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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-8.69565200805664,
-43.0866813659668,
59.45454406738281,
52.8376579284668,
-0.8547008633613586,
0.5040704607963562
] | [
-9.24221134185791,
-40.67304229736328,
54.70499801635742,
51.062522888183594,
-0.8547008633613586,
0.5040704607963562
] | [
0.2143668830394745,
0.014729131013154984,
0.08596397191286087,
3.092372179031372,
0.5718391537666321,
3.1336708068847656
] | 1 | move to initial state | move_initial | 0.707494 | [
-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 | 3 | 800 | 0 | |||
[
-8.69565200805664,
-41.31078338623047,
58.272727966308594,
52.39771270751953,
-0.8547008633613586,
0.4996698498725891
] | [
-9.325907707214355,
-39.583709716796875,
53.86500549316406,
50.75087356567383,
-0.8547008633613586,
0.4996698498725891
] | [
0.21691769361495972,
0.014940928667783737,
0.08593892306089401,
3.092866897583008,
0.5672560334205627,
3.1339375972747803
] | 1 | move to initial state | move_initial | 0.709155 | [
-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 | 3 | 801 | 0 | |||
[
-8.843035697937012,
-39.87314987182617,
57.272727966308594,
52.309722900390625,
-0.8547008633613586,
0.49650245904922485
] | [
-9.386149406433105,
-38.799644470214844,
53.26041030883789,
50.52655792236328,
-0.8547008633613586,
0.49650245904922485
] | [
0.21846939623355865,
0.015624861232936382,
0.0856594443321228,
3.093684673309326,
0.5596173405647278,
3.1374423503875732
] | 1 | move to initial state | move_initial | 0.710916 | [
-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 | 3 | 802 | 0 | |||
[
-8.843035697937012,
-39.196617126464844,
56.6363639831543,
51.869773864746094,
-0.8547008633613586,
0.4946070909500122
] | [
-9.422197341918945,
-38.330467224121094,
52.898624420166016,
50.392330169677734,
-0.8547008633613586,
0.4946070909500122
] | [
0.2204776257276535,
0.01579780876636505,
0.08658632636070251,
3.0930309295654297,
0.5657283663749695,
3.1370935440063477
] | 1 | move to initial state | move_initial | 0.708619 | [
-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 | 3 | 803 | 0 | |||
[
-8.916728019714355,
-38.26638412475586,
56.09090805053711,
51.42982864379883,
-0.8547008633613586,
0.4940014183521271
] | [
-8.916720390319824,
-38.16783905029297,
55.780052185058594,
51.42982482910156,
-0.8547008633613586,
0.4940014183521271
] | [
0.22212865948677063,
0.01622331328690052,
0.08647602051496506,
3.0930309295654297,
0.5657283663749695,
3.138627529144287
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3 | 30 | 3 | 804 | 0 | |
[
-8.916728019714355,
-38.26638412475586,
56.09090805053711,
51.42982864379883,
-0.8547008633613586,
0.4940014183521271
] | [
-8.895859718322754,
-38.19686508178711,
55.7401237487793,
51.42063903808594,
-0.8547008633613586,
0.4940014183521271
] | [
0.22212865948677063,
0.01622331328690052,
0.08647602051496506,
3.0930309295654297,
0.5657283663749695,
3.138627529144287
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.1 | 31 | 3 | 805 | 0 | |
[
-8.916728019714355,
-38.26638412475586,
56.3636360168457,
51.42982864379883,
-0.8547008633613586,
0.4940014183521271
] | [
-8.840202331542969,
-38.2743034362793,
55.63360595703125,
51.39613723754883,
-0.8547008633613586,
0.4940014183521271
] | [
0.22151750326156616,
0.01616973802447319,
0.08552243560552597,
3.0935218334198,
0.5611451268196106,
3.138889789581299
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.2 | 32 | 3 | 806 | 0 | |
[
-8.916728019714355,
-38.26638412475586,
56.3636360168457,
51.42982864379883,
-0.8547008633613586,
0.4940014183521271
] | [
-8.750831604003906,
-38.398651123046875,
55.462562561035156,
51.356788635253906,
-0.8547008633613586,
0.4940014183521271
] | [
0.22151750326156616,
0.01616973802447319,
0.08552243560552597,
3.0935218334198,
0.5611451268196106,
3.138889789581299
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.3 | 33 | 3 | 807 | 0 | |
[
-8.916728019714355,
-38.26638412475586,
56.3636360168457,
51.42982864379883,
-0.8547008633613586,
0.4940014183521271
] | [
-8.628412246704102,
-38.5689811706543,
55.228267669677734,
51.30289077758789,
-0.8547008633613586,
0.4940014183521271
] | [
0.22151750326156616,
0.01616973802447319,
0.08552243560552597,
3.0935218334198,
0.5611451268196106,
3.138889789581299
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.4 | 34 | 3 | 808 | 0 | |
[
-8.916728019714355,
-38.26638412475586,
56.3636360168457,
51.42982864379883,
-0.8547008633613586,
0.4940014183521271
] | [
-8.478611946105957,
-38.77740478515625,
54.49462127685547,
51.2369384765625,
-0.8547008633613586,
0.4940014183521271
] | [
0.22151750326156616,
0.01616973802447319,
0.08552243560552597,
3.0935218334198,
0.5611451268196106,
3.138889789581299
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.5 | 35 | 3 | 809 | 0 | |
[
-8.916728019714355,
-38.26638412475586,
56.3636360168457,
51.42982864379883,
-0.8547008633613586,
0.4940014183521271
] | [
-8.301949501037598,
-39.0232048034668,
54.15650939941406,
51.15916061401367,
-0.8547008633613586,
0.4940014183521271
] | [
0.22151750326156616,
0.01616973802447319,
0.08552243560552597,
3.0935218334198,
0.5611451268196106,
3.138889789581299
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.6 | 36 | 3 | 810 | 0 | |
[
-8.916728019714355,
-38.26638412475586,
56.3636360168457,
51.42982864379883,
-0.8547008633613586,
0.4940014183521271
] | [
-8.101439476013184,
-39.416893005371094,
53.772762298583984,
51.07088088989258,
-0.8547008633613586,
0.4940014183521271
] | [
0.22151750326156616,
0.01616973802447319,
0.08552243560552597,
3.0935218334198,
0.5611451268196106,
3.138889789581299
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.7 | 37 | 3 | 811 | 0 | |
[
-8.916728019714355,
-38.26638412475586,
56.3636360168457,
51.42982864379883,
-0.8547008633613586,
0.4940014183521271
] | [
-7.8807501792907715,
-39.72394943237305,
53.35039520263672,
50.97372055053711,
-0.8547008633613586,
0.4940014183521271
