observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 6
values | skill.verification_question stringclasses 2
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 30 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 24.5 | frame_index int64 0 245 | episode_index int64 0 19 | index int64 0 4.69k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-5.2321295738220215,
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98.18181610107422,
67.00395965576172,
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] | [
-5.2321295738220215,
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67.00395965576172,
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] | [
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] | 0 | [
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-1.7855535745620728,
1.5217089653015137,
1.1903691291809082,
-0.026077672839164734,
-0.00920388475060463
] | move to initial state | move_initial | 0 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | 0.494001 | [
0,
0,
0
] | 0 | 0 | 0 | 0 | 0 | |||
[
-5.2321295738220215,
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98.18181610107422,
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] | [
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] | [
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3.085537910461426,
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] | 0 | [
-0.01073786336928606,
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-1.783069133758545,
1.5192207098007202,
1.190382957458496,
-0.026060838252305984,
-0.00919361598789692
] | 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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] | 0.494001 | [
0,
0,
0
] | 0.1 | 1 | 0 | 1 | 0 | |||
[
-5.2321295738220215,
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98.18181610107422,
67.00395965576172,
-0.8058608174324036,
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] | [
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] | [
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] | 0 | [
-0.01073786336928606,
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1.5117777585983276,
1.1904240846633911,
-0.026010477915406227,
-0.009162900038063526
] | move to initial state | move_initial | 0 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
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] | 0.494001 | [
0,
0,
0
] | 0.2 | 2 | 0 | 2 | 0 | |||
[
-5.2321295738220215,
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98.18181610107422,
67.00395965576172,
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] | [
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] | [
0.16430093348026276,
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] | 0 | [
-0.01073786336928606,
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] | [
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1.4994570016860962,
1.1904922723770142,
-0.025927111506462097,
-0.009112054482102394
] | 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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] | 0.494001 | [
0,
0,
0
] | 0.3 | 3 | 0 | 3 | 0 | |||
[
-5.2321295738220215,
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98.18181610107422,
67.00395965576172,
-0.8058608174324036,
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] | [
-5.23809814453125,
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] | [
0.16418249905109406,
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3.085716485977173,
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3.0590384006500244
] | 0 | [
-0.01073786336928606,
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] | [
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1.482395887374878,
1.1905865669250488,
-0.02581167221069336,
-0.00904164556413889
] | move to initial state | move_initial | 0.000784 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
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] | 0.494001 | [
0,
0,
0
] | 0.4 | 4 | 0 | 4 | 0 | |||
[
-5.2321295738220215,
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98.09091186523438,
67.00395965576172,
-0.8058608174324036,
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] | [
-5.241379737854004,
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] | [
0.16347438097000122,
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] | 0 | [
-0.01073786336928606,
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1.5201749801635742,
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] | [
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1.460782766342163,
1.1907061338424683,
-0.02566543035209179,
-0.008952450938522816
] | move to initial state | move_initial | 0.007168 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
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] | 0.494001 | [
0,
0,
0
] | 0.5 | 5 | 0 | 5 | 0 | |||
[
-5.2321295738220215,
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97.7272720336914,
67.00395965576172,
-0.8058608174324036,
