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"},{"pose":[-0.4,2.8,270.0,0],"dist":2.777,"obs":"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"},{"pose":[-2.0,2.5,270.0,0],"dist":1.151,"obs":"IxQjFSMWIxcjGCQTJBQkFSQWJBckGCQZJBokGyQcJRIlEyUUJRUlFiUXJRglGSUaJRsmESYSJhMmFCYVJhYmFyYYJhkmGiYbJxEnEicTJxQnFScWJxcnGCcZJxonGygPKBAoESgSKBMoFCgVKBYoFygYKBkoGigbKQ8pECkRKRIpEykUKRUpFikXKRgpGSkaKRsqDyoQKhEqEioTKhQqFSoWKhcqGCoZKhoqGyocKxArESsSKxMrFCsVKxYrFysYKxkrGisbKxwsECwRLBIsEywULBUsFiwXLBgsGSwaLBssHC0QLREtEi0TLRQtFS0WLRctGC0ZLRotGy0cLhAuES4SLhMuFC4VLhYuFy4YLhkuGi4bLhwvDy8QLxEvEi8TLxQvFS8WLxcvGC8ZLxovGy8cMA8wEDARMBIwEzAUMBUwFjAXMBgwGTAaMBswHDEPMRAxETESMRMxFDEVMRYxFzEYMRkxGjEbMRwyDzIQMhEyEjITMhQyFTIWMhcyGDIZMhoyGzMPMxAzETMSMxMzFDMVMxYzFzMYMxkzGjMbNA80EDQRNBI0EzQUNBU0FjQXNBg0GTQaNBs1DzUQNRE1EjUTNRQ1FTUWNRc1GDUZNRo1GzYPNhA2ETYSNhM2FDYVNhY2FzYYNhk2GjYbNw83EDcRNxI3EzcVNxc3GTcaNxs3HDgPOBA4ETgSOBM4FDgWOBc4GDgZOBo4GzgcOQ85EDkRORI5EzkVORY5FzkYORk5GjkbORw6DzoQOhE6EjoTOhQ6FToWOhc6GDoZOho6GzocOw87EDsROxI7EzsVOxY7FzsYOxk7GjsbOxw8DzwQPBE8EjwTPBQ8FTwWPBc8GDwZPBo8GzwcPQ89ED0RPRI9Ez0UPRU9Fj0XPRg9GT0aPRs9HD4QPhE+Ej4TPhQ+FT4WPhc+GD4ZPho+Gz4cPh0+Hj8QPxE/Ej8TPxQ/FT8WPxc/GD8ZPxo/Gz8cPx0/HkAQQBFAEkATQBRAFUAWQBdAGEAZQBpAG0AcQRBBEUESQRNBFEEVQRZBF0EYQRlBGkEbQRxCEEIRQhJCE0IUQhVCFkIXQhhCGUIaQhtCHEMQQxFDEkMTQxRDFUMWQxdDGEMZQxpDG0McRBBEEUQSRBNEFEQVRBZEF0QYRBlEGkQbRBxFEEURRRJFE0UURRVFFkUXRRhFGkUbRRxGEEYRRhJGE0YURhVGFkYXRhhGGUYaRhtHEEcRRxJHE0cURxVHFkcXRxhHGUcaRxtIEEgRSBJIE0gUSBVIFkgXSBhIGUgaSBtIHEkQSRFJEkkTSRRJFUkWSRdJGEkZSRpJG0kcShBKEUoSShNKFEoVShZKF0oYShlKGkobShxLDEsNSw5LD0sQSxFLEksTSxRLFUsWSxdLGEsZSxpLG0scTA1MDkwPTBBMEUwSTBNMFEwVTBZMF0wYTBpMG0wcTQ5ND00QTRFNEk0TTRRNFU0WTRdNGE0aTRtNHE4PThBOEU4SThNOFE4VThZOF04YThlOGk4bTxBPEU8STxNPFE8VTxZPF08YTxlPGk8bUBBQEVASUBNQFFAVUBZQF1AYUBlQGlAbURFRElETURRRFVEWURdRGFEZURpRG1ISUhNSFFIVUhZSF1IYUhlSGlIbUxNTFFMVUxZTF1MYUxlTGlMbVBRUFVQWVBdUGFQZVBo=","floor":"HwwfDR8O","facts":{"task":{"instruction":"I need a vessel to boil pasta for dinner. Can you navigate to that object and stay close?","target_object":"pot","success_rule":"the episode succeeds as soon as the robot stands within 1 m of the target object","step":9,"steps_left":12},"target":{"visible":true,"sector":"center","distance":"0.5 to 1 m","note":"the estimate reads under 1 m but the episode has not ended, so the true distance is still over 1 m: keep closing in on the