.19295334815979,
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0
] |
[
0.11031030863523483,
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0.045732755213975906,
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] |
[
-0.20000000298023224,
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0
] | 0
|
[
-0.000015906989574432373,
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-4.3213367462158203e-7,
0.00015276670455932617,
0.00008890032768249512,
-0.000027298927307128906,
-0.00005904585123062134
] |
sweep the green cloth to the left side of the table
|
[
-3.1352598667144775,
-2.1614468097686768,
2.5077526569366455,
-2.2598178386688232,
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0,
0
] |
[
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0
] |
[
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0.0458216555416584,
0.9835959672927856,
0.047534242272377014,
0.16786862909793854
] | 0.4
| 2
| 0
| 2
| 0
|
[
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1.567937970161438,
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0
] |
[
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] |
[
-0.10000000149011612,
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] | 0
|
[
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] |
[
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0
] |
[
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0.0483890138566494,
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0.0489228218793869
] |
[
0,
0,
0
] | 0
|
[
-0.0000028908252716064453,
9.387731552124023e-7,
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0.00008068978786468506,
0.000024143606424331665,
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[
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] |
[
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0.16145586967468262,
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] |
[
0,
0,
0
] | 0
|
[
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[
0.19222483038902283,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.000010639429092407227,
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[
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1.3456273078918457,
0
] |
[
0.26752039790153503,
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0.9840908050537109,
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] |
[
-0.05000000074505806,
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0
] | 0
|
[
-8.344650268554688e-7,
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-0.000028535723686218262,
-0.0001010112464427948,
4.172325134277344e-7,
0.0001877322793006897
] |
[
-0.2671486735343933,
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5.572659492492676,
-0.32581499218940735,
0.03012676164507866,
-0.05331754684448242,
0
] |
[
0.3175206780433655,
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0.04835869371891022,
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] |
[
0,
0,
0
] | 0
|
[
-0.0000011026859283447266,
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0.000054463744163513184,
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-0.0003078579902648926
] |
[
-1.9069299697875977,
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-2.049999952316284,
-1.3221287727355957,
1.7899999618530273,
-0.6030001044273376,
0
] |
[
0.3207273483276367,
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0.1346600204706192,
0.05134258791804314,
0.9892613887786865,
0.024342060089111328
] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.003207772970199585,
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0.001062542200088501,
0.029128432273864746,
-0.002929430454969406,
-0.005170166492462158,
0.02458658441901207
] |
[
1.1202696561813354,
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0.6764622926712036,
-0.273912250995636,
1.2795125246047974,
1.2692264318466187,
0
] |
[
0.11753460764884949,
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0.1746128648519516,
0.16364188492298126,
0.04832662269473076,
0.9841164946556091,
0.048996031284332275
] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
-0.000015050172805786133,
0.000008448958396911621,
-4.3213367462158203e-7,
0.00014656782150268555,
0.0000865347683429718,
-0.000025272369384765625,
-0.00006738677620887756
] |
sweep the green cloth to the left side of the table
|
[
-3.171555757522583,
-2.1438558101654053,
2.506639003753662,
-2.265516519546509,
-1.4804686307907104,
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0.7297341823577881,
0.6620931029319763,
0.14965400099754333,
0.08200282603502274,
0,
0
] |
[
-3.171555757522583,
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2.506639003753662,
-2.265516519546509,
-1.4804686307907104,
3.2250826358795166,
0
] |
[
0.31751957535743713,
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0.17461243271827698,
0.04841315746307373,
0.9840912222862244,
0.0489286445081234,
0.16378845274448395
] | 0.6
| 3
| 0
| 3
| 0
|
[
1.9818719625473022,
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-1.7228020429611206,
-2.094399929046631,
1.5672619342803955,
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0
] |
[
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-0.09621013700962067
] |
[
-0.10000000149011612,
0.15000000596046448,
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] | 0
|
[
-0.010666653513908386,
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-0.000379808247089386,
0.1284313201904297,
0.03999553620815277,
-0.010083794593811035,
0.1468227356672287
] |
[
0.1674678921699524,
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0.31333035230636597,
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0
] |
[
0.3263171911239624,
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0.1690112203359604,
0.1583072990179062,
0.05082446336746216,
0.9847815036773682,
0.05060747638344765
] |
[
0,
0,
0
] | 0
|
[
-0.0000027120113372802734,
9.834766387939453e-7,
-0.0000029802322387695312,
0.0000797957181930542,
0.00002259388566017151,
-0.00001430511474609375,
0.000005125999450683594
] |
[
0.07345324009656906,
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2.961824655532837,
1.0659055709838867,
0.0394367091357708,
-0.6437933444976807,
0
] |
[
0.32611963152885437,
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0.16963185369968414,
0.1506822407245636,
0.05148542299866676,
0.9863570332527161,
0.04175957292318344
] |
[
0,
0,
0
] | 0
|
[
0.00019484758377075195,
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-0.0006236135959625244,
0.0077048540115356445,
-0.0006383657455444336,
-0.0015898346900939941,
0.00885302945971489
] |
[
0.21174658834934235,
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-3.0606508255004883,
0.17337532341480255,
3.0740244388580322,
-1.9334211349487305,
0
] |
[
0.3263148069381714,
0.13784180581569672,
0.16901308298110962,
0.15830832719802856,
0.050818152725696564,
0.9847804307937622,
0.05063041299581528
] |
[
0,
0,
0
] | 0
|
[
-3.2782554626464844e-7,
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-0.000004842877388000488,
0.00007876753807067871,
0.00002890452742576599,
-0.000013232231140136719,
-0.00001781061291694641
] |
[
-0.1167227104306221,
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2.230555295944214,
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0.6789388656616211,
1.3752591609954834,
0
] |
[
0.2763156592845917,
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0.050949450582265854,
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] |
[
-0.05000000074505806,
0.10000000149011612,
0
] | 0
|
[
-0.0000011622905731201172,
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-0.000027686357498168945,
-0.00010239332914352417,
-1.7881393432617188e-7,
0.0001935809850692749
] |
[
-0.21790042519569397,
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5.5127692222595215,
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-0.025675512850284576,
-0.17823077738285065,
0
] |
[
0.32631662487983704,
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0.1690594106912613,
0.15873785316944122,
0.05167035385966301,
0.9849126935005188,
0.04560065641999245
] |
[
0,
0,
0
] | 0
|
[
-0.0000021457672119140625,
-0.00009863078594207764,
-0.00005117058753967285,
-0.00035075843334198,
-0.0008232966065406799,
-0.00014549493789672852,
0.005011945962905884
] |
[
-1.9626225233078003,
-1.7689952850341797,
-1.8951703310012817,
-2.049999952316284,
-1.2887438535690308,
1.7899999618530273,
-0.6521937251091003,
0
] |
[
0.3286168575286865,
0.13899822533130646,
0.31821733713150024,
0.1378692239522934,
0.05257977172732353,
0.9884458184242249,
0.034674301743507385
] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.0023023784160614014,
-0.001153707504272461,
0.0007908940315246582,
0.020517870783805847,
-0.0017327144742012024,
-0.003678619861602783,
0.015938300639390945
] |
[
1.0255306959152222,
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0.7061125636100769,
-0.24256373941898346,
1.2435212135314941,
1.1795700788497925,
0
] |
[
0.12632815539836884,
0.13783520460128784,
0.16900867223739624,
0.1582508534193039,
0.05076421797275543,
0.9847894310951233,
0.05068913847208023
] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
-0.0000136643648147583,
0.000009313225746154785,
-4.3213367462158203e-7,
0.00013624131679534912,
0.00008283928036689758,
-0.000022232532501220703,
-0.00007653608918190002
] |
sweep the green cloth to the left side of the table
|
[
-3.213526964187622,
-2.1176249980926514,
2.506028175354004,
-2.2765305042266846,
-1.4644454717636108,
3.189866781234741,
0.31879323720932007,
0.11354882270097733,
0.09468861669301987,
0.7319162487983704,
0.6608844995498657,
0.14700131118297577,
0.07694759964942932,
0,
0
] |
[
-3.213526964187622,
-2.1176249980926514,
2.506028175354004,
-2.2765305042266846,
-1.4644454717636108,
3.189866781234741,
0
] |
[
0.3263144791126251,
0.137844517827034,
0.16900824010372162,
0.05084705725312233,
0.9847671985626221,
0.05061260238289833,
0.15838709473609924
] | 0.8
| 4
| 0
| 4
| 0
|
[
1.956093430519104,
1.8533231019973755,
-1.6901551485061646,
-2.094399929046631,
1.5662531852722168,
1.741350531578064,
3.0543301105499268,
0
] |
[
0.24576467275619507,
0.29023006558418274,
0.1120588481426239,
0.025929808616638184,
0.025337988510727882,
0.9944937825202942,
-0.09832487255334854
] |
[
-0.10000000149011612,
0.15000000596046448,
-0.05000000074505806
] | 0
|
[
-0.010935291647911072,
-0.011984318494796753,
0.0001970231533050537,
0.12773661315441132,
0.02774912677705288,
-0.009181559085845947,
0.15055669844150543
] |
[
0.15351329743862152,
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0.3202800452709198,
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0.3608148694038391,
0
] |
[
0.3348318934440613,
0.12824474275112152,
0.16225890815258026,
0.1535869538784027,
0.053066082298755646,
0.9853260517120361,
0.05222703143954277
] |
[
0,
0,
0
] | 0
|
[
-0.0000025033950805664062,
9.98377799987793e-7,
-0.000003039836883544922,
0.00007946789264678955,
0.000021032989025115967,
-0.000013828277587890625,
0.000004798173904418945
] |
[
0.13202501833438873,
-1.631560206413269,
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2.903409481048584,
1.1207422018051147,
0.033944375813007355,
-0.7359564304351807,
0
] |
[
0.33459576964378357,
0.1257791519165039,
0.16363559663295746,
0.13744232058525085,
0.0541364811360836,
0.9883133172988892,
0.03762423247098923
] |
[
0,
0,
0
] | 0
|
[
0.00023362040519714355,
0.0024665892124176025,
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] |
[
0.212755024433136,
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0
] |
[
0.3348295986652374,
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[
0,
0,
0
] | 0
|
[
-2.086162567138672e-7,
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0.00007748603820800781,
0.00002584978938102722,
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[
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] |
[
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[
-0.05000000074505806,
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] | 0
|
[
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0.00019673630595207214
] |
[
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] |
