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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-7.074429035186768,
-84.77801513671875,
85.09091186523438,
70.5235366821289,
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] | [
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0.006132005713880062,
0.06052982434630394,
3.0907022953033447,
0.5871150493621826,
3.099008798599243
] | 1 | Move to safe parking position | Is the robot in the safe position? | move_free | 0.72278 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
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] | 0.494001 | [
0,
0,
0
] | 24.6 | 246 | 1 | 500 | 0 | ||
[
-7.074429035186768,
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] | [
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0.006113187875598669,
0.05600689724087715,
3.0903642177581787,
0.5901700854301453,
3.098820924758911
] | 1 | Move to safe parking position | Is the robot in the safe position? | move_free | 0.767816 | [
-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
] | 24.700001 | 247 | 1 | 501 | 0 | ||
[
-7.074429035186768,
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68.06282043457031,
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] | [
0.15934893488883972,
0.0060754804871976376,
0.05143919959664345,
3.0903642177581787,
0.5901702046394348,
3.098820924758911
] | 1 | Move to safe parking position | Is the robot in the safe position? | move_free | 0.811669 | [
-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
] | 24.799999 | 248 | 1 | 502 | 0 | ||
[
-7.074429035186768,
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92,
69.99559783935547,
-0.8547008633613586,
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] | [
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] | [
0.15862800180912018,
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0.047255855053663254,
3.090533494949341,
0.5886426568031311,
3.0989151000976562
] | 1 | Move to safe parking position | Is the robot in the safe position? | move_free | 0.849657 | [
-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
] | 24.9 | 249 | 1 | 503 | 0 | ||
[
-7.074429035186768,
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] | [
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] | [
0.15953978896141052,
0.006084876600652933,
0.044541023671627045,
3.089341640472412,
0.5993348360061646,
3.09824800491333
] | 1 | Move to safe parking position | Is the robot in the safe position? | move_free | 0.8851 | [
-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
] | 25 | 250 | 1 | 504 | 0 | ||
[
-7.074429035186768,
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95.2727279663086,
69.29168701171875,
-0.8547008633613586,
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] | [
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] | [
0.15935419499874115,
0.00607576547190547,
0.04168558493256569,
3.089341640472412,
0.5993348956108093,
3.09824800491333
] | 1 | Move to safe parking position | Is the robot in the safe position? | move_free | 0.910648 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
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] | [
0.16400936245918274,
0.0018055536784231663,
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3.09017014503479,
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] | 0.494001 | [
0,
0,
0
] | 25.1 | 251 | 1 | 505 | 0 | ||
[
-7.074429035186768,
-95.17970275878906,
96.81818389892578,
69.29168701171875,
-0.8547008633613586,
0.4940014183521271
] | [
-5.431881904602051,
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97.98112487792969,
67.43675231933594,
-0.6175268292427063,
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] | [
0.15914848446846008,
0.006065665744245052,
0.038667671382427216,
3.089341640472412,
0.5993348360061646,
3.09824800491333
] | 1 | Move to safe parking position | Is the robot in the safe position? | move_free | 0.936435 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
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] | 0.494001 | [
0,
0,
0
] | 25.200001 | 252 | 1 | 506 | 0 | ||
[
-7.074429035186768,
-95.85623931884766,
97.45454406738281,
69.29168701171875,
-0.8547008633613586,
0.4940014183521271
] | [
-5.397196292877197,
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98.7033920288086,
67.3557357788086,
-0.6136007308959961,
0.4940014183521271
] | [
0.15920785069465637,
0.006068585440516472,
0.0375618040561676,
3.089169979095459,
0.6008623838424683,
3.098151206970215
] | 1 | Move to safe parking position | Is the robot in the safe position? | move_free | 0.946499 | [
-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
] | 25.299999 | 253 | 1 | 507 | 0 | ||
[
-7.074429035186768,
-96.53276824951172,
97.54545593261719,
68.76374816894531,
-0.8547008633613586,
0.4940014183521271
] | [
-5.3764328956604,
-97.76829528808594,
99,
67.3072280883789,
-0.6112505197525024,
0.4940014183521271
] | [
0.1611737310886383,
0.006165171507745981,
0.03908311948180199,
3.086905002593994,
0.6207175254821777,
3.0968518257141113
] | 1 | Move to safe parking position | Is the robot in the safe position? | move_free | 0.955518 | [
-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
] | 25.4 | 254 | 1 | 508 | 0 | ||
[
-4.937361717224121,
-96.78646850585938,
97.54545593261719,
67.09194946289062,
-0.8547008633613586,
0.73041170835495
] | [
-4.937361717224121,
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97.54545593261719,
67.09194946289062,
-0.8547008633613586,
0.73041170835495
] | [
0.16520613431930542,
0.0007364567136391997,
0.04189389944076538,
3.082920551300049,
0.6543128490447998,
3.049994468688965
] | 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 | 2 | 509 | 0 | |||
[
-4.937361717224121,
-96.78646850585938,
97.54545593261719,
67.09194946289062,
-0.8547008633613586,
0.7297618985176086
] | [
-4.910712718963623,
-96.6558837890625,
97.37874603271484,
67.11994171142578,
-0.8547008633613586,
0.7297618985176086
] | [
0.16520613431930542,
0.0007364567136391997,
0.04189389944076538,
3.082920551300049,
0.6543128490447998,
3.049994468688965
] | 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 | 2 | 510 | 0 | |||
[
-4.937361717224121,
-96.78646850585938,
97.54545593261719,
67.09194946289062,
-0.8547008633613586,
0.7278216481208801
] | [
-4.8311381340026855,
-96.26594543457031,
96.88094329833984,
67.20352172851562,
-0.8547008633613586,
0.7278216481208801
] | [
0.16520613431930542,
0.0007364567136391997,
0.04189389944076538,
3.082920551300049,
0.6543128490447998,
3.049994468688965
] | 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 | 2 | 511 | 0 | |||
[
-4.937361717224121,
-96.78646850585938,
97.54545593261719,
67.09194946289062,
-0.8547008633613586,
0.7246106863021851
] | [
-4.699448108673096,
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96.05711364746094,
67.34185028076172,
-0.8547008633613586,
0.7246106863021851
] | [
0.16520613431930542,
0.0007364567136391997,
0.04189389944076538,
3.082920551300049,
0.6543128490447998,
3.049994468688965
