Datasets:
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 0.99 | 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 79 | index int64 0 20.7k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-4.937361717224121,
-96.87103271484375,
97.90908813476562,
69.02771759033203,
-0.8547008633613586,
0.73041170835495
] | [
-4.937361717224121,
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97.90908813476562,
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0.16074296832084656,
0.0007158994558267295,
0.03800687566399574,
3.087433338165283,
0.6161357164382935,
3.052672863006592
] | 1 | move to initial state | move_initial | 0 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
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0.21081578731536865,
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3.090510129928589,
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3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0 | 0 | 0 | 0 | 0 | |||
[
-4.937361717224121,
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0.7297625541687012
] | [
0.16074296832084656,
0.0007158994558267295,
0.03800687566399574,
3.087433338165283,
0.6161357164382935,
3.052672863006592
] | 1 | move to initial state | move_initial | 0 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
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3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.1 | 1 | 0 | 1 | 0 | |||
[
-4.937361717224121,
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97.90908813476562,
69.02771759033203,
-0.8547008633613586,
0.7278236746788025
] | [
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] | [
0.16074296832084656,
0.0007158994558267295,
0.03800687566399574,
3.087433338165283,
0.6161357164382935,
3.052672863006592
] | 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 | 0 | 2 | 0 | |||
[
-4.937361717224121,
-96.87103271484375,
97.90908813476562,
69.02771759033203,
-0.8547008633613586,
0.7246164679527283
] | [
-4.901435375213623,
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96.54619598388672,
69.4919204711914,
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] | [
0.16074296832084656,
0.0007158994558267295,
0.03800687566399574,
3.087433338165283,
0.6161357164382935,
3.052672863006592
] | 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 | 0 | 3 | 0 | |||
[
-4.937361717224121,
-96.87103271484375,
97.81818389892578,
69.02771759033203,
-0.8547008633613586,
0.7201759219169617
] | [
-4.873907089233398,
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] | [
0.1608676165342331,
0.0007164730341173708,
0.03832521662116051,
3.0872576236724854,
0.6176629066467285,
3.0525710582733154
] | 1 | move to initial state | move_initial | 0.000904 | [
-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 | 0 | 4 | 0 | |||
[
-4.937361717224121,
-96.78646850585938,
97.54545593261719,
69.20369720458984,
-0.8547008633613586,
0.7145500183105469
] | [
-4.8390302658081055,
-94.70520782470703,
94.1788330078125,
70.29825592041016,
-0.8547008633613586,
0.7145500183105469
] | [
0.16074393689632416,
0.0007159014930948615,
0.03889695182442665,
3.0872576236724854,
0.6176629066467285,
3.0525710582733154
] | 1 | move to initial state | move_initial | 0.004341 | [
-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 | 0 | 5 | 0 | |||
[
-4.937361717224121,
-96.10993957519531,
97.45454406738281,
69.81961822509766,
-0.8547008633613586,
0.7078006863594055
] | [
-4.797189235687256,
-93.78362274169922,
92.59156799316406,
70.83888244628906,
-0.8547008633613586,
0.7078006863594055
] | [
0.15858006477355957,
0.0007059341296553612,
0.03726792708039284,
3.089684009552002,
0.596280038356781,
3.053955316543579
] | 1 | move to initial state | move_initial | 0.011294 | [
-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 | 0 | 6 | 0 | |||
[
-4.937361717224121,
-95.26426696777344,
96.36363983154297,
70.25956726074219,
-0.8547008633613586,
0.6999975442886353
] | [
-4.748815059661865,
-92.71815490722656,
90.75647735595703,
71.46392059326172,
-0.8547008633613586,
0.6999975442886353
] | [
0.15796342492103577,
0.0007030876004137099,
0.03908945620059967,
3.0901947021484375,
0.5916973948478699,
3.054241180419922
] | 1 | move to initial state | move_initial | 0.029791 | [
-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 | 0 | 7 | 0 | |||
[
-4.937361717224121,
-94.33403778076172,
95,
70.87549591064453,
-0.8547008633613586,
0.6912312507629395
] | [
-4.694469928741455,
-91.52115631103516,
88.69486236572266,
72.1661148071289,
-0.8547008633613586,
0.6912312507629395
] | [
0.15725606679916382,
0.0006998215103521943,
0.04148336872458458,
3.0907022953033447,
0.5871149301528931,
3.054523229598999
] | 1 | move to initial state | move_initial | 0.051611 | [
-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 | 0 | 8 | 0 | |||
[
-4.937361717224121,
-93.15010833740234,
93.09091186523438,
71.57940673828125,
-0.8547008633613586,
0.6815951466560364
] | [
-4.634733200073242,
-90.20540618896484,
86.42869567871094,
72.93797302246094,
-0.8547008633613586,
0.6815951466560364
] | [
0.15681014955043793,
0.00069775665178895,
0.04522685706615448,
3.0908708572387695,
0.5855874419212341,
3.0546164512634277
] | 1 | move to initial state | move_initial | 0.081003 | [
-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 | 0 | 9 | 0 | |||
[
-4.937361717224121,
-92.05074310302734,
91,
72.2833251953125,
-0.8547008633613586,
0.6712033152580261
] | [
-4.570311069488525,
-88.78646087646484,
83.98481750488281,
73.77037048339844,
-0.8547008633613586,
0.6712033152580261
] | [
0.1567520946264267,
0.0006974771968089044,
0.049716345965862274,
3.090533494949341,
0.5886425375938416,
3.054429531097412
] | 1 | move to initial state | move_initial | 0.111181 | [
-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 | 0 | 10 | 0 | |||
[
-4.937361717224121,
-90.78224182128906,
88.63636016845703,
72.98724365234375,
-0.8547008633613586,
0.6601648330688477
] | [
-4.501880168914795,
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81.38884735107422,
74.6545639038086,
-0.8547008633613586,
0.6601648330688477
] | [
0.15687541663646698,
0.0006980318576097488,
0.05485464259982109,
3.090024709701538,
0.5932250022888184,
3.0541462898254395
] | 1 | move to initial state | move_initial | 0.145348 | [