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] | [
-5.245316505432129,
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] | [
0.16267086565494537,
0.0014742221683263779,
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3.0880002975463867,
0.6208005547523499,
3.0603854656219482
] | 0 | [
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] | [
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1.4348506927490234,
1.1908496618270874,
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] | move to initial state | move_initial | 0.019377 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
0.002442389726638794,
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] | 0.494001 | [
0,
0,
0
] | 0.6 | 6 | 0 | 6 | 0 | |||
[
-5.2321295738220215,
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97.45454406738281,
67.00395965576172,
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] | [
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] | [
0.16149961948394775,
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3.0897133350372314,
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3.061371326446533
] | 0 | [
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1.509437084197998,
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] | [
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1.4049214124679565,
1.1910152435302734,
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] | move to initial state | move_initial | 0.03216 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
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] | 0.494001 | [
0,
0,
0
] | 0.7 | 7 | 0 | 7 | 0 | |||
[
-5.2321295738220215,
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67.00395965576172,
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] | [
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] | [
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] | 0 | [
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] | [
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] | move to initial state | move_initial | 0.061855 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
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] | 0.494001 | [
0,
0,
0
] | 0.8 | 8 | 0 | 8 | 0 | |||
[
-5.2321295738220215,
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67.00395965576172,
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] | [
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] | [
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] | 0 | [
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] | [
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1.334298014640808,
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] | move to initial state | move_initial | 0.096627 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
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3.090510129928589,
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] | 0.494001 | [
0,
0,
0
] | 0.9 | 9 | 0 | 9 | 0 | |||
[
-5.2321295738220215,
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92,
67.00395965576172,
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] | [
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] | [
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3.089203119277954,
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] | 0 | [
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1.41739821434021,
1.1903691291809082,
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] | [
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1.2943966388702393,
1.191626787185669,
-0.024539615958929062,
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] | move to initial state | move_initial | 0.131399 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
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3.090510129928589,
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] | 0.494001 | [
0,
0,
0
] | 1 | 10 | 0 | 10 | 0 | |||
[
-5.2321295738220215,
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89.81818389892578,
67.00395965576172,
-0.8058608174324036,
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] | [
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] | [
0.16381846368312836,
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3.0893735885620117,
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] | 0 | [
-0.01073786336928606,
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] | [
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1.2520146369934082,
1.1918612718582153,
-0.024252846837043762,
-0.008090893737971783
] | move to initial state | move_initial | 0.17278 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
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3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.1 | 11 | 0 | 11 | 0 | |||
[
-5.2321295738220215,
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67.00395965576172,
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] | [
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] | [
