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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-6.558585166931152,
-87.90697479248047,
92.7272720336914,
64.62824249267578,
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0.4940014183521271
] | [
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0.1655673384666443,
0.0050070323050022125,
0.04709726199507713,
3.088345766067505,
0.617745578289032,
3.088197708129883
] | 1 | Move to safe parking position | Is the robot in the safe position? | move_free | 0.848513 | [
-5.369807720184326,
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99.27371978759766,
67.29175567626953,
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] | [
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] | 0.494001 | [
0,
0,
0
] | 27.1 | 271 | 4 | 1,300 | 0 | ||
[
-6.263817310333252,
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] | [
0.1649487018585205,
0.004208478610962629,
0.04470529407262802,
3.087653160095215,
0.6238554120063782,
3.0816588401794434
] | 1 | Move to safe parking position | Is the robot in the safe position? | move_free | 0.885813 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
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] | [
0.16400936245918274,
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3.09017014503479,
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] | 0.494001 | [
0,
0,
0
] | 27.200001 | 272 | 4 | 1,301 | 0 | ||
[
-6.190125465393066,
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] | [
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] | [
0.1640334129333496,
0.003986737225204706,
0.04187746345996857,
3.08782696723938,
0.622327983379364,
3.080226182937622
] | 1 | Move to safe parking position | Is the robot in the safe position? | move_free | 0.914562 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
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] | [
0.16400936245918274,
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3.09017014503479,
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] | 0.494001 | [
0,
0,
0
] | 27.299999 | 273 | 4 | 1,302 | 0 | ||
[
-6.190125465393066,
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97,
66.30004119873047,
-0.8058608174324036,
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] | [
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] | [
0.16373708844184875,
0.00397764565423131,
0.04014553502202034,
3.0873045921325684,
0.6269105076789856,
3.079920768737793
] | 1 | Move to safe parking position | Is the robot in the safe position? | move_free | 0.942183 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
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] | [
0.16400936245918274,
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] | 0.494001 | [
0,
0,
0
] | 27.4 | 274 | 4 | 1,303 | 0 | ||
[
-6.116433143615723,
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] | [
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] | [
0.16510389745235443,
0.003825722960755229,
0.04136613383889198,
3.0851798057556152,
0.6452386379241943,
3.07712459564209
] | 1 | Move to safe parking position | Is the robot in the safe position? | move_free | 0.956494 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
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3.09017014503479,
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] | 0.494001 | [
0,
0,
0
] | 27.5 | 275 | 4 | 1,304 | 0 | ||
[
-6.116433143615723,
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66.6520004272461,
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] | [
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99,
67.24905395507812,
-0.6111235022544861,
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] | [
0.16550056636333466,
0.0038372883573174477,
0.04197542369365692,
3.0840952396392822,
0.6544020175933838,
3.0764682292938232
] | 1 | Move to safe parking position | Is the robot in the safe position? | move_free | 0.967629 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 27.6 | 276 | 4 | 1,305 | 0 | ||
[
-4.937361717224121,
-96.78646850585938,
97.81818389892578,
67.09194946289062,
-0.8058608174324036,
0.73041170835495
] | [
-4.937361717224121,
-96.78646850585938,
97.81818389892578,
67.09194946289062,
-0.8058608174324036,
0.73041170835495
] | [
0.16484589874744415,
0.0007243392174132168,
0.04091911017894745,
3.084639549255371,
0.6498202681541443,
3.0522549152374268
] | 1 | move to initial state | move_initial | 0 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0 | 0 | 5 | 1,306 | 0 | |||
[
-4.937361717224121,
-96.78646850585938,
97.81818389892578,
67.09194946289062,
-0.8058608174324036,
0.7296223640441895
] | [
-4.92419958114624,
-96.61162567138672,
97.68663024902344,
67.03952026367188,
-0.8058608174324036,
0.7296223640441895
] | [
0.16484589874744415,
0.0007243392174132168,
0.04091911017894745,
3.084639549255371,
0.6498202681541443,
3.0522549152374268
] | 1 | move to initial state | move_initial | 0 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.1 | 1 | 5 | 1,307 | 0 | |||
[
-4.937361717224121,
-96.78646850585938,
97.81818389892578,
67.09194946289062,
-0.8058608174324036,
0.7275494933128357
] | [
-4.889632701873779,
-96.15245056152344,
97.34114074707031,
66.90181732177734,
-0.8058608174324036,
0.7275494933128357
] | [
0.16484589874744415,
0.0007243392174132168,
0.04091911017894745,
3.084639549255371,
0.6498202681541443,
3.0522549152374268
] | 1 | move to initial state | move_initial | 0 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.2 | 2 | 5 | 1,308 | 0 | |||
[
-4.937361717224121,
-96.78646850585938,
97.81818389892578,
67.09194946289062,
-0.8058608174324036,
0.724192202091217
] | [
-4.833649635314941,
-95.4087905883789,
96.78160095214844,
66.6788101196289,
-0.8058608174324036,
0.724192202091217
] | [
0.16484589874744415,
0.0007243392174132168,
0.04091911017894745,
3.084639549255371,
0.6498202681541443,
3.0522549152374268
] | 1 | move to initial state | move_initial | 0 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.3 | 3 | 5 | 1,309 | 0 | |||
[
-4.937361717224121,
-96.701904296875,
97.81818389892578,
67.09194946289062,
-0.8058608174324036,
0.7195996642112732
] | [
-4.7570672035217285,
-94.39148712158203,
96.01616668701172,
66.37373352050781,
-0.8058608174324036,
0.7195996642112732
] | [
0.16472969949245453,
0.0007238041143864393,
0.040772534906864166,
3.084820032119751,