-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 | 0 | 11 | 0 | |||
[
-4.937361717224121,
-89.34461212158203,
86.18181610107422,
73.95512390136719,
-0.8547008633613586,
0.6486004590988159
] | [
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78.6692123413086,
75.58087921142578,
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0.6486004590988159
] | [
0.15639027953147888,
0.0006957835284993052,
0.05966414883732796,
3.0901947021484375,
0.591697633266449,
3.054241180419922
] | 1 | move to initial state | move_initial | 0.181304 | [
-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 | 0 | 12 | 0 | |||
[
-4.937361717224121,
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83.7272720336914,
74.74703216552734,
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0.6366373896598816
] | [
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75.85580444335938,
76.53913879394531,
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0.6366373896598816
] | [
0.15625610947608948,
0.0006951522082090378,
0.06454914063215256,
3.0901947021484375,
0.5916974544525146,
3.054241180419922
] | 1 | move to initial state | move_initial | 0.21791 | [
-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 | 0 | 13 | 0 | |||
[
-4.937361717224121,
-86.1310806274414,
81,
75.71491241455078,
-0.8547008633613586,
0.6243990063667297
] | [
-4.280157089233398,
-82.39559173583984,
72.97765350341797,
77.51943969726562,
-0.8547008633613586,
0.6243990063667297
] | [
0.15598957240581512,
0.0006939098821021616,
0.06982964277267456,
3.0903642177581787,
0.5901700258255005,
3.054335594177246
] | 1 | move to initial state | move_initial | 0.257881 | [
-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 | 0 | 14 | 0 | |||
[
-4.937361717224121,
-84.60887908935547,
78.09091186523438,
76.68280029296875,
-0.8547008633613586,
0.6120321154594421
] | [
-4.203490734100342,
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70.06928253173828,
78.51004028320312,
-0.8547008633613586,
0.6120321154594421
] | [
0.15613974630832672,
0.0006945857312530279,
0.07595141977071762,
3.0898544788360596,
0.5947523713111877,
3.054050922393799
] | 1 | move to initial state | move_initial | 0.297083 | [
-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 | 0 | 15 | 0 | |||
[
-4.78997802734375,
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75.18181610107422,
77.56269073486328,
-0.8547008633613586,
0.5996603965759277
] | [
-4.126794815063477,
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67.15977478027344,
79.50102996826172,
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0.5996603965759277
] | [
0.15634974837303162,
0.0003350037441123277,
0.08174549043178558,
3.089684009552002,
0.5962799191474915,
3.0508873462677
] | 1 | move to initial state | move_initial | 0.338132 | [
-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 | 0 | 16 | 0 | |||
[
-4.78997802734375,
-81.2262191772461,
72.36363983154297,
78.61856842041016,
-0.8547008633613586,
0.5874269008636475
] | [
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64.28277587890625,
80.48094940185547,
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0.5874269008636475
] | [
0.15624818205833435,
0.0003348327591083944,
0.08721957355737686,
3.089684009552002,
0.5962798595428467,
3.0508873462677
] | 1 | move to initial state | move_initial | 0.375125 | [
-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 | 0 | 17 | 0 | |||
[
-4.78997802734375,
-79.4503173828125,
69.36363983154297,
79.5864486694336,
-0.8547008633613586,
0.5754652619361877
] | [
-3.976801633834839,
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61.46970748901367,
81.4390869140625,
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0.5754652619361877
] | [
0.15650849044322968,
0.000335218122927472,
0.09309666603803635,
3.089513063430786,
0.5978073477745056,
3.0507912635803223
] | 1 | move to initial state | move_initial | 0.414307 | [
-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 | 0 | 18 | 0 | |||
[
-4.716285705566406,
-77.92811584472656,
66.63636016845703,
80.64232635498047,
-0.8547008633613586,
0.5639154314994812
] | [
-3.905200958251953,
-74.13690185546875,
58.75349807739258,
82.3642349243164,
-0.8547008633613586,
0.5639154314994812
] | [
0.15645810961723328,
0.00015469441132154316,
0.09829742461442947,
3.089513063430786,
0.5978072881698608,
3.049257278442383
] | 1 | move to initial state | move_initial | 0.446743 | [
-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 | 0 | 19 | 0 | |||
[
-4.421517848968506,
-76.1522216796875,
63.727272033691406,
81.522216796875,
-0.8547008633613586,
0.5528947114944458
] | [
-3.8368799686431885,
-72.632080078125,
56.16170120239258,
83.24700927734375,
-0.8547008633613586,
0.5528947114944458
] | [
0.15694741904735565,
-0.0005700503243133426,
0.10387411713600159,
3.089341640472412,
0.5993348360061646,
3.043024778366089
] | 1 | move to initial state | move_initial | 0.482095 | [
-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 | 0 | 20 | 0 | |||
[
-4.421517848968506,
-74.63002014160156,
60.90909194946289,
82.49010467529297,
-0.8547008633613586,
0.542524516582489
] | [
-3.772592067718506,
-71.2160873413086,
53.722900390625,
84.07767486572266,
-0.8547008633613586,
0.542524516582489
] | [
0.15727296471595764,
-0.0005720603512600064,
0.10937569290399551,
3.0889980792999268,
0.6023895144462585,
3.042830467224121
] | 1 | move to initial state | move_initial | 0.511584 | [
-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 | 0 | 21 | 0 | |||
[
-4.421517848968506,
-73.10781860351562,
58.3636360168457,
83.2820053100586,
-0.8547008633613586,
0.5329192280769348
] | [
-3.713046073913574,
-69.90454864501953,
51.463993072509766,
84.84706115722656,
-0.8547008633613586,
0.5329192280769348
] | [
0.15776701271533966,
-0.0005751014687120914,
0.11416592448949814,
3.0888257026672363,
0.6039169430732727,
3.0427327156066895
] | 1 | move to initial state | move_initial | 0.538065 | [
-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 | 0 | 22 | 0 | |||
[
-4.421517848968506,
-71.6701889038086,
55.90909194946289,
84.16190338134766,
-0.8547008633613586,
0.5241758227348328
] | [
-3.6588428020477295,
-68.71067810058594,
49.40776443481445,
85.54742431640625,
-0.8547008633613586,
0.5241758227348328
] | [
