observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 1 1 | skill.natural_language stringclasses 7
values | skill.verification_question stringclasses 3
values | skill.type stringclasses 5
values | skill.progress float32 0 0.98 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0.49 35 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 30.3 | frame_index int64 0 303 | episode_index int64 0 19 | index int64 0 5.32k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.109598 | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.1 | 71 | 4 | 1,100 | 0 | ||
[
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.143295 | [
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] | [
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1.570745587348938,
1.4960365295410156,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.2 | 72 | 4 | 1,101 | 0 | ||
[
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] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.18002 | [
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35
] | [
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0.15238207578659058,
1.570745587348938,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.3 | 73 | 4 | 1,102 | 0 | ||
[
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] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.219851 | [
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] | [
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] | 35 | close the top drawer 7cm | [
0,
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0
] | 7.4 | 74 | 4 | 1,103 | 0 | ||
[
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] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.262698 | [
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.5 | 75 | 4 | 1,104 | 0 | ||
[
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] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.308556 | [
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35
] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.6 | 76 | 4 | 1,105 | 0 | ||
[
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35
] | [
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35
] | [
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3.022987127304077,
1.0064611434936523,
2.817418336868286
] | 1 | push drawer_handle: descend to pre-contact | move | 0.354379 | [
4.189888954162598,
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69.3113784790039,
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35
] | [
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0.15238207578659058,
1.570745587348938,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.7 | 77 | 4 | 1,106 | 0 | ||
[
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44.818180084228516,
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35
] | [
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35
] | [
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3.014127254486084,
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2.809856414794922
] | 1 | push drawer_handle: descend to pre-contact | move | 0.402743 | [
4.189888954162598,
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69.3113784790039,
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35
] | [
0.30252841114997864,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.8 | 78 | 4 | 1,107 | 0 | ||
[
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47,
8.666959762573242,
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35
] | [
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35
] | [
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3.0052430629730225,
1.067154049873352,
2.8021371364593506
] | 1 | push drawer_handle: descend to pre-contact | move | 0.450648 | [
4.189888954162598,
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69.3113784790039,
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35
] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.9 | 79 | 4 | 1,108 | 0 | ||
[
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35
] | [
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35
] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.499514 | [
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35
] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8 | 80 | 4 | 1,109 | 0 | ||
[
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35
] | [
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35
] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.549008 | [
4.189888954162598,
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69.3113784790039,
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35
] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.1 | 81 | 4 | 1,110 | 0 | ||
[
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] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.598596 | [
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.2 | 82 | 4 | 1,111 | 0 | ||
[
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35
] | [
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35
] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.646941 | [
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.3 | 83 | 4 | 1,112 | 0 | ||
[
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35
] | [
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35
] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.693323 | [
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35
] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.4 | 84 | 4 | 1,113 | 0 | ||
[
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35
] | [
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35
] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.738807 | [
4.189888954162598,
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69.3113784790039,
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35
] | [
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0.15238207578659058,
1.570745587348938,
1.4960365295410156,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.5 | 85 | 4 | 1,114 | 0 | ||
[
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35
] | [
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35
] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.776926 | [
4.189888954162598,
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35
] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.6 | 86 | 4 | 1,115 | 0 | ||
[
4.200442314147949,
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35
] | [
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35
] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.800706 | [
4.189888954162598,
