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README.md

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+# subsampled gello dataset with all tasks
+
+Filtered from `aliy98/gello_datasets_abs_joint_abs_joint_30hz_colored`.
+
+Selection:
+- tube: purple-rack episodes only
+- open and close thermal cycler: first half by episode_index
+- mantis: retain pickup positions B, D, and E; omit A and C
+
+Mantis plate pickup positions (end-effector XYZ, meters):
+- A: (-0.6414, -0.4940, omitted)
+- B: (-0.5237, -0.4932, retained)
+- C: (-0.6177, -0.0837, omitted)
+- D: (-0.5282, -0.0755, retained)
+- E: (-0.5240, -0.3141, retained)
+
+Each retained mantis position contributes 20 episodes.
+
+Episodes kept: 210
+
+Episodes by task:
+```
+task_text
+pick up the plate and place it on mantis                                             60
+open the thermal cycler                                                              50
+close the thermal cycler                                                             50
+pick up the centrifuge tube and move it to the purple rack, far left position        13
+pick up the centrifuge tube and move it to the purple rack, middle left position     13
+pick up the centrifuge tube and move it to the purple rack, far right position       12
+pick up the centrifuge tube and move it to the purple rack, middle right position    12
+```
+
+Mantis episodes by position:
+```
+position
+A    20
+B    20
+C    20
+D    20
+E    20
+```
+
+Referenced videos are copied unchanged; source file references and timestamp offsets are preserved.

data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f5b5eee194d737208e8025a8e50696c1e2fc2ff5135d8940234be877e3b2ca2
+size 6517125