0.1580408662557602,
-0.0005767918773926795,
0.11862438172101974,
3.0888257026672363,
0.6039169430732727,
3.0427327156066895
] | 1 | move to initial state | move_initial | 0.56018 | [
-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 | 0 | 23 | 0 | |||
[
-4.421517848968506,
-70.31712341308594,
53.6363639831543,
84.86581420898438,
-0.8547008633613586,
0.5164015293121338
] | [
-3.6106479167938232,
-67.6491470336914,
47.57946014404297,
86.1701431274414,
-0.8547008633613586,
0.5164015293121338
] | [
0.15857426822185516,
-0.0005800726357847452,
0.12281928211450577,
3.0886528491973877,
0.6054444313049316,
3.0426344871520996
] | 1 | move to initial state | move_initial | 0.579291 | [
-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 | 0 | 24 | 0 | |||
[
-4.421517848968506,
-69.13319396972656,
51.54545593261719,
85.56973266601562,
-0.8547008633613586,
0.5096842050552368
] | [
-3.569005012512207,
-66.73193359375,
45.99971389770508,
86.70821380615234,
-0.8547008633613586,
0.5096842050552368
] | [
0.15896737575531006,
-0.0005824924446642399,
0.1266593337059021,
3.08847975730896,
0.6069717407226562,
3.0425357818603516
] | 1 | move to initial state | move_initial | 0.593532 | [
-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 | 0 | 25 | 0 | |||
[
-4.1267499923706055,
-68.11839294433594,
49.818180084228516,
86.09767150878906,
-0.8547008633613586,
0.5040890574455261
] | [
-3.5343191623687744,
-65.96794891357422,
44.68388748168945,
87.15638732910156,
-0.8547008633613586,
0.5040890574455261
] | [
0.1594289392232895,
-0.0013253396609798074,
0.12981343269348145,
3.088306188583374,
0.6084990501403809,
3.0363008975982666
] | 1 | move to initial state | move_initial | 0.604153 | [
-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 | 0 | 26 | 0 | |||
[
-4.1267499923706055,
-67.18816375732422,
48.272727966308594,
86.62560272216797,
-0.8547008633613586,
0.4996815323829651
] | [
-3.506995439529419,
-65.36612701416016,
43.6473503112793,
87.50943756103516,
-0.8547008633613586,
0.4996815323829651
] | [
0.1597515344619751,
-0.0013293037191033363,
0.13249878585338593,
3.088306188583374,
0.6084991693496704,
3.0363008975982666
] | 1 | move to initial state | move_initial | 0.611999 | [
-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 | 0 | 27 | 0 | |||
[
-3.9793663024902344,
-66.34249114990234,
47,
87.0655517578125,
-0.8547008633613586,
0.49651044607162476
] | [
-3.4873368740081787,
-64.9331283569336,
42.90159225463867,
87.76344299316406,
-0.8547008633613586,
0.49651044607162476
] | [
0.16004136204719543,
-0.0017047836445271969,
0.1345539540052414,
3.08847975730896,
0.6069716811180115,
3.033331871032715
] | 1 | move to initial state | move_initial | 0.617909 | [
-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 | 0 | 28 | 0 | |||
[
-3.9793663024902344,
-65.83509826660156,
46,
87.24153137207031,
-0.8547008633613586,
0.4946102797985077
] | [
-3.475557327270508,
-64.67367553710938,
42.4547233581543,
87.9156494140625,
-0.8547008633613586,
0.4946102797985077
] | [
0.16059434413909912,
-0.0017132691573351622,
0.13664722442626953,
3.087958335876465,
0.6115538477897644,
3.0330333709716797
] | 1 | move to initial state | move_initial | 0.622019 | [
-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 | 0 | 29 | 0 | |||
[
-3.9793663024902344,
-65.66596221923828,
45.3636360168457,
87.68148040771484,
-0.8547008633613586,
0.4940014183521271
] | [
-3.9793546199798584,
-65.16092681884766,
45.133907318115234,
87.681396484375,
-0.8547008633613586,
0.4940014183521271
] | [
0.16018344461917877,
-0.001706971088424325,
0.1377808153629303,
3.087958335876465,
0.6115537285804749,
3.0330333709716797
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3 | 30 | 0 | 30 | 0 | |
[
-3.9793663024902344,
-65.66596221923828,
45.3636360168457,
87.68148040771484,
-0.8547008633613586,
0.4940014183521271
] | [
-3.9562759399414062,
-65.08438873291016,
45.13401794433594,
87.51704406738281,
-0.8547008633613586,
0.4940014183521271
] | [
0.16018344461917877,
-0.001706971088424325,
0.1377808153629303,
3.087958335876465,
0.6115537285804749,
3.0330333709716797
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.1 | 31 | 0 | 31 | 0 | |
[
-3.9793663024902344,
-65.66596221923828,
45.727272033691406,
87.68148040771484,
-0.8547008633613586,
0.4940014183521271
] | [
-3.8946447372436523,
-64.8800048828125,
45.13431167602539,
87.07815551757812,
-0.8547008633613586,
0.4940014183521271
] | [
0.15991364419460297,
-0.0017028306610882282,
0.1366322636604309,
3.0886528491973877,
0.6054443717002869,
3.033430576324463
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.2 | 32 | 0 | 32 | 0 | |
[
-3.9793663024902344,
-65.66596221923828,
45.727272033691406,
87.68148040771484,
-0.8547008633613586,
0.4940014183521271
] | [
-3.7958171367645264,
-64.55227661132812,
45.13478088378906,
86.37437438964844,
-0.8547008633613586,
0.4940014183521271
] | [
0.15991364419460297,
-0.0017028306610882282,
0.1366322636604309,
3.0886528491973877,
0.6054443717002869,
3.033430576324463
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.3 | 33 | 0 | 33 | 0 | |
[
-3.9793663024902344,
-65.66596221923828,
45.727272033691406,
87.59349060058594,
-0.8547008633613586,
0.4940014183521271
] | [
-3.660386085510254,
-64.21691131591797,
45.13542556762695,
85.40992736816406,
-0.8547008633613586,
0.4940014183521271
] | [
0.1601032167673111,
-0.001705738017335534,
0.13675151765346527,
3.08847975730896,
0.6069717407226562,
3.033331871032715
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.4 | 34 | 0 | 34 | 0 | |
[
-3.9793663024902344,
-65.41226196289062,
45.727272033691406,
87.50550079345703,
-0.8547008633613586,
0.4940014183521271
] | [
-3.494688034057617,
-63.66741943359375,
45.13621139526367,
84.22994232177734,
-0.8547008633613586,
0.4940014183521271
] | [
0.1603849083185196,
-0.0017100569093599916,
0.13645176589488983,
3.0888257026672363,
0.6039170026779175,
3.0335288047790527
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.001411 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.5 | 35 | 0 | 35 | 0 | |
[
-3.9793663024902344,
-64.65116119384766,
45.727272033691406,
86.36163330078125,
-0.8547008633613586,
0.4940014183521271
] | [
-3.2993340492248535,
-63.01958465576172,
45.137142181396484,
82.83877563476562,
-0.8547008633613586,