] | [
0.22151750326156616,
0.01616973802447319,
0.08552243560552597,
3.0935218334198,
0.5611451268196106,
3.138889789581299
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.8 | 38 | 3 | 812 | 0 | |
[
-8.843035697937012,
-38.26638412475586,
56.3636360168457,
51.42982864379883,
-0.8547008633613586,
0.5079494714736938
] | [
-7.640797138214111,
-40.05781173706055,
52.88869857788086,
50.86807632446289,
-0.8547008633613586,
0.5079494714736938
] | [
0.221542090177536,
0.01588948629796505,
0.08552243560552597,
3.0935218334198,
0.5611451268196106,
3.1373558044433594
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.9 | 39 | 3 | 813 | 0 | |
[
-8.843035697937012,
-38.26638412475586,
56.3636360168457,
51.42982864379883,
-0.8547008633613586,
2.1530730724334717
] | [
-7.385425567626953,
-40.413124084472656,
52.393165588378906,
50.75564193725586,
-0.8547008633613586,
2.1530730724334717
] | [
0.221542090177536,
0.01588948629796505,
0.08552243560552597,
3.0935218334198,
0.5611451268196106,
3.1373558044433594
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.032353 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4 | 40 | 3 | 814 | 0 | |
[
-8.843035697937012,
-38.435516357421875,
56,
51.42982864379883,
-0.8547008633613586,
3.7987332344055176
] | [
-7.117319107055664,
-40.786155700683594,
51.8729248046875,
50.637603759765625,
-0.8547008633613586,
3.7987332344055176
] | [
0.2224464863538742,
0.015967369079589844,
0.08726653456687927,
3.0925374031066895,
0.570311427116394,
3.1368281841278076
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.075924 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.1 | 41 | 3 | 815 | 0 | |
[
-8.843035697937012,
-38.520084381103516,
55.09090805053711,
51.42982864379883,
-0.8547008633613586,
5.443026065826416
] | [
-6.838126182556152,
-41.17461395263672,
51.3311653137207,
50.51468276977539,
-0.8547008633613586,
5.443026065826416
] | [
0.22447732090950012,
0.016142258420586586,
0.09071376174688339,
3.0907022953033447,
0.5871151685714722,
3.135824203491211
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.123504 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.2 | 42 | 3 | 816 | 0 | |
[
-8.54826831817627,
-39.1120491027832,
54.54545593261719,
51.42982864379883,
-0.8547008633613586,
7.088051795959473
] | [
-6.551461219787598,
-41.57346725463867,
50.77490997314453,
50.38847351074219,
-0.8547008633613586,
7.088051795959473
] | [
0.22598880529403687,
0.015116061083972454,
0.09434337913990021,
3.08847975730896,
0.6069719195365906,
3.128438711166382
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.17248 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.3 | 43 | 3 | 817 | 0 | |
[
-7.663964748382568,
-39.704017639160156,
53.90909194946289,
51.42982864379883,
-0.8547008633613586,
8.732450485229492
] | [
-6.259636402130127,
-41.97949981689453,
50.208641052246094,
50.25999450683594,
-0.8547008633613586,
8.732450485229492
] | [
0.2277582734823227,
0.011762180365622044,
0.09834100306034088,
3.0860166549682617,
0.6283535957336426,
3.1086044311523438
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.22482 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.4 | 44 | 3 | 818 | 0 | |
[
-7.074429035186768,
-39.87314987182617,
53.3636360168457,
51.42982864379883,
-0.8547008633613586,
10.376895904541016
] | [
-5.965150356292725,
-42.38923263549805,
49.637210845947266,
50.130340576171875,
-0.8547008633613586,
10.376895904541016
] | [
0.22902719676494598,
0.009498865343630314,
0.10081996768712997,
3.0845746994018555,
0.640570342540741,
3.095477819442749
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.272303 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.5 | 45 | 3 | 819 | 0 | |
[
-6.853353023529053,
-40.5496826171875,
52.818180084228516,
51.42982864379883,
-0.8547008633613586,
12.021326065063477
] | [
-5.670725345611572,
-42.798885345458984,
49.065895080566406,
50.00071334838867,
-0.8547008633613586,
12.021326065063477
] | [
0.2302911877632141,
0.008677922189235687,
0.10479922592639923,
3.081986665725708,
0.6619472503662109,
3.0893068313598633
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.321413 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.6 | 46 | 3 | 820 | 0 | |
[
-6.3375091552734375,
-40.8879508972168,
52.45454406738281,
51.42982864379883,
-0.8547008633613586,
13.665678024291992
] | [
-5.3789801597595215,
-43.20480728149414,
48.49978256225586,
49.87226867675781,
-0.8547008633613586,
13.665678024291992
] | [
0.23111826181411743,
0.0066467816941440105,
0.10714118182659149,
3.0804686546325684,
0.6741610765457153,
3.0776286125183105
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.367947 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.7 | 47 | 3 | 821 | 0 | |
[
-6.190125465393066,
-40.8879508972168,
51.727272033691406,
51.42982864379883,
-0.8547008633613586,
15.310072898864746
] | [
-5.092653274536133,
-43.60319137573242,
47.944183349609375,
49.74620819091797,
-0.8547008633613586,
15.310072898864746
] | [
0.23246414959430695,
0.006097543053328991,
0.10985809564590454,
3.07892107963562,
0.686373770236969,
3.07358717918396
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.413993 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.8 | 48 | 3 | 822 | 0 | |
[
-5.895357608795166,
-41.564483642578125,
51.45454406738281,
51.42982864379883,
-0.8547008633613586,
16.954307556152344
] | [
-4.813809871673584,
-43.99116134643555,
47.40310287475586,
49.62343978881836,
-0.8547008633613586,
16.954307556152344
] | [
0.23304462432861328,
0.004922760184854269,
0.1128918007016182,
3.0767414569854736,
0.7031643390655518,
3.0660557746887207
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.460911 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.9 | 49 | 3 | 823 | 0 | |
[
-5.600589752197266,
-42.24101638793945,
50.818180084228516,
51.42982864379883,
-0.8547008633613586,
18.598697662353516
] | [
-4.54611873626709,
-44.36361312866211,
46.8836669921875,
49.505584716796875,
-0.8547008633613586,