0.6482930779457092,
3.052363872528076
] | 1 | move to initial state | move_initial | 0.000791 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.4 | 4 | 5 | 1,310 | 0 | |||
[
-4.937361717224121,
-96.10993957519531,
97.63636016845703,
67.09194946289062,
-0.8058608174324036,
0.7138333916664124
] | [
-4.66091251373291,
-93.11419677734375,
95.05512237548828,
65.9906997680664,
-0.8058608174324036,
0.7138333916664124
] | [
0.16415837407112122,
0.0007211722549982369,
0.04039798304438591,
3.085716485977173,
0.6406568884849548,
3.0529024600982666
] | 1 | move to initial state | move_initial | 0.008123 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.5 | 5 | 5 | 1,311 | 0 | |||
[
-4.937361717224121,
-94.9260025024414,
97.54545593261719,
67.09194946289062,
-0.8058608174324036,
0.7069476842880249
] | [
-4.546091079711914,
-91.58894348144531,
93.90750122070312,
65.5333023071289,
-0.8058608174324036,
0.7069476842880249
] | [
0.16263048350811005,
0.0007141358219087124,
0.038697876036167145,
3.0880002975463867,
0.6208004355430603,
3.0542495250701904
] | 1 | move to initial state | move_initial | 0.019978 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.6 | 6 | 5 | 1,312 | 0 | |||
[
-4.937361717224121,
-93.65750885009766,
97.18181610107422,
66.91596984863281,
-0.8058608174324036,
0.6990288496017456
] | [
-4.4140424728393555,
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92.58769989013672,
65.00728607177734,
-0.8058608174324036,
0.6990288496017456
] | [
0.16173876821994781,
0.000710028107278049,
0.03808083012700081,
3.089543581008911,
0.6070525050163269,
3.05513858795166
] | 1 | move to initial state | move_initial | 0.035249 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.7 | 7 | 5 | 1,313 | 0 | |||
[
-4.937361717224121,
-92.13530731201172,
96.36363983154297,
66.91596984863281,
-0.8058608174324036,
0.6901617646217346
] | [
-4.266180992126465,
-87.87068939208984,
91.10984802246094,
64.41826629638672,
-0.8058608174324036,
0.6901617646217346
] | [
0.16081129014492035,
0.0007057532202452421,
0.038404107093811035,
3.091057777404785,
0.5933032035827637,
3.0559940338134766
] | 1 | move to initial state | move_initial | 0.05739 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.8 | 8 | 5 | 1,314 | 0 | |||
[
-4.78997802734375,
-90.35940551757812,
95.09091186523438,
66.38803100585938,
-0.8058608174324036,
0.6804311275482178
] | [
-4.103919506072998,
-85.71525573730469,
89.48807525634766,
63.77189254760742,
-0.8058608174324036,
0.6804311275482178
] | [
0.16144639253616333,
0.00033250346314162016,
0.04058843478560448,
3.091224431991577,
0.5917754769325256,
3.0530190467834473
] | 1 | move to initial state | move_initial | 0.08634 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.9 | 9 | 5 | 1,315 | 0 | |||
[
-4.716285705566406,
-88.3298110961914,
93.63636016845703,
65.50814056396484,
-0.8058608174324036,
0.669959306716919
] | [
-3.9292984008789062,
-83.39563751220703,
87.74276733398438,
63.0762825012207,
-0.8058608174324036,
0.669959306716919
] | [
0.16289891302585602,
0.00014442081737797707,
0.04342598468065262,
3.090890884399414,
0.5948310494422913,
3.0512986183166504
] | 1 | move to initial state | move_initial | 0.119193 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1 | 10 | 5 | 1,316 | 0 | |||
[
-4.34782600402832,
-86.21564483642578,
91.90908813476562,
64.8042221069336,
-0.8058608174324036,
0.6588535904884338
] | [
-3.744107246398926,
-80.93560791015625,
85.89181518554688,
62.33856201171875,
-0.8058608174324036,
0.6588535904884338
] | [
0.1644313782453537,
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0.04681016877293587,
3.0905561447143555,
0.5978864431381226,
3.043440818786621
] | 1 | move to initial state | move_initial | 0.155418 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.1 | 11 | 5 | 1,317 | 0 | |||
[
-4.34782600402832,
-83.8477783203125,
90.2727279663086,
63.9243278503418,
-0.8058608174324036,
0.6472405195236206
] | [
-3.550455331802368,
-78.36318969726562,
83.956298828125,
61.567142486572266,
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0.6472405195236206
] | [
0.16604706645011902,
-0.0008312922436743975,
0.049625761806964874,
3.0905561447143555,
0.5978863835334778,
3.043440818786621
] | 1 | move to initial state | move_initial | 0.192593 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.2 | 12 | 5 | 1,318 | 0 | |||
[
-4.34782600402832,
-81.31078338623047,
88.2727279663086,
63.22041320800781,
-0.8058608174324036,
0.6352390646934509
] | [
-3.3503267765045166,
-75.70474243164062,
81.95604705810547,
60.769920349121094,
-0.8058608174324036,
0.6352390646934509
] | [
0.16786693036556244,
-0.0008452484617009759,
0.053125929087400436,
3.0905561447143555,
0.5978863835334778,
3.043440818786621
] | 1 | move to initial state | move_initial | 0.23486 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.3 | 13 | 5 | 1,319 | 0 | |||
[
-4.200442314147949,
-78.68921661376953,
86.36363983154297,
62.340518951416016,
-0.8058608174324036,
0.6229844689369202
] | [
-3.145977258682251,
-72.99021911621094,
79.91361236572266,
59.95588684082031,
-0.8058608174324036,
0.6229844689369202
] | [
0.17003268003463745,
-0.001264392863959074,
0.0563073605298996,
3.0905561447143555,
0.597886323928833,
3.040372848510742
] | 1 | move to initial state | move_initial | 0.276231 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.4 | 14 | 5 | 1,320 | 0 | |||
[
-3.684598445892334,
-76.0676498413086,
84.36363983154297,
61.548614501953125,
-0.8058608174324036,
0.610603928565979
] | [
-2.939528465270996,
-70.24781036376953,
77.85018920898438,
59.133487701416016,
-0.8058608174324036,
0.610603928565979
] | [
0.17236140370368958,
-0.0027235394809395075,
0.059596627950668335,
3.0905561447143555,
0.5978862643241882,
3.029634952545166
] | 1 | move to initial state | move_initial | 0.317998 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.5 | 15 | 5 | 1,321 | 0 | |||
[
-3.537214517593384,
-73.10781860351562,
82.45454406738281,
60.66872024536133,
-0.8058608174324036,
0.598240077495575
] | [
-2.7333569526672363,
-67.50908660888672,
75.78954315185547,
58.312191009521484,
-0.8058608174324036,
0.598240077495575
] | [
0.17461521923542023,
-0.003188719507306814,
0.06192650645971298,
3.091224431991577,
0.5917753577232361,
3.0269412994384766
] | 1 | move to initial state | move_initial | 0.360723 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.6 | 16 | 5 | 1,322 | 0 | |||