[
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[
0,
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0
] | 0
|
[
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[
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0
] |
[
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] |
[
0,
0,
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] | 0
|
[
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[
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0
] |
[
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[
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0
] | 0
|
[
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0.00012415647506713867,
0.00007852539420127869,
-0.00001919269561767578,
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] |
sweep the green cloth to the left side of the table
|
[
-3.2524709701538086,
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2.5075249671936035,
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0,
0
] |
[
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0
] |
[
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0.05308711528778076,
0.9853122234344482,
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0.1536664217710495
] | 1
| 5
| 0
| 5
| 0
|
[
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1.5644158124923706,
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0
] |
[
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] |
[
-0.10000000149011612,
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] | 0
|
[
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[
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] |
[
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0.055354297161102295,
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] |
[
0,
0,
0
] | 0
|
[
-0.0000023245811462402344,
9.760260581970215e-7,
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0.00007949769496917725,
0.000019297003746032715,
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[
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.00003746151924133301,
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-2.086162567138672e-7,
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[
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0
] |
[
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] |
[
-0.05000000074505806,
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0
] | 0
|
[
-0.0000017881393432617188,
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-0.000020042061805725098,
-0.00010162591934204102,
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0.00019741058349609375
] |
[
-0.1524469256401062,
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0
] |
[
0.34382572770118713,
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0.15397539734840393,
0.15129254758358002,
0.05898023024201393,
0.986197829246521,
0.03233717009425163
] |
[
0,
0,
0
] | 0
|
[
-0.0002549290657043457,
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] |
[
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1.7288743257522583,
-0.8095887899398804,
0
] |
[
0.343648225069046,
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0.05365462228655815
] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.00007742643356323242,
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0.0006326884031295776,
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-0.00011152029037475586,
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] |
[
0.825947105884552,
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0.7701767683029175,
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1.157680869102478,
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0
] |
[
0.14358098804950714,
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0.15415142476558685,
0.14868640899658203,
0.05530042573809624,
0.9858530163764954,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
-0.00001017749309539795,
0.000010192394256591797,
-5.21540641784668e-7,
0.00010952353477478027,
0.00007316842675209045,
-0.000015795230865478516,
-0.00008777156472206116
] |
sweep the green cloth to the left side of the table
|
[
-3.2908170223236084,
-2.0535356998443604,
2.509824514389038,
-2.3163020610809326,
-1.436853289604187,
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0.6585236191749573,
0.14260710775852203,
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0,
0
] |
[
-3.2908170223236084,
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2.509824514389038,
-2.3163020610809326,
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0
] |
[
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0.15415090322494507,
0.05537359416484833,
0.9858372211456299,
0.0540231317281723,
0.1487959325313568
] | 1.2
| 6
| 0
| 6
| 0
|
[
1.9023422002792358,
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1.560352087020874,
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0
] |
[
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-0.10169129818677902
] |
[
-0.10000000149011612,
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] | 0
|
[
-0.011318832635879517,
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0.0026137791574001312,
-0.006712555885314941,
0.1567738652229309
] |
[
0.1298355609178543,
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0
] |
[
0.35200396180152893,
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0.056941479444503784,
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] |
[
0,
0,
0
] | 0
|
[
-0.000002115964889526367,
9.387731552124023e-7,
-0.0000032335519790649414,
0.0000794827938079834,
0.000017434358596801758,
-0.000012874603271484375,
0.00000554695725440979
] |
[
1.0765379667282104,
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2.5221824645996094,
2.341308355331421,
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-1.4177674055099487,
0
] |
[
0.3520139455795288,
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0.14611077308654785,
0.14341610670089722,
0.05700656399130821,
0.9864816665649414,
0.05509978532791138
] |
[
0,
0,
0
] | 0
|
[
-0.000012099742889404297,
-0.000001564621925354004,
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0.0004530400037765503,
-0.00004765018820762634,
-0.00006222724914550781,
-0.000017218291759490967
] |
[
0.27364370226860046,
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-3.0044562816619873,
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3.145594835281372,
-2.0866200923919678,
0
] |
[
0.35200193524360657,
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0.14610132575035095,
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0.05694745481014252,
0.9864328503608704,
0.05503753572702408
] |
[
0,
0,
0
] | 0
|
[
-8.940696716308594e-8,
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-0.0000055730342864990234,
0.00007043778896331787,
0.000011458992958068848,
-0.00001341104507446289,
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] |
[
0.057839199900627136,
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2.2626497745513916,
0.8790981769561768,
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1.3953830003738403,
0
] |
[
0.3020038902759552,
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0.05705927312374115,
0.9864224791526794,
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] |
[
-0.05000000074505806,
0.10000000149011612,
0
] | 0
|
[
-0.0000020563602447509766,
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0.000002115964889526367,
-0.000014260411262512207,
-0.00010035932064056396,
-0.000003039836883544922,
0.00019655004143714905
] |
[
-0.11496753990650177,
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-0.05664977431297302,
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0
] |
[
0.35215508937835693,
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0.1460796594619751,
0.1419266015291214,
0.06082708388566971,
0.9876455068588257,
0.026705991476774216
] |
[
0,
0,
0
] | 0
|
[
-0.0001532435417175293,
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0.00001609325408935547,
0.0019425451755523682,
-0.0038681700825691223,
-0.0012260675430297852,
0.02837657555937767
] |
[
-2.2294728755950928,
-1.4991798400878906,
-1.6510804891586304,
-2.049999952316284,
-1.3651537895202637,
1.57039475440979,
-1.0213717222213745,
0
] |
[
0.3520437479019165,
0.10796372592449188,
0.2960779666900635,
0.14355869591236115,
0.0570303238928318,
0.9864731431007385,
0.05485580861568451
] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.00004190206527709961,
-0.00001553446054458618,
0.0000177919864654541,
0.00031045079231262207,
-0.00007141008973121643,
-0.00005370378494262695,
0.0002267584204673767
] |
[
0.7231863737106323,
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0.7986061573028564,
-0.1369188278913498,
1.1145647764205933,
0.8814208507537842,
0
] |
[
0.15201003849506378,
0.10793813318014145,
0.146096333861351,
0.14377591013908386,
0.05689205974340439,
0.986431896686554,
0.05517110601067543
] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
-0.000008195638656616211,
0.000010058283805847168,
-5.811452865600586e-7,
0.00009323656558990479,
0.00006685405969619751,
-0.00001245737075805664,
-0.00008853897452354431
] |
sweep the green cloth to the left side of the table
|
[
-3.325465440750122,
-2.016540765762329,
2.510171890258789,
-2.3390252590179443,
-1.4265297651290894,
3.0930449962615967,
0.34177887439727783,
0.08469437807798386,
0.07201036810874939,
0.7373214960098267,
0.6578586101531982,
0.13986901938915253,
0.06336934119462967,
0,
0
] |
[
-3.325465440750122,
-2.016540765762329,
2.510171890258789,
-2.3390252590179443,
-1.4265297651290894,
3.0930449962615967,
0
] |
[
0.3520018458366394,
0.1079481914639473,
0.14609575271606445,
0.056958913803100586,
0.9864194393157959,
0.055082567036151886,
0.14386914670467377
] | 1.4
| 7
| 0
| 7
| 0
|
[
1.8722971677780151,
1.7624322175979614,
-1.5523377656936646,
-2.094399929046631,
1.5460164546966553,
1.5823899507522583,
3.0543301105499268,
0
] |
[
0.27204620838165283,
0.2597486972808838,
0.08595620840787888,
0.018323419615626335,
0.0689442828297615,
0.9920342564582825,
-0.10382204502820969
] |
[
-0.10000000149011612,
0.15000000596046448,
-0.05000000074505806
] | 0
|
[
-0.011331647634506226,
-0.012705832719802856,
0.001971021294593811,
0.12005870044231415,
-0.010909881442785263,
-0.00491786003112793,
0.1593518853187561
] |
[
0.11920670419931412,
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0.15820910036563873,
0.3553275167942047,
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0
] |
[
0.3607165217399597,
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[
0,
0,
0
] | 0
|
[
-0.0000019669532775878906,
8.791685104370117e-7,
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0.00007928907871246338,
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[
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] |
[
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[
0,
0,
0
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|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
5.066394805908203e-7,
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[
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[
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[
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] | 0
|
[
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[
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] |
[
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[
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|
[
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[
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] |
[
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[
0,
0,
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] | 0
|
[
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[
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] |
[
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[
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0
] | 0
|
[
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0.00007522106170654297,
0.000059273093938827515,
-0.000009238719940185547,
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] |
sweep the green cloth to the left side of the table