18.598697662353516
] | [
0.23416773974895477,
0.003751204116269946,
0.11732557415962219,
3.073667287826538,
0.7260565757751465,
3.0579049587249756
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.51088 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5 | 50 | 3 | 824 | 0 | |
[
-5.158437728881836,
-42.579280853271484,
50.181819915771484,
51.42982864379883,
-0.8547008633613586,
20.242998123168945
] | [
-4.293702125549316,
-44.71481704711914,
46.39386749267578,
49.39445114135742,
-0.8547008633613586,
20.242998123168945
] | [
0.23520894348621368,
0.001962591428309679,
0.1207779049873352,
3.0713324546813965,
0.7428410053253174,
3.0471363067626953
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.559188 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.1 | 51 | 3 | 825 | 0 | |
[
-4.8636698722839355,
-42.91754913330078,
49.727272033691406,
51.42982864379883,
-0.8547008633613586,
21.88754653930664
] | [
-4.168038845062256,
-44.8896598815918,
46.1500244140625,
49.33912658691406,
-0.8547008633613586,
21.88754653930664
] | [
0.23589210212230682,
0.0007596958894282579,
0.12355025112628937,
3.0693678855895996,
0.7565718293190002,
3.0396616458892822
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.605177 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.2 | 52 | 3 | 826 | 0 | |
[
-4.78997802734375,
-42.91754913330078,
49.6363639831543,
51.42982864379883,
-0.8547008633613586,
23.53209114074707
] | [
-4.039196968078613,
-45.06892395019531,
45.9000129699707,
49.28240203857422,
-0.8547008633613586,
23.53209114074707
] | [
0.2360321283340454,
0.0004576275823637843,
0.12390168756246567,
3.0691463947296143,
0.7580973505973816,
3.037975549697876
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.644395 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.3 | 53 | 3 | 827 | 0 | |
[
-4.716285705566406,
-42.91754913330078,
49.272727966308594,
51.42982864379883,
-0.8547008633613586,
25.176555633544922
] | [
-3.90714168548584,
-45.25265884399414,
45.643768310546875,
49.22426223754883,
-0.8547008633613586,
25.176555633544922
] | [
0.23658360540866852,
0.00015512930986005813,
0.1253095418214798,
3.068254232406616,
0.7641991376876831,
3.0358262062072754
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.685329 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.4 | 54 | 3 | 828 | 0 | |
[
-4.421517848968506,
-43.002113342285156,
49.09090805053711,
50.9898796081543,
-0.8547008633613586,
26.820974349975586
] | [
-3.771765947341919,
-45.441017150878906,
45.381080627441406,
49.1646614074707,
-0.8547008633613586,
26.820974349975586
] | [
0.23767392337322235,
-0.0010649391915649176,
0.12701761722564697,
3.0664384365081787,
0.7764015793800354,
3.028425693511963
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.727293 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.5 | 55 | 3 | 829 | 0 | |
[
-4.421517848968506,
-43.763214111328125,
48.6363639831543,
50.63792419433594,
-0.8547008633613586,
28.465152740478516
] | [
-3.6327669620513916,
-45.63441467285156,
45.11136245727539,
49.10346221923828,
-0.8547008633613586,
28.465152740478516
] | [
0.23880337178707123,
-0.0010718748671934009,
0.13174036145210266,
3.062188148498535,
0.8038507699966431,
3.0254056453704834
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.775748 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.6 | 56 | 3 | 830 | 0 | |
[
-4.421517848968506,
-44.101478576660156,
48.45454406738281,
50.63792419433594,
-0.8547008633613586,
30.109378814697266
] | [
-3.4891841411590576,
-45.834190368652344,
44.83274841308594,
49.04024887084961,
-0.8547008633613586,
30.109378814697266
] | [
0.2389524132013321,
-0.0010727931512519717,
0.13349862396717072,
3.0607173442840576,
0.8129984140396118,
3.0243418216705322
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.813429 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.7 | 57 | 3 | 831 | 0 | |
[
-4.200442314147949,
-44.35517883300781,
48.181819915771484,
50.28596496582031,
-0.8547008633613586,
31.753660202026367
] | [
-3.3393666744232178,
-46.042640686035156,
44.54203414916992,
48.97428894042969,
-0.8547008633613586,
31.753660202026367
] | [
0.23986025154590607,
-0.0020035295747220516,
0.13599078357219696,
3.058201551437378,
0.8282420039176941,
3.017899513244629
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.851939 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.8 | 58 | 3 | 832 | 0 | |
[
-3.9793663024902344,
-44.52431106567383,
48,
50.28596496582031,
-0.8547008633613586,
33.39839172363281
] | [
-3.1840291023254395,
-46.25876998901367,
44.2406120300293,
48.90589904785156,
-0.8547008633613586,
33.39839172363281
] | [
0.2400207370519638,
-0.0029312490951269865,
0.13723789155483246,
3.0571718215942383,
0.8343385457992554,
3.0125367641448975
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.879236 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.9 | 59 | 3 | 833 | 0 | |
[
-3.7582902908325195,
-44.60887908935547,
47.54545593261719,
50.28596496582031,
-0.8547008633613586,
35
] | [
-3.022195339202881,
-46.48393630981445,
43.92658233642578,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.2405410259962082,
-0.0038677495904266834,
0.13931307196617126,
3.055601119995117,
0.8434823751449585,
3.0067663192749023
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.898758 | [
-3.022195339202881,
-46.399505615234375,
44.60639953613281,
48.83464813232422,
-0.8547008633613586,
35
] | [
0.24488751590251923,
-0.00711413100361824,
0.15967239439487457,
3.0344769954681396,
0.9500497579574585,
2.974915027618408
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6 | 60 | 3 | 834 | 0 | |
[
-3.6109063625335693,
-44.60887908935547,
47.45454406738281,
50.28596496582031,
-0.8547008633613586,
35
] | [
-3.684598207473755,
-44.563575744628906,
47.30689239501953,
50.28596115112305,
-0.8547008633613586,
35
] | [
0.2406400889158249,
-0.0044891308061778545,
0.13967624306678772,
3.0553359985351562,
0.8450062870979309,
3.00350022315979