[
-3.537214517593384,
-70.40168762207031,
80.2727279663086,
59.87681579589844,
-0.8058608174324036,
0.5860291123390198
] | [
-2.5297348499298096,
-64.80422973632812,
73.7543716430664,
57.50105285644531,
-0.8058608174324036,
0.5860291123390198
] | [
0.17765802145004272,
-0.0032634062226861715,
0.06545167416334152,
3.091057777404785,
0.5933030843734741,
3.026848316192627
] | 1 | move to initial state | move_initial | 0.403869 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.7 | 17 | 5 | 1,323 | 0 | |||
[
-3.3898305892944336,
-67.61099243164062,
78.18181610107422,
59.08491134643555,
-0.8058608174324036,
0.5741138458251953
] | [
-2.3310439586639404,
-62.16487503051758,
71.76849365234375,
56.70956039428711,
-0.8058608174324036,
0.5741138458251953
] | [
0.1806732565164566,
-0.0037728529423475266,
0.06834574043750763,
3.091224431991577,
0.5917754173278809,
3.0238733291625977
] | 1 | move to initial state | move_initial | 0.445563 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.8 | 18 | 5 | 1,324 | 0 | |||
[
-2.8739867210388184,
-64.98942565917969,
76.18181610107422,
58.20501708984375,
-0.8058608174324036,
0.5626164078712463
] | [
-2.1393206119537354,
-59.618072509765625,
69.85224914550781,
55.94581985473633,
-0.8058608174324036,
0.5626164078712463
] | [
0.18402984738349915,
-0.0054262843914330006,
0.07122601568698883,
3.091057777404785,
0.5933030843734741,
3.013042449951172
] | 1 | move to initial state | move_initial | 0.483232 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.9 | 19 | 5 | 1,325 | 0 | |||
[
-2.726602792739868,
-62.28329849243164,
74.2727279663086,
57.5010986328125,
-0.8058608174324036,
0.5516635179519653
] | [
-1.9566775560379028,
-57.19189453125,
68.02676391601562,
55.21825408935547,
-0.8058608174324036,
0.5516635179519653
] | [
0.18698561191558838,
-0.005994904320687056,
0.07321824133396149,
3.0915563106536865,
0.5887198448181152,
3.0102522373199463
] | 1 | move to initial state | move_initial | 0.519766 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2 | 20 | 5 | 1,326 | 0 | |||
[
-2.726602792739868,
-59.746299743652344,
72.36363983154297,
56.70919418334961,
-0.8058608174324036,
0.5413656830787659
] | [
-1.784958004951477,
-54.91082000732422,
66.31046295166016,
54.53419876098633,
-0.8058608174324036,
0.5413656830787659
] | [
0.190459206700325,
-0.0061388383619487286,
0.07552766054868698,
3.0915563106536865,
0.5887197852134705,
3.0102522373199463
] | 1 | move to initial state | move_initial | 0.553344 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.1 | 21 | 5 | 1,327 | 0 | |||
[
-2.726602792739868,
-57.04016876220703,
70.45454406738281,
56.005279541015625,
-0.8058608174324036,
0.5318155288696289
] | [
-1.625706434249878,
-52.79536819458008,
64.71876525878906,
53.89981460571289,
-0.8058608174324036,
0.5318155288696289
] | [
0.19378337264060974,
-0.006276578642427921,
0.07717905193567276,
3.0920517444610596,
0.5841364860534668,
3.010526418685913
] | 1 | move to initial state | move_initial | 0.586061 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.2 | 22 | 5 | 1,328 | 0 | |||
[
-2.210758924484253,
-54.75687026977539,
68.81818389892578,
55.30136489868164,
-0.8058608174324036,
0.523191511631012
] | [
-1.4818979501724243,
-50.88505554199219,
63.281429290771484,
53.32694625854492,
-0.8058608174324036,
0.523191511631012
] | [
0.1969311386346817,
-0.008108287118375301,
0.07865910977125168,
3.0922162532806396,
0.5826085209846497,
2.9998793601989746
] | 1 | move to initial state | move_initial | 0.610471 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.3 | 23 | 5 | 1,329 | 0 | |||
[
-2.1370670795440674,
-52.64270782470703,
67.2727279663086,
54.6854362487793,
-0.8058608174324036,
0.5155336856842041
] | [
-1.3542015552520752,
-49.18877029418945,
62.005123138427734,
52.818260192871094,
-0.8058608174324036,
0.5155336856842041
] | [
0.19998949766159058,
-0.008515814319252968,
0.07996378093957901,
3.0923802852630615,
0.5810807943344116,
2.9984354972839355
] | 1 | move to initial state | move_initial | 0.631886 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.4 | 24 | 5 | 1,330 | 0 | |||
[
-1.842299222946167,
-50.69767379760742,
65.90908813476562,
54.06951141357422,
-0.8058608174324036,
0.5089317560195923
] | [
-1.2441116571426392,
-47.72636795043945,
60.9047966003418,
52.37971496582031,
-0.8058608174324036,
0.5089317560195923
] | [
0.20282895863056183,
-0.009677847847342491,
0.08091146498918533,
3.0925440788269043,
0.579552948474884,
2.992389440536499
] | 1 | move to initial state | move_initial | 0.647913 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.5 | 25 | 5 | 1,331 | 0 | |||
[
-1.842299222946167,
-48.921775817871094,
64.63636016845703,
53.54157638549805,
-0.8058608174324036,
0.5034799575805664
] | [
-1.1532013416290283,
-46.518741607666016,
59.99616241455078,
52.0175666809082,
-0.8058608174324036,
0.5034799575805664
] | [
0.2055191993713379,
-0.009838969446718693,
0.08173423260450363,
3.092707633972168,
0.5780250430107117,
2.992478847503662
] | 1 | move to initial state | move_initial | 0.661378 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.6 | 26 | 5 | 1,332 | 0 | |||
[
-1.842299222946167,
-47.39957809448242,
63.45454406738281,
53.365596771240234,
-0.8058608174324036,
0.49922487139701843
] | [
-1.0822464227676392,
-45.576194763183594,
59.28697967529297,
51.73491668701172,
-0.8058608174324036,
0.49922487139701843
] | [
0.20746035873889923,
-0.009955227375030518,
0.08232942223548889,
3.093196153640747,
0.5734413862228394,
2.9927449226379395
] | 1 | move to initial state | move_initial | 0.674277 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.7 | 27 | 5 | 1,333 | 0 | |||
[
-1.842299222946167,
-46.13107681274414,
62.6363639831543,
53.365596771240234,
-0.8058608174324036,
0.4962097704410553
] | [
-1.031968593597412,
-44.908321380615234,
58.784461975097656,
51.534629821777344,
-0.8058608174324036,
0.4962097704410553
] | [
0.20842863619327545,
-0.010013217106461525,
0.08200318366289139,
3.0941646099090576,
0.5642736554145813,
2.9932665824890137
] | 1 | move to initial state | move_initial | 0.683168 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.8 | 28 | 5 | 1,334 | 0 | |||
[
-1.842299222946167,
-45.11627960205078,
62,
53.365596771240234,
-0.8058608174324036,
0.4944671392440796
] | [
-1.0029094219207764,
-44.52230453491211,
58.494022369384766,
51.41887283325195,
-0.8058608174324036,
0.4944671392440796