0.1648453176021576,
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3.0893735885620117,
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] | 0 | [
-0.01073786336928606,
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] | [
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1.2076414823532104,
1.1921067237854004,
-0.023952605202794075,
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] | move to initial state | move_initial | 0.216778 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
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3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.2 | 12 | 0 | 12 | 0 | |||
[
-5.2321295738220215,
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67.00395965576172,
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] | [
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] | [
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3.089543581008911,
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] | 0 | [
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1.2977477312088013,
1.1903691291809082,
-0.026077672839164734,
-0.007718179374933243
] | [
-0.011875619180500507,
-1.4260931015014648,
1.1617003679275513,
1.1923608779907227,
-0.02364175394177437,
-0.007718179374933243
] | move to initial state | move_initial | 0.264921 | [
-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 | |||
[
-5.2321295738220215,
-79.87315368652344,
82.45454406738281,
67.00395965576172,
-0.8058608174324036,
0.4046992361545563
] | [
-5.293910980224609,
-74.21772003173828,
74.06551361083984,
67.13310241699219,
-0.7181951403617859,
0.4046992361545563
] | [
0.16737303137779236,
0.0015246717957779765,
0.06594978272914886,
3.0898826122283936,
0.6039972305297852,
3.0614676475524902
] | 0 | [
-0.01073786336928606,
-1.4818254709243774,
1.2563302516937256,
1.1903691291809082,
-0.026077672839164734,
-0.007524527609348297
] | [
-0.01202391181141138,
-1.379239797592163,
1.114775538444519,
1.1926205158233643,
-0.02332424744963646,
-0.007524527609348297
] | move to initial state | move_initial | 0.312124 | [
-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 | |||
[
-5.2321295738220215,
-77.33615112304688,
79.54545593261719,
67.00395965576172,
-0.8058608174324036,
0.4131791591644287
] | [
-5.301117897033691,
-71.6047592163086,
71.2522964477539,
67.1481704711914,
-0.7079687714576721,
0.4131791591644287
] | [
0.16950273513793945,
0.0015475398395210505,
0.07159119099378586,
3.089543581008911,
0.6070523858070374,
3.061274528503418
] | 0 | [
-0.01073786336928606,
-1.4358060359954834,
1.2072428464889526,
1.1903691291809082,
-0.026077672839164734,
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] | [
-0.012173932045698166,
-1.3318424224853516,
1.0673059225082397,
1.1928832530975342,
-0.023003054782748222,
-0.007328626699745655
] | move to initial state | move_initial | 0.364747 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
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3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.5 | 15 | 0 | 15 | 0 | |||
[
-5.2321295738220215,
-74.79915618896484,
76.81818389892578,
67.00395965576172,
-0.8058608174324036,
0.4216567277908325
] | [
-5.308322906494141,
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68.4398422241211,
67.1632308959961,
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0.4216567277908325
] | [
0.17159001529216766,
0.0015699537470936775,
0.07650390267372131,
3.089543581008911,
0.6070524454116821,
3.061274528503418
] | 0 | [
-0.01073786336928606,
-1.3897866010665894,
1.1612235307693481,
1.1903691291809082,
-0.026077672839164734,
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] | [
-0.012323912233114243,
-1.2844579219818115,
1.019849181175232,
1.193145751953125,
-0.022681949660182,
-0.007132780272513628
] | move to initial state | move_initial | 0.415499 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
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3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.6 | 16 | 0 | 16 | 0 | |||
[
-5.2321295738220215,
-72.1775894165039,
74.09091186523438,
67.00395965576172,
-0.8058608174324036,
0.43003371357917786
] | [
-5.3154425621032715,
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65.66077423095703,
67.17811584472656,
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0.43003371357917786
] | [
0.17384682595729828,
0.0015941897872835398,
0.08115485310554504,
3.0897133350372314,
0.6055247783660889,
3.061371326446533
] | 0 | [
-0.01073786336928606,
-1.3422331809997559,
1.115204095840454,
1.1903691291809082,
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] | [
-0.012472116388380527,
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0.9729557037353516,
1.193405270576477,
-0.022364653646945953,
-0.006939257029443979
] | move to initial state | move_initial | 0.466998 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
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3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.7 | 17 | 0 | 17 | 0 | |||