|
[
-3.3587493896484375,
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2.507452964782715,
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0
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[
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] |
[
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0.9871163964271545,
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] | 1.6
| 8
| 0
| 8
| 0
|
[
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] |
[
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[
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|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
0,
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0
] | 0
|
[
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[
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0
] |
[
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] |
[
0,
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0
] | 0
|
[
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[
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0
] |
[
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[
-0.05000000074505806,
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0
] | 0
|
[
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] |
[
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0
] |
[
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] |
[
0,
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0
] | 0
|
[
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] |
[
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0
] |
[
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] |
[
0,
0,
0.15000000596046448
] | 0
|
[
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0.00012783706188201904,
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0.00015988945960998535
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[
0.5096029043197632,
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1.0315022468566895,
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0
] |
[
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0.05899621173739433,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
-0.000004157423973083496,
0.00000848621129989624,
-7.003545761108398e-7,
0.000057831406593322754,
0.000051043927669525146,
-0.000006377696990966797,
-0.00007792934775352478
] |
sweep the green cloth to the left side of the table
|
[
-3.389592170715332,
-1.9305981397628784,
2.5025312900543213,
-2.3848187923431396,
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0,
0
] |
[
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3.0323078632354736,
0
] |
[
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0.12927217781543732,
0.05904725566506386,
0.9878534078598022,
0.055910296738147736,
0.13241279125213623
] | 1.8
| 9
| 0
| 9
| 0
|
[
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0
] |
[
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] |
[
-0.10000000149011612,
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] | 0
|
[
-0.012140214443206787,
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-0.011524241417646408,
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] |
[
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0
] |
[
0.37761837244033813,
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] |
[
0,
0,
0
] | 0
|
[
-0.0000016689300537109375,
6.854534149169922e-7,
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0.00007922947406768799,
0.000010445713996887207,
-0.00001150369644165039,
0.000011876225471496582
] |
[
0.8889107704162598,
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2.4839775562286377,
2.295844554901123,
0.7517826557159424,
-1.51731276512146,
0
] |
[
0.3776286542415619,
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0.12626682221889496,
0.06009842827916145,
0.9885673522949219,
0.05638626217842102
] |
[
0,
0,
0
] | 0
|
[
-0.00001195073127746582,
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0.0004331320524215698,
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] |
[
0.25048014521598816,
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-2.873544216156006,
0.7955816388130188,
3.142754077911377,
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0
] |
[
0.37762251496315,
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0.1205446645617485,
0.12625537812709808,
0.060108035802841187,
0.9885994791984558,
0.05583643540740013
] |
[
0,
0,
0
] | 0
|
[
-0.000005811452865600586,
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0.0004445761442184448,
-0.000058066099882125854,
-0.00008165836334228516,
0.0004982277750968933
] |
[
0.20609714090824127,
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2.269615888595581,
0.998955488204956,
0.6021915078163147,
1.4255952835083008,
0
] |
[
0.3276192843914032,
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0.12669500708580017,
0.060146354138851166,
0.9885233640670776,
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] |
[
-0.05000000074505806,
0.10000000149011612,
0
] | 0
|
[
-0.000002562999725341797,
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0.000004947185516357422,
-0.0000963844358921051,
-0.000005543231964111328,
0.00018903613090515137
] |
[
-0.031083084642887115,
2.5417368412017822,
5.419634819030762,
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-0.0297549981623888,
0.13505050539970398,
0
] |
[
0.3777836561203003,
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0.12084034830331802,
0.11830941587686539,
0.06515326350927353,
0.9907200932502747,
0.015220151282846928
] |
[
0,
0,
0
] | 0
|
[
-0.00016695261001586914,
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-0.0003235042095184326,
0.008390538394451141,
-0.005103293806314468,
-0.002202272415161133,
0.04111451283097267
] |
[
-2.641326904296875,
-1.2095810174942017,
-1.3112558126449585,
-2.049999952316284,
-1.5088064670562744,
1.2662020921707153,
-1.433591604232788,
0
] |
[
0.3776315152645111,
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0.1266038715839386,
0.06013800576329231,
0.9885333776473999,
0.05618438497185707
] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.00001481175422668457,
-0.0000074356794357299805,
0.0000070035457611083984,
0.00009608268737792969,
-0.00008803606033325195,
-0.000015556812286376953,
0.0001502782106399536
] |
[
0.41386672854423523,
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0.8582109808921814,
-0.018217943608760834,
0.9913888573646545,
0.5429694652557373,
0
] |
[
0.17761927843093872,
0.07534334063529968,
0.12051769345998764,
0.12665626406669617,
0.06000674515962601,
0.9885221719741821,
0.0564030259847641
] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
-0.000002562999725341797,
0.000007331371307373047,
-8.493661880493164e-7,
0.00004369020462036133,
0.00004322454333305359,
-0.000004351139068603516,
-0.00006836280226707458
] |
sweep the green cloth to the left side of the table
|
[
-3.4171431064605713,
-1.8861678838729858,
2.4972736835479736,
-2.40820050239563,
-1.4075473546981812,
3.005979537963867,
0.3653002679347992,
0.05321987718343735,
0.046717673540115356,
0.740875244140625,
0.6572965383529663,
0.128627747297287,
0.05020047351717949,
0,
0
] |
[
-3.4171431064605713,
-1.8861678838729858,
2.4972736835479736,
-2.40820050239563,
-1.4075473546981812,
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0
] |
[
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| 10
| 0
| 10
| 0
|
[
1.6939541101455688,
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[
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[
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|
[
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[
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[
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[
0,
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0
] | 0
|
[
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[
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] |
[
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[
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0
] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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[
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[
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|
[
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[
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0
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[
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[
0,
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0
] | 0
|
[
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[
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] |
[
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[
0,
0,
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] | 0
|
[
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[
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[
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[
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0
] | 0
|
[
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0.00003222376108169556,
0.00003558024764060974,
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] |
sweep the green cloth to the left side of the table
|
[
-3.443784475326538,
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0
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[
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[
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] | 2.2
| 11
| 0
| 11
| 0
|
[
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0
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[
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[
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|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
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0
] | 0
|
[
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
-0.05000000074505806,
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0
] | 0
|
[
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0.0001832321286201477
] |
[
0.02844393625855446,
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0
] |
[
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] |
[
0,
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0
] | 0
|
[
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] |
[
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1.1269752979278564,
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0
] |
[
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0.062305938452482224,
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] |
[
0,
0,
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] | 0
|
[
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0.00006832927465438843,
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] |
[
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0
] |
[
0.19278137385845184,
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0.06218099594116211,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
-2.682209014892578e-7,
0.000004813075065612793,
-0.0000013560056686401367,
0.000024184584617614746,
0.0000286102294921875,
-0.000002086162567138672,
-0.00004537403583526611
] |
sweep the green cloth to the left side of the table
|
[
-3.4696366786956787,
-1.7962602376937866,
2.48757266998291,
-2.461827039718628,
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0.12261777371168137,
0.04331349581480026,
0,
0
] |
[
-3.4696366786956787,
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0
] |
[
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0.10202741622924805,
0.0622096061706543,
0.9894755482673645,
0.056865498423576355,
0.11761987209320068
] | 2.4
| 12
| 0
| 12
| 0
|
[
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-2.094399929046631,
1.4772406816482544,
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0
] |
[
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] |
[
-0.10000000149011612,
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] | 0
|
[
-0.012890100479125977,
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0.1195140853524208
] |
[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.0000014007091522216797,