] | [
0.2091766744852066,
-0.010058016516268253,
0.08165090531110764,
3.0949630737304688,
0.5566336512565613,
2.9936909675598145
] | 1 | move to initial state | move_initial | 0.689285 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.9 | 29 | 5 | 1,335 | 0 | |||
[
-1.6212233304977417,
-44.60887908935547,
61.54545593261719,
52.39771270751953,
-0.8058608174324036,
0.4940014183521271
] | [
-1.6212236881256104,
-44.56354522705078,
61.138092041015625,
52.39767074584961,
-0.8058608174324036,
0.4940014183521271
] | [
0.21194201707839966,
-0.011023308150470257,
0.08316091448068619,
3.0933585166931152,
0.5719134211540222,
2.9882307052612305
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3 | 30 | 5 | 1,336 | 0 | |
[
-1.6212233304977417,
-44.60887908935547,
61.54545593261719,
52.39771270751953,
-0.8058608174324036,
0.4940014183521271
] | [
-1.6221356391906738,
-44.478912353515625,
61.076934814453125,
52.28176498413086,
-0.8058608174324036,
0.4940014183521271
] | [
0.21194201707839966,
-0.011023308150470257,
0.08316091448068619,
3.0933585166931152,
0.5719134211540222,
2.9882307052612305
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.1 | 31 | 5 | 1,337 | 0 | |
[
-1.6212233304977417,
-44.60887908935547,
61.6363639831543,
52.39771270751953,
-0.8058608174324036,
0.4940014183521271
] | [
-1.6245685815811157,
-44.25312423706055,
60.91377258300781,
51.9725341796875,
-0.8058608174324036,
0.4940014183521271
] | [
0.21174387633800507,
-0.01101052388548851,
0.08284138888120651,
3.093520402908325,
0.5703855156898499,
2.9883182048797607
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.2 | 32 | 5 | 1,338 | 0 | |
[
-1.6212233304977417,
-44.60887908935547,
61.6363639831543,
52.39771270751953,
-0.8058608174324036,
0.4940014183521271
] | [
-1.628478765487671,
-43.8902473449707,
60.65154266357422,
51.475547790527344,
-0.8058608174324036,
0.4940014183521271
] | [
0.21174387633800507,
-0.01101052388548851,
0.08284138888120651,
3.093520402908325,
0.5703855156898499,
2.9883182048797607
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.3 | 33 | 5 | 1,339 | 0 | |
[
-1.6212233304977417,
-44.43974685668945,
61.6363639831543,
52.39771270751953,
-0.8058608174324036,
0.4940014183521271
] | [
-1.6338319778442383,
-43.39345169067383,
60.292537689208984,
50.7951545715332,
-0.8058608174324036,
0.4940014183521271
] | [
0.21163985133171082,
-0.011003812775015831,
0.082403264939785,
3.0938432216644287,
0.5673296451568604,
2.988492250442505
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.4 | 34 | 5 | 1,340 | 0 | |
[
-1.6212233304977417,
-43.678646087646484,
61.6363639831543,
52.39771270751953,
-0.8058608174324036,
0.4940014183521271
] | [
-1.6403820514678955,
-42.78557205200195,
59.34246063232422,
49.96262741088867,
-0.8058608174324036,
0.4940014183521271
] | [
0.21115514636039734,
-0.010972538962960243,
0.08043572306632996,
3.095280408859253,
0.5535775423049927,
2.9892563819885254
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.003821 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.5 | 35 | 5 | 1,341 | 0 | |
[
-1.6212233304977417,
-43.25581359863281,
61.6363639831543,
51.869773864746094,
-0.8058608174324036,
0.4940014183521271
] | [
-1.6481099128723145,
-42.199501037597656,
58.82421112060547,
48.98042678833008,
-0.8058608174324036,
0.4940014183521271
] | [
0.2120475322008133,
-0.011030105873942375,
0.07999639958143234,
3.0951218605041504,
0.5551056265830994,
2.98917293548584
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.01245 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.6 | 36 | 5 | 1,342 | 0 | |
[
-1.6212233304977417,
-42.41014862060547,
61.6363639831543,
50.81390380859375,
-0.8058608174324036,
0.4940014183521271
] | [
-1.6568852663040161,
-41.38511276245117,
58.23570251464844,
47.865074157714844,
-0.8058608174324036,
0.4940014183521271
] | [
0.21381910145282745,
-0.011144387535750866,
0.07910265028476715,
3.094804048538208,
0.5581616759300232,
2.9890048503875732
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.029485 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.7 | 37 | 5 | 1,343 | 0 | |
[
-1.6212233304977417,
-41.902748107910156,
61.54545593261719,
49.75802993774414,
-0.8058608174324036,
0.4940014183521271
] | [
-1.666534662246704,
-40.489620208740234,
57.58858108520508,
46.638633728027344,
-0.8058608174324036,
0.4940014183521271
] | [
0.2160138487815857,
-0.011285971850156784,
0.07940826565027237,
3.093681812286377,
0.5688575506210327,
2.988405466079712
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.04438 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.8 | 38 | 5 | 1,344 | 0 | |
[
-1.6212233304977417,
-40.803382873535156,
61.272727966308594,
48.70215606689453,
-0.8058608174324036,
0.5104841589927673
] | [
-1.6770323514938354,
-39.51539993286133,
56.88457107543945,
45.304378509521484,
-0.8058608174324036,
0.5104841589927673
] | [
0.21821703016757965,
-0.011428098194301128,
0.07875661551952362,
3.0933585166931152,
0.5719134211540222,
2.9882307052612305
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.064403 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.9 | 39 | 5 | 1,345 | 0 | |
[
-1.6212233304977417,
-40.04228210449219,
60.272727966308594,
47.206336975097656,
-0.8058608174324036,
2.1555919647216797
] | [
-1.6881999969482422,
-38.479000091552734,
56.13562774658203,
43.88496780395508,
-0.8058608174324036,
2.1555919647216797
] | [
0.22327636182308197,
-0.011754484847187996,
0.08216201514005661,
3.0902202129364014,
0.60094153881073,
2.9864938259124756
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.109847 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4 | 40 | 5 | 1,346 | 0 | |
[
-1.6212233304977417,
-38.77378463745117,
59.3636360168457,
45.88649368286133,
-0.8058608174324036,
3.800954580307007
] | [
-1.699921727180481,
-37.391178131103516,
55.349525451660156,
42.39512252807617,
-0.8058608174324036,
3.800954580307007
] | [
0.22740702331066132,
-0.012020958587527275,
0.08361662179231644,
3.0885181427001953,
0.6162177324295044,
2.985520601272583
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.156481 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.1 | 41 | 5 | 1,347 | 0 | |
[
-1.6212233304977417,
-37.84355163574219,
58.727272033691406,
44.47866439819336,
-0.8058608174324036,
5.446450233459473
] | [
-1.7121397256851196,
-36.25730514526367,
54.530147552490234,
40.84221649169922,
-0.8058608174324036,