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35
] | [
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1.570745587348938,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.7 | 87 | 4 | 1,116 | 0 | ||
[
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35
] | [
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35
] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.822005 | [
4.189888954162598,
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69.3113784790039,
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35
] | [
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1.4960365295410156,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.8 | 88 | 4 | 1,117 | 0 | ||
[
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35
] | [
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35
] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.843624 | [
4.189888954162598,
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35
] | [
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1.570745587348938,
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] | 35 | close the top drawer 7cm | [
0,
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0
] | 8.9 | 89 | 4 | 1,118 | 0 | ||
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9 | 90 | 4 | 1,119 | 0 | ||
[
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] | [
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0,
0,
0
] | 9.1 | 91 | 4 | 1,120 | 0 | ||
[
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.2 | 92 | 4 | 1,121 | 0 | ||
[
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] | [
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.3 | 93 | 4 | 1,122 | 0 | ||
[
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] | [
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] | [
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.4 | 94 | 4 | 1,123 | 0 | ||
[
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] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.968806 | [
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.5 | 95 | 4 | 1,124 | 0 | ||
[
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] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.970442 | [
4.189888954162598,
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.6 | 96 | 4 | 1,125 | 0 | ||
[
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35
] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.970442 | [
4.189888954162598,
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69.3113784790039,
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35
] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.7 | 97 | 4 | 1,126 | 0 | ||
[
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35
] | [
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] | [
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0.13734886050224304,
2.3393356800079346,
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.970442 | [
4.189888954162598,
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69.3113784790039,
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35
] | [
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1.570745587348938,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.8 | 98 | 4 | 1,127 | 0 | ||
[
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35
] | [
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35
] | [
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0.13734886050224304,
2.3393356800079346,
1.466988205909729,
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.970442 | [
4.189888954162598,
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69.3113784790039,
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35
] | [
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0.15238207578659058,
1.570745587348938,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.9 | 99 | 4 | 1,128 | 0 | ||
[
4.200442314147949,
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35
] | [
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68.92810821533203,
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35
] | [
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0.13734886050224304,
2.3393356800079346,
1.466988205909729,
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.970442 | [
4.189888954162598,
-22.487844467163086,
69.3113784790039,
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35
] | [
0.30252841114997864,
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0.15238207578659058,
1.570745587348938,
1.4960365295410156,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 10 | 100 | 4 | 1,129 | 0 | ||
[
4.200442314147949,
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69.7272720336914,
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35
] | [
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68.92810821533203,
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35
] | [
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0.13734886050224304,
2.3393356800079346,
1.466988205909729,
2.1510369777679443
] | 1 | push drawer_handle: descend to pre-contact | move | 0.970442 | [
4.189888954162598,
-22.487844467163086,
69.3113784790039,
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35
] | [
0.30252841114997864,
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0.15238207578659058,
1.570745587348938,
1.4960365295410156,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 10.1 | 101 | 4 | 1,130 | 0 | ||
[
4.200442314147949,
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69.7272720336914,
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35
] | [
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68.92810821533203,
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35
] | [
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0.13734886050224304,
2.3393356800079346,
1.466988205909729,
2.1510369777679443
] | 1 | push drawer_handle: descend to pre-contact | move | 0.970442 | [
4.189888954162598,
-22.487844467163086,
69.3113784790039,
-35.328041076660156,
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35
] | [
0.30252841114997864,
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0.15238207578659058,
1.570745587348938,
1.4960365295410156,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 10.2 | 102 | 4 | 1,131 | 0 | ||
[
4.200442314147949,
-20.253700256347656,
69.7272720336914,
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35
] | [
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68.92810821533203,
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35
] | [
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0.13734886050224304,