] | 1 | push drawer_handle: descend to pre-contact | move | 0.000372 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
-0.8547008633613586,
35
] | [
0.27576810121536255,
-0.02331499196588993,
0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
1.4724286794662476
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.1 | 61 | 3 | 835 | 0 | ||
[
-3.6109063625335693,
-44.60887908935547,
47.45454406738281,
50.28596496582031,
-0.8547008633613586,
35
] | [
-3.6714746952056885,
-44.57452392578125,
47.4040641784668,
50.05598831176758,
-0.8547008633613586,
35
] | [
0.2406400889158249,
-0.0044891308061778545,
0.13967624306678772,
3.0553359985351562,
0.8450062870979309,
3.00350022315979
] | 1 | push drawer_handle: descend to pre-contact | move | 0.000372 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
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35
] | [
0.27576810121536255,
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0.1754745990037918,
1.5711596012115479,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.2 | 62 | 3 | 836 | 0 | ||
[
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35
] | [
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35
] | [
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0.13651418685913086,
3.0576884746551514,
0.8312903046607971,
3.0052490234375
] | 1 | push drawer_handle: descend to pre-contact | move | 0.004284 | [
0.02714007906615734,
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75.14056396484375,
-14.756760597229004,
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35
] | [
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0.1754745990037918,
1.5711596012115479,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.3 | 63 | 3 | 837 | 0 | ||
[
-3.6109063625335693,
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48.181819915771484,
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35
] | [
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35
] | [
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0.13651418685913086,
3.0576884746551514,
0.8312903046607971,
3.0052490234375
] | 1 | push drawer_handle: descend to pre-contact | move | 0.004284 | [
0.02714007906615734,
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75.14056396484375,
-14.756760597229004,
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35
] | [
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0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.4 | 64 | 3 | 838 | 0 | ||
[
-3.6109063625335693,
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48.45454406738281,
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35
] | [
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35
] | [
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3.058201551437378,
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3.0056276321411133
] | 1 | push drawer_handle: descend to pre-contact | move | 0.006893 | [
0.02714007906615734,
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75.14056396484375,
-14.756760597229004,
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35
] | [
0.27576810121536255,
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0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.5 | 65 | 3 | 839 | 0 | ||
[
-3.6109063625335693,
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48.90909194946289,
49.054115295410156,
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35
] | [
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35
] | [
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0.13584576547145844,
3.0561282634735107,
0.8404344916343689,
3.004091501235962
] | 1 | push drawer_handle: descend to pre-contact | move | 0.024217 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
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35
] | [
0.27576810121536255,
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0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.6 | 66 | 3 | 840 | 0 | ||
[
-3.537214517593384,
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35
] | [
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35
] | [
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3.053727149963379,
0.8541485667228699,
3.0007576942443848
] | 1 | push drawer_handle: descend to pre-contact | move | 0.044912 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
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35
] | [
0.27576810121536255,
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0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.7 | 67 | 3 | 841 | 0 | ||
[
-3.537214517593384,
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46.15046310424805,
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35
] | [
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35
] | [
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0.13487325608730316,
3.051806688308716,
0.864812970161438,
2.999303102493286
] | 1 | push drawer_handle: descend to pre-contact | move | 0.070863 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
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35
] | [
0.27576810121536255,
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0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.8 | 68 | 3 | 842 | 0 | ||
[
-3.537214517593384,
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44.39067459106445,
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35
] | [
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35
] | [
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0.13596494495868683,
3.0478174686431885,
0.8861361742019653,
2.99623966217041
] | 1 | push drawer_handle: descend to pre-contact | move | 0.096696 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
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35
] | [
0.27576810121536255,
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0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.9 | 69 | 3 | 843 | 0 | ||
[
-3.537214517593384,