] | 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 | 2 | 512 | 0 | |||
[
-4.937361717224121,
-96.701904296875,
97.54545593261719,
67.09194946289062,
-0.8547008633613586,
0.7201651930809021
] | [
-4.517127990722656,
-94.72722625732422,
94.91655731201172,
67.53335571289062,
-0.8547008633613586,
0.7201651930809021
] | [
0.16509142518043518,
0.0007359285373240709,
0.04174676910042763,
3.08310604095459,
0.6527859568595886,
3.050107479095459
] | 1 | move to initial state | move_initial | 0.000795 | [
-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 | 2 | 513 | 0 | |||
[
-4.937361717224121,
-96.36363983154297,
97.45454406738281,
67.09194946289062,
-0.8547008633613586,
0.7145346403121948
] | [
-4.286205291748047,
-93.59564208984375,
93.4719467163086,
67.77590942382812,
-0.8547008633613586,
0.7145346403121948
] | [
0.164751797914505,
0.0007343640900216997,
0.041484285145998,
3.0836598873138428,
0.6482052803039551,
3.050442695617676
] | 1 | move to initial state | move_initial | 0.004875 | [
-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 | 2 | 514 | 0 | |||
[
-4.8636698722839355,
-95.34883880615234,
97.09091186523438,
67.09194946289062,
-0.8547008633613586,
0.7077786922454834
] | [
-4.009127140045166,
-92.2378921508789,
91.73860168457031,
68.06694793701172,
-0.8547008633613586,
0.7077786922454834
] | [
0.16385863721370697,
0.0005384624819271266,
0.041028667241334915,
3.085118532180786,
0.6359890103340149,
3.0497822761535645
] | 1 | move to initial state | move_initial | 0.017984 | [
-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 | 2 | 515 | 0 | |||
[
-4.716285705566406,
-94.16490173339844,
95.90908813476562,
67.53189849853516,
-0.8547008633613586,
0.6999741196632385
] | [
-3.689042568206787,
-90.66940307617188,
89.73621368408203,
68.40315246582031,
-0.8547008633613586,
0.6999741196632385
] | [
0.16295751929283142,
0.0001548833679407835,
0.0425727479159832,
3.0861949920654297,
0.6268262267112732,
3.0473499298095703
] | 1 | move to initial state | move_initial | 0.040861 | [
-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 | 2 | 516 | 0 | |||
[
-4.34782600402832,
-92.81183624267578,
94.2727279663086,
67.97183990478516,
-0.8547008633613586,
0.6912100911140442
] | [
-3.3296093940734863,
-88.90809631347656,
87.4876708984375,
68.78069305419922,
-0.8547008633613586,
0.6912100911140442
] | [
0.16251540184020996,
-0.0007937552290968597,
0.04543702304363251,
3.086728096008301,
0.622244656085968,
3.039991617202759
] | 1 | move to initial state | move_initial | 0.069799 | [
-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 | 2 | 517 | 0 | |||
[
-4.34782600402832,
-91.28964233398438,
92.18181610107422,
68.32379913330078,
-0.8547008633613586,
0.6815733909606934
] | [
-2.9343855381011963,
-86.97139739990234,
85.01522827148438,
69.19583129882812,
-0.8547008633613586,
0.6815733909606934
] | [
0.16275137662887573,
-0.0007955750916153193,
0.049730539321899414,
3.086550712585449,
0.6237719655036926,
3.0398881435394287
] | 1 | move to initial state | move_initial | 0.104904 | [
-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 | 2 | 518 | 0 | |||
[
-3.684598445892334,
-89.34461212158203,
89.90908813476562,
68.6757583618164,
-0.8547008633613586,
0.6711751818656921
] | [
-2.507930278778076,
-84.88166809082031,
82.34740447998047,
69.64376831054688,
-0.8547008633613586,
0.6711751818656921
] | [
0.1628119945526123,
-0.0025080107152462006,
0.05393105745315552,
3.086905002593994,
0.6207175254821777,
3.0262887477874756
] | 1 | move to initial state | move_initial | 0.14554 | [
-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 | 2 | 519 | 0 | |||
[
-3.463522434234619,
-87.48414611816406,
87.36363983154297,
69.20369720458984,
-0.8547008633613586,
0.6601285338401794
] | [
-2.0548787117004395,
-82.66160583496094,
79.51319885253906,
70.11964416503906,
-0.8547008633613586,
0.6601285338401794
] | [
0.16310691833496094,
-0.0030865552835166454,
0.05896535515785217,
3.086905002593994,
0.6207173466682434,
3.0216867923736572
] | 1 | move to initial state | move_initial | 0.18807 | [
-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 | 2 | 520 | 0 | |||
[
-3.463522434234619,
-85.36997985839844,
84.63636016845703,
69.64364624023438,
-0.8547008633613586,
0.6485682725906372
] | [
-1.5807647705078125,
-80.33833312988281,
76.54723358154297,
70.61764526367188,
-0.8547008633613586,
0.6485682725906372
] | [
0.16372208297252655,
-0.0031026112847030163,
0.06429416686296463,
3.086905002593994,
0.6207174062728882,
3.0216867923736572
] | 1 | move to initial state | move_initial | 0.234805 | [
-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 | 2 | 521 | 0 | |||
[
-2.8739867210388184,
-83.08667755126953,
81.90908813476562,
70.17157745361328,
-0.8547008633613586,
0.6366045475006104
] | [
-1.0901051759719849,
-77.9339828491211,
73.47776794433594,
71.13301849365234,
-0.8547008633613586,
0.6366045475006104
] | [
0.16411511600017548,
-0.004651842638850212,
0.06916756182909012,
3.087433338165283,
0.6161355972290039,
3.009721279144287
] | 1 | move to initial state | move_initial | 0.282627 | [
-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 | 2 | 522 | 0 | |||
[
-1.9896831512451172,
-80.71881866455078,
78.90908813476562,
70.5235366821289,
-0.8547008633613586,
0.6243724226951599
] | [
-0.5884358286857605,
-75.47567749023438,
70.33941650390625,
71.65996551513672,
-0.8547008633613586,
0.6243724226951599
] | [
0.16530664265155792,
-0.00703082513064146,
0.07503202557563782,
3.0872576236724854,
0.6176629066467285,
2.9912118911743164
] | 1 | move to initial state | move_initial | 0.3335 | [
-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 | 2 | 523 | 0 | |||
[
-1.4738394021987915,
-78.3509521484375,
75.81818389892578,
71.05147552490234,
-0.8547008633613586,
0.6120063662528992
] | [
-0.08127403259277344,
-72.99046325683594,
67.16671752929688,
72.19267272949219,
-0.8547008633613586,
0.6120063662528992
] | [
0.16645844280719757,
-0.008471888490021229,
0.08090044558048248,
3.0872576236724854,
0.6176627278327942,
2.9804739952087402
] | 1 | move to initial state | move_initial | 0.38498 | [
-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 | 2 | 524 | 0 | |||
[
-0.957995593547821,
-75.81395721435547,
72.7272720336914,
71.57940673828125,
-0.8547008633613586,
0.5996416211128235
] | [
0.4258337914943695,
-70.5055160522461,
63.994346618652344,
72.72533416748047,
-0.8547008633613586,
0.5996416211128235
] | [
0.167690709233284,
-0.00994608923792839,
0.08638618141412735,
3.087608575820923,
0.6146083474159241,
2.9699389934539795
] | 1 | move to initial state | move_initial | 0.43758 | [
-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 | 2 | 525 | 0 | |||
[
-0.442151814699173,
-73.44609069824219,
69.45454406738281,
72.1953353881836,
-0.8547008633613586,
0.5874151587486267
] | [
0.9272711277008057,
-68.04834747314453,
60.857452392578125,
73.25202941894531,
-0.8547008633613586,
0.5874151587486267
] | [
0.16924087703227997,
-0.011477600783109665,
0.09259016811847687,
3.087433338165283,
0.6161355376243591,
2.9591000080108643