meta/episode_instruction_map.csv

@@ -0,0 +1,211 @@
+episode_index,new_task,new_task_index,task_text,target_rack,kind,ee_x,ee_y,ee_z,position,source_episode_index
+0,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,1
+1,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5402950119343977,-0.06198361094241515,0.12411039365029411,D,2
+2,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,3
+3,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,4
+4,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,6
+5,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,7
+6,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.50768344974479,-0.30469775360628654,0.11887459298541594,E,8
+7,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,9
+8,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,14
+9,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,16
+10,"pick up the centrifuge tube and move it to the purple rack, far right position",3,"pick up the centrifuge tube and move it to the purple rack, far right position",purple,tube,,,,,17
+11,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5255286847199223,-0.0761426760748543,0.12511116059473426,D,18
+12,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5214651471677598,-0.07111814573418289,0.12136374756641251,D,19
+13,"pick up the centrifuge tube and move it to the purple rack, far left position",4,"pick up the centrifuge tube and move it to the purple rack, far left position",purple,tube,,,,,21
+14,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,23
+15,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,24
+16,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,25
+17,"pick up the centrifuge tube and move it to the purple rack, middle left position",5,"pick up the centrifuge tube and move it to the purple rack, middle left position",purple,tube,,,,,26
+18,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,27
+19,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,29
+20,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,30
+21,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,31
+22,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.517669054032919,-0.5053168551035598,0.11805279262411651,B,33
+23,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,34
+24,"pick up the centrifuge tube and move it to the purple rack, far left position",4,"pick up the centrifuge tube and move it to the purple rack, far left position",purple,tube,,,,,38
+25,"pick up the centrifuge tube and move it to the purple rack, far left position",4,"pick up the centrifuge tube and move it to the purple rack, far left position",purple,tube,,,,,39
+26,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,42
+27,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,43
+28,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5152633297365409,-0.5064658491319995,0.12703536166513377,B,44
+29,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,45
+30,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,46
+31,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,49
+32,"pick up the centrifuge tube and move it to the purple rack, far left position",4,"pick up the centrifuge tube and move it to the purple rack, far left position",purple,tube,,,,,51
+33,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,52
+34,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,53
+35,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,54
+36,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,55
+37,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,56
+38,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,57
+39,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,58
+40,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,59
+41,"pick up the centrifuge tube and move it to the purple rack, far right position",3,"pick up the centrifuge tube and move it to the purple rack, far right position",purple,tube,,,,,62
+42,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,63
+43,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,64
+44,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,65
+45,"pick up the centrifuge tube and move it to the purple rack, far left position",4,"pick up the centrifuge tube and move it to the purple rack, far left position",purple,tube,,,,,67
+46,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,68
+47,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5029257190461667,-0.4961891882182052,0.11905446444202925,B,69
+48,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5254276850094042,-0.303092683910676,0.11959776253616777,E,70
+49,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5087599413232718,-0.07510091778180808,0.12255767079630353,D,71
+50,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,72
+51,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,74
+52,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,75
+53,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,76
+54,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,79
+55,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5272692121503277,-0.08619371564987283,0.12757852597222993,D,80
+56,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,81
+57,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5162794927121728,-0.29003036745262334,0.11625562051134028,E,82
+58,"pick up the centrifuge tube and move it to the purple rack, far left position",4,"pick up the centrifuge tube and move it to the purple rack, far left position",purple,tube,,,,,83
+59,"pick up the centrifuge tube and move it to the purple rack, middle left position",5,"pick up the centrifuge tube and move it to the purple rack, middle left position",purple,tube,,,,,84
+60,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,86
+61,"pick up the centrifuge tube and move it to the purple rack, far right position",3,"pick up the centrifuge tube and move it to the purple rack, far right position",purple,tube,,,,,88
+62,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5098032311358389,-0.3099495009309391,0.11926749114825422,E,90
+63,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,91
+64,"pick up the centrifuge tube and move it to the purple rack, middle left position",5,"pick up the centrifuge tube and move it to the purple rack, middle left position",purple,tube,,,,,93
+65,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,96
+66,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,97
+67,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,98
+68,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,99
+69,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,102
+70,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,103
+71,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,104
+72,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,106
+73,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5170512660614706,-0.06917113127370308,0.12484168286173197,D,108
+74,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5060832202072743,-0.31898232118100805,0.12111490479304113,E,109
+75,"pick up the centrifuge tube and move it to the purple rack, far right position",3,"pick up the centrifuge tube and move it to the purple rack, far right position",purple,tube,,,,,110
+76,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,111
+77,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5207018438108604,-0.3082764531008129,0.12157132950455972,E,112
+78,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5244465506498741,-0.3183437359686183,0.12053270462625794,E,113
+79,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,114
+80,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,115
+81,"pick up the centrifuge tube and move it to the purple rack, far right position",3,"pick up the centrifuge tube and move it to the purple rack, far right position",purple,tube,,,,,117
+82,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,118
+83,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5066856776628847,-0.48976742374674254,0.12242042298243894,B,119
+84,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,121
+85,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5234545114369881,-0.4956888192117349,0.12200390837108425,B,122
+86,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,124
+87,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,125
+88,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,126
+89,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,128
+90,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,130
+91,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,131
+92,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,132
+93,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5091220270116266,-0.29075916093612775,0.11690692739415653,E,133
+94,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,134
+95,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,135
+96,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,137
+97,"pick up the centrifuge tube and move it to the purple rack, middle left position",5,"pick up the centrifuge tube and move it to the purple rack, middle left position",purple,tube,,,,,138
+98,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,139
+99,"pick up the centrifuge tube and move it to the purple rack, far left position",4,"pick up the centrifuge tube and move it to the purple rack, far left position",purple,tube,,,,,141
+100,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5132377550128214,-0.4931258479348496,0.11705515947298215,B,143
+101,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5241597764550209,-0.09089083199600853,0.12397860312116549,D,145
+102,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,147
+103,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5170478037745976,-0.5063539586529158,0.12022040427591013,B,149