0.4940014183521271
] | [
0.16312405467033386,
-0.0017520615365356207,
0.13672658801078796,
3.088132381439209,
0.610026478767395,
3.0331332683563232
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.019374 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.6 | 36 | 0 | 36 | 0 | |
[
-3.9793663024902344,
-64.05919647216797,
45.727272033691406,
85.04179382324219,
-0.8547008633613586,
0.4940014183521271
] | [
-3.0775399208068848,
-62.28407287597656,
45.1381950378418,
81.25931549072266,
-0.8547008633613586,
0.4940014183521271
] | [
0.1661698967218399,
-0.0017987708561122417,
0.13751912117004395,
3.086728096008301,
0.622244656085968,
3.0323216915130615
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.038338 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.7 | 37 | 0 | 37 | 0 | |
[
-3.6109063625335693,
-63.298095703125,
45.727272033691406,
83.63396453857422,
-0.8547008633613586,
0.4940014183521271
] | [
-2.8336942195892334,
-61.47542953491211,
45.13935470581055,
79.52281188964844,
-0.8547008633613586,
0.4940014183521271
] | [
0.1694362759590149,
-0.002850908786058426,
0.13813087344169617,
3.0854790210723877,
0.6329347491264343,
3.023918390274048
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.059688 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.8 | 38 | 0 | 38 | 0 | |
[
-3.537214517593384,
-62.5369987487793,
45.727272033691406,
82.05015563964844,
-0.8547008633613586,
0.5175200700759888
] | [
-2.5684165954589844,
-60.5957145690918,
45.14061737060547,
77.63369750976562,
-0.8547008633613586,
0.5175200700759888
] | [
0.1730719804763794,
-0.0031405864283442497,
0.13898254930973053,
3.08384370803833,
0.6466781497001648,
3.0214080810546875
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.082544 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 3.9 | 39 | 0 | 39 | 0 | |
[
-3.537214517593384,
-61.77589797973633,
45.818180084228516,
80.29036712646484,
-0.8547008633613586,
2.162768840789795
] | [
-2.2862019538879395,
-59.65983200073242,
45.1419563293457,
75.62396240234375,
-0.8547008633613586,
2.162768840789795
] | [
0.17698414623737335,
-0.0032366018276661634,
0.13978348672389984,
3.081986665725708,
0.6619470119476318,
3.020277738571167
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.123035 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4 | 40 | 0 | 40 | 0 | |
[
-3.537214517593384,
-60.76110076904297,
45.818180084228516,
78.35459899902344,
-0.8547008633613586,
3.808154821395874
] | [
-1.9900585412979126,
-58.70700454711914,
45.14336395263672,
73.5150375366211,
-0.8547008633613586,
3.808154821395874
] | [
0.18141305446624756,
-0.003345299744978547,
0.14064233005046844,
3.080084800720215,
0.6772142052650452,
3.019097089767456
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.166882 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.1 | 41 | 0 | 41 | 0 | |
[
-3.316138505935669,
-59.6617317199707,
45.818180084228516,
76.33084106445312,
-0.8547008633613586,
5.453446865081787
] | [
-1.6814024448394775,
-57.72006607055664,
45.144832611083984,
71.31700897216797,
-0.8547008633613586,
5.453446865081787
] | [
0.18601204454898834,
-0.004135941155254841,
0.14143699407577515,
3.0781354904174805,
0.6924794912338257,
3.0132622718811035
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.212585 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.2 | 42 | 0 | 42 | 0 | |
[
-2.4318349361419678,
-58.646934509277344,
45.818180084228516,
74.2190933227539,
-0.8547008633613586,
7.097869396209717
] | [
-1.3648205995559692,
-56.70778274536133,
45.146339416503906,
69.06253814697266,
-0.8547008633613586,
7.097869396209717
] | [
0.1906280815601349,
-0.0070687392726540565,
0.1425274759531021,
3.075730323791504,
0.7107954025268555,
2.9933018684387207
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.260085 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.3 | 43 | 0 | 43 | 0 | |
[
-2.0633749961853027,
-57.71670150756836,
45.818180084228516,
72.01935577392578,
-0.8547008633613586,
8.74220085144043
] | [
-1.0424727201461792,
-55.67706298828125,
45.14787292480469,
66.76700592041016,
-0.8547008633613586,
8.74220085144043
] | [
0.19537486135959625,
-0.008498373441398144,
0.1439448893070221,
3.072826385498047,
0.7321601510047913,
2.9837136268615723
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.307203 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.4 | 44 | 0 | 44 | 0 | |
[
-1.842299222946167,
-56.701904296875,
45.818180084228516,
69.73162841796875,
-0.8547008633613586,
10.38735580444336
] | [
-0.7170360088348389,
-54.63646697998047,
45.149417877197266,
64.44947814941406,
-0.8547008633613586,
10.38735580444336
] | [
0.2002996802330017,
-0.00951606035232544,
0.14531904458999634,
3.0698087215423584,
0.7535206079483032,
2.9770705699920654
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.355506 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.5 | 45 | 0 | 45 | 0 | |
[
-1.842299222946167,
-55.51797103881836,
45.818180084228516,
67.53189849853516,
-0.8547008633613586,
12.032711029052734
] | [
-0.3916510343551636,
-53.59603500366211,
45.15096664428711,
62.13231658935547,
-0.8547008633613586,
12.032711029052734
] | [
0.20513369143009186,
-0.009805573150515556,
0.14612990617752075,
3.067351818084717,
0.7703003883361816,
2.975374221801758
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.403211 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.6 | 46 | 0 | 46 | 0 | |
[
-1.5475313663482666,
-54.503170013427734,
45.818180084228516,
65.06819152832031,
-0.8547008633613586,
13.67712116241455
] | [
-0.06940212845802307,
-52.56563186645508,
45.152496337890625,
59.837486267089844,
-0.8547008633613586,
13.67712116241455
] | [
0.2102547287940979,
-0.011168209835886955,
0.14779765903949738,
3.063631296157837,
0.794701874256134,
2.9666149616241455
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.453563 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.7 | 47 | 0 | 47 | 0 | |
[
-0.884303629398346,
-53.403804779052734,
45.818180084228516,
62.78046798706055,
-0.8547008633613586,
15.321465492248535
] | [
0.24679900705814362,
-51.5545654296875,
45.15399932861328,
57.58572769165039,
-0.8547008633613586,
15.321465492248535
] | [
0.21491968631744385,
-0.013920160941779613,
0.14894555509090424,
3.060469388961792,
0.8145227432250977,