] | 1 | move to initial state | move_initial | 0.489383 | [
-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 | 2 | 526 | 0 | |||
[
0.0736919641494751,
-70.90908813476562,
66.36363983154297,
72.72327423095703,
-0.8547008633613586,
0.5754311680793762
] | [
1.4187647104263306,
-65.6399154663086,
57.78276062011719,
73.76828002929688,
-0.8547008633613586,
0.5754311680793762
] | [
0.1708533763885498,
-0.013051589950919151,
0.09787406772375107,
3.0877835750579834,
0.6130807399749756,
2.948564291000366
] | 1 | move to initial state | move_initial | 0.540353 | [
-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 | 2 | 527 | 0 | |||
[
0.7369197010993958,
-68.28752899169922,
63.181819915771484,
73.25121307373047,
-0.8547008633613586,
0.5638812184333801
] | [
1.8924548625946045,
-63.31871795654297,
54.81945037841797,
74.26583862304688,
-0.8547008633613586,
0.5638812184333801
] | [
0.17270180583000183,
-0.015105612576007843,
0.10319297760725021,
3.088132619857788,
0.6100261211395264,
2.9349586963653564
] | 1 | move to initial state | move_initial | 0.591304 | [
-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 | 2 | 528 | 0 | |||
[
1.1790714263916016,
-65.75052642822266,
60.09090805053711,
73.77914428710938,
-0.8547008633613586,
0.5528620481491089
] | [
2.344376802444458,
-61.104190826416016,
51.992313385009766,
74.74052429199219,
-0.8547008633613586,
0.5528620481491089
] | [
0.1747153103351593,
-0.01660323701798916,
0.10822778940200806,
3.08847975730896,
0.6069715023040771,
2.9259533882141113
] | 1 | move to initial state | move_initial | 0.639415 | [
-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 | 2 | 529 | 0 | |||
[
1.6949152946472168,
-63.551795959472656,
57.09090805053711,
74.2190933227539,
-0.8547008633613586,
0.5424823760986328
] | [
2.770073890686035,
-59.01817321777344,
49.3292350769043,
75.18766784667969,
-0.8547008633613586,
0.5424823760986328
] | [
0.17697985470294952,
-0.018390322104096413,
0.11360244452953339,
3.088132619857788,
0.6100261211395264,
2.9150168895721436
] | 1 | move to initial state | move_initial | 0.681093 | [
-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 | 2 | 530 | 0 | |||
[
2.0633749961853027,
-61.353065490722656,
54.272727966308594,
74.65904235839844,
-0.8547008633613586,
0.5328741669654846
] | [
3.164127826690674,
-57.08721160888672,
46.86410903930664,
75.60157775878906,
-0.8547008633613586,
0.5328741669654846
] | [
0.17920304834842682,
-0.019785791635513306,
0.1182425394654274,
3.088132619857788,
0.6100260615348816,
2.9073469638824463
] | 1 | move to initial state | move_initial | 0.718939 | [
-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 | 2 | 531 | 0 | |||
[
2.5055267810821533,
-59.23889923095703,
51.54545593261719,
75.01100158691406,
-0.8547008633613586,
0.524138867855072
] | [
3.522383451461792,
-55.33167266845703,
44.62293243408203,
75.97787475585938,
-0.8547008633613586,
0.524138867855072
] | [
0.1815885603427887,
-0.021466681733727455,
0.12275005877017975,
3.087958335876465,
0.6115533113479614,
2.898043155670166
] | 1 | move to initial state | move_initial | 0.751392 | [
-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 | 2 | 532 | 0 | |||
[
2.947678804397583,
-57.20930099487305,
49.09090805053711,
75.53893280029297,
-0.8547008633613586,
0.5163700580596924
] | [
3.841001033782959,
-53.77037048339844,
42.629722595214844,
76.31254577636719,
-0.8547008633613586,
0.5163700580596924
] | [
0.183375284075737,
-0.023099884390830994,
0.12615449726581573,
3.08847975730896,
0.6069713830947876,
2.8891377449035645
] | 1 | move to initial state | move_initial | 0.775193 | [
-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 | 2 | 533 | 0 | |||
[
3.316138505935669,
-55.348838806152344,
46.818180084228516,
75.8908920288086,
-0.8547008633613586,
0.5096535682678223
] | [
4.116462707519531,
-52.4205436706543,
40.906490325927734,
76.60188293457031,
-0.8547008633613586,
0.5096535682678223
] | [
0.18541938066482544,
-0.024583417922258377,
0.1294383853673935,
3.088653087615967,
0.605444073677063,
2.8815665245056152
] | 1 | move to initial state | move_initial | 0.792298 | [
-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 | 2 | 534 | 0 | |||
[
3.3898305892944336,
-53.826637268066406,
44.90909194946289,
76.15486145019531,
-0.8547008633613586,
0.5040639042854309
] | [
4.345706939697266,
-51.29719161987305,
39.472381591796875,
76.84268188476562,
-0.8547008633613586,
0.5040639042854309
] | [
0.1873762011528015,
-0.025148052722215652,
0.13225601613521576,
3.088653087615967,
0.6054439544677734,
2.880032539367676
] | 1 | move to initial state | move_initial | 0.803225 | [
-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 | 2 | 535 | 0 | |||
[
3.3898305892944336,
-52.389007568359375,
43.181819915771484,
76.41883087158203,
-0.8547008633613586,
0.49966251850128174
] | [
4.526218891143799,
-50.412635803222656,
38.34313201904297,
77.03228759765625,
-0.8547008633613586,
0.49966251850128174
] | [
0.1891968697309494,
-0.025458212941884995,
0.13458161056041718,
3.0888257026672363,
0.603916585445404,
2.8801307678222656
] | 1 | move to initial state | move_initial | 0.809187 | [
-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 | 2 | 536 | 0 | |||
[
3.7582902908325195,
-51.289642333984375,
41.818180084228516,
76.41883087158203,
-0.8547008633613586,
0.49649912118911743
] | [
4.655957221984863,
-49.776885986328125,
37.53151321411133,
77.1685562133789,
-0.8547008633613586,
0.49649912118911743
] | [
0.19089850783348083,
-0.02694963663816452,
0.13673816621303558,
3.08847975730896,
0.6069713830947876,
2.8722639083862305
] | 1 | move to initial state | move_initial | 0.808901 | [
-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 | 2 | 537 | 0 | |||
[
4.200442314147949,
-50.35940933227539,
40.727272033691406,
76.68280029296875,
-0.8547008633613586,
0.49460554122924805
] | [
4.733617305755615,
-49.39633560180664,
37.04568862915039,
77.25012969970703,
-0.8547008633613586,
0.49460554122924805
] | [
0.19164344668388367,
-0.02853570692241192,
0.13796550035476685,
3.0888257026672363,
0.6039165258407593,
2.8632569313049316
] | 1 | move to initial state | move_initial | 0.802911 | [
-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 | 2 | 538 | 0 | |||
[
4.274134159088135,
-49.68287658691406,
40,
76.85877990722656,
-0.8547008633613586,
0.4940014183521271
] | [
4.2741265296936035,
-49.54705810546875,
39.791996002197266,
76.8587646484375,
-0.8547008633613586,
0.4940014183521271
] | [
0.19229890406131744,
-0.028902515769004822,
0.13864172995090485,
3.089170217514038,
0.6008617281913757,
2.8619182109832764
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3 | 30 | 2 | 539 | 0 | |
[
4.274134159088135,
-49.68287658691406,
40,
76.85877990722656,
-0.8547008633613586,
0.4940014183521271
] | [
4.235154628753662,
-49.52128601074219,
39.770877838134766,
76.79593658447266,
-0.8547008633613586,
0.4940014183521271
] | [
0.19229890406131744,
-0.028902515769004822,
0.13864172995090485,
3.089170217514038,
0.6008617281913757,
2.8619182109832764