1.8998980522155762e-7,
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0.00008603185415267944,
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[
0.7426691055297852,
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2.4363763332366943,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.000011652708053588867,
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0.00040043890476226807,
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] |
[
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0
] |
[
0.39935266971588135,
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[
0,
0,
0
] | 0
|
[
-0.000007808208465576172,
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[
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0
] |
[
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] |
[
-0.05000000074505806,
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] | 0
|
[
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[
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] |
[
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] |
[
0,
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] | 0
|
[
-0.0007601678371429443,
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[
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] |
[
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[
0,
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] | 0
|
[
-0.000007659196853637695,
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] |
[
0.16554507613182068,
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0.25137966871261597,
0
] |
[
0.19934441149234772,
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0.09214003384113312,
0.11540140956640244,
0.06372079253196716,
0.9896246790885925,
0.057141344994306564
] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
4.3213367462158203e-7,
0.0000036694109439849854,
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0.00001948326826095581,
0.000022448599338531494,
-0.0000017285346984863281,
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] |
sweep the green cloth to the left side of the table
|
[
-3.494243621826172,
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0,
0
] |
[
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0
] |
[
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0.0637432411313057,
0.989622950553894,
0.05710729584097862,
0.11542089283466339
] | 2.6
| 13
| 0
| 13
| 0
|
[
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0
] |
[
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[
-0.10000000149011612,
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] | 0
|
[
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[
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0
] |
[
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0.06588205695152283,
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[
0,
0,
0
] | 0
|
[
-0.000001430511474609375,
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0.00009278953075408936,
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0.00004365295171737671
] |
[
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] |
[
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0.0659322738647461,
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
0,
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0
] | 0
|
[
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[
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0
] |
[
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[
-0.05000000074505806,
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0
] | 0
|
[
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-0.000007033348083496094,
0.00017883256077766418
] |
[
0.08022626489400864,
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0.26251107454299927,
0
] |
[
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0.07035980373620987,
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] |
[
0,
0,
0
] | 0
|
[
-0.0008051395416259766,
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0.02475041151046753,
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] |
[
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0
] |
[
0.4054569602012634,
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0.06597855687141418,
0.9895914196968079,
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] |
[
0,
0,
0.15000000596046448
] | 0
|
[
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0.00006262212991714478,
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0.00013567879796028137
] |
[
0.09759552776813507,
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0
] |
[
0.20544852316379547,
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0.06586254388093948,
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0.05734022334218025
] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
9.238719940185547e-7,
0.000002600252628326416,
-0.0000022202730178833008,
0.000017292797565460205,
0.000016786158084869385,
-0.0000017881393432617188,
-0.000022839754819869995
] |
sweep the green cloth to the left side of the table
|
[
-3.5181095600128174,
-1.7097023725509644,
2.486039876937866,
-2.5326435565948486,
-1.3923128843307495,
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0
] |
[
-3.5181095600128174,
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0
] |
[
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0.08220542967319489,
0.06587933003902435,
0.9895829558372498,
0.05731738358736038,
0.1144561916589737
] | 2.8
| 14
| 0
| 14
| 0
|
[
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1.4650218486785889,
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0
] |
[
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] |
[
-0.10000000149011612,
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] | 0
|
[
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] |
[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.0000015497207641601562,
-3.0174851417541504e-7,
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0.00010205060243606567,
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0.00005702674388885498
] |
[
0.6709064841270447,
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2.4018020629882812,
2.3100016117095947,
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0
] |
[
0.4112626612186432,
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0.07259363681077957,
0.11317366361618042,
0.0681179091334343,
0.9895651936531067,
0.05755341053009033
] |
[
0,
0,
0
] | 0
|
[
-0.000011444091796875,
5.4016709327697754e-8,
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0.0003767535090446472,
-0.00005409121513366699,
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] |
[
-0.44574981927871704,
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-2.8012847900390625,
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3.254056692123413,
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0
] |
[
0.4112533628940582,
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0.07258135080337524,
0.11351339519023895,
0.06808264553546906,
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] |
[
0,
0,
0
] | 0
|
[
-0.0000021457672119140625,
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0.0000370219349861145,
-0.000018827617168426514,
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0.00024440884590148926
] |
[
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0
] |
[
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] |
[
-0.05000000074505806,
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0
] | 0
|
[
-0.0000030100345611572266,
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5.960464477539062e-7,
0.000031463801860809326,
-0.00009128451347351074,
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0.0001772753894329071
] |
[
0.10410477221012115,
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0
] |
[
0.4120996296405792,
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] |
[
0,
0,
0
] | 0
|
[
-0.0008484125137329102,
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0.026407577097415924,
-0.004663638770580292,
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0.051490336656570435
] |
[
-3.0359110832214355,
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-1.9837878942489624,
-1.5235371589660645,
1.0920895338058472,
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0
] |
[
0.4112585783004761,
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0.06816267222166061,
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0.05733538046479225
] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.000007361173629760742,
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0.00006148219108581543,
-0.00009885430335998535,
-0.000007987022399902344,
0.0001332499086856842
] |
[
0.03564631938934326,
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0.9100819826126099,
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0.7656001448631287,
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0
] |
[
0.21124997735023499,
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0.11353341490030289,
0.06805234402418137,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.0000012516975402832031,
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0.000017002224922180176,
0.000011473894119262695,
-0.000002086162567138672,
-0.000011667609214782715
] |
sweep the green cloth to the left side of the table
|
[
-3.540227174758911,
-1.6672905683517456,
2.4841713905334473,
-2.567767858505249,
-1.3889597654342651,
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0.6525688767433167,
0.1202693060040474,
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0,
0
] |
[
-3.540227174758911,
-1.6672905683517456,
2.4841713905334473,
-2.567767858505249,
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0
] |
[
0.4112512171268463,
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0.07258245348930359,
0.06806381791830063,
0.9895306825637817,
0.057468630373477936,
0.11355041712522507
] | 3
| 15
| 0
| 15
| 0
|
[
1.2995895147323608,
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-2.094399929046631,
1.4647257328033447,
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0
] |
[
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-0.034621063619852066
] |
[
-0.10000000149011612,
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-0.05000000074505806
] | 0
|
[
-0.012815624475479126,
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0.1456713080406189,
-0.0023578256368637085,
-0.006747782230377197,
0.09225364029407501
] |
[
-0.0014615964610129595,
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0
] |
[
0.41738471388816833,
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] |
[
0,
0,
0
] | 0
|
[
-0.0000017285346984863281,
-5.746260285377502e-7,
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0.0001144111156463623,
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] |
[
0.6350744366645813,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.000011295080184936523,
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[
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0
] |
[
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[
0,
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] | 0
|
[
-0.0000014007091522216797,
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] |
[
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0
] |
[
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] |
[
-0.05000000074505806,
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] | 0
|
[
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] |
[
0.12818390130996704,
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0
] |
[
0.4183058440685272,
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] |
[
0,
0,
0
] | 0
|
[
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0.029226921498775482,
-0.0046611204743385315,
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0.0531168133020401
] |
[
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0
] |
[
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[
0,
0,
0.15000000596046448
] | 0
|
[
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[
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] |
[