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41.8389778137207,
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35
] | [
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35
] | [
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0.13450241088867188,
3.0442285537719727,
0.9044066667556763,
2.993438959121704
] | 1 | push drawer_handle: descend to pre-contact | move | 0.138117 | [
0.02714007906615734,
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75.14056396484375,
-14.756760597229004,
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35
] | [
0.27576810121536255,
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0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7 | 70 | 3 | 844 | 0 | ||
[
-3.537214517593384,
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53.6363639831543,
39.72723388671875,
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35
] | [
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54.81121826171875,
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35
] | [
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0.13419024646282196,
3.040469169616699,
0.9226705431938171,
2.9904625415802
] | 1 | push drawer_handle: descend to pre-contact | move | 0.170849 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
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35
] | [
0.27576810121536255,
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0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.1 | 71 | 3 | 845 | 0 | ||
[
-3.537214517593384,
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54.54545593261719,
36.64760208129883,
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35
] | [
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56.043365478515625,
30.431459426879883,
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35
] | [
0.2543601989746094,
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0.13679662346839905,
3.031663417816162,
0.9622170925140381,
2.983337163925171
] | 1 | push drawer_handle: descend to pre-contact | move | 0.215874 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
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35
] | [
0.27576810121536255,
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0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.2 | 72 | 3 | 846 | 0 | ||
[
-3.1687545776367188,
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56.09090805053711,
34.095909118652344,
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35
] | [
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57.32733154296875,
27.350601196289062,
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35
] | [
0.25621190667152405,
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0.1354409158229828,
3.027254819869995,
0.9804560542106628,
2.97202730178833
] | 1 | push drawer_handle: descend to pre-contact | move | 0.257548 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
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35
] | [
0.27576810121536255,
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0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
1.4724286794662476
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.3 | 73 | 3 | 847 | 0 | ||
[
-3.0213706493377686,
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57.6363639831543,
31.016277313232422,
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35
] | [
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58.26204299926758,
24.18852996826172,
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35
] | [
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0.135209858417511,
3.020172119140625,
1.0077964067459106,
2.9630210399627686
] | 1 | push drawer_handle: descend to pre-contact | move | 0.305884 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
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35
] | [
0.27576810121536255,
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0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.4 | 74 | 3 | 848 | 0 | ||
[
-2.6529109477996826,
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58.6363639831543,
27.936647415161133,
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35
] | [
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59.98735046386719,
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35
] | [
0.26171180605888367,
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0.1374097317457199,
3.0097131729125977,
1.0442111492156982,
2.9464049339294434
] | 1 | push drawer_handle: descend to pre-contact | move | 0.351639 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
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35
] | [
0.27576810121536255,
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0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.5 | 75 | 3 | 849 | 0 | ||
[
-2.6529109477996826,
-44.60887908935547,
59.45454406738281,
25.032995223999023,
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35
] | [
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35
] | [
0.2645541727542877,
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0.14012926816940308,
2.997857093811035,
1.0805721282958984,
2.936046600341797
] | 1 | push drawer_handle: descend to pre-contact | move | 0.393821 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
-0.8547008633613586,
35
] | [
0.27576810121536255,
-0.02331499196588993,
0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.6 | 76 | 3 | 850 | 0 | ||
[
-2.6529109477996826,
-44.60887908935547,
61.3636360168457,
21.777387619018555,
-0.8547008633613586,
35
] | [
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62.69609832763672,
14.46831226348877,
-0.8547008633613586,
35
] | [
0.26631471514701843,
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0.1388920247554779,
2.9890153408050537,
1.1047765016555786,
2.9281954765319824
] | 1 | push drawer_handle: descend to pre-contact | move | 0.446112 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