[
-5.2321295738220215,
-69.55602264404297,
71.2727279663086,
67.00395965576172,
-0.8058608174324036,
0.4382292926311493
] | [
-5.3224077224731445,
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62.94187545776367,
67.19267272949219,
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0.4382292926311493
] | [
0.1764722466468811,
0.0016223860438913107,
0.08600553125143051,
3.0897133350372314,
0.6055247187614441,
3.061371326446533
] | 0 | [
-0.01073786336928606,
-1.2946797609329224,
1.0676506757736206,
1.1903691291809082,
-0.026077672839164734,
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] | [
-0.01261710375547409,
-1.191827654838562,
0.92707759141922,
1.1936590671539307,
-0.02205423079431057,
-0.0067499247379601
] | move to initial state | move_initial | 0.519425 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
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3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.8 | 18 | 0 | 18 | 0 | |||
[
-5.2321295738220215,
-66.6807632446289,
68.36363983154297,
67.00395965576172,
-0.8058608174324036,
0.44614723324775696
] | [
-5.329137325286865,
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60.31509017944336,
67.20674133300781,
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0.44614723324775696
] | [
0.17934156954288483,
0.0016532038571313024,
0.09053794294595718,
3.0900514125823975,
0.6024695038795471,
3.061563491821289
] | 0 | [
-0.01073786336928606,
-1.24252450466156,
1.0185632705688477,
1.1903691291809082,
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] | [
-0.012757187709212303,
-1.147571325302124,
0.8827537894248962,
1.1939042806625366,
-0.021754322573542595,
-0.006567006465047598
] | move to initial state | move_initial | 0.575013 | [
-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 | |||
[
-5.2321295738220215,
-64.05919647216797,
65.63636016845703,
67.00395965576172,
-0.8058608174324036,
0.45370030403137207
] | [
-5.335556507110596,
-59.118736267089844,
57.809349060058594,
67.22016143798828,
-0.6591020226478577,
0.45370030403137207
] | [
0.18230023980140686,
0.0016849823296070099,
0.09478475898504257,
3.0902202129364014,
0.6009418964385986,
3.0616588592529297
] | 0 | [
-0.01073786336928606,
-1.1949710845947266,
0.9725437760353088,
1.1903691291809082,
-0.026077672839164734,
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] | [
-0.012890810146927834,
-1.1053544282913208,
0.840472400188446,
1.1941382884979248,
-0.021468235179781914,
-0.00639251759275794
] | move to initial state | move_initial | 0.62644 | [
-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 | |||
[
-5.2321295738220215,
-61.77589797973633,
63.09090805053711,
67.00395965576172,
-0.8058608174324036,
0.46080702543258667
] | [
-5.3415961265563965,
-56.92889404296875,
55.451683044433594,
67.23278045654297,
-0.6505315899848938,
0.46080702543258667
] | [
0.18530681729316711,
0.001717275707051158,
0.09895560145378113,
3.0900514125823975,
0.6024695038795471,
3.061563491821289
] | 0 | [
-0.01073786336928606,
-1.1535534858703613,
0.9295923113822937,
1.1903691291809082,
-0.026077672839164734,
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] | [
-0.0130165321752429,
-1.0656322240829468,
0.800689697265625,
1.194358229637146,
-0.021199053153395653,
-0.006228339858353138
] | move to initial state | move_initial | 0.673001 | [
-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 | |||
[
-5.2321295738220215,
-59.40803527832031,
60.54545593261719,
67.00395965576172,
-0.8058608174324036,
0.4673849940299988
] | [
-5.34718656539917,
-54.9019889831543,
53.26943588256836,
67.24446868896484,
-0.6425988674163818,
0.4673849940299988
] | [
0.1884489506483078,
0.0017510264879092574,
0.10282161086797714,
3.0900514125823975,
0.6024695038795471,
3.061563491821289
] | 0 | [
-0.01073786336928606,
-1.1106021404266357,
0.8866409063339233,
1.1903691291809082,
-0.026077672839164734,
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] | [
-0.013132902793586254,
-1.0288654565811157,
0.7638669013977051,
1.1945620775222778,
-0.020949900150299072,
-0.006076376885175705
] | move to initial state | move_initial | 0.720257 | [
-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 | |||
[
-5.2321295738220215,
-57.12473678588867,
58.181819915771484,
67.00395965576172,
-0.8058608174324036,
0.4733695983886719
] | [
-5.352272987365723,
-53.05791473388672,
51.28403091430664,
67.2551040649414,
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0.4733695983886719
] | [
0.1914968490600586,
0.00178376620169729,
0.10610003769397736,
3.0902202129364014,
0.6009418368339539,
3.0616588592529297
] | 0 | [
-0.01073786336928606,
-1.06918466091156,
0.8467574119567871,
1.1903691291809082,
-0.026077672839164734,
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] | [
-0.013238782994449139,
-0.995415210723877,
0.7303655743598938,
1.1947474479675293,
-0.020723221823573112,
-0.005938122048974037
] | move to initial state | move_initial | 0.764785 | [
-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 | |||
[