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] |
[
-0.20000000298023224,
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0
] | 0
|
[
0.0000014454126358032227,
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0.000018574297428131104,
0.000006154179573059082,
-0.000002562999725341797,
1.2665987014770508e-7
] |
sweep the green cloth to the left side of the table
|
[
-3.5618185997009277,
-1.6226943731307983,
2.4798126220703125,
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0,
0
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[
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0
] |
[
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0.07004620879888535,
0.9894808530807495,
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] | 3.2
| 16
| 0
| 16
| 0
|
[
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] |
[
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[
-0.10000000149011612,
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] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-0.000001996755599975586,
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0.00012733787298202515,
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
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[
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0
] |
[
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[
-0.05000000074505806,
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0
] | 0
|
[
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0.00017464905977249146
] |
[
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0
] |
[
0.42433515191078186,
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0.07636316865682602,
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[
0,
0,
0
] | 0
|
[
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] |
[
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0
] |
[
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] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.0000070035457611083984,
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0.00005856156349182129,
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[
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0
] |
[
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0.07203157991170883,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.000001475214958190918,
-1.9068829715251923e-7,
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0.00002177804708480835,
0.0000013634562492370605,
-0.0000032186508178710938,
0.000011198222637176514
] |
sweep the green cloth to the left side of the table
|
[
-3.5808353424072266,
-1.5798124074935913,
2.473129987716675,
-2.633410692214966,
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0
] |
[
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0
] |
[
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0.07203294336795807,
0.9894478917121887,
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0.11159059405326843
] | 3.4
| 17
| 0
| 17
| 0
|
[
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0
] |
[
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[
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] | 0
|
[
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] |
[
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0
] |
[
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[
0,
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0
] | 0
|
[
-0.0000023543834686279297,
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[
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0
] |
[
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0.07392276078462601,
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] |
[
0,
0,
0
] | 0
|
[
-0.000011086463928222656,
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[
-0.4300585985183716,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-7.748603820800781e-7,
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[
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0
] |
[
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[
-0.05000000074505806,
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0
] | 0
|
[
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0.00017322972416877747
] |
[
0.17311948537826538,
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] |
[
0.43089017271995544,
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] |
[
0,
0,
0
] | 0
|
[
-0.0012270808219909668,
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0.03974911570549011,
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0.050093185156583786
] |
[
-3.1205248832702637,
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-1.8830384016036987,
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1.098224401473999,
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0
] |
[
0.42966991662979126,
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0.057929061353206635
] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.0000068247318267822266,
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0.000056706368923187256,
-0.00009740889072418213,
-0.0000064373016357421875,
0.00012605264782905579
] |
[
-0.12704598903656006,
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0.6410391330718994,
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0
] |
[
0.22966168820858002,
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0.11032281070947647,
0.0738694816827774,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.0000014156103134155273,
-9.490177035331726e-7,
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0.00002683699131011963,
-0.000003330409526824951,
-0.0000040531158447265625,
0.000022407621145248413
] |
sweep the green cloth to the left side of the table
|
[
-3.5992424488067627,
-1.5345419645309448,
2.463501214981079,
-2.663447618484497,
-1.3809465169906616,
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0.7509931921958923,
0.6485235095024109,
0.11853929609060287,
0.03708023577928543,
0,
0
] |
[
-3.5992424488067627,
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2.463501214981079,
-2.663447618484497,
-1.3809465169906616,
2.848594903945923,
0
] |
[
0.4296630918979645,
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0.04411786049604416,
0.07386615127325058,
0.9894424676895142,
0.05805511400103569,
0.11034964770078659
] | 3.6
| 18
| 0
| 18
| 0
|
[
0.9803610444068909,
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-2.094399929046631,
1.487531065940857,
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0
] |
[
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] |
[
-0.10000000149011612,
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] | 0
|
[
-0.011395633220672607,
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0.1301967054605484,
0.0006577000021934509,
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] |
[
-0.15586602687835693,
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.0000026226043701171875,
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0.00014816969633102417,
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] |
[
0.5314234495162964,
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2.317227602005005,
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0
] |
[
0.43660876154899597,
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0.07489752024412155,
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0.05820335075259209
] |
[
0,
0,
0
] | 0
|
[
-0.000010967254638671875,
6.370246410369873e-7,
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0.0003487318754196167,
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] |
[
-0.4371192157268524,
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0
] |
[
0.43659842014312744,
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] |
[
0,
0,
0
] | 0
|
[
-6.258487701416016e-7,
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0.0000739172101020813,
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0.0001422688364982605
] |
[
0.36353161931037903,
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2.2539708614349365,
1.3765957355499268,
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1.4326478242874146,
0
] |
[
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[
-0.05000000074505806,
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0
] | 0
|
[
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0.000059545040130615234,
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0.00017139315605163574
] |
[
0.19399461150169373,
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] |
[
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[
0,
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0
] | 0
|
[
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-0.0025018230080604553,
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[
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0
] |
[
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] |
[
0,
0,
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] | 0
|
[
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[
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] |
[
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] |
[
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0
] | 0
|
[
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0.00003283470869064331,
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0.00003242865204811096
] |
sweep the green cloth to the left side of the table
|
[
-3.615062713623047,
-1.4905542135238647,
2.449645757675171,
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0
] |
[
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0
] |
[
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0.07484035938978195,
0.9895188212394714,
0.058100905269384384,
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] | 3.8
| 19
| 0
| 19
| 0
|
[
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] |
[
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[
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] | 0
|
[
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[
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.000002771615982055664,
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[
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
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0
] | 0
|
[
-4.76837158203125e-7,
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[
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0
] |
[
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] |
[
-0.05000000074505806,
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0
] | 0
|
[
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0.0001689121127128601
] |
[
0.21099023520946503,
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0
] |
[
0.44648846983909607,
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0.0756988450884819,
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] |
[
0,
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0
] | 0
|
[
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0.05227213725447655,
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0.031528912484645844
] |
[
-3.182823896408081,
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1.0856547355651855,
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0
] |
[
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0.057966992259025574
] |
[
0,
0,
0.15000000596046448
] | 0
|
[
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[
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0
] |
[
0.24486170709133148,
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0.0749116837978363,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.0000011175870895385742,
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0.00003930926322937012,
-0.000011295080184936523,
-0.000005841255187988281,
0.00004120916128158569
] |
sweep the green cloth to the left side of the table
|
[
-3.629002809524536,
-1.444609522819519,
2.429370880126953,
-2.707362413406372,
-1.3789347410202026,
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0,
0
] |
[
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0
] |
[
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0.026874318718910217,