5.446450233459473
] | [
0.23130004107952118,
-0.012272100895643234,
0.08517743647098541,
3.086426258087158,
0.634547233581543,
2.9842960834503174
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.200072 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.2 | 42 | 5 | 1,348 | 0 | |
[
-1.6212233304977417,
-36.82875442504883,
58.181819915771484,
43.24681091308594,
-0.8058608174324036,
7.091796875
] | [
-1.7246779203414917,
-35.09372329711914,
53.68929672241211,
39.248619079589844,
-0.8058608174324036,
7.091796875
] | [
0.23455604910850525,
-0.01248214952647686,
0.08590757846832275,
3.0850000381469727,
0.6467657089233398,
2.98344349861145
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.241923 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.3 | 43 | 5 | 1,349 | 0 | |
[
-1.6212233304977417,
-35.64482116699219,
57.181819915771484,
41.39903259277344,
-0.8058608174324036,
8.736273765563965
] | [
-1.7374392747879028,
-33.90941619873047,
52.8302116394043,
37.62663650512695,
-0.8058608174324036,
8.736273765563965
] | [
0.24001432955265045,
-0.012834270484745502,
0.0886949673295021,
3.0816924571990967,
0.674253523349762,
2.9814138412475586
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.293737 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.4 | 44 | 5 | 1,350 | 0 | |
[
-1.6212233304977417,
-34.46088790893555,
56.54545593261719,
40.167179107666016,
-0.8058608174324036,
10.382537841796875
] | [
-1.7503306865692139,
-32.72795104980469,
51.95366668701172,
35.98814010620117,
-0.8058608174324036,
10.382537841796875
] | [
0.24336948990821838,
-0.013050714507699013,
0.08921272307634354,
3.080366849899292,
0.6849417686462402,
2.9805808067321777
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.337245 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.5 | 45 | 5 | 1,351 | 0 | |
[
-1.6212233304977417,
-32.769554138183594,
55.54545593261719,
38.40739059448242,
-0.8058608174324036,
12.02790355682373
] | [
-1.763211965560913,
-31.569868087768555,
51.07780838012695,
34.35092544555664,
-0.8058608174324036,
12.02790355682373
] | [
0.24836069345474243,
-0.013372699730098248,
0.09023589640855789,
3.0782361030578613,
0.70173579454422,
2.9792189598083496
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.391372 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.6 | 46 | 5 | 1,352 | 0 | |
[
-1.6212233304977417,
-31.92388916015625,
54.54545593261719,
36.82358169555664,
-0.8058608174324036,
13.672158241271973
] | [
-1.7759678363800049,
-30.42305564880371,
50.21047592163086,
32.729644775390625,
-0.8058608174324036,
13.672158241271973
] | [
0.25336378812789917,
-0.013695459812879562,
0.09374352544546127,
3.074409008026123,
0.7307381629943848,
2.976706027984619
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.438302 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.7 | 47 | 5 | 1,353 | 0 | |
[
-1.6212233304977417,
-30.570823669433594,
53.6363639831543,
35.23977279663086,
-0.8058608174324036,
15.316587448120117
] | [
-1.7884869575500488,
-29.297536849975586,
49.35924530029297,
31.138469696044922,
-0.8058608174324036,
15.316587448120117
] | [
0.2579132318496704,
-0.013988947495818138,
0.09522803127765656,
3.0718882083892822,
0.7490515112876892,
2.975006103515625
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.487799 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.8 | 48 | 5 | 1,354 | 0 | |
[
-1.6212233304977417,
-29.640592575073242,
52.818180084228516,
33.567970275878906,
-0.8058608174324036,
16.961103439331055
] | [
-1.8006799221038818,
-28.201337814331055,
48.530189514160156,
29.588743209838867,
-0.8058608174324036,
16.961103439331055
] | [
0.2625594735145569,
-0.014288686215877533,
0.09796717017889023,
3.0681657791137695,
0.7749899625778198,
2.97243595123291
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.534941 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.9 | 49 | 5 | 1,355 | 0 | |
[
-1.6212233304977417,
-28.4566593170166,
52,
32.07215118408203,
-0.8058608174324036,
18.60685920715332
] | [
-1.8123934268951416,
-27.148244857788086,
47.733734130859375,
28.099956512451172,
-0.8058608174324036,
18.60685920715332
] | [
0.26674720644950867,
-0.014558840543031693,
0.09953068196773529,
3.065422773361206,
0.7932949066162109,
2.970498561859131
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.581853 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5 | 50 | 5 | 1,356 | 0 | |
[
-1.6212233304977417,
-27.272727966308594,
51.181819915771484,
30.576330184936523,
-0.8058608174324036,
20.251405715942383
] | [
-1.8234010934829712,
-26.15860366821289,
46.985267639160156,
26.70087432861328,
-0.8058608174324036,
20.251405715942383
] | [
0.27090951800346375,
-0.014827356673777103,
0.10108062624931335,
3.062575578689575,
0.8115960359573364,
2.9684512615203857
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.628619 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.1 | 51 | 5 | 1,357 | 0 | |
[
-1.6212233304977417,
-26.2579288482666,
50.6363639831543,
29.08051109313965,
-0.8058608174324036,
21.895769119262695
] | [
-1.8288958072662354,
-25.537609100341797,
46.611656188964844,
26.00249671936035,
-0.8058608174324036,
21.895769119262695
] | [
0.27450868487358093,
-0.01505954097956419,
0.10216078162193298,
3.0598676204681396,
0.8283683657646179,
2.9664711952209473
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.672561 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.2 | 52 | 5 | 1,358 | 0 | |
[
-1.6212233304977417,
-25.327695846557617,
49.90909194946289,
27.848657608032227,
-0.8058608174324036,
23.54119110107422
] | [
-1.8345330953598022,
-25.030790328979492,
46.22835159301758,
25.285993576049805,
-0.8058608174324036,
23.54119110107422
] | [
0.27801549434661865,
-0.01528577134013176,
0.10380210727453232,
3.057058811187744,
0.8451369404792786,
2.964385747909546
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.71466 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.3 | 53 | 5 | 1,359 | 0 | |
[
-1.6212233304977417,
-24.65116310119629,
49.818180084228516,
26.96876335144043,
-0.8058608174324036,
25.186569213867188
] | [
-1.8403112888336182,
-24.511308670043945,
45.83546447753906,
24.55158805847168,
-0.8058608174324036,
25.186569213867188
] | [
0.27959856390953064,
-0.01538789365440607,
0.10320200026035309,
3.056274175643921,
0.8497095704078674,
2.9637975692749023