-5.2321295738220215,
-55.01057052612305,
56.09090805053711,
67.00395965576172,
-0.8058608174324036,
0.47869107127189636
] | [
-5.356795787811279,
-51.41817855834961,
49.51863098144531,
67.26455688476562,
-0.6289642453193665,
0.47869107127189636
] | [
0.19430133700370789,
0.0018138925079256296,
0.108674056828022,
3.0905561447143555,
0.5978864431381226,
3.0618484020233154
] | 0 | [
-0.01073786336928606,
-1.0308350324630737,
0.8114758133888245,
1.1903691291809082,
-0.026077672839164734,
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] | [
-0.013332929462194443,
-0.9656715393066406,
0.7005766034126282,
1.194912314414978,
-0.020521661266684532,
-0.005815187003463507
] | move to initial state | move_initial | 0.804821 | [
-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 | |||
[
-5.2321295738220215,
-53.0655403137207,
54.09090805053711,
67.00395965576172,
-0.8058608174324036,
0.48329105973243713
] | [
-5.360705375671387,
-50.00075149536133,
47.99257278442383,
67.2727279663086,
-0.6234168410301208,
0.48329105973243713
] | [
0.1971028447151184,
0.0018439869163557887,
0.11120343208312988,
3.090723752975464,
0.5963587760925293,
3.0619425773620605
] | 0 | [
-0.01073786336928606,
-0.9955535531044006,
0.777728259563446,
1.1903691291809082,
-0.026077672839164734,
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] | [
-0.013414312154054642,
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0.6748262047767639,
1.1950547695159912,
-0.02034742571413517,
-0.005708918906748295
] | move to initial state | move_initial | 0.842296 | [
-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 | |||
[
-5.2321295738220215,
-51.45877456665039,
52.272727966308594,
67.00395965576172,
-0.8058608174324036,
0.4871178865432739
] | [
-5.363957405090332,
-48.82157516479492,
46.7230224609375,
67.27952575683594,
-0.6188018918037415,
0.4871178865432739
] | [
0.19974368810653687,
0.0018723547691479325,
0.11379382759332657,
3.0905561447143555,
0.5978864431381226,
3.0618484020233154
] | 0 | [
-0.01073786336928606,
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0.7470486760139465,
1.1903691291809082,
-0.026077672839164734,
-0.005620512645691633
] | [
-0.013482007198035717,
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0.6534041166305542,
1.1951732635498047,
-0.020202478393912315,
-0.005620512645691633
] | move to initial state | move_initial | 0.874942 | [
-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 | |||
[
-5.2321295738220215,
-49.93657684326172,
50.6363639831543,
67.00395965576172,
-0.8058608174324036,
0.49013271927833557
] | [
-5.366519927978516,
-47.8925895690918,
45.722843170166016,
67.28488159179688,
-0.6151661276817322,
0.49013271927833557
] | [
0.20217493176460266,
0.0018984719645231962,
0.11587868630886078,
3.0905561447143555,
0.5978864431381226,
3.0618484020233154
] | 0 | [
-0.01073786336928606,
-0.9387962818145752,
0.7194370031356812,
1.1903691291809082,
-0.026077672839164734,
-0.005550864618271589
] | [
-0.013535348698496819,
-0.9017197489738464,
0.6365272998809814,
1.195266604423523,
-0.020088285207748413,
-0.005550864618271589
] | move to initial state | move_initial | 0.904552 | [
-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 | |||
[
-5.2321295738220215,
-48.66807556152344,
49.45454406738281,
67.00395965576172,
-0.8058608174324036,
0.4922979474067688
] | [
-5.3683600425720215,
-47.22540283203125,
45.00452423095703,
67.28872680664062,
-0.6125549077987671,
0.4922979474067688
] | [
0.20396779477596283,
0.0019177328795194626,
0.11692887544631958,
3.090890884399414,
0.5948310494422913,
3.0620365142822266
] | 0 | [
-0.01073786336928606,
-0.9157865047454834,
0.6994951963424683,
1.1903691291809082,
-0.026077672839164734,
-0.0055008442141115665
] | [
-0.013573653064668179,
-0.8896174430847168,
0.6244065165519714,
1.1953336000442505,
-0.020006272941827774,
-0.0055008442141115665
] | move to initial state | move_initial | 0.926376 | [
-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 | |||
[
-5.2321295738220215,
-47.73784255981445,
48.54545593261719,
67.00395965576172,
-0.8058608174324036,
0.4935916066169739
] | [
-5.369459629058838,
-46.82678985595703,
44.57535934448242,
67.29103088378906,
-0.6109948754310608,
0.4935916066169739
] | [
0.2053707093000412,
0.0019328042399138212,
0.11781708151102066,
3.091057777404785,
0.5933032035827637,
3.0621299743652344
] | 0 | [
-0.01073786336928606,
-0.8989127278327942,
0.6841554641723633,
1.1903691291809082,
-0.026077672839164734,
-0.005470958538353443
] | [
-0.013596542179584503,
-0.8823868632316589,
0.6171649098396301,
1.195373773574829,
-0.019957274198532104,
-0.005470958538353443
] | move to initial state | move_initial | 0.942037 | [
-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 | |||
[
-5.2321295738220215,
-46.80760955810547,
47.727272033691406,
67.00395965576172,
-0.8058608174324036,
0.4940014183521271
] | [
-5.2321295738220215,
-46.7746696472168,
47.48794174194336,
67.0039291381836,
-0.8058608174324036,
0.4940014183521271
] | [
0.20665331184864044,