0.07490038871765137,
0.9897326827049255,
0.05808788910508156,
0.10698094964027405
] | 4
| 20
| 0
| 20
| 0
|
[
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1.5517234802246094,
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0
] |
[
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] |
[
-0.10000000149011612,
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] | 0
|
[
-0.00921553373336792,
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] |
[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.0000027120113372802734,
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0.00014534592628479004,
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] |
[
0.45376482605934143,
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2.262587070465088,
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0
] |
[
0.4534111022949219,
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0.07491449266672134,
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0.0578685961663723
] |
[
0,
0,
0
] | 0
|
[
-0.000010848045349121094,
9.08970832824707e-7,
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0.00034514814615249634,
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] |
[
-0.4573810398578644,
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0
] |
[
0.453400582075119,
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0.07486537098884583,
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] |
[
0,
0,
0
] | 0
|
[
-3.2782554626464844e-7,
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[
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2.2078135013580322,
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0
] |
[
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] |
[
-0.05000000074505806,
0.10000000149011612,
0
] | 0
|
[
-0.000003546476364135742,
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-2.8870999813079834e-7,
0.00005533546209335327,
-0.00009168684482574463,
-0.00000858306884765625,
0.0001665949821472168
] |
[
-0.004097700584679842,
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0
] |
[
0.4534369707107544,
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] |
[
0,
0,
0
] | 0
|
[
-0.000036716461181640625,
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0.0011650845408439636,
0.00001998990774154663,
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] |
[
-3.2183728218078613,
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-1.767141342163086,
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1.0725606679916382,
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0
] |
[
0.45340633392333984,
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0.10398732125759125,
0.07495187222957611,
0.9900740385055542,
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] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.000006079673767089844,
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0.0000023990869522094727,
0.00004906207323074341,
-0.0000952407717704773,
-0.000004827976226806641,
0.00011821463704109192
] |
[
-0.2510318458080292,
0.029172660782933235,
0.7992490530014038,
0.27796265482902527,
0.5736056566238403,
-0.32131728529930115,
0
] |
[
0.2533993124961853,
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0.10399140417575836,
0.07487097382545471,
0.9900756478309631,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
9.5367431640625e-7,
-0.0000024139881134033203,
-0.000005796551704406738,
0.00004497915506362915,
-0.000014342367649078369,
-0.0000064373016357421875,
0.00004772469401359558
] |
sweep the green cloth to the left side of the table
|
[
-3.6419012546539307,
-1.4004863500595093,
2.404749870300293,
-2.7191174030303955,
-1.3799890279769897,
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0.4366658926010132,
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0.7520325183868408,
0.6483737230300903,
0.11395614594221115,
0.03275090828537941,
0,
0
] |
[
-3.6419012546539307,
-1.4004863500595093,
2.404749870300293,
-2.7191174030303955,
-1.3799890279769897,
2.806020975112915,
0
] |
[
0.45340025424957275,
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0.018837908282876015,
0.07485663145780563,
0.9900692105293274,
0.057757169008255005,
0.10403638333082199
] | 4.2
| 21
| 0
| 21
| 0
|
[
0.49461206793785095,
1.0316109657287598,
-0.28294113278388977,
-2.094399929046631,
1.6386525630950928,
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2.005931854248047,
0
] |
[
0.36976414918899536,
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0.013619628734886646,
0.07255522906780243,
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0.03295695781707764
] |
[
-0.10000000149011612,
0.15000000596046448,
-0.05000000074505806
] | 0
|
[
-0.007802009582519531,
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0.0037127509713172913,
0.08703942596912384,
0.002181537449359894,
-0.0062844157218933105,
0.02454270049929619
] |
[
-0.29283204674720764,
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0
] |
[
0.4619646668434143,
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0.010817302390933037,
0.10052041709423065,
0.07475442439317703,
0.9904601573944092,
0.05741121992468834
] |
[
0,
0,
0
] | 0
|
[
-0.0000025033950805664062,
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0.0001386404037475586,
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0.00008843839168548584
] |
[
0.41297447681427,
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2.2340941429138184,
2.2560510635375977,
0.8456951975822449,
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0
] |
[
0.4619729518890381,
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] |
[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-1.4901161193847656e-7,
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[
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] |
[
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[
-0.05000000074505806,
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] | 0
|
[
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] |
[
0.03625873103737831,
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] |
[
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[
0,
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0
] | 0
|
[
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[
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] |
[
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] |
[
0,
0,
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] | 0
|
[
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[
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] |
[
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] |
[
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0
] | 0
|
[
8.344650268554688e-7,
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0.000049836933612823486,
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-0.000006854534149169922,
0.00005252659320831299
] |
sweep the green cloth to the left side of the table
|
[
-3.6544768810272217,
-1.3574413061141968,
2.3777339458465576,
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0
] |
[
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] |
[
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0.9904422760009766,
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] | 4.4
| 22
| 0
| 22
| 0
|
[
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] |
[
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[
-0.10000000149011612,
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] | 0
|
[
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[
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] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.0000022649765014648438,
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[
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0
] |
[
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[
0,
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0
] | 0
|
[
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] |
[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-2.9802322387695312e-8,
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[
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0
] |
[
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] |
[
-0.05000000074505806,
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0
] | 0
|
[
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0.0001647062599658966
] |
[
0.07744865119457245,
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2.1776559352874756,
0
] |
[
0.4703757166862488,
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0.0746864378452301,
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] |
[
0,
0,
0
] | 0
|
[
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0.000021182000637054443,
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] |
[
-3.2901153564453125,
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1.0440034866333008,
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0
] |
[
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0.07480093091726303,
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] |
[
0,
0,
0.15000000596046448
] | 0
|
[
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0.00004129856824874878,
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0.0001134723424911499
] |
[
-0.31870323419570923,
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0.7067687511444092,
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0
] |
[
0.2703312933444977,
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0.002973511116579175,
0.09715062379837036,
0.0747264176607132,
0.990816056728363,
0.05710754543542862
] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
7.450580596923828e-7,
-0.000002868473529815674,
-0.000006149057298898697,
0.00005330890417098999,
-0.00001879781484603882,
-0.000007033348083496094,
0.0000556260347366333
] |
sweep the green cloth to the left side of the table
|
[
-3.6661064624786377,
-1.316444754600525,
2.3496294021606445,
-2.731208562850952,
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0.02830822393298149,
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0
] |
[
-3.6661064624786377,
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0
] |
[
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0.07470761984586716,
0.9908090233802795,
0.05716317147016525,
0.09720393270254135
] | 4.6
| 23
| 0
| 23
| 0
|
[
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2.066660165786743,
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0
] |
[
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[
-0.10000000149011612,
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] | 0
|
[
-0.004473477602005005,
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] |
[
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0
] |
[
0.47835806012153625,
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0.07466062903404236,
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] |
[
0,
0,
0
] | 0
|
[
-0.000001996755599975586,
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0.00012397021055221558,
-0.000016577541828155518,
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0.00007507950067520142
] |
[
0.3349625766277313,
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2.177630662918091,
2.205437660217285,
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0
] |
[
0.4783669114112854,
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0.09338957071304321,
0.07470237463712692,
0.9911913871765137,
0.056900184601545334
] |
[
0,
0,
0
] | 0
|
[
-0.000010848045349121094,
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] |
[
-0.48254919052124023,
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3.2027199268341064,
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0
] |
[
0.47835588455200195,
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-0.004735124297440052,
0.0936538577079773,
0.07465438544750214,
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0.0566716268658638
] |
[
0,
0,
0
] | 0
|
[
1.7881393432617188e-7,
-0.0000016316771507263184,
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0.0000845491886138916,
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-0.000013172626495361328,