2.950530767440796
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.502959 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.8 | 48 | 0 | 48 | 0 | |
[
-0.442151814699173,
-52.389007568359375,
45.818180084228516,
60.492740631103516,
-0.8547008633613586,
16.967790603637695
] | [
0.5550950765609741,
-50.56877899169922,
45.15546798706055,
55.3902587890625,
-0.8547008633613586,
16.967790603637695
] | [
0.21950657665729523,
-0.015961455181241035,
0.15031224489212036,
3.056912422180176,
0.8358625173568726,
2.938713312149048
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.551465 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 4.9 | 49 | 0 | 49 | 0 | |
[
-0.0736919641494751,
-51.37420654296875,
45.818180084228516,
58.29300308227539,
-0.8547008633613586,
18.613122940063477
] | [
0.8508809804916382,
-49.62299346923828,
45.1568717956543,
53.28388214111328,
-0.8547008633613586,
18.613122940063477
] | [
0.22388114035129547,
-0.017783142626285553,
0.1515173316001892,
3.0534555912017822,
0.8556720614433289,
2.9284558296203613
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.598767 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5 | 50 | 0 | 50 | 0 | |
[
-0.0736919641494751,
-50.19027328491211,
45.818180084228516,
56.18125915527344,
-0.8547008633613586,
20.258445739746094
] | [
1.1284196376800537,
-48.73554992675781,
45.1581916809082,
51.30744934082031,
-0.8547008633613586,
20.258445739746094
] | [
0.2282835990190506,
-0.018209904432296753,
0.15206052362918854,
3.050687551498413,
0.8709059357643127,
2.926352024078369
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.645125 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.1 | 51 | 0 | 51 | 0 | |
[
-0.0736919641494751,
-49.17547607421875,
45.818180084228516,
54.06951141357422,
-0.8547008633613586,
21.903789520263672
] | [
1.2673131227493286,
-48.18175506591797,
45.158851623535156,
50.3183479309082,
-0.8547008633613586,
21.903789520263672
] | [
0.2325262427330017,
-0.01862117275595665,
0.15306894481182098,
3.0472304821014404,
0.8891815543174744,
2.92368745803833
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.690487 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.2 | 52 | 0 | 52 | 0 | |
[
0.3684598505496979,
-48.41437530517578,
45.818180084228516,
52.309722900390625,
-0.8547008633613586,
23.54922103881836
] | [
1.4097298383712769,
-47.72637176513672,
45.15953063964844,
49.30415725708008,
-0.8547008633613586,
23.54922103881836
] | [
0.23577958345413208,
-0.02076776884496212,
0.15415704250335693,
3.043922185897827,
0.9059287309646606,
2.9118969440460205
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.731799 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.3 | 53 | 0 | 53 | 0 | |
[
0.8106116652488708,
-47.906978607177734,
45.818180084228516,
51.16585922241211,
-0.8547008633613586,
25.19469451904297
] | [
1.5557149648666382,
-47.259578704833984,
45.16022491455078,
48.264556884765625,
-0.8547008633613586,
25.19469451904297
] | [
0.23779544234275818,
-0.0228355061262846,
0.15482622385025024,
3.0417423248291016,
0.916583240032196,
2.900970220565796
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.765362 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.4 | 54 | 0 | 54 | 0 | |
[
1.1790714263916016,
-47.4841423034668,
45.818180084228516,
50.1099853515625,
-0.8547008633613586,
26.840024948120117
] | [
1.7053738832473755,
-46.78104019165039,
45.16093444824219,
47.19879150390625,
-0.8547008633613586,
26.840024948120117
] | [
0.23960992693901062,
-0.02460693195462227,
0.15558555722236633,
3.0395009517669678,
0.9272352457046509,
2.891514539718628
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.797239 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.5 | 55 | 0 | 55 | 0 | |
[
1.1790714263916016,
-47.145877838134766,
45.818180084228516,
49.054115295410156,
-0.8547008633613586,
28.484498977661133
] | [
1.8590031862258911,
-46.27366638183594,
45.16166687011719,
46.10475158691406,
-0.8547008633613586,
28.484498977661133
] | [
0.24152830243110657,
-0.024843532592058182,
0.1566145122051239,
3.036860227584839,
0.9394060373306274,
2.889392375946045
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.827696 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.6 | 56 | 0 | 56 | 0 | |
[
1.2527633905410767,
-46.46934509277344,
45.818180084228516,
47.91025161743164,
-0.8547008633613586,
30.13019371032715
] | [
2.0178568363189697,
-45.74245071411133,
45.16242218017578,
44.973506927490234,
-0.8547008633613586,
30.13019371032715
] | [
0.24377289414405823,
-0.025439545512199402,
0.1567492038011551,
3.0351645946502686,
0.9470110535621643,
2.8864858150482178
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.860334 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.7 | 57 | 0 | 57 | 0 | |
[
1.6212233304977417,
-46.13107681274414,
45.818180084228516,
46.94236755371094,
-0.8547008633613586,
31.77557945251465
] | [
2.183420419692993,
-45.18880081176758,
45.1632080078125,
43.79448318481445,
-0.8547008633613586,
31.77557945251465
] | [
0.24531809985637665,
-0.027242353186011314,
0.15760792791843414,
3.0327298641204834,
0.957655668258667,
2.8768320083618164
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.888905 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.8 | 58 | 0 | 58 | 0 | |
[
1.6212233304977417,
-45.36997985839844,
45.818180084228516,
45.79850387573242,
-0.8547008633613586,
33.42097473144531
] | [
2.355142116546631,
-44.61455535888672,
45.164024353027344,
42.57160186767578,
-0.8547008633613586,
33.42097473144531
] | [
0.24763116240501404,
-0.027549264952540398,
0.15744948387145996,
3.0313050746917725,
0.9637371301651001,
2.875664234161377
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.91878 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 5.9 | 59 | 0 | 59 | 0 | |
[
1.6212233304977417,
-44.862579345703125,
45.818180084228516,
44.566650390625,
-0.8547008633613586,
35
] | [
2.5316262245178223,
-44.024383544921875,
45.16486358642578,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2498726099729538,
-0.027846677228808403,
0.15828917920589447,
3.028379440307617,
0.975896954536438,
2.87325119972229
] | 1 | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.943572 | [
2.5316262245178223,
-44.07417678833008,
45.394718170166016,