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.1 | 31 | 2 | 540 | 0 | |
[
4.274134159088135,
-49.68287658691406,
40.6363639831543,
76.85877990722656,
-0.8547008633613586,
0.4940014183521271
] | [
4.131139278411865,
-49.45249557495117,
39.71451950073242,
76.62825012207031,
-0.8547008633613586,
0.4940014183521271
] | [
0.19157658517360687,
-0.028765738010406494,
0.1365019679069519,
3.090364456176758,
0.5901694297790527,
2.8625881671905518
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.2 | 32 | 2 | 541 | 0 | |
[
4.200442314147949,
-49.68287658691406,
40.6363639831543,
76.85877990722656,
-0.8547008633613586,
0.4940014183521271
] | [
3.96427583694458,
-49.342140197753906,
39.62410354614258,
76.35923767089844,
-0.8547008633613586,
0.4940014183521271
] | [
0.19162052869796753,
-0.028531402349472046,
0.1365019679069519,
3.090364456176758,
0.5901694297790527,
2.864121913909912
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.3 | 33 | 2 | 542 | 0 | |
[
4.200442314147949,
-49.68287658691406,
40.6363639831543,
76.85877990722656,
-0.8547008633613586,
0.4940014183521271
] | [
3.735466718673706,
-49.19081497192383,
39.5001220703125,
75.99036407470703,
-0.8547008633613586,
0.4940014183521271
] | [
0.19162052869796753,
-0.028531402349472046,
0.1365019679069519,
3.090364456176758,
0.5901694297790527,
2.864121913909912
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.4 | 34 | 2 | 543 | 0 | |
[
4.200442314147949,
-49.68287658691406,
40.6363639831543,
76.85877990722656,
-0.8547008633613586,
0.4940014183521271
] | [
3.4555158615112305,
-49.00566864013672,
38.954715728759766,
75.53903198242188,
-0.8547008633613586,
0.4940014183521271
] | [
0.19162052869796753,
-0.028531402349472046,
0.1365019679069519,
3.090364456176758,
0.5901694297790527,
2.864121913909912
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.5 | 35 | 2 | 544 | 0 | |
[
3.9793663024902344,
-49.68287658691406,
40.6363639831543,
76.85877990722656,
-0.8547008633613586,
0.4940014183521271
] | [
3.125424861907959,
-48.7873649597168,
38.775856018066406,
75.00687408447266,
-0.8547008633613586,
0.4940014183521271
] | [
0.19175021350383759,
-0.027827993035316467,
0.1365019679069519,
3.090364456176758,
0.5901694893836975,
2.8687238693237305
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.6 | 36 | 2 | 545 | 0 | |
[
3.6109063625335693,
-49.51374053955078,
40.6363639831543,
76.68280029296875,
-0.8547008633613586,
0.4940014183521271
] | [
2.7504308223724365,
-48.53936004638672,
38.57266616821289,
74.4023208618164,
-0.8547008633613586,
0.4940014183521271
] | [
0.19239629805088043,
-0.026730883866548538,
0.1363500952720642,
3.090364456176758,
0.5901694297790527,
2.8763937950134277
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.7 | 37 | 2 | 546 | 0 | |
[
3.3898305892944336,
-49.006343841552734,
40.6363639831543,
76.15486145019531,
-0.8547008633613586,
0.4940014183521271
] | [
2.3383142948150635,
-48.266807556152344,
38.349361419677734,
73.73792266845703,
-0.8547008633613586,
0.4940014183521271
] | [
0.19382739067077637,
-0.02624703198671341,
0.13588634133338928,
3.090364456176758,
0.5901695489883423,
2.880995750427246
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.008477 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.8 | 38 | 2 | 547 | 0 | |
[
2.947678804397583,
-48.66807556152344,
40.6363639831543,
75.45094299316406,
-0.8547008633613586,
0.5154320001602173
] | [
1.8899633884429932,
-47.97029113769531,
38.10642623901367,
73.01510620117188,
-0.8547008633613586,
0.5154320001602173
] | [
0.19568930566310883,
-0.025081172585487366,
0.13603749871253967,
3.089684009552002,
0.596279501914978,
2.889819383621216
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.019877 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.9 | 39 | 2 | 548 | 0 | |
[
2.5055267810821533,
-48.66807556152344,
40.6363639831543,
74.74703216552734,
-0.8547008633613586,
2.163160800933838
] | [
1.4122711420059204,
-47.65436935424805,
37.84758758544922,
72.2449951171875,
-0.8547008633613586,
2.163160800933838
] | [
0.19741669297218323,
-0.023864150047302246,
0.13698576390743256,
3.088306427001953,
0.6084986925125122,
2.898242712020874
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.063336 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4 | 40 | 2 | 549 | 0 | |
[
2.0633749961853027,
-48.329811096191406,
40.6363639831543,
73.95512390136719,
-0.8547008633613586,
3.8085741996765137
] | [
0.9117250442504883,
-47.32332992553711,
37.57636642456055,
71.43803405761719,
-0.8547008633613586,
3.8085741996765137
] | [
0.19943709671497345,
-0.022660376504063606,
0.13726651668548584,
3.087433338165283,
0.6161353588104248,
2.906944751739502
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.108901 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.1 | 41 | 2 | 550 | 0 | |
[
1.6949152946472168,
-47.73784255981445,
40.6363639831543,
73.16322326660156,
-0.8547008633613586,
5.455417633056641
] | [
0.38953858613967896,
-46.97798156738281,
37.29342269897461,
70.59618377685547,
-0.8547008633613586,
5.455417633056641
] | [
0.20150314271450043,
-0.021682582795619965,
0.13693396747112274,
3.0870814323425293,
0.6191897988319397,
2.9144108295440674
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.155 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.2 | 42 | 2 | 551 | 0 | |
[
1.1053794622421265,
-47.230445861816406,
40.45454406738281,
72.2833251953125,
-0.8547008633613586,
7.099761486053467
] | [
-0.14553222060203552,
-46.623291015625,
37.00349426269531,
69.73355865478516,
-0.8547008633613586,
7.099761486053467
] | [
0.20402462780475616,
-0.019960910081863403,
0.13754796981811523,
3.0860166549682617,
0.6283531785011292,
2.926060676574707
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.203593 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.3 | 43 | 2 | 552 | 0 | |
[
0.5895357131958008,
-46.97674560546875,
40.3636360168457,
71.49142456054688,
-0.8547008633613586,
8.74399185180664
] | [
-0.6903281807899475,
-46.246482849121094,
36.70829772949219,
68.85526275634766,
-0.8547008633613586,
8.74399185180664
] | [
0.20610180497169495,
-0.01839364506304264,
0.13835470378398895,
3.084756374359131,
0.639042854309082,
2.9360523223876953
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.249455 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.4 | 44 | 2 | 553 | 0 | |
[
0,
-46.55390930175781,
40,
70.61152648925781,
-0.8547008633613586,
10.38821029663086
] | [
-1.240064024925232,
-45.86625671386719,
36.410423278808594,
67.96900177001953,
-0.8547008633613586,
10.38821029663086
] | [
0.20875640213489532,
-0.016580097377300262,
0.13983221352100372,
3.08310604095459,
0.6527856588363647,
2.9473307132720947
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.29852 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.5 | 45 | 2 | 554 | 0 | |
[
-0.5158437490463257,
-46.13107681274414,
39.727272033691406,
69.64364624023438,
-0.8547008633613586,
12.03248405456543
] | [
-1.7896604537963867,
-45.48612594604492,
36.11262512207031,
67.08296203613281,
-0.8547008633613586,
12.03248405456543