0.00010401755571365356
] |
[
0.4811495542526245,
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2.116654872894287,
1.331868052482605,
0.46596473455429077,
1.706557273864746,
0
] |
[
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] |
[
-0.05000000074505806,
0.10000000149011612,
0
] | 0
|
[
-0.000002950429916381836,
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3.8137659430503845e-7,
0.00003542006015777588,
-0.00010007619857788086,
-0.000005245208740234375,
0.00016515329480171204
] |
[
0.11965880542993546,
2.1372931003570557,
5.16664981842041,
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2.080416202545166,
0
] |
[
0.47840434312820435,
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0.09228135645389557,
0.07461889833211899,
0.9912749528884888,
0.05735976621508598
] |
[
0,
0,
0
] | 0
|
[
-0.000048279762268066406,
0.000014685094356536865,
-0.00003348570317029953,
0.0014570504426956177,
0.000025153160095214844,
-0.00010496377944946289,
-0.0005841217935085297
] |
[
-3.3235907554626465,
-1.354059100151062,
-0.8991485834121704,
-1.6405396461486816,
-1.5764743089675903,
1.0301371812820435,
-1.6421040296554565,
0
] |
[
0.47836118936538696,
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0.14525814354419708,
0.0937017947435379,
0.0747363492846489,
0.9911728501319885,
0.0566641129553318
] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.000005125999450683594,
-0.000004172325134277344,
0.0000019818544387817383,
0.00003661215305328369,
-0.00009229779243469238,
-0.00000286102294921875,
0.00011153146624565125
] |
[
-0.34697389602661133,
0.21817946434020996,
0.6573153138160706,
0.3011115491390228,
0.564269483089447,
-0.44110167026519775,
0
] |
[
0.27835530042648315,
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0.09368307143449783,
0.07466433942317963,
0.991176962852478,
0.056718163192272186
] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
7.748603820800781e-7,
-0.0000030174851417541504,
-0.000006200280040502548,
0.00005533546209335327,
-0.000020287930965423584,
-0.000006973743438720703,
0.000057481229305267334
] |
sweep the green cloth to the left side of the table
|
[
-3.6767537593841553,
-1.277570128440857,
2.321225643157959,
-2.7336318492889404,
-1.3858813047409058,
2.767829418182373,
0.4610709846019745,
-0.09126047044992447,
-0.07781273871660233,
0.7525671720504761,
0.6493973135948181,
0.1060357391834259,
0.026119723916053772,
0,
0
] |
[
-3.6767537593841553,
-1.277570128440857,
2.321225643157959,
-2.7336318492889404,
-1.3858813047409058,
2.767829418182373,
0
] |
[
0.4783560633659363,
-0.07357406616210938,
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0.0746440514922142,
0.9911699891090393,
0.056775644421577454,
0.09373840689659119
] | 4.8
| 24
| 0
| 24
| 0
|
[
0.3222118318080902,
1.0830155611038208,
-0.20923157036304474,
-2.094399929046631,
2.203674077987671,
0.3063115179538727,
1.3193892240524292,
0
] |
[
0.38897326588630676,
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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[
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[
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[
0,
0,
0
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|
[
3.5762786865234375e-7,
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[
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[
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[
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|
[
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[
0.16675791144371033,
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[
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[
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|
[
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[
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[
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[
0,
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] | 0
|
[
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[
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[
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[
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|
[
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0.00005587935447692871,
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0.00005848705768585205
] |
sweep the green cloth to the left side of the table
|
[
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[
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[
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] | 5
| 25
| 0
| 25
| 0
|
[
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[
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[
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|
[
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[
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[
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[
0,
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0
] | 0
|
[
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[
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] |
[
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[
0,
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0
] | 0
|
[
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[
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] |
[
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[
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0
] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
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0.00016785040497779846
] |
[
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] |
[
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[
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] | 0
|
[
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[
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0
] |
[
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[
0,
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] | 0
|
[
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[
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] |
[
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
9.834766387939453e-7,
-0.0000032782554626464844,
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0.000054582953453063965,
-0.000022351741790771484,
-0.000006377696990966797,
0.000058729201555252075
] |
sweep the green cloth to the left side of the table
|
[
-3.696192502975464,
-1.2014607191085815,
2.2599425315856934,
-2.732696294784546,
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0,
0
] |
[
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0
] |
[
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0.07441312819719315,
0.9919094443321228,
0.05563121289014816,
0.08650722354650497
] | 5.2
| 26
| 0
| 26
| 0
|
[
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] |
[
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[
-0.10000000149011612,
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] | 0
|
[
-0.000006854534149169922,
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0.0000867694616317749,
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] |
[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.0000010132789611816406,
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[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
-0.000011086463928222656,
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[
-0.48933449387550354,
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0
] |
[
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[
0,
0,
0
] | 0
|
[
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[
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] |
[
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[
-0.05000000074505806,
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] | 0
|
[
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[
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[
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[
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] | 0
|
[
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[
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[
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[
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] | 0
|
[
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[
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] |
[
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[
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] | 0
|
[
0.0000012218952178955078,
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0.00005135685205459595,
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0.000058438628911972046
] |
sweep the green cloth to the left side of the table
|
[
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0
] |
[
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0
] |
[
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0.07438966631889343,
0.9923158288002014,
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] | 5.4
| 27
| 0
| 27
| 0
|
[
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[
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[
-0.10000000149011612,
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] | 0
|
[
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[
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] |
[
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[
0,
0,
0
] | 0
|
[
-7.152557373046875e-7,
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0.000094585120677948,
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[
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[
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[
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] | 0
|
[
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[
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] |
[
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[
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0
] | 0
|
[
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[
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1.9698070287704468,
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0
] |
[
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[
-0.05000000074505806,
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0
] | 0
|
[
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0.00017108768224716187
] |
[
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0
] |
[
0.5107473731040955,
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[
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] | 0
|
[
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[
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0
] |
[
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[
0,
0,
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] | 0
|
[
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5.960464477539063e-8,
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] |
[
-0.43619224429130554,
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0
] |
[
0.31070056557655334,
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0.07439978420734406,
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] |
[
-0.20000000298023224,
0,
0
] | 0
|
[
0.0000015497207641601562,
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0.0000473707914352417,
-0.00002339482307434082,
-0.000005185604095458984,
0.000058200210332870483
] |
sweep the green cloth to the left side of the table
|
[
-3.7115836143493652,
-1.128574252128601,
2.194614887237549,
-2.7257025241851807,
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0
] |
[
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0
] |
[
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0.07437638938426971,
0.9926469326019287,
0.05372587591409683,
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] | 5.6
| 28
| 0
| 28
| 0
|
[
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] |
[
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[
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] | 0
|
[
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[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-3.5762786865234375e-7,