41.3148078918457,
-0.8547008633613586,
35
] | [
0.2550055980682373,
-0.03270714357495308,
0.16419997811317444,
3.0154073238372803,
1.0249360799789429,
2.8433783054351807
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6 | 60 | 0 | 60 | 0 | |
[
1.6212233304977417,
-44.101478576660156,
45.818180084228516,
43.070831298828125,
-0.8547008633613586,
35
] | [
1.6212222576141357,
-44.64885330200195,
45.586612701416016,
44.21468734741211,
-0.8547008633613586,
35
] | [
0.2526741325855255,
-0.028218403458595276,
0.1588246077299118,
3.0253467559814453,
0.9880526661872864,
2.8707292079925537
] | 1 | push drawer_handle: descend to pre-contact | move | 0.000182 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
1.6850080490112305
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.1 | 61 | 0 | 61 | 0 | ||
[
1.6212233304977417,
-44.101478576660156,
46,
43.070831298828125,
-0.8547008633613586,
35
] | [
1.5793187618255615,
-44.64537048339844,
45.691139221191406,
43.990325927734375,
-0.8547008633613586,
35
] | [
0.2525080740451813,
-0.028196366503834724,
0.15805862843990326,
3.0261151790618896,
0.9850140810012817,
2.871370315551758
] | 1 | push drawer_handle: descend to pre-contact | move | 0.001279 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
1.6850080490112305
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.2 | 62 | 0 | 62 | 0 | ||
[
1.6212233304977417,
-44.101478576660156,
46.09090805053711,
43.6867561340332,
-0.8547008633613586,
35
] | [
1.4674913883209229,
-44.63607406616211,
45.97008514404297,
43.391571044921875,
-0.8547008633613586,
35
] | [
0.25150224566459656,
-0.02806290239095688,
0.15641359984874725,
3.029120683670044,
0.9728573560714722,
2.8738644123077393
] | 1 | push drawer_handle: descend to pre-contact | move | 0 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
1.6850080490112305
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.3 | 63 | 0 | 63 | 0 | ||
[
1.6212233304977417,
-44.101478576660156,
46.54545593261719,
43.77474594116211,
-0.8547008633613586,
35
] | [
1.2878676652908325,
-44.62113952636719,
46.418148040771484,
42.429813385009766,
-0.8547008633613586,
35
] | [
0.2509302794933319,
-0.027987003326416016,
0.1543302983045578,
3.0313050746917725,
0.9637370705604553,
2.875664234161377
] | 1 | push drawer_handle: descend to pre-contact | move | 0 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
1.6850080490112305
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.4 | 64 | 0 | 64 | 0 | ||
[
1.6212233304977417,
-44.101478576660156,
47,
43.77474594116211,
-0.8547008633613586,
35
] | [
1.0418472290039062,
-44.60068893432617,
47.031829833984375,
41.112552642822266,
-0.8547008633613586,
35
] | [
0.2504766285419464,
-0.02792680822312832,
0.1524299830198288,
3.0330820083618164,
0.9561352133750916,
2.877120018005371
] | 1 | push drawer_handle: descend to pre-contact | move | 0 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
1.6850080490112305
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.5 | 65 | 0 | 65 | 0 | ||
[
1.5475313663482666,
-44.101478576660156,
47.54545593261719,
43.070831298828125,
-0.8547008633613586,
35
] | [
0.7408290505409241,
-44.57566452026367,
47.7827033996582,
39.500816345214844,
-0.8547008633613586,
35
] | [
0.2510454058647156,
-0.02767111547291279,
0.15156950056552887,
3.0323758125305176,
0.9591760635375977,
2.8780763149261475
] | 1 | push drawer_handle: descend to pre-contact | move | 0.010563 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
1.6850080490112305
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.6 | 66 | 0 | 66 | 0 | ||
[
1.4001474380493164,
-44.101478576660156,
48.272727966308594,
41.8389778137207,
-0.8547008633613586,
35
] | [
0.38554248213768005,
-44.5461311340332,
48.6689453125,
37.598514556884766,
-0.8547008633613586,
35
] | [
0.25225889682769775,
-0.027164530009031296,
0.15101540088653564,
3.0302200317382812,
0.9682974815368652,
2.879373788833618
] | 1 | push drawer_handle: descend to pre-contact | move | 0.030923 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
1.6850080490112305
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.7 | 67 | 0 | 67 | 0 | ||
[
0.884303629398346,
-44.101478576660156,
49.09090805053711,
40.34315872192383,
-0.8547008633613586,
35
] | [
-0.017551163211464882,
-44.51261901855469,
49.6744384765625,
35.44023895263672,
-0.8547008633613586,
35
] | [
0.25393998622894287,
-0.025035439059138298,
0.1506219357252121,
3.027255058288574,
0.9804558157920837,
2.8876583576202393
] | 1 | push drawer_handle: descend to pre-contact | move | 0.056085 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
1.6850080490112305
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.8 | 68 | 0 | 68 | 0 | ||
[
0.5895357131958008,
-44.1860466003418,
50,
38.23141098022461,
-0.8547008633613586,
35
] | [
-0.4608086049556732,
-44.475772857666016,
51.168540954589844,
33.06691360473633,
-0.8547008633613586,
35
] | [
0.2562015950679779,
-0.02394932135939598,
0.15141846239566803,
3.0213944911956787,
1.0032411813735962,
2.888888359069824
] | 1 | push drawer_handle: descend to pre-contact | move | 0.089145 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
1.6850080490112305
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 6.9 | 69 | 0 | 69 | 0 | ||
[
0.0736919641494751,
-44.1860466003418,
51.181819915771484,
36.03167724609375,
-0.8547008633613586,
35
] | [
-0.9434139728546143,
-44.43565368652344,
52.372371673583984,
30.482908248901367,
-0.8547008633613586,
35
] | [
0.2583691477775574,
-0.021806294098496437,
0.15097591280937195,
3.0163960456848145,
1.0214574337005615,
2.8953869342803955
] | 1 | push drawer_handle: descend to pre-contact | move | 0.125431 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
1.6850080490112305
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7 | 70 | 0 | 70 | 0 | ||
[
-0.3684598505496979,
-44.101478576660156,
52.818180084228516,
33.831939697265625,
-0.8547008633613586,
35
] | [
-1.4567946195602417,
-44.392974853515625,
53.26185607910156,
27.7341251373291,
-0.8547008633613586,
35
] | [
0.25995591282844543,
-0.019911451265215874,
0.148292675614357,
3.0137839317321777,
1.0305613279342651,
2.9023568630218506
] | 1 | push drawer_handle: descend to pre-contact | move | 0.164074 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