0.0019465838558971882,
0.11836238950490952,
3.091390371322632,
0.5902477502822876,
3.0623154640197754
] | 1 | [
-0.01073786336928606,
-0.882038950920105,
0.6703495979309082,
1.1903691291809082,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.01073786336928606,
-0.8814414143562317,
0.6663112044334412,
1.1903685331344604,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.001942 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 3 | 30 | 0 | 30 | 0 | |
[
-5.2321295738220215,
-46.80760955810547,
47.727272033691406,
67.00395965576172,
-0.8058608174324036,
0.4940014183521271
] | [
-5.231542110443115,
-46.72608947753906,
47.407169342041016,
66.89981079101562,
-0.8058608174324036,
0.4940014183521271
] | [
0.20665331184864044,
0.0019465838558971882,
0.11836238950490952,
3.091390371322632,
0.5902477502822876,
3.0623154640197754
] | 1 | [
-0.01073786336928606,
-0.882038950920105,
0.6703495979309082,
1.1903691291809082,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.010725634172558784,
-0.8805602192878723,
0.6649482250213623,
1.1885534524917603,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.001942 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 3.1 | 31 | 0 | 31 | 0 | |
[
-5.2321295738220215,
-46.80760955810547,
47.818180084228516,
67.00395965576172,
-0.8058608174324036,
0.4940014183521271
] | [
-5.229974269866943,
-46.59433364868164,
47.19158172607422,
66.6219253540039,
-0.8058608174324036,
0.4940014183521271
] | [
0.20651286840438843,
0.0019450756954029202,
0.11804567277431488,
3.0915563106536865,
0.5887199640274048,
3.0624077320098877
] | 1 | [
-0.01073786336928606,
-0.882038950920105,
0.6718835830688477,
1.1903691291809082,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.010692997835576534,
-0.8781702518463135,
0.6613104939460754,
1.1837087869644165,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.001096 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 3.2 | 32 | 0 | 32 | 0 | |
[
-5.2321295738220215,
-46.80760955810547,
47.818180084228516,
67.00395965576172,
-0.8058608174324036,
0.4940014183521271
] | [
-5.227457523345947,
-46.37665557861328,
46.845523834228516,
66.17585754394531,
-0.8058608174324036,
0.4940014183521271
] | [
0.20651286840438843,
0.0019450756954029202,
0.11804567277431488,
3.0915563106536865,
0.5887199640274048,
3.0624077320098877
] | 1 | [
-0.01073786336928606,
-0.882038950920105,
0.6718835830688477,
1.1903691291809082,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.010640609078109264,
-0.8742217421531677,
0.65547114610672,
1.1759321689605713,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.001096 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 3.3 | 33 | 0 | 33 | 0 | |
[
-5.2321295738220215,
-46.63847732543945,
47.818180084228516,
67.00395965576172,
-0.8058608174324036,
0.4940014183521271
] | [
-5.2240118980407715,
-46.078590393066406,
45.983245849609375,
65.56507110595703,
-0.8058608174324036,
0.4940014183521271
] | [
0.20651665329933167,
0.0019451174885034561,
0.11762446910142899,
3.0918869972229004,
0.5856643915176392,
3.0625908374786377
] | 1 | [
-0.01073786336928606,
-0.8789709806442261,
0.6718835830688477,
1.1903691291809082,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.010568884201347828,
-0.868815004825592,
0.6409212350845337,
1.1652839183807373,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.002066 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 3.4 | 34 | 0 | 34 | 0 | |
[
-5.2321295738220215,
-46.46934509277344,
47.818180084228516,
66.91596984863281,
-0.8058608174324036,
0.4940014183521271
] | [
-5.219793319702148,
-45.71369552612305,
45.403141021728516,
64.81732177734375,
-0.8058608174324036,
0.4940014183521271
] | [
0.20671142637729645,
0.0019472111016511917,
0.11731812357902527,
3.0920517444610596,
0.5841366052627563,
3.0626819133758545
] | 1 | [
-0.01073786336928606,
-0.8759030103683472,
0.6718835830688477,
1.1888351440429688,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.010481069795787334,
-0.8621960878372192,
0.6311327219009399,
1.1522479057312012,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.004074 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 3.5 | 35 | 0 | 35 | 0 | |
[
-5.2321295738220215,
-46.046512603759766,
47.727272033691406,
66.47602081298828,
-0.8058608174324036,
0.4940014183521271
] | [
-5.214818954467773,
-45.28345489501953,
44.71915054321289,
63.93567657470703,
-0.8058608174324036,
0.4940014183521271
] | [
0.20781975984573364,
0.0019591201562434435,
0.11715150624513626,
3.0918869972229004,
0.5856644511222839,
3.0625908374786377
] | 1 | [
-0.01073786336928606,
-0.8682331442832947,
0.6703495979309082,
1.1811652183532715,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.010377522557973862,
-0.8543918132781982,
0.6195911765098572,
1.1368775367736816,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.012507 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 3.6 | 36 | 0 | 36 | 0 | |
[
-5.2321295738220215,
-45.53911209106445,
47.727272033691406,
66.12406158447266,
-0.8058608174324036,