] | [
0.21143175661563873,
-0.014974348247051239,
0.14113415777683258,
3.0814208984375,
0.6665270924568176,
2.957035779953003
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.347522 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.6 | 46 | 2 | 555 | 0 | |
[
-1.1053794622421265,
-45.961944580078125,
39.45454406738281,
68.6757583618164,
-0.8547008633613586,
13.6788330078125
] | [
-2.3349578380584717,
-45.10896682739258,
35.81715774536133,
66.20384979248047,
-0.8547008633613586,
13.6788330078125
] | [
0.2139786034822464,
-0.013034122996032238,
0.14312134683132172,
3.0791163444519043,
0.6848469972610474,
2.9678659439086914
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.395989 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.7 | 47 | 2 | 556 | 0 | |
[
-1.6212233304977417,
-45.2854118347168,
39.272727966308594,
67.79586791992188,
-0.8547008633613586,
15.323259353637695
] | [
-2.8694045543670654,
-44.739315032958984,
35.52756881713867,
65.34223937988281,
-0.8547008633613586,
15.323259353637695
] | [
0.21643072366714478,
-0.011302552185952663,
0.1433238387107849,
3.0783326625823975,
0.6909528970718384,
2.9781064987182617
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.444444 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.8 | 48 | 2 | 557 | 0 | |
[
-2.210758924484253,
-44.947147369384766,
38.818180084228516,
67.00395965576172,
-0.8547008633613586,
16.967649459838867
] | [
-3.389860153198242,
-44.37934112548828,
35.24555969238281,
64.50318145751953,
-0.8547008633613586,
16.967649459838867
] | [
0.21884040534496307,
-0.009241572581231594,
0.14528673887252808,
3.076338768005371,
0.7062166929244995,
2.989095687866211
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.492713 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.9 | 49 | 2 | 558 | 0 | |
[
-2.800294876098633,
-44.862579345703125,
38.727272033691406,
66.21205139160156,
-0.8547008633613586,
18.61302375793457
] | [
-3.8898043632507324,
-44.03355407714844,
34.974666595458984,
63.69718551635742,
-0.8547008633613586,
18.61302375793457
] | [
0.2206667959690094,
-0.007100826594978571,
0.14663781225681305,
3.0744991302490234,
0.7199522852897644,
3.000164031982422
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.538051 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5 | 50 | 2 | 559 | 0 | |
[
-3.316138505935669,
-44.862579345703125,
38.3636360168457,
65.42015075683594,
-0.8547008633613586,
20.25827407836914
] | [
-4.358899116516113,
-43.80741882324219,
34.72048568725586,
62.9409294128418,
-0.8547008633613586,
20.25827407836914
] | [
0.22268575429916382,
-0.0052049108780920506,
0.14925403892993927,
3.0717623233795166,
0.7397894263267517,
3.0090770721435547
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.584131 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.1 | 51 | 2 | 560 | 0 | |
[
-3.831982374191284,
-44.01691436767578,
37.90909194946289,
64.54025268554688,
-0.8547008633613586,
21.902774810791016
] | [
-4.593533039093018,
-43.54681396484375,
34.59334945678711,
62.56266403198242,
-0.8547008633613586,
21.902774810791016
] | [
0.2254343032836914,
-0.003280238714069128,
0.1500072479248047,
3.070683002471924,
0.7474181652069092,
3.0190842151641846
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.634451 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.2 | 52 | 2 | 561 | 0 | |
[
-4.200442314147949,
-43.8477783203125,
37.90909194946289,
63.9243278503418,
-0.8547008633613586,
23.54808235168457
] | [
-4.834221839904785,
-43.380340576171875,
34.46293258666992,
62.17463302612305,
-0.8547008633613586,
23.54808235168457
] | [
0.22674904763698578,
-0.0018628593534231186,
0.1505446583032608,
3.0695886611938477,
0.7550461888313293,
3.0260071754455566
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.676484 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.3 | 53 | 2 | 562 | 0 | |
[
-4.421517848968506,
-43.8477783203125,
37.90909194946289,
63.83633804321289,
-0.8547008633613586,
25.192617416381836
] | [
-5.080820560455322,
-43.209781646728516,
34.329315185546875,
61.777076721191406,
-0.8547008633613586,
25.192617416381836
] | [
0.22692520916461945,
-0.0009991158731281757,
0.1506909728050232,
3.0693678855895996,
0.7565717697143555,
3.0304577350616455
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.7119 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.4 | 54 | 2 | 563 | 0 | |
[
-4.568902015686035,
-43.8477783203125,
37.90909194946289,
63.57237243652344,
-0.8547008633613586,
26.83792495727539
] | [
-5.333758354187012,
-43.03483581542969,
34.1922607421875,
61.369300842285156,
-0.8547008633613586,
26.83792495727539
] | [
0.22743479907512665,
-0.0004236132081132382,
0.15113146603107452,
3.06870174407959,
0.76114821434021,
3.033067226409912
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.74737 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.5 | 55 | 2 | 564 | 0 | |
[
-4.8636698722839355,
-43.8477783203125,
37.90909194946289,
62.78046798706055,
-0.8547008633613586,
28.482593536376953
] | [
-5.593437671661377,
-42.855228424072266,
34.05155563354492,
60.950653076171875,
-0.8547008633613586,
28.482593536376953
] | [
0.22894386947155,
0.0007382581825368106,
0.15246689319610596,
3.0666677951812744,
0.7748762965202332,
3.037790060043335
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.787483 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.6 | 56 | 2 | 565 | 0 | |
[
-5.08474588394165,
-43.8477783203125,
37.90909194946289,
62.69247817993164,
-0.8547008633613586,
30.12787437438965
] | [
-5.861840724945068,
-42.767906188964844,
33.90612030029297,
60.5179443359375,
-0.8547008633613586,
30.12787437438965
] | [
0.22910508513450623,
0.0016143950633704662,
0.15261656045913696,
3.0664384365081787,
0.7764015197753906,
3.042231321334839
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.817451 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.7 | 57 | 2 | 566 | 0 | |
[
-5.305821895599365,
-43.0866813659668,
37.3636360168457,
61.90057373046875,
-0.8547008633613586,
31.773218154907227
] | [
-6.141670227050781,
-42.47603988647461,
33.754493713378906,
60.06681442260742,
-0.8547008633613586,
31.773218154907227
] | [
0.23165084421634674,
0.002521357499063015,
0.1538129597902298,
3.0650475025177,
0.7855523228645325,
3.045854330062866
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.86334 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.8 | 58 | 2 | 567 | 0 | |
[
-5.600589752197266,
-42.663848876953125,
36.90909194946289,
61.72459411621094,
-0.8547008633613586,
33.4186897277832
] | [
-6.431909561157227,
-42.27529525756836,
33.59722900390625,
59.598899841308594,
-0.8547008633613586,
33.4186897277832
] | [
0.23271188139915466,
0.003724294016137719,
0.15459391474723816,
3.0645782947540283,
0.788602352142334,
3.0516579151153564
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.894952 | [
-6.730588912963867,
-42.134788513183594,
34.093379974365234,
59.11738204956055,
-0.8547008633613586,
35
] | [
0.2402215301990509,
0.008604247123003006,
0.16855783760547638,
3.0505893230438232,