-0.8547008633613586,
35
] | [
0.27576810121536255,
-0.02331499196588993,
0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
1.4724286794662476
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.7 | 77 | 3 | 851 | 0 | ||
[
-2.358142852783203,
-44.60887908935547,
62.6363639831543,
18.521778106689453,
-0.8547008633613586,
35
] | [
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64.03778076171875,
11.248961448669434,
-0.8547008633613586,
35
] | [
0.2685811519622803,
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0.14054115116596222,
2.9747016429901123,
1.1395082473754883,
2.909160614013672
] | 1 | push drawer_handle: descend to pre-contact | move | 0.495429 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
-0.8547008633613586,
35
] | [
0.27576810121536255,
-0.02331499196588993,
0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
1.4724286794662476
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.8 | 78 | 3 | 852 | 0 | ||
[
-2.1370670795440674,
-44.60887908935547,
64,
15.266167640686035,
-0.8547008633613586,
35
] | [
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65.35438537597656,
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-0.8547008633613586,
35
] | [
0.27052512764930725,
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0.1418658196926117,
2.958833932876587,
1.1726455688476562,
2.8900339603424072
] | 1 | push drawer_handle: descend to pre-contact | move | 0.545084 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
-0.8547008633613586,
35
] | [
0.27576810121536255,
-0.02331499196588993,
0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
1.4724286794662476
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.9 | 79 | 3 | 853 | 0 | ||
[
-1.842299222946167,
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65.63636016845703,
11.922569274902344,
-0.8547008633613586,
35
] | [
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66.66572570800781,
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35
] | [
0.2718279957771301,
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0.1434813290834427,
2.9384074211120605,
1.2086743116378784,
2.8649260997772217
] | 1 | push drawer_handle: descend to pre-contact | move | 0.597687 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
-0.8547008633613586,
35
] | [
0.27576810121536255,
-0.02331499196588993,
0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
1.4724286794662476
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8 | 80 | 3 | 854 | 0 | ||
[
-1.842299222946167,
-45.03171157836914,
66.90908813476562,
8.754949569702148,
-0.8547008633613586,
35
] | [
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67.9734115600586,
2.0586869716644287,
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35
] | [
0.27334877848625183,
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0.14547757804393768,
2.9148294925689697,
1.243045449256897,
2.842733860015869
] | 1 | push drawer_handle: descend to pre-contact | move | 0.645566 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
-0.8547008633613586,
35
] | [
0.27576810121536255,
-0.02331499196588993,
0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
1.4724286794662476
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.1 | 81 | 3 | 855 | 0 | ||
[
-1.768607258796692,
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68.2727279663086,
5.675319194793701,
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35
] | [
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35
] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.693085 | [
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35
] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.2 | 82 | 3 | 856 | 0 | ||
[
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35
] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.735573 | [
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-14.756760597229004,
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35
] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.3 | 83 | 3 | 857 | 0 | ||
[
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35
] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.770969 | [
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-14.756760597229004,
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35
] | [
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1.5711596012115479,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.4 | 84 | 3 | 858 | 0 | ||
[
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35
] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.794816 | [
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-14.756760597229004,
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35
] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.5 | 85 | 3 | 859 | 0 | ||
[
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35
] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.818092 | [
0.02714007906615734,
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75.14056396484375,
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35
] | [
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1.5711596012115479,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.6 | 86 | 3 | 860 | 0 | ||
[
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35
] | [
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35
] | [
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2.6953623294830322,
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.841008 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
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35
] | [
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0.1754745990037918,
1.5711596012115479,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.7 | 87 | 3 | 861 | 0 | ||
[
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35
] | [
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35
] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.8641 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