1.6850080490112305
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.1 | 71 | 0 | 71 | 0 | ||
[
-0.8106116652488708,
-44.101478576660156,
53.727272033691406,
31.192256927490234,
-0.8547008633613586,
35
] | [
-1.995627522468567,
-44.348182678222656,
54.970638275146484,
24.849063873291016,
-0.8547008633613586,
35
] | [
0.2627483606338501,
-0.018088815733790398,
0.15001292526721954,
3.0044708251953125,
1.06088387966156,
2.903501033782959
] | 1 | push drawer_handle: descend to pre-contact | move | 0.204327 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
1.6850080490112305
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.2 | 72 | 0 | 72 | 0 | ||
[
-1.3264554738998413,
-44.101478576660156,
54.818180084228516,
28.464584350585938,
-0.8547008633613586,
35
] | [
-2.557180643081665,
-44.30149841308594,
56.35221481323242,
21.84235191345215,
-0.8547008633613586,
35
] | [
0.26532500982284546,
-0.01585276424884796,
0.15119504928588867,
2.9946377277374268,
1.089652419090271,
2.905587673187256
] | 1 | push drawer_handle: descend to pre-contact | move | 0.246902 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
1.6850080490112305
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.3 | 73 | 0 | 73 | 0 | ||
[
-1.915991187095642,
-44.01691436767578,
56.54545593261719,
25.560932159423828,
-0.8547008633613586,
35
] | [
-3.133167028427124,
-44.25361633300781,
57.76930236816406,
18.758358001708984,
-0.8547008633613586,
35
] | [
0.2673482894897461,
-0.013179892674088478,
0.14969922602176666,
2.98726224899292,
1.1093111038208008,
2.911287784576416
] | 1 | push drawer_handle: descend to pre-contact | move | 0.295471 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
1.6850080490112305
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.4 | 74 | 0 | 74 | 0 | ||
[
-2.4318349361419678,
-44.101478576660156,
57.818180084228516,
22.569292068481445,
-0.8547008633613586,
35
] | [
-3.7202301025390625,
-44.20481491088867,
59.21364212036133,
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35
] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.342464 | [
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] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.5 | 75 | 0 | 75 | 0 | ||
[
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35
] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.392939 | [
-10.227400779724121,
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75.49411010742188,
-19.22615623474121,
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35
] | [
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.6 | 76 | 0 | 76 | 0 | ||
[
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35
] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.44338 | [
-10.227400779724121,
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75.49411010742188,
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35
] | [
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1.5702767372131348,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.7 | 77 | 0 | 77 | 0 | ||
[
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35
] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.493989 | [
-10.227400779724121,
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75.49411010742188,
-19.22615623474121,
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35
] | [
0.2796446681022644,
0.027903813868761063,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.8 | 78 | 0 | 78 | 0 | ||
[
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35
] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.54261 | [
-10.227400779724121,
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75.49411010742188,
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35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 7.9 | 79 | 0 | 79 | 0 | ||
[
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35
] | [
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] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.591513 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
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35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8 | 80 | 0 | 80 | 0 | ||
[
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35
] | [
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35
] | [
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.641333 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.1 | 81 | 0 | 81 | 0 | ||
[
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35
] | [
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35
] | [
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2.8121581077575684,
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.690138 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.2 | 82 | 0 | 82 | 0 | ||
[
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35
] | [
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35
] | [
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2.767446756362915,
1.3646098375320435,
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.736334 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.3 | 83 | 0 | 83 | 0 | ||
[
-7.148120880126953,
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35
] | [
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35
] | [
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0.012408411130309105,
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2.6875529289245605,
1.3982412815093994,
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.769141 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.4 | 84 | 0 | 84 | 0 | ||
[
-7.663964748382568,
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35
] | [
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35
] | [
0.28062814474105835,
0.015010480768978596,
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2.649148464202881,
1.4104963541030884,
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.793754 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.5 | 85 | 0 | 85 | 0 | ||
[
-7.885040760040283,
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35
] | [
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71.44552612304688,
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35
] | [
0.28037920594215393,