2.3393356800079346,
1.466988205909729,
2.1510369777679443
] | 1 | push drawer_handle: descend to pre-contact | move | 0.970442 | [
4.189888954162598,
-22.487844467163086,
69.3113784790039,
-35.328041076660156,
-0.8058608174324036,
35
] | [
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0.15238207578659058,
1.570745587348938,
1.4960365295410156,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 10.3 | 103 | 4 | 1,132 | 0 | ||
[
4.200442314147949,
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69.7272720336914,
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] | [
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0.13807927072048187,
2.3175535202026367,
1.4690908193588257,
2.1293697357177734
] | 1 | Push the drawer handle 7cm to close it | move_linear | 0 | [
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28.98348045349121,
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35
] | [
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0.13697557151317596,
1.5708049535751343,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 10.4 | 104 | 4 | 1,133 | 0 | ||
[
4.200442314147949,
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] | [
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0.13807927072048187,
2.3175535202026367,
1.4690908193588257,
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] | 1 | Push the drawer handle 7cm to close it | move_linear | 0 | [
-3.6411654949188232,
28.98348045349121,
7.757235050201416,
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35
] | [
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0.13697557151317596,
1.5708049535751343,
1.4960365295410156,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 10.5 | 105 | 4 | 1,134 | 0 | ||
[
4.200442314147949,
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] | [
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0.13790838420391083,
2.317553997039795,
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] | 1 | Push the drawer handle 7cm to close it | move_linear | 0 | [
-3.6411654949188232,
28.98348045349121,
7.757235050201416,
-29.305137634277344,
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35
] | [
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0.13697557151317596,
1.5708049535751343,
1.4960365295410156,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 10.6 | 106 | 4 | 1,135 | 0 | ||
[
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] | [
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2.2948663234710693,
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] | 1 | Push the drawer handle 7cm to close it | move_linear | 0 | [
-3.6411654949188232,
28.98348045349121,
7.757235050201416,
-29.305137634277344,
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] | [
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0.13697557151317596,
1.5708049535751343,
1.4960365295410156,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 10.7 | 107 | 4 | 1,136 | 0 | ||
[
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] | [
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2.2948660850524902,
1.4711434841156006,
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] | 1 | Push the drawer handle 7cm to close it | move_linear | 0 | [
-3.6411654949188232,
28.98348045349121,
7.757235050201416,
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35
] | [
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0.13697557151317596,
1.5708049535751343,
1.4960365295410156,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 10.8 | 108 | 4 | 1,137 | 0 | ||
[
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] | 14.1 | 141 | 4 | 1,170 | 0 | ||
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] | 14.3 | 143 | 4 | 1,172 | 0 | ||
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] | 14.4 | 144 | 4 | 1,173 | 0 | ||
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] | 14.5 | 145 | 4 | 1,174 | 0 | ||
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] | 14.6 | 146 | 4 | 1,175 | 0 | ||
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] | 15.5 | 155 | 4 | 1,184 | 0 | ||
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] | 15.6 | 156 | 4 | 1,185 | 0 | ||
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] | 15.7 | 157 | 4 | 1,186 | 0 | ||
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] | 15.8 | 158 | 4 | 1,187 | 0 | ||
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] | 15.9 | 159 | 4 | 1,188 | 0 | ||
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] | 16 | 160 | 4 | 1,189 | 0 | ||
[
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] | 16.1 | 161 | 4 | 1,190 | 0 | ||
[
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] | 16.200001 | 162 | 4 | 1,191 | 0 | ||
[
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] | 16.299999 | 163 | 4 | 1,192 | 0 | ||
[
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] | 16.4 | 164 | 4 | 1,193 | 0 | ||
[
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] | [
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] | 35 | close the top drawer 7cm | [
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] | 16.5 | 165 | 4 | 1,194 | 0 | ||
[
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0,
0,
0
] | 16.6 | 166 | 4 | 1,195 | 0 | ||
[
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0,
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0
] | 16.700001 | 167 | 4 | 1,196 | 0 | ||
[
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7.757235050201416,
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35
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 16.799999 | 168 | 4 | 1,197 | 0 | ||
[
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] | 1 | Push the drawer handle 7cm to close it | move_linear | 0.885294 | [
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28.98348045349121,
7.757235050201416,
-29.305137634277344,
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35
] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 16.9 | 169 | 4 | 1,198 | 0 | ||
[
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] | 1 | Push the drawer handle 7cm to close it | move_linear | 0.894394 | [
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28.98348045349121,
7.757235050201416,
-29.305137634277344,
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35
] | [
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1.5708049535751343,
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1.5484349727630615
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 17 | 170 | 4 | 1,199 | 0 |
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