0.4940014183521271
] | [
-5.209171295166016,
-44.794925689697266,
43.94249725341797,
62.93458938598633,
-0.8058608174324036,
0.4940014183521271
] | [
0.2085898220539093,
0.0019673961214721203,
0.11633239686489105,
3.0922162532806396,
0.5826088190078735,
3.062772512435913
] | 1 | [
-0.01073786336928606,
-0.859029233455658,
0.6703495979309082,
1.1750292778015137,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.010259960778057575,
-0.8455302119255066,
0.6064860820770264,
1.1194249391555786,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.019417 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 3.7 | 37 | 0 | 37 | 0 | |
[
-5.2321295738220215,
-45.200843811035156,
47.54545593261719,
64.9802017211914,
-0.8058608174324036,
0.4940014183521271
] | [
-5.202960014343262,
-44.2576904296875,
43.08841323852539,
61.83369064331055,
-0.8058608174324036,
0.4940014183521271
] | [
0.21137017011642456,
0.001997266663238406,
0.11761745065450668,
3.090388298034668,
0.5994141101837158,
3.061753988265991
] | 1 | [
-0.01073786336928606,
-0.8528932929039001,
0.6672816872596741,
1.1550874710083008,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.010130666196346283,
-0.8357851505279541,
0.592074453830719,
1.1002322435379028,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.03625 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 3.8 | 38 | 0 | 38 | 0 | |
[
-5.2321295738220215,
-44.43974685668945,
47,
63.83633804321289,
-0.8058608174324036,
0.5125444531440735
] | [
-5.196203708648682,
-43.673282623291016,
42.159332275390625,
60.63612365722656,
-0.8058608174324036,
0.5125444531440735
] | [
0.21472138166427612,
0.002033269964158535,
0.11911266297101974,
3.0886898040771484,
0.6146904230117798,
3.0607848167419434
] | 1 | [
-0.01073786336928606,
-0.8390874862670898,
0.6580777764320374,
1.1351457834243774,
-0.026077672839164734,
-0.005033114459365606
] | [
-0.009990026243031025,
-0.8251843452453613,
0.5763973593711853,
1.079354166984558,
-0.026077672839164734,
-0.005033114459365606
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.058666 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 3.9 | 39 | 0 | 39 | 0 | |
[
-5.2321295738220215,
-44.101478576660156,
45.727272033691406,
62.604488372802734,
-0.8058608174324036,
1.9188166856765747
] | [
-5.189020156860352,
-43.051910400390625,
41.171485900878906,
59.36281204223633,
-0.8058608174324036,
1.9188166856765747
] | [
0.21931661665439606,
0.0020826298277825117,
0.12451083958148956,
3.084458589553833,
0.6513475179672241,
3.058281183242798
] | 1 | [
-0.01073786336928606,
-0.832951545715332,
0.6366020441055298,
1.1136701107025146,
-0.026077672839164734,
0.027454236522316933
] | [
-0.009840492159128189,
-0.813913106918335,
0.5597286224365234,
1.057155728340149,
-0.026077672839164734,
0.027454236522316933
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.104221 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 4 | 40 | 0 | 40 | 0 | |
[
-5.2321295738220215,
-43.25581359863281,
44.90909194946289,
61.37263488769531,
-0.8058608174324036,
3.3263485431671143
] | [
-5.1814751625061035,
-42.39930725097656,
40.13398742675781,
58.02549362182617,
-0.8058608174324036,
3.3263485431671143
] | [
0.2232266664505005,
0.00212463503703475,
0.12697084248065948,
3.0820670127868652,
0.6711997985839844,
3.056812286376953
] | 1 | [
-0.01073786336928606,
-0.8176117539405823,
0.6227962374687195,
1.0921943187713623,
-0.026077672839164734,
0.059970684349536896
] | [
-0.00968343485146761,
-0.8020753264427185,
0.5422221422195435,
1.0338412523269653,
-0.026077672839164734,
0.059970684349536896
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.148089 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 4.1 | 41 | 0 | 41 | 0 | |
[
-5.2321295738220215,
-42.663848876953125,
43.6363639831543,
60.05279541015625,
-0.8058608174324036,
4.733940601348877
] | [
-5.173611164093018,
-41.71906280517578,
39.04246520996094,
56.63154220581055,
-0.8058608174324036,
4.733940601348877
] | [
0.2278749942779541,
0.0021745660342276096,
0.13200661540031433,
3.0778422355651855,
0.7047892212867737,
3.054129123687744
] | 1 | [
-0.01073786336928606,
-0.8068739175796509,
0.6013204455375671,
1.06918466091156,
-0.026077672839164734,
0.09248852729797363
] | [
-0.009519736282527447,
-0.7897361516952515,
0.5238040089607239,
1.0095396041870117,
-0.026077672839164734,
0.09248852729797363
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.195962 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 4.2 | 42 | 0 | 42 | 0 | |
[
-5.2321295738220215,
-42.07188034057617,
42.727272033691406,
58.73295211791992,
-0.8058608174324036,
6.140256404876709
] | [
-5.1655473709106445,
-41.0215950012207,
37.91852951049805,
55.20229721069336,
-0.8058608174324036,
6.140256404876709
] | [
0.23192939162254333,
0.002218119101598859,
0.135785311460495,
3.074202060699463,
0.7322646379470825,
3.0517327785491943
] | 1 | [
-0.01073786336928606,
-0.7961360216140747,
0.5859806537628174,
1.0461748838424683,
-0.026077672839164734,
0.12497688084840775
] | [