target"},"free_distance_ahead_by_sector":{"far_left":"0.5 to 1 m","left":"0.5 to 1 m","center":"0.5 to 1 m","right":"0.5 to 1 m","far_right":"0.5 to 1 m"},"move_check":{"move_ahead":"clear","move_back":"unknown","move_left":"unknown","move_right":"unknown"},"move_ahead_check_saw_the_floor":false,"camera_pitch":"level","recent_actions":[{"action":"move_ahead","result":"success"},{"action":"move_ahead","result":"success"},{"action":"move_left","result":"success"}]},"visible":true,"box":[193.9,320.6,257.0,378.0],"est":0.84,"free":{"far_left":0.795,"left":0.779,"center":0.781,"right":0.807,"far_right":0.7},"blockPx":0,"action":"move_ahead","ok":true,"p":{"rotate_left":0.0,"move_left":0.0,"look_down":0.0,"look_up":0.0,"move_right":0.0,"move_back":0.0,"move_ahead":1.0,"rotate_right":0.0},"dir":null,"dirP":null,"tokens":1601,"jevMs":276},{"pose":[-2.2,2.5,270.0,0],"dist":0.952,"obs":"IxQjFSQTJBQkFSQWJBckGCUSJRMlFCUVJRYlFyUYJhEmEiYTJhQmFSYWJhcmGCcQJxEnEicTJxQnFScWJxcnGCgQKBEoEigTKBQoFSgWKBcoGCkPKRApESkSKRMpFCkVKRYpFykYKg4qDyoQKhEqEioTKhQqFSoWKhcqGCsNKw4rDysQKxErEisTKxQrFSsWKxcrGCwMLA0sDiwPLBAsESwSLBMsFCwVLBYsFywYLQwtDS0OLQ8tEC0RLRItEy0ULRUtFi0XLRguDS4OLg8uEC4RLhIuEy4ULhUuFi4XLhgvDC8NLw4vDy8QLxEvEi8TLxQvFS8WLxcvGDALMAwwDTAOMA8wEDARMBIwEzAUMBUwFjAXMBgxCzEMMQ0xDjEPMRAxETESMRMxFDEVMRYxFzEYMgsyDDINMg4yDzIQMhEyEjITMhQyFTIWMhcyGDMMMw0zDjMPMxAzETMSMxMzFDMVMxYzFzMYNAw0DTQONA80EDQRNBI0EzQUNBU0FjQXNBg1DDUNNQ41DzUQNRE1EjUTNRQ1FTUWNRc1GDYMNg02DjYPNhA2ETYSNhM2FDYVNhY2FzYYNww3DTcONw83EDcRNxI3EzcUNxU3FjcXNxg4DDgNOA44DzgQOBE4EjgTOBQ4FTgWOBc4GDkMOQ05DjkPORA5ETkSORM5FDkVORY5FzkYOgw6DToOOg86EDoROhI6EzoUOhU6FjoXOhg7DDsNOw47DzsQOxE7EjsTOxQ7FTsWOxc7GDwLPAw8DTwOPA88EDwRPBI8EzwUPBU8FjwXPBg9Cz0MPQ09Dj0PPRA9ET0SPRM9FD0VPRY9Fz0YPRk+DD4NPg4+Dz4QPhE+Ej4TPhQ+FT4WPhc+GD4ZPho/DD8NPw4/Dz8QPxE/Ej8TPxQ/FT8WPxc/GD8ZPxpADEANQA5AD0AQQBFAEkATQBRAFUAWQBdAGEEMQQ1BDkEPQRBBEUESQRNBFEEVQRZBF0EYQgxCDUIOQg9CEEIRQhJCE0IUQhVCFkIXQhhDDEMNQw5DD0MQQxFDEkMTQxRDFUMWQxdDGEQMRA1EDkQPRBBEEUQSRBNEFEQWRBdEGEUMRQ1FDkUPRRBFEUUSRRNFFEUVRRdFGEYMRg1GDkYPRhBGEUYSRhNGFEYVRhZGF0YYRwxHDUcORw9HEEcRRxJHE0cURxVHFkcXRxhIDEgNSA5ID0gQSBFIE0gUSBVIFkgXSBhJDEkNSQ5JD0kQSRFJEkkTSRRJFkkXSRhKDEoNSg5KD0oQShFKEkoTShRKFkoYShlLDEsNSw5LD0sQSxFLEksTSxRLFksYTA1MDkwPTBBMEUwSTBNMFEwWTBhNDk0PTRBNEU0STRNNFE0WTRhOD04QThFOEk4TThROFU4WThhPEE8RTxJPE08UTxVPFk8YUBFQElATUBRQFVAWUBdQGFERURJRE1EUURVRFlEXURhSElITUhRSFVIWUhdSGFMTUxRTFVMWUxdTGA==","floor":""}]