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35
] | [
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0.1754745990037918,
1.5711596012115479,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.8 | 88 | 3 | 862 | 0 | ||
[
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35
] | [
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35
] | [
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0.1589961051940918,
2.609830617904663,
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.888625 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
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35
] | [
0.27576810121536255,
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0.1754745990037918,
1.5711596012115479,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.9 | 89 | 3 | 863 | 0 | ||
[
-0.957995593547821,
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74,
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35
] | [
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35
] | [
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0.15936042368412018,
2.5584769248962402,
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.910549 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
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35
] | [
0.27576810121536255,
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0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9 | 90 | 3 | 864 | 0 | ||
[
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35
] | [
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35
] | [
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0.16080249845981598,
2.4752542972564697,
1.4477500915527344,
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.932871 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
-0.8547008633613586,
35
] | [
0.27576810121536255,
-0.02331499196588993,
0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.1 | 91 | 3 | 865 | 0 | ||
[
-0.5158437490463257,
-46.046512603759766,
75.54545593261719,
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35
] | [
0.02714007906615734,
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35
] | [
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0.16156592965126038,
2.3602499961853027,
1.4626725912094116,
2.26989483833313
] | 1 | push drawer_handle: descend to pre-contact | move | 0.958999 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
-0.8547008633613586,
35
] | [
0.27576810121536255,
-0.02331499196588993,
0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.2 | 92 | 3 | 866 | 0 | ||
[
-0.5158437490463257,
-46.30021286010742,
75.54545593261719,
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35
] | [
0.02714007906615734,
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75.01049041748047,
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35
] | [
0.27671578526496887,
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0.1638597846031189,
2.261265754699707,
1.4719654321670532,
2.171437978744507
] | 1 | push drawer_handle: descend to pre-contact | move | 0.966839 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
-0.8547008633613586,
35
] | [
0.27576810121536255,
-0.02331499196588993,
0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.3 | 93 | 3 | 867 | 0 | ||
[
-0.5158437490463257,
-46.30021286010742,
75.54545593261719,
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35
] | [
0.02714007906615734,
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75.01049041748047,
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35
] | [
0.27671578526496887,
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0.1638597846031189,
2.261265754699707,
1.4719654321670532,
2.171437978744507
] | 1 | push drawer_handle: descend to pre-contact | move | 0.966839 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
-0.8547008633613586,
35
] | [
0.27576810121536255,
-0.02331499196588993,
0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
1.4724286794662476
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.4 | 94 | 3 | 868 | 0 | ||
[
-0.5158437490463257,
-46.30021286010742,
75.54545593261719,
-12.978442192077637,
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35
] | [
0.02714007906615734,
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75.01049041748047,
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35
] | [
0.27671578526496887,
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0.1638597846031189,
2.261265754699707,
1.4719654321670532,
2.171437978744507
] | 1 | push drawer_handle: descend to pre-contact | move | 0.966839 | [
0.02714007906615734,
-47.67964172363281,
75.14056396484375,
-14.756760597229004,
-0.8547008633613586,
35
] | [
0.27576810121536255,
-0.02331499196588993,
0.1754745990037918,
1.5711596012115479,
1.4945025444030762,
1.4724286794662476
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.5 | 95 | 3 | 869 | 0 | ||
[
-0.5158437490463257,
-46.30021286010742,
75.54545593261719,
-13.330400466918945,
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34.661354064941406
] | [
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35
] | [
0.2768106758594513,
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0.16475063562393188,
2.2113044261932373,
1.4757442474365234,
2.121711015701294
] | 1 | Push the drawer handle 7cm to close it | move_linear | 0 | [
-3.9400475025177,
23.203651428222656,
5.084171772003174,
-20.705278396606445,
-0.8547008633613586,
35
] | [
0.41250550746917725,
-0.005882228258997202,
0.1634788066148758,
1.5705475807189941,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.6 | 96 | 3 | 870 | 0 | ||
[
-0.5158437490463257,
-46.30021286010742,
75.54545593261719,
-13.330400466918945,
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34.661354064941406
] | [
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72.0469970703125,
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35
] | [
0.2768106758594513,