0.8714358806610107,
3.064847707748413
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.9 | 59 | 2 | 568 | 0 | |
[
-6.042741298675537,
-42.494712829589844,
36.727272033691406,
61.02067565917969,
-0.8547008633613586,
35
] | [
-5.674281597137451,
-42.516937255859375,
36.57986831665039,
61.72459030151367,
-0.8547008633613586,
35
] | [
0.23427991569042206,
0.005553014576435089,
0.1560060828924179,
3.0626721382141113,
0.8008013963699341,
3.0595011711120605
] | 1 | push drawer_handle: descend to pre-contact | move | 0.000705 | [
-7.172920227050781,
-60.90582275390625,
77.20089721679688,
-2.99092435836792,
-0.8547008633613586,
35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
1.621956706047058
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6 | 60 | 2 | 569 | 0 | ||
[
-6.116433143615723,
-42.494712829589844,
36.727272033691406,
60.84469985961914,
-0.8547008633613586,
35
] | [
-5.679842472076416,
-42.58551025390625,
36.73114013671875,
61.48445510864258,
-0.8547008633613586,
35
] | [
0.2345961481332779,
0.005862291436642408,
0.15631423890590668,
3.062188148498535,
0.8038508296012878,
3.0606870651245117
] | 1 | push drawer_handle: descend to pre-contact | move | 0.00257 | [
-7.172920227050781,
-60.90582275390625,
77.20089721679688,
-2.99092435836792,
-0.8547008633613586,
35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
1.621956706047058
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.1 | 61 | 2 | 570 | 0 | ||
[
-6.116433143615723,
-42.494712829589844,
37.45454406738281,
61.1966552734375,
-0.8547008633613586,
35
] | [
-5.69432258605957,
-42.764068603515625,
37.12503433227539,
60.85917663574219,
-0.8547008633613586,
35
] | [
0.233202263712883,
0.005821654573082924,
0.15292486548423767,
3.0650475025177,
0.7855523824691772,
3.0627281665802
] | 1 | push drawer_handle: descend to pre-contact | move | 0.003665 | [
-7.172920227050781,
-60.90582275390625,
77.20089721679688,
-2.99092435836792,
-0.8547008633613586,
35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
1.621956706047058
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.2 | 62 | 2 | 571 | 0 | ||
[
-6.116433143615723,
-42.494712829589844,
37.45454406738281,
61.1966552734375,
-0.8547008633613586,
35
] | [
-5.717471122741699,
-43.049530029296875,
37.754756927490234,
59.85953903198242,
-0.8547008633613586,
35
] | [
0.233202263712883,
0.005821654573082924,
0.15292486548423767,
3.0650475025177,
0.7855523824691772,
3.0627281665802
] | 1 | push drawer_handle: descend to pre-contact | move | 0.003665 | [
-7.172920227050781,
-60.90582275390625,
77.20089721679688,
-2.99092435836792,
-0.8547008633613586,
35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
1.621956706047058
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.3 | 63 | 2 | 572 | 0 | ||
[
-6.116433143615723,
-42.579280853271484,
38.181819915771484,
61.02067565917969,
-0.8547008633613586,
35
] | [
-5.749100208282471,
-43.43955993652344,
38.61515808105469,
58.49370574951172,
-0.8547008633613586,
35
] | [
0.23270656168460846,
0.005807205568999052,
0.15071016550064087,
3.0662083625793457,
0.7779268622398376,
3.0635457038879395
] | 1 | push drawer_handle: descend to pre-contact | move | 0.01053 | [
-7.172920227050781,
-60.90582275390625,
77.20089721679688,
-2.99092435836792,
-0.8547008633613586,
35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
1.621956706047058
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.4 | 64 | 2 | 573 | 0 | ||
[
-6.116433143615723,
-42.579280853271484,
39,
60.492740631103516,
-0.8547008633613586,
35
] | [
-5.787580966949463,
-44.01240158081055,
39.66194534301758,
56.83200454711914,
-0.8547008633613586,
35
] | [
0.23280645906925201,
0.005810124799609184,
0.1484965682029724,
3.066896438598633,
0.7733511924743652,
3.0640275478363037
] | 1 | push drawer_handle: descend to pre-contact | move | 0.021428 | [
-7.172920227050781,
-60.90582275390625,
77.20089721679688,
-2.99092435836792,
-0.8547008633613586,
35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.5 | 65 | 2 | 574 | 0 | ||
[
-6.116433143615723,
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39.818180084228516,
59.08491134643555,
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35
] | [
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] | [
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3.0627281665802
] | 1 | push drawer_handle: descend to pre-contact | move | 0.04194 | [
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77.20089721679688,
-2.99092435836792,
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35
] | [
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1.5708093643188477,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.6 | 66 | 2 | 575 | 0 | ||
[
-6.116433143615723,
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41.181819915771484,
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35
] | [
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] | [
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3.0620601177215576
] | 1 | push drawer_handle: descend to pre-contact | move | 0.068456 | [
-7.172920227050781,
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77.20089721679688,
-2.99092435836792,
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35
] | [
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1.5708093643188477,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.7 | 67 | 2 | 576 | 0 | ||
[
-6.116433143615723,
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42.727272033691406,
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35
] | [
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35
] | [
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3.060511827468872
] | 1 | push drawer_handle: descend to pre-contact | move | 0.099313 | [
-7.172920227050781,
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77.20089721679688,
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35
] | [
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0.011442072689533234,
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1.5708093643188477,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.8 | 68 | 2 | 577 | 0 | ||
[
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44.181819915771484,
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35
] | [
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35
] | [
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3.056636333465576
] | 1 | push drawer_handle: descend to pre-contact | move | 0.135927 | [
-7.172920227050781,
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77.20089721679688,
-2.99092435836792,
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35
] | [
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0.011442072689533234,
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1.5708093643188477,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.9 | 69 | 2 | 578 | 0 | ||
[
-6.116433143615723,
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35
] | [
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35
] | [