+104,"pick up the centrifuge tube and move it to the purple rack, middle left position",5,"pick up the centrifuge tube and move it to the purple rack, middle left position",purple,tube,,,,,150
+105,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,151
+106,"pick up the centrifuge tube and move it to the purple rack, far right position",3,"pick up the centrifuge tube and move it to the purple rack, far right position",purple,tube,,,,,155
+107,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,156
+108,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,157
+109,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,159
+110,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,160
+111,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5266199156816341,-0.09372273363892433,0.12394838023280519,D,161
+112,"pick up the centrifuge tube and move it to the purple rack, middle left position",5,"pick up the centrifuge tube and move it to the purple rack, middle left position",purple,tube,,,,,162
+113,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,163
+114,"pick up the centrifuge tube and move it to the purple rack, far right position",3,"pick up the centrifuge tube and move it to the purple rack, far right position",purple,tube,,,,,164
+115,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,165
+116,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,167
+117,"pick up the centrifuge tube and move it to the purple rack, far left position",4,"pick up the centrifuge tube and move it to the purple rack, far left position",purple,tube,,,,,168
+118,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5567087286793013,-0.4910575754930553,0.11866023446672376,B,170
+119,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,172
+120,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.4968725996639791,-0.3005435961163687,0.12155551329300465,E,173
+121,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,175
+122,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,176
+123,"pick up the centrifuge tube and move it to the purple rack, far left position",4,"pick up the centrifuge tube and move it to the purple rack, far left position",purple,tube,,,,,177
+124,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,178
+125,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5214261918285283,-0.07587540630655133,0.11955174712899955,D,180
+126,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,181
+127,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,182
+128,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5282502137479137,-0.06786939737654317,0.12245967143364256,D,183
+129,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,184
+130,"pick up the centrifuge tube and move it to the purple rack, middle left position",5,"pick up the centrifuge tube and move it to the purple rack, middle left position",purple,tube,,,,,185
+131,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5273683143488961,-0.5095735738564191,0.11961206189369425,B,186
+132,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,187
+133,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,188
+134,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,189
+135,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,190
+136,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,191
+137,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,194
+138,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5384559416054381,-0.06332616890875967,0.12250868891930895,D,195
+139,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,196
+140,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,197
+141,"pick up the centrifuge tube and move it to the purple rack, far right position",3,"pick up the centrifuge tube and move it to the purple rack, far right position",purple,tube,,,,,198
+142,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.49483642303972625,-0.3180314064227521,0.12554455292146838,E,199
+143,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,200
+144,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,201
+145,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,202
+146,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,203
+147,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,205
+148,open the thermal cycler,1,open the thermal cycler,,open_thermal,,,,,207
+149,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,208
+150,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5338317239142298,-0.3212825701352843,0.11900332092423885,E,211
+151,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,213
+152,"pick up the centrifuge tube and move it to the purple rack, far left position",4,"pick up the centrifuge tube and move it to the purple rack, far left position",purple,tube,,,,,216
+153,"pick up the centrifuge tube and move it to the purple rack, middle left position",5,"pick up the centrifuge tube and move it to the purple rack, middle left position",purple,tube,,,,,217
+154,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,219
+155,"pick up the centrifuge tube and move it to the purple rack, middle right position",6,"pick up the centrifuge tube and move it to the purple rack, middle right position",purple,tube,,,,,221
+156,"pick up the centrifuge tube and move it to the purple rack, middle left position",5,"pick up the centrifuge tube and move it to the purple rack, middle left position",purple,tube,,,,,222
+157,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,223
+158,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.49242254949441644,-0.4865674017875918,0.12219798986780954,B,224
+159,close the thermal cycler,2,close the thermal cycler,,close_thermal,,,,,225
+160,"pick up the centrifuge tube and move it to the purple rack, middle right position",6,"pick up the centrifuge tube and move it to the purple rack, middle right position",purple,tube,,,,,234
+161,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.4960183550820279,-0.31407200798339624,0.11758824609443688,E,236
+162,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5104151883972093,-0.48645983975533935,0.11642697884252201,B,242
+163,"pick up the centrifuge tube and move it to the purple rack, middle right position",6,"pick up the centrifuge tube and move it to the purple rack, middle right position",purple,tube,,,,,246
+164,"pick up the centrifuge tube and move it to the purple rack, far right position",3,"pick up the centrifuge tube and move it to the purple rack, far right position",purple,tube,,,,,251
+165,"pick up the centrifuge tube and move it to the purple rack, middle right position",6,"pick up the centrifuge tube and move it to the purple rack, middle right position",purple,tube,,,,,254
+166,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5135091934177476,-0.3090975662720661,0.11838952774734066,E,256
+167,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.49833433794259874,-0.31895350616652507,0.12540199634123605,E,262
+168,"pick up the centrifuge tube and move it to the purple rack, middle right position",6,"pick up the centrifuge tube and move it to the purple rack, middle right position",purple,tube,,,,,263
+169,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5192612950927896,-0.07038963926152277,0.11917876506407199,D,270
+170,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5101632111119176,-0.2889829049848174,0.1165186325536611,E,273
+171,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5153929307663234,-0.4942379441866551,0.11716878448722463,B,274
+172,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5352766582565888,-0.07567762913119157,0.1202572044321451,D,275
+173,"pick up the centrifuge tube and move it to the purple rack, middle right position",6,"pick up the centrifuge tube and move it to the purple rack, middle right position",purple,tube,,,,,283
+174,"pick up the centrifuge tube and move it to the purple rack, far left position",4,"pick up the centrifuge tube and move it to the purple rack, far left position",purple,tube,,,,,284
+175,"pick up the centrifuge tube and move it to the purple rack, far right position",3,"pick up the centrifuge tube and move it to the purple rack, far right position",purple,tube,,,,,285
+176,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5310115352795293,-0.10785449277821577,0.12188110620834333,D,288
+177,"pick up the centrifuge tube and move it to the purple rack, middle right position",6,"pick up the centrifuge tube and move it to the purple rack, middle right position",purple,tube,,,,,292
+178,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5032222289186166,-0.49448625402972907,0.12137433138091197,B,293
+179,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5013677030987378,-0.4892484926942987,0.12226475494453974,B,297
+180,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5187085102635882,-0.09898544941768758,0.12478391944908594,D,301
+181,pick up the plate and place it on mantis,0,pick up the plate and place it on mantis,,mantis,-0.5251475320783734,-0.4891803498852503,0.12092466100876759,B,303
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+184,"pick up the centrifuge tube and move it to the purple rack, far right position",3,"pick up the centrifuge tube and move it to the purple rack, far right position",purple,tube,,,,,312
+185,"pick up the centrifuge tube and move it to the purple rack, middle right position",6,"pick up the centrifuge tube and move it to the purple rack, middle right position",purple,tube,,,,,313
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+209,"pick up the centrifuge tube and move it to the purple rack, middle left position",5,"pick up the centrifuge tube and move it to the purple rack, middle left position",purple,tube,,,,,397

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