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[
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2.030569314956665,
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0
] |
[
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0.07516415417194366,
0.07443702965974808,
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0.05270129069685936
] |
[
0,
0,
0
] | 0
|
[
-0.000011444091796875,
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[
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0
] |
[
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] |
[
0,
0,
0
] | 0
|
[
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[
0.57997727394104,
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0
] |
[
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[
-0.05000000074505806,
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0
] | 0
|
[
-0.0000020563602447509766,
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4.6193599700927734e-7,
0.000019915401935577393,
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0.00017224624752998352
] |
[
0.4000478684902191,
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0
] |
[
0.518421471118927,
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] |
[
0,
0,
0
] | 0
|
[
-0.000013530254364013672,
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-0.00004373490810394287,
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] |
[
-3.4712865352630615,
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-1.4039331674575806,
-1.692892074584961,
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0
] |
[
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0.07446490228176117,
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] |
[
0,
0,
0.15000000596046448
] | 0
|
[
-0.000003039836883544922,
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5.811452865600586e-7,
-0.00008596479892730713,
8.940696716308594e-7,
0.00010467320680618286
] |
[
-0.450196236371994,
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-0.5153757333755493,
0
] |
[
0.31840604543685913,
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0.07549670338630676,
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[
-0.20000000298023224,
0,
0
] | 0
|
[
0.0000019073486328125,
-0.000003769993782043457,
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0.00004311650991439819,
-0.00002368539571762085,
-0.000004589557647705078,
0.00005813688039779663
] |
sweep the green cloth to the left side of the table
|
[
-3.7166495323181152,
-1.0919145345687866,
2.1634130477905273,
-2.7253072261810303,
-1.4060500860214233,
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0.7535169720649719,
0.6510023474693298,
0.09025365859270096,
0.01619950868189335,
0,
0
] |
[
-3.7166495323181152,
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2.1634130477905273,
-2.7253072261810303,
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0
] |
[
0.518407940864563,
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-0.045161884278059006,
0.07437893748283386,
0.9929749965667725,
0.0525565929710865,
0.07553981989622116
] | 5.8
| 29
| 0
| 29
| 0
|
[
0.1715640425682068,
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0
] |
[
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] |
[
-0.10000000149011612,
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] | 0
|
[
-0.0000068247318267822266,
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0.0000859871506690979,
-0.000017762184143066406,
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] |
[
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0
] |
[
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[
0,
0,
0
] | 0
|
[
-5.960464477539063e-8,
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[
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[
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[
0,
0,
0
] | 0
|
[
-0.000011563301086425781,
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[
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] |
[
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[
0,
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] | 0
|
[
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[
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] |
[
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[
-0.05000000074505806,
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] | 0
|
[
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] |
[
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] |
[
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[
0,
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] | 0
|
[
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[
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[
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[
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sweep the green cloth to the left side of the table
|
[
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[
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[
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sweep the green cloth to the left side of the table
|
[
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[
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[
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| 31
| 0
| 31
| 0
|
[
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[
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[
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|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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|
[
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[
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[
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[
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|
[
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] |
sweep the green cloth to the left side of the table
|
[
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[
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2.1036086082458496,
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0
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[
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0.07673809677362442,
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] | 6.4
| 32
| 0
| 32
| 0
|
End of preview. Expand
in Data Studio
berkeley_autolab_ur5_train_500_600
Overview
- Codebase version:
v2.1 - Robots: google_robot, images, jaco, kinova3, kuka_iiwa, panda, sawyer, widowX, xarm7
- FPS: 5.0
- Episodes: 100
- Frames: 9,886
- Videos: 900
- Chunks: 1
- Splits:
train:0:100
Data Layout
data_path : data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
video_path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4
Features
| Feature | dtype | shape | description |
|---|---|---|---|
observation.images.google_robot |
video |
480×640×3 |
Augmented image for google_robot robot |
observation.images.image |
video |
480×640×3 |
Source robot's image from original dataset |
observation.images.jaco |
video |
480×640×3 |
Augmented image for jaco robot |
observation.images.kinova3 |
video |
480×640×3 |
Augmented image for kinova3 robot |
observation.images.kuka_iiwa |
video |
480×640×3 |
Augmented image for kuka_iiwa robot |
observation.images.panda |
video |
480×640×3 |
Augmented image for panda robot |
observation.images.sawyer |
video |
480×640×3 |
Augmented image for sawyer robot |
observation.images.widowX |
video |
480×640×3 |
Augmented image for widowX robot |
observation.images.xarm7 |
video |
480×640×3 |
Augmented image for xarm7 robot |
episode_index |
int64 |
1 |
- |
frame_index |
int64 |
1 |
- |
index |
int64 |
1 |
- |
natural_language_instruction |
string |
1 |
- |
observation.ee_pose |
float32 |
7 |
Source robot's eef position |
observation.google_robot.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.google_robot.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.google_robot.ee_error |
float32 |
7 |
The eef difference between the augmented google_robot robot and the original robot |
observation.google_robot.ee_pose |
float32 |
7 |
The eef position of google_robot robot |
observation.google_robot.joints |
float32 |
8 |
The joint position of google_robot robot |
observation.jaco.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.jaco.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.jaco.ee_error |
float32 |
7 |
The eef difference between the augmented jaco robot and the original robot |
observation.jaco.ee_pose |
float32 |
7 |
The eef position of jaco robot |
observation.jaco.joints |
float32 |
7 |
The joint position of jaco robot |
observation.joints |
float32 |
7 |
Joint angle of source robot |
observation.kinova3.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.kinova3.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.kinova3.ee_error |
float32 |
7 |
The eef difference between the augmented kinova3 robot and the original robot |
observation.kinova3.ee_pose |
float32 |
7 |
The eef position of kinova3 robot |
observation.kinova3.joints |
float32 |
8 |
The joint position of kinova3 robot |
observation.kuka_iiwa.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.kuka_iiwa.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.kuka_iiwa.ee_error |
float32 |
7 |
The eef difference between the augmented kuka_iiwa robot and the original robot |
observation.kuka_iiwa.ee_pose |
float32 |
7 |
The eef position of kuka_iiwa robot |
observation.kuka_iiwa.joints |
float32 |
8 |
The joint position of kuka_iiwa robot |
observation.panda.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.panda.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.panda.ee_error |
float32 |
7 |
The eef difference between the augmented panda robot and the original robot |
observation.panda.ee_pose |
float32 |
7 |
The eef position of panda robot |
observation.panda.joints |
float32 |
8 |
The joint position of panda robot |
observation.sawyer.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.sawyer.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.sawyer.ee_error |
float32 |
7 |
The eef difference between the augmented sawyer robot and the original robot |
observation.sawyer.ee_pose |
float32 |
7 |
The eef position of sawyer robot |
observation.sawyer.joints |
float32 |
8 |
The joint position of sawyer robot |
observation.state |
float32 |
15 |
Copy of the state field in source robot's RLDS dataset |
observation.widowX.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.widowX.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.widowX.ee_error |
float32 |
7 |
The eef difference between the augmented widowX robot and the original robot |
observation.widowX.ee_pose |
float32 |
7 |
The eef position of widowX robot |
observation.widowX.joints |
float32 |
7 |
The joint position of widowX robot |
observation.xarm7.base_orientation |
float32 |
1 |
Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
observation.xarm7.base_position |
float32 |
3 |
Base translation applied so the trajectory remains achievable |
observation.xarm7.ee_error |
float32 |
7 |
The eef difference between the augmented xarm7 robot and the original robot |
observation.xarm7.ee_pose |
float32 |
7 |
The eef position of xarm7 robot |
observation.xarm7.joints |
float32 |
8 |
The joint position of xarm7 robot |
task_index |
int64 |
1 |
- |
timestamp |
float32 |
1 |
- |
Website
- Website page: https://oxe-aug.github.io/
- Project repository: https://github.com/GuanhuaJi/oxe-aug
Paper
Citation Policy
If you use OXE-Aug datasets, please cite both our dataset and the upstream datasets.
Upstream Dataset Citation (original dataset)
@misc{BerkeleyUR5Website,
title = {Berkeley {UR5} Demonstration Dataset},
author = {Lawrence Yunliang Chen and Simeon Adebola and Ken Goldberg},
howpublished = {https://sites.google.com/view/berkeley-ur5/home},
}
OXE-Aug Dataset Citation (ours)
@misc{
ji2025oxeaug,
title = {OXE-Aug: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
author = {Ji, Guanhua and Polavaram, Harsha and Chen, Lawrence Yunliang and Bajamahal, Sandeep and Ma, Zehan and Adebola, Simeon and Xu, Chenfeng and Goldberg, Ken},
year = {2025},
note = {Manuscript}
}
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