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3.052567481994629
] | 1 | push drawer_handle: descend to pre-contact | move | 0.173774 | [
-7.172920227050781,
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77.20089721679688,
-2.99092435836792,
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35
] | [
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1.5708093643188477,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7 | 70 | 2 | 579 | 0 | ||
[
-6.116433143615723,
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48.26220703125,
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35
] | [
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35
] | [
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3.0451412200927734,
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3.047844409942627
] | 1 | push drawer_handle: descend to pre-contact | move | 0.215582 | [
-7.172920227050781,
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77.20089721679688,
-2.99092435836792,
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35
] | [
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0.011442072689533234,
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1.5708093643188477,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.1 | 71 | 2 | 580 | 0 | ||
[
-6.116433143615723,
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49.09090805053711,
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35
] | [
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35
] | [
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3.038191318511963,
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3.0423285961151123
] | 1 | push drawer_handle: descend to pre-contact | move | 0.258169 | [
-7.172920227050781,
-60.90582275390625,
77.20089721679688,
-2.99092435836792,
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35
] | [
0.25935620069503784,
0.011442072689533234,
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1.5708093643188477,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.2 | 72 | 2 | 581 | 0 | ||
[
-6.116433143615723,
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51.09090805053711,
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35
] | [
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35
] | [
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3.03094482421875,
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3.0364363193511963
] | 1 | push drawer_handle: descend to pre-contact | move | 0.304496 | [
-7.172920227050781,
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77.20089721679688,
-2.99092435836792,
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35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.3 | 73 | 2 | 582 | 0 | ||
[
-6.116433143615723,
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53,
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35
] | [
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35
] | [
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3.0217981338500977,
1.001723051071167,
3.028820753097534
] | 1 | push drawer_handle: descend to pre-contact | move | 0.352141 | [
-7.172920227050781,
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77.20089721679688,
-2.99092435836792,
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35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.4 | 74 | 2 | 583 | 0 | ||
[
-6.116433143615723,
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55,
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35
] | [
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35
] | [
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3.010634183883667,
1.0411787033081055,
3.0192973613739014
] | 1 | push drawer_handle: descend to pre-contact | move | 0.401834 | [
-7.172920227050781,
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77.20089721679688,
-2.99092435836792,
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35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.5 | 75 | 2 | 584 | 0 | ||
[
-6.116433143615723,
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57,
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35
] | [
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35
] | [
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2.998383045196533,
1.0790585279464722,
3.0086073875427246
] | 1 | push drawer_handle: descend to pre-contact | move | 0.45124 | [
-7.172920227050781,
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77.20089721679688,
-2.99092435836792,
-0.8547008633613586,
35
] | [
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0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.6 | 76 | 2 | 585 | 0 | ||
[
-6.116433143615723,
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59.09090805053711,
29.960405349731445,
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35
] | [
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35
] | [
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2.9854767322540283,
1.113844633102417,
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.500896 | [
-7.172920227050781,
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77.20089721679688,
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35
] | [
0.25935620069503784,
0.011442072689533234,
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1.5708093643188477,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.7 | 77 | 2 | 586 | 0 | ||
[
-6.116433143615723,
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35
] | [
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35
] | [
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2.966343641281128,
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.550417 | [
-7.172920227050781,
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77.20089721679688,
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35
] | [
0.25935620069503784,
0.011442072689533234,
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1.5708093643188477,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.8 | 78 | 2 | 587 | 0 | ||
[
-6.190125465393066,
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62.90909194946289,
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35
] | [
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35
] | [
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2.948228597640991,
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2.9645867347717285
] | 1 | push drawer_handle: descend to pre-contact | move | 0.599234 | [
-7.172920227050781,
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77.20089721679688,
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35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.9 | 79 | 2 | 588 | 0 | ||
[
-6.263817310333252,
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35
] | [
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35
] | [
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2.9235498905181885,
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2.943011999130249
] | 1 | push drawer_handle: descend to pre-contact | move | 0.647239 | [