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.747623 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.4 | 54 | 5 | 1,360 | 0 | |
[
-1.6212233304977417,
-24.56659698486328,
49.818180084228516,
26.17685890197754,
-0.8058608174324036,
26.83205223083496
] | [
-1.8462356328964233,
-23.978689193725586,
45.432647705078125,
23.798608779907227,
-0.8058608174324036,
26.83205223083496
] | [
0.28096258640289307,
-0.01547588873654604,
0.10434075444936752,
3.0541415214538574,
0.8619015216827393,
2.9621872901916504
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.775303 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.5 | 55 | 5 | 1,361 | 0 | |
[
-1.6212233304977417,
-24.228330612182617,
49.54545593261719,
25.38495445251465,
-0.8058608174324036,
28.477441787719727
] | [
-1.852319598197937,
-23.431713104248047,
45.01896667480469,
23.025333404541016,
-0.8058608174324036,
28.477441787719727
] | [
0.2828288674354553,
-0.015596287325024605,
0.10561651736497879,
3.051947593688965,
0.8740910887718201,
2.960513114929199
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.805424 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.6 | 56 | 5 | 1,362 | 0 | |
[
-1.6212233304977417,
-23.46722984313965,
48.45454406738281,
24.857017517089844,
-0.8058608174324036,
30.123193740844727
] | [
-1.8586066961288452,
-22.866472244262695,
44.59147644042969,
22.226238250732422,
-0.8058608174324036,
30.123193740844727
] | [
0.28584983944892883,
-0.01579117588698864,
0.10807701200246811,
3.0494015216827393,
0.8878015279769897,
2.9585490226745605
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.841839 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.7 | 57 | 5 | 1,363 | 0 | |
[
-1.6212233304977417,
-22.621564865112305,
47.90909194946289,
23.977123260498047,
-0.8058608174324036,
31.76862144470215
] | [
-1.865161418914795,
-22.277177810668945,
44.14579391479492,
21.393136978149414,
-0.8058608174324036,
31.76862144470215
] | [
0.2883186340332031,
-0.015950439497828484,
0.10863826423883438,
3.0476560592651367,
0.8969399333000183,
2.9571900367736816
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.875928 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.8 | 58 | 5 | 1,364 | 0 | |
[
-1.6212233304977417,
-22.029598236083984,
47.6363639831543,
23.09722900390625,
-0.8058608174324036,
33.4136962890625
] | [
-1.8719570636749268,
-21.666215896606445,
43.68372344970703,
20.529403686523438,
-0.8058608174324036,
33.4136962890625
] | [
0.290255069732666,
-0.016075361520051956,
0.10908288508653641,
3.045870065689087,
0.9060769081115723,
2.95578932762146
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.902839 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.9 | 59 | 5 | 1,365 | 0 | |
[
-1.6212233304977417,
-21.437631607055664,
47.6363639831543,
22.217334747314453,
-0.8058608174324036,
35
] | [
-1.8789725303649902,
-21.03548812866211,
43.206703186035156,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.29162028431892395,
-0.016163429245352745,
0.10840177536010742,
3.044961452484131,
0.9106447696685791,
2.9550728797912598
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.9187 | [
-1.8789725303649902,
-20.88800621032715,
43.94859313964844,
19.63772964477539,
-0.8058608174324036,
35
] | [
0.3027428388595581,
-0.015459677204489708,
0.12679524719715118,
3.0228333473205566,
1.007043719291687,
2.9423041343688965
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6 | 60 | 5 | 1,366 | 0 | |
[
-1.6212233304977417,
-20.761098861694336,
46.45454406738281,
21.337438583374023,
-0.8058608174324036,
35
] | [
-1.6212236881256104,
-21.48980140686035,
47.8505859375,
22.041349411010742,
-0.8058608174324036,
35
] | [
0.295368492603302,
-0.016405237838625908,
0.11224652826786041,
3.0402519702911377,
0.9334779977798462,
2.951319932937622
] | 1 | push drawer_handle: descend to pre-contact | move | 0.000107 | [
-5.926153659820557,
-13.454949378967285,
71.4350814819336,
-46.78397750854492,
-0.8058608174324036,
35
] | [
0.30947524309158325,
0.006962596904486418,
0.13322561979293823,
1.5702862739562988,
1.4960365295410156,
1.5954822301864624
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.1 | 61 | 5 | 1,367 | 0 | ||
[
-1.6212233304977417,
-20.676532745361328,
46.3636360168457,
21.24945068359375,
-0.8058608174324036,
35
] | [
-1.636531114578247,
-21.462366104125977,
47.93486785888672,
21.796621322631836,
-0.8058608174324036,
35
] | [
0.2956841289997101,
-0.01642559841275215,
0.11244998872280121,
3.0399277210235596,
0.9349997639656067,
2.951059103012085
] | 1 | push drawer_handle: descend to pre-contact | move | 0.000918 | [
-5.926153659820557,
-13.454949378967285,
71.4350814819336,
-46.78397750854492,
-0.8058608174324036,
35
] | [
0.30947524309158325,
0.006962596904486418,
0.13322561979293823,
1.5702862739562988,
1.4960365295410156,
1.5954822301864624
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.2 | 62 | 5 | 1,368 | 0 | ||
[
-1.6212233304977417,
-20.676532745361328,
48.3636360168457,
21.68939781188965,
-0.8058608174324036,
35
] | [
-1.6772525310516357,
-21.389381408691406,
47.70591735839844,
21.145584106445312,
-0.8058608174324036,
35
] | [
0.2908175587654114,
-0.01611163094639778,
0.10337444394826889,
3.0482420921325684,
0.8938939571380615,
2.9576475620269775
] | 1 | push drawer_handle: descend to pre-contact | move | 0.004321 | [
-5.926153659820557,
-13.454949378967285,
71.4350814819336,
-46.78397750854492,
-0.8058608174324036,
35
] | [
0.30947524309158325,
0.006962596904486418,
0.13322561979293823,
1.5702862739562988,
1.4960365295410156,
1.5954822301864624
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.3 | 63 | 5 | 1,369 | 0 | ||
[
-1.6212233304977417,
-20.676532745361328,
48.54545593261719,
21.777387619018555,
-0.8058608174324036,
35
] | [
-1.742579460144043,
-21.27229881286621,
48.06559753417969,
20.101165771484375,
-0.8058608174324036,
35
] | [
0.29027751088142395,
-0.016076792031526566,
0.10246765613555908,
3.0491132736206055,
0.8893246650695801,
2.9583253860473633
] | 1 | push drawer_handle: descend to pre-contact | move | 0.003973 | [
-5.926153659820557,
-13.454949378967285,
71.4350814819336,
-46.78397750854492,
-0.8058608174324036,
35
] | [
0.30947524309158325,
0.006962596904486418,
0.13322561979293823,
1.5702862739562988,
1.4960365295410156,
1.5954822301864624
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.4 | 64 | 5 | 1,370 | 0 | ||
[
-1.6212233304977417,
-20.676532745361328,
48.54545593261719,
21.513418197631836,