0.016111323609948158,
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2.6098294258117676,
1.421164631843567,
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] | 1 | push drawer_handle: descend to pre-contact | move | 0.818399 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.6 | 86 | 0 | 86 | 0 | ||
[
-8.032424926757812,
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35
] | [
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35
] | [
0.280530720949173,
0.01686626486480236,
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2.545877695083618,
1.4353930950164795,
2.6106388568878174
] | 1 | push drawer_handle: descend to pre-contact | move | 0.839523 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.7 | 87 | 0 | 87 | 0 | ||
[
-8.474575996398926,
-44.01691436767578,
72.7272720336914,
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35
] | [
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72.9314956665039,
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-0.8547008633613586,
35
] | [
0.28026968240737915,
0.019082559272646904,
0.16186004877090454,
2.497872829437256,
1.4441113471984863,
2.572248935699463
] | 1 | push drawer_handle: descend to pre-contact | move | 0.865853 | [
-10.227400779724121,
-43.71666717529297,
75.49411010742188,
-19.22615623474121,
-0.8547008633613586,
35
] | [
0.2796446681022644,
0.027903813868761063,
0.1700984537601471,
1.5702767372131348,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.8 | 88 | 0 | 88 | 0 | ||
[
-8.916728019714355,
-43.50951385498047,
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-12.890453338623047,
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] | [
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35
] | [
0.2806538939476013,
0.021353829652071,
0.16231012344360352,
2.389481782913208,
1.4593679904937744,
2.4738245010375977
] | 1 | Push the drawer handle 7cm to close it | move_linear | 0 | [
-3.9399073123931885,
22.720027923583984,
6.725069046020508,
-21.79021644592285,
-0.8547008633613586,
35
] | [
0.4109036922454834,
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0.1616438627243042,
1.5705615282058716,
1.4945025444030762,
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] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 8.9 | 89 | 0 | 89 | 0 | ||
[
-8.916728019714355,
-43.50951385498047,
73.54545593261719,
-12.890453338623047,
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34.661354064941406
] | [
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35
] | [
0.2806538939476013,
0.021353829652071,
0.16231012344360352,
2.389481782913208,
1.4593679904937744,
2.4738245010375977
] | 1 | Push the drawer handle 7cm to close it | move_linear | 0 | [
-3.9399073123931885,
22.720027923583984,
6.725069046020508,
-21.79021644592285,
-0.8547008633613586,
35
] | [
0.4109036922454834,
-0.005857434589415789,
0.1616438627243042,
1.5705615282058716,
1.4945025444030762,
1.554410696029663
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9 | 90 | 0 | 90 | 0 | ||
[
-8.916728019714355,
-43.50951385498047,
73.7272720336914,
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34.661354064941406
] | [
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35
] | [
0.28052443265914917,
0.021342484280467033,
0.16168637573719025,
2.398843765258789,
1.458246111869812,
2.4831278324127197
] | 1 | Push the drawer handle 7cm to close it | move_linear | 0 | [
-3.9399073123931885,
22.720027923583984,
6.725069046020508,
-21.79021644592285,
-0.8547008633613586,
35
] | [
0.4109036922454834,
-0.005857434589415789,
0.1616438627243042,
1.5705615282058716,
1.4945025444030762,
1.554410696029663
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.1 | 91 | 0 | 91 | 0 | ||
[
-8.843035697937012,
-43.17124557495117,
74,
-13.594368934631348,
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34.661354064941406
] | [
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35
] | [
0.2807893753051758,
0.0209917351603508,
0.1606704592704773,
2.398844003677368,
1.458246111869812,
2.4815938472747803
] | 1 | Push the drawer handle 7cm to close it | move_linear | 0 | [
-3.9399073123931885,
22.720027923583984,
6.725069046020508,
-21.79021644592285,
-0.8547008633613586,
35
] | [
0.4109036922454834,
-0.005857434589415789,
0.1616438627243042,
1.5705615282058716,
1.4945025444030762,
1.554410696029663
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.2 | 92 | 0 | 92 | 0 | ||
[
-8.400884628295898,
-42.24101638793945,
74.09091186523438,
-14.56225299835205,
-0.8547008633613586,
34.661354064941406
] | [
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-0.8547008633613586,
35
] | [
0.28193601965904236,
0.018838033080101013,
0.15909834206104279,
2.4080212116241455,
1.4571146965026855,
2.481508731842041
] | 1 | Push the drawer handle 7cm to close it | move_linear | 0.007006 | [
-3.9399073123931885,
22.720027923583984,
6.725069046020508,
-21.79021644592285,
-0.8547008633613586,
35
] | [
0.4109036922454834,
-0.005857434589415789,
0.1616438627243042,
1.5705615282058716,
1.4945025444030762,
1.554410696029663
] | 35 | close the top drawer 7cm | [
0,
0,
0
] | 9.3 | 93 | 0 | 93 | 0 | ||
[
-7.4428887367248535,
-40.8879508972168,
74.09091186523438,
-15.970083236694336,
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34.661354064941406
] | [
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35
] | [
0.28375157713890076,
0.014071326702833176,
0.15739454329013824,
2.4080214500427246,
1.4571146965026855,
2.4615671634674072
] | 1 | Push the drawer handle 7cm to close it | move_linear | 0.018314 | [
-3.9399073123931885,
22.720027923583984,
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 80,
"total_frames": 20714,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
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},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
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},
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]
},
"observation.images.top": {
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640,
3
],
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},
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},
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}
}
}
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