-7.172920227050781,
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77.20089721679688,
-2.99092435836792,
-0.8547008633613586,
35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8 | 80 | 2 | 589 | 0 | ||
[
-6.263817310333252,
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66.7272720336914,
17.28992462158203,
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35
] | [
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68.52227020263672,
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35
] | [
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2.8967132568359375,
1.2653542757034302,
2.917555332183838
] | 1 | push drawer_handle: descend to pre-contact | move | 0.695264 | [
-7.172920227050781,
-60.90582275390625,
77.20089721679688,
-2.99092435836792,
-0.8547008633613586,
35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.1 | 81 | 2 | 590 | 0 | ||
[
-6.263817310333252,
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68.45454406738281,
14.386273384094238,
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35
] | [
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35
] | [
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0.0073086596094071865,
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2.8633627891540527,
1.299341082572937,
2.885577917098999
] | 1 | push drawer_handle: descend to pre-contact | move | 0.739448 | [
-7.172920227050781,
-60.90582275390625,
77.20089721679688,
-2.99092435836792,
-0.8547008633613586,
35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
1.621956706047058
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.2 | 82 | 2 | 591 | 0 | ||
[
-6.263817310333252,
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11.922569274902344,
-0.8547008633613586,
35
] | [
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35
] | [
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2.8207902908325195,
1.3329607248306274,
2.844372034072876
] | 1 | push drawer_handle: descend to pre-contact | move | 0.774615 | [
-7.172920227050781,
-60.90582275390625,
77.20089721679688,
-2.99092435836792,
-0.8547008633613586,
35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
1.621956706047058
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.3 | 83 | 2 | 592 | 0 | ||
[
-6.263817310333252,
-56.10993576049805,
70.36363983154297,
10.338759422302246,
-0.8547008633613586,
35
] | [
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35
] | [
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0.007336789276450872,
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2.7886085510253906,
1.3531726598739624,
2.813019275665283
] | 1 | push drawer_handle: descend to pre-contact | move | 0.798005 | [
-7.172920227050781,
-60.90582275390625,
77.20089721679688,
-2.99092435836792,
-0.8547008633613586,
35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
1.621956706047058
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.4 | 84 | 2 | 593 | 0 | ||
[
-6.263817310333252,
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35
] | [
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35
] | [
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0.16492202877998352,
2.7702176570892334,
1.363185167312622,
2.7950422763824463
] | 1 | push drawer_handle: descend to pre-contact | move | 0.819999 | [
-7.172920227050781,
-60.90582275390625,
77.20089721679688,
-2.99092435836792,
-0.8547008633613586,
35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
1.621956706047058
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.5 | 85 | 2 | 594 | 0 | ||
[
-6.411201000213623,
-56.95560073852539,
72.09091186523438,
7.435107707977295,
-0.8547008633613586,
35
] | [
-7.019532203674316,
-58.65378952026367,
72.84754943847656,
3.632812738418579,
-0.8547008633613586,
35
] | [
0.26174196600914,
0.008023032918572426,
0.16767309606075287,
2.717390298843384,
1.3871647119522095,
2.746286153793335
] | 1 | push drawer_handle: descend to pre-contact | move | 0.842465 | [
-7.172920227050781,
-60.90582275390625,
77.20089721679688,
-2.99092435836792,
-0.8547008633613586,
35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
1.621956706047058
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.6 | 86 | 2 | 595 | 0 | ||
[
-6.632277011871338,
-57.20930099487305,
73.2727279663086,
5.939287185668945,
-0.8547008633613586,
35
] | [
-7.056154727935791,
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2.0513362884521484,
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35
] | [
0.26169705390930176,
0.009048527106642723,
0.1667444109916687,
2.691488027572632,
1.3968653678894043,
2.725398302078247
] | 1 | push drawer_handle: descend to pre-contact | move | 0.866071 | [
-7.172920227050781,
-60.90582275390625,
77.20089721679688,
-2.99092435836792,
-0.8547008633613586,
35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
1.621956706047058
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.7 | 87 | 2 | 596 | 0 | ||
[
-6.705968856811523,
-57.4630012512207,
74.18181610107422,
4.355477333068848,
-0.8547008633613586,
35
] | [
-7.094219207763672,
-59.53590393066406,
74.94750213623047,
0.4076109528541565,
-0.8547008633613586,
35
] | [
0.261802613735199,
0.009395340457558632,
0.16731837391853333,
2.6445207595825195,
1.4118423461914062,
2.680612564086914
] | 1 | push drawer_handle: descend to pre-contact | move | 0.88886 | [
-7.172920227050781,
-60.90582275390625,
77.20089721679688,
-2.99092435836792,
-0.8547008633613586,
35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
1.621956706047058
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.8 | 88 | 2 | 597 | 0 | ||
[
-6.705968856811523,
-58.39323425292969,
75.18181610107422,
2.77166748046875,
-0.8547008633613586,
35
] | [
-7.133777618408203,
-60.019657135009766,
76.05976104736328,
-1.300641417503357,
-0.8547008633613586,
35
] | [
0.2611886262893677,
0.009369885548949242,
0.16983260214328766,
2.545877456665039,
1.4353930950164795,
2.5830271244049072
] | 1 | push drawer_handle: descend to pre-contact | move | 0.91514 | [
-7.172920227050781,
-60.90582275390625,
77.20089721679688,
-2.99092435836792,
-0.8547008633613586,
35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
1.621956706047058
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.9 | 89 | 2 | 598 | 0 | ||
[
-6.705968856811523,
-58.731502532958984,
76.36363983154297,
1.1878575086593628,
-0.8547008633613586,
35
] | [
-7.172920227050781,
-60.498321533203125,
77.16031646728516,
-2.99092435836792,
-0.8547008633613586,
35
] | [
0.26100635528564453,
0.00936233252286911,
0.1694260984659195,
2.4829392433166504,
1.4465442895889282,
2.5206172466278076
] | 1 | push drawer_handle: descend to pre-contact | move | 0.938372 | [
-7.172920227050781,
-60.90582275390625,
77.20089721679688,
-2.99092435836792,
-0.8547008633613586,
35
] | [
0.25935620069503784,
0.011442072689533234,
0.18359588086605072,
1.5708093643188477,
1.4945025444030762,
1.621956706047058
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9 | 90 | 2 | 599 | 0 |
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