-0.8058608174324036,
35
] | [
-1.8329325914382935,
-21.110361099243164,
48.56306838989258,
18.656641006469727,
-0.8058608174324036,
35
] | [
0.2907208800315857,
-0.016105394810438156,
0.10297175496816635,
3.0482420921325684,
0.8938939571380615,
2.9576475620269775
] | 1 | push drawer_handle: descend to pre-contact | move | 0.007377 | [
-5.926153659820557,
-13.454949378967285,
71.4350814819336,
-46.78397750854492,
-0.8058608174324036,
35
] | [
0.30947524309158325,
0.006962596904486418,
0.13322561979293823,
1.5702862739562988,
1.4960365295410156,
1.5954822301864624
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.5 | 65 | 5 | 1,371 | 0 | ||
[
-1.6212233304977417,
-20.676532745361328,
49,
20.63352394104004,
-0.8058608174324036,
35
] | [
-1.9426941871643066,
-20.913637161254883,
49.16740036010742,
16.901819229125977,
-0.8058608174324036,
35
] | [
0.2912076413631439,
-0.01613679528236389,
0.10281103104352951,
3.0467681884765625,
0.901508629322052,
2.9564950466156006
] | 1 | push drawer_handle: descend to pre-contact | move | 0.020679 | [
-5.926153659820557,
-13.454949378967285,
71.4350814819336,
-46.78397750854492,
-0.8058608174324036,
35
] | [
0.30947524309158325,
0.006962596904486418,
0.13322561979293823,
1.5702862739562988,
1.4960365295410156,
1.5954822301864624
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.6 | 66 | 5 | 1,372 | 0 | ||
[
-1.6212233304977417,
-20.676532745361328,
49.727272033691406,
19.313682556152344,
-0.8058608174324036,
35
] | [
-2.0722899436950684,
-20.681365966796875,
49.88093566894531,
14.829899787902832,
-0.8058608174324036,
35
] | [
0.29181280732154846,
-0.016175832599401474,
0.10239839553833008,
3.0446560382843018,
0.9121673703193665,
2.954831600189209
] | 1 | push drawer_handle: descend to pre-contact | move | 0.040813 | [
-5.926153659820557,
-13.454949378967285,
71.4350814819336,
-46.78397750854492,
-0.8058608174324036,
35
] | [
0.30947524309158325,
0.006962596904486418,
0.13322561979293823,
1.5702862739562988,
1.4960365295410156,
1.5954822301864624
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.7 | 67 | 5 | 1,373 | 0 | ||
[
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.067097 | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.8 | 68 | 5 | 1,374 | 0 | ||
[
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.097017 | [
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.9 | 69 | 5 | 1,375 | 0 | ||
[
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] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.132353 | [
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7 | 70 | 5 | 1,376 | 0 | ||
[
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] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.169976 | [
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.1 | 71 | 5 | 1,377 | 0 | ||
[
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] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.209218 | [
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.2 | 72 | 5 | 1,378 | 0 | ||
[
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] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.253338 | [
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.3 | 73 | 5 | 1,379 | 0 | ||
[
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] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.30018 | [
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.4 | 74 | 5 | 1,380 | 0 | ||
[
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35
] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.346283 | [
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.5 | 75 | 5 | 1,381 | 0 | ||
[
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] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.39518 | [
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.6 | 76 | 5 | 1,382 | 0 | ||
[
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] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.44631 | [
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.7 | 77 | 5 | 1,383 | 0 | ||
[
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35
] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.49457 | [
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35
] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.8 | 78 | 5 | 1,384 | 0 | ||
[
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35
] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.543564 | [
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35
] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.9 | 79 | 5 | 1,385 | 0 | ||
[
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35
] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.593027 | [
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] | [
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1.5702862739562988,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8 | 80 | 5 | 1,386 | 0 | ||
[
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35
] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.643276 | [
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71.4350814819336,
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35
] | [
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1.5702862739562988,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.1 | 81 | 5 | 1,387 | 0 | ||
[
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35
] | [
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35
] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.689607 | [
-5.926153659820557,
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71.4350814819336,
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35
] | [
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0.006962596904486418,
0.13322561979293823,
1.5702862739562988,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.2 | 82 | 5 | 1,388 | 0 | ||
[
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35
] | [
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35
] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.733997 | [
-5.926153659820557,
-13.454949378967285,
71.4350814819336,
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35
] | [
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0.006962596904486418,
0.13322561979293823,
1.5702862739562988,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.3 | 83 | 5 | 1,389 | 0 | ||
[
-4.568902015686035,
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35