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0.16475063562393188,
2.2113044261932373,
1.4757442474365234,
2.121711015701294
] | 1 | Push the drawer handle 7cm to close it | move_linear | 0 | [
-3.9400475025177,
23.203651428222656,
5.084171772003174,
-20.705278396606445,
-0.8547008633613586,
35
] | [
0.41250550746917725,
-0.005882228258997202,
0.1634788066148758,
1.5705475807189941,
1.4945025444030762,
1.554399847984314
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.7 | 97 | 3 | 871 | 0 | ||
[
-0.5158437490463257,
-46.30021286010742,
75.54545593261719,
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] | [
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71.9514389038086,
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35
] | [
0.2768106758594513,
-0.02070513926446438,
0.16475063562393188,
2.2113044261932373,
1.4757442474365234,
2.121711015701294
] | 1 | Push the drawer handle 7cm to close it | move_linear | 0 | [
-3.9400475025177,
23.203651428222656,
5.084171772003174,
-20.705278396606445,
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35
] | [
0.41250550746917725,
-0.005882228258997202,
0.1634788066148758,
1.5705475807189941,
1.4945025444030762,
1.554399847984314
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.8 | 98 | 3 | 872 | 0 | ||
[
-0.5158437490463257,
-46.13107681274414,
75.54545593261719,
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] | [
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35
] | [
0.2770712375640869,
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0.1652248054742813,
2.1712331771850586,
1.4784126281738281,
2.081815481185913
] | 1 | Push the drawer handle 7cm to close it | move_linear | 0.001511 | [
-3.9400475025177,
23.203651428222656,
5.084171772003174,
-20.705278396606445,
-0.8547008633613586,
35
] | [
0.41250550746917725,
-0.005882228258997202,
0.1634788066148758,
1.5705475807189941,
1.4945025444030762,
1.554399847984314
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.9 | 99 | 3 | 873 | 0 | ||
[
-1.0316874980926514,
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75.54545593261719,
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] | [
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35
] | [
0.2779448628425598,
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0.1667437106370926,
2.0370585918426514,
1.4854270219802856,
1.9589059352874756
] | 1 | Push the drawer handle 7cm to close it | move_linear | 0.005443 | [
-3.9400475025177,
23.203651428222656,
5.084171772003174,
-20.705278396606445,
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35
] | [
0.41250550746917725,
-0.005882228258997202,
0.1634788066148758,
1.5705475807189941,
1.4945025444030762,
1.554399847984314
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 10 | 100 | 3 | 874 | 0 | ||
[
-1.6212233304977417,
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75.36363983154297,
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34.661354064941406
] | [
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35
] | [
0.2793115973472595,
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0.1674964427947998,
1.936021089553833,
1.489138126373291,
1.8704917430877686
] | 1 | Push the drawer handle 7cm to close it | move_linear | 0.013481 | [
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] | 10.9 | 109 | 3 | 883 | 0 | ||
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] | 11 | 110 | 3 | 884 | 0 | ||
[
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] | 11.1 | 111 | 3 | 885 | 0 | ||
[
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] | 11.2 | 112 | 3 | 886 | 0 | ||
[
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] | 11.3 | 113 | 3 | 887 | 0 | ||
[
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] | 35 | close the top drawer 7cm | [
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] | 11.4 | 114 | 3 | 888 | 0 | ||
[
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] | 11.5 | 115 | 3 | 889 | 0 | ||
[
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] | 11.6 | 116 | 3 | 890 | 0 | ||
[
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] | 35 | close the top drawer 7cm | [
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] | 11.7 | 117 | 3 | 891 | 0 | ||
[
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] | 35 | close the top drawer 7cm | [
0,
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] | 11.8 | 118 | 3 | 892 | 0 | ||
[
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] | [
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] | 35 | close the top drawer 7cm | [
0,
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] | 11.9 | 119 | 3 | 893 | 0 | ||
[
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 12 | 120 | 3 | 894 | 0 | ||
[
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0,
0
] | 12.1 | 121 | 3 | 895 | 0 | ||
[
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 12.2 | 122 | 3 | 896 | 0 | ||
[
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 12.3 | 123 | 3 | 897 | 0 | ||
[
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] | [
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] | 1 | Push the drawer handle 7cm to close it | move_linear | 0.304085 | [
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 12.4 | 124 | 3 | 898 | 0 | ||
[
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60,
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] | [
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] | 1 | Push the drawer handle 7cm to close it | move_linear | 0.319802 | [
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23.203651428222656,
5.084171772003174,
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35
] | [
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0.1634788066148758,
1.5705475807189941,
1.4945025444030762,
1.554399847984314
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 12.5 | 125 | 3 | 899 | 0 |
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