] | [
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35
] | [
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2.7479400634765625,
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.769942 | [
-5.926153659820557,
-13.454949378967285,
71.4350814819336,
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-0.8058608174324036,
35
] | [
0.30947524309158325,
0.006962596904486418,
0.13322561979293823,
1.5702862739562988,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.4 | 84 | 5 | 1,390 | 0 | ||
[
-4.78997802734375,
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35
] | [
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35
] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.795584 | [
-5.926153659820557,
-13.454949378967285,
71.4350814819336,
-46.78397750854492,
-0.8058608174324036,
35
] | [
0.30947524309158325,
0.006962596904486418,
0.13322561979293823,
1.5702862739562988,
1.4960365295410156,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.5 | 85 | 5 | 1,391 | 0 | ||
[
-5.011053562164307,
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35
] | [
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35
] | [
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2.6575467586517334,
1.4112157821655273,
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.818651 | [
-5.926153659820557,
-13.454949378967285,
71.4350814819336,
-46.78397750854492,
-0.8058608174324036,
35
] | [
0.30947524309158325,
0.006962596904486418,
0.13322561979293823,
1.5702862739562988,
1.4960365295410156,
1.5954822301864624
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.6 | 86 | 5 | 1,392 | 0 | ||
[
-5.011053562164307,
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35
] | [
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35
] | [
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0.12214449048042297,
2.602595090866089,
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2.60408878326416
] | 1 | push drawer_handle: descend to pre-contact | move | 0.841257 | [
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35
] | [
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1.5702862739562988,
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1.5954822301864624
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.7 | 87 | 5 | 1,393 | 0 | ||
[
-5.011053562164307,
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69,
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35
] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.865425 | [
-5.926153659820557,
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35
] | [
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1.5954822301864624
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.8 | 88 | 5 | 1,394 | 0 | ||
[
-5.011053562164307,
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] | [
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2.3995888233184814,
1.460410237312317,
2.4026927947998047
] | 1 | Push the drawer handle 7cm to close it | move_linear | 0 | [
-3.939578056335449,
28.322708129882812,
15.684395790100098,
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35
] | [
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0.1235731765627861,
1.5707677602767944,
1.4960365295410156,
1.5546095371246338
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.9 | 89 | 5 | 1,395 | 0 | ||
[
-5.011053562164307,
-13.995771408081055,
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35
] | [
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0.0018152701668441296,
0.12537822127342224,
2.3995888233184814,
1.460410237312317,
2.4026927947998047
] | 1 | Push the drawer handle 7cm to close it | move_linear | 0 | [
-3.939578056335449,
28.322708129882812,
15.684395790100098,
-36.29035186767578,
-0.8058608174324036,
35
] | [
0.40544551610946655,
-0.005782123189419508,
0.1235731765627861,
1.5707677602767944,
1.4960365295410156,
1.5546095371246338
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9 | 90 | 5 | 1,396 | 0 | ||
[
-5.011053562164307,
-14.080338478088379,
70.09091186523438,
-40.34315872192383,
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] | [
-3.5631868839263916,
-21.20478630065918,
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-51.45843505859375,
-0.8058608174324036,
35
] | [
0.3103543221950531,
0.0018111795652657747,
0.12519077956676483,
2.3803176879882812,
1.4626452922821045,
2.3835368156433105
] | 1 | Push the drawer handle 7cm to close it | move_linear | 0 | [
-3.939578056335449,
28.322708129882812,
15.684395790100098,
-36.29035186767578,
-0.8058608174324036,
35
] | [
0.40544551610946655,
-0.005782123189419508,
0.1235731765627861,
1.5707677602767944,
1.4960365295410156,
1.5546095371246338
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.1 | 91 | 5 | 1,397 | 0 | ||
[
-4.8636698722839355,
-14.249471664428711,
71,
-41.04707336425781,
-0.8058608174324036,
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] | [
-3.5631868839263916,
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-51.45843505859375,
-0.8058608174324036,
35
] | [
0.3089021146297455,
0.0009736894862726331,
0.12393646687269211,
2.380317449569702,
1.4626452922821045,
2.3804686069488525
] | 1 | Push the drawer handle 7cm to close it | move_linear | 0 | [
-3.939578056335449,
28.322708129882812,
15.684395790100098,
-36.29035186767578,
-0.8058608174324036,
35
] | [
0.40544551610946655,
-0.005782123189419508,
0.1235731765627861,
1.5707677602767944,
1.4960365295410156,
1.5546095371246338
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.2 | 92 | 5 | 1,398 | 0 | ||
[
-4.49521017074585,
-14.926004409790039,
72.54545593261719,
-42.45490646362305,
-0.8058608174324036,
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] | [
-3.56589674949646,
-20.90259552001953,
84.59497833251953,
-51.525794982910156,
-0.8058608174324036,
35
] | [
0.306410551071167,
-0.0010862568160519004,
0.12404018640518188,
2.306321382522583,
1.4701238870620728,
2.2992045879364014
] | 1 | Push the drawer handle 7cm to close it | move_linear | 0 | [
-3.939578056335449,
28.322708129882812,
15.684395790100098,
-36.29035186767578,
-0.8058608174324036,
35
] | [
0.40544551610946655,
-0.005782123189419508,
0.1235731765627861,
1.5707677602767944,
1.4960365295410156,
1.5546095371246338
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.3 | 93 | 5 | 1,399 | 0 |
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