-0.0093518802896142,
-0.7770845293998718,
0.5048389434814453,
0.9846225380897522,
-0.026077672839164734,
0.12497688084840775
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.240363 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 4.3 | 43 | 0 | 43 | 0 | |
[
-5.2321295738220215,
-41.395347595214844,
41.54545593261719,
57.32512283325195,
-0.8058608174324036,
7.5466227531433105
] | [
-5.157336235046387,
-40.409671783447266,
36.77400588989258,
53.74687194824219,
-0.8058608174324036,
7.5466227531433105
] | [
0.2364715188741684,
0.002266909694299102,
0.14057235419750214,
3.069720983505249,
0.764310359954834,
3.0486834049224854
] | 1 | [
-0.01073786336928606,
-0.7838641405105591,
0.5660389065742493,
1.0216312408447266,
-0.026077672839164734,
0.15746641159057617
] | [
-0.009180955588817596,
-0.7659846544265747,
0.48552650213241577,
0.9592491388320923,
-0.026077672839164734,
0.15746641159057617
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.288769 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 4.4 | 44 | 0 | 44 | 0 | |
[
-5.2321295738220215,
-40.63425064086914,
40.6363639831543,
55.91728973388672,
-0.8058608174324036,
8.952961921691895
] | [
-5.149050712585449,
-39.59467697143555,
35.619110107421875,
52.278263092041016,
-0.8058608174324036,
8.952961921691895
] | [
0.24062667787075043,
0.002311545656993985,
0.14413517713546753,
3.065886974334717,
0.7902445793151855,
3.0459940433502197
] | 1 | [
-0.01073786336928606,
-0.7700583934783936,
0.5506991147994995,
0.9970875382423401,
-0.026077672839164734,
0.18995530903339386
] | [
-0.009008483029901981,
-0.7512012124061584,
0.4660390317440033,
0.9336458444595337,
-0.026077672839164734,
0.18995530903339386
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.33497 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 4.5 | 45 | 0 | 45 | 0 | |
[
-5.2321295738220215,
-40.12685012817383,
39.3636360168457,
54.421470642089844,
-0.8058608174324036,
10.36071491241455
] | [
-5.140759468078613,
-38.97579574584961,
34.46337890625,
50.8085823059082,
-0.8058608174324036,
10.36071491241455
] | [
0.24515680968761444,
0.00236020446754992,
0.15014629065990448,
3.0598676204681396,
0.828368604183197,
3.0416362285614014
] | 1 | [
-0.01073786336928606,
-0.7608544826507568,
0.5292233824729919,
0.9710098505020142,
-0.026077672839164734,
0.22247686982154846
] | [
-0.00883589219301939,
-0.7399751543998718,
0.44653746485710144,
0.9080238938331604,
-0.026077672839164734,
0.22247686982154846
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.384378 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 4.6 | 46 | 0 | 46 | 0 | |
[
-5.2321295738220215,
-39.1120491027832,
38.54545593261719,
52.9256477355957,
-0.8058608174324036,
11.766836166381836
] | [
-5.132552623748779,
-38.16761016845703,
33.319454193115234,
49.35392379760742,
-0.8058608174324036,
11.766836166381836
] | [
0.2493816465139389,
0.002405591309070587,
0.1528250128030777,
3.056274175643921,
0.849709689617157,
3.0389626026153564
] | 1 | [
-0.01073786336928606,
-0.7424466609954834,
0.5154175758361816,
0.9449321627616882,
-0.026077672839164734,
0.25496071577072144
] | [
-0.008665056899189949,
-0.7253152132034302,
0.42723512649536133,
0.8826637864112854,
-0.026077672839164734,
0.25496071577072144
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.431798 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 4.7 | 47 | 0 | 47 | 0 | |
[
-5.2321295738220215,
-38.604652404785156,
37.09090805053711,
51.42982864379883,
-0.8058608174324036,
13.173078536987305
] | [
-5.1244988441467285,
-37.56929397583008,
32.196861267089844,
47.92638397216797,
-0.8058608174324036,
13.173078536987305
] | [
0.25385743379592896,
0.002453663619235158,
0.15977495908737183,
3.0488240718841553,
0.8908480405807495,
3.0332655906677246
] | 1 | [
-0.01073786336928606,
-0.7332428097724915,
0.4908738434314728,
0.9188544750213623,
-0.026077672839164734,
0.28744739294052124
] | [
-0.008497408591210842,
-0.714462161064148,
0.4082927107810974,
0.8577765226364136,
-0.026077672839164734,
0.28744739294052124
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.4829 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 4.8 | 48 | 0 | 48 | 0 | |
[
-5.2321295738220215,
-37.67441940307617,
35.90909194946289,
50.021995544433594,
-0.8058608174324036,
14.579259872436523
] | [
-5.1166558265686035,
-36.79258346557617,
31.103662490844727,
46.53622817993164,
-0.8058608174324036,
14.579259872436523
] | [
0.25810304284095764,
0.0024992693215608597,
0.16413730382919312,
3.0434229373931885,
0.9182572364807129,
3.0290188789367676
] | 1 | [
-0.01073786336928606,
-0.7163690328598022,
0.47093212604522705,
0.8943107724189758,
-0.026077672839164734,
0.31993263959884644
] | [
-0.008334147743880749,
-0.700373113155365,
0.3898463249206543,
0.8335409760475159,
-0.026077672839164734,
0.31993263959884644
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.532297 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 4.9 | 49 | 0 | 49 | 0 | |
[
-5.2321295738220215,
-37.08245086669922,
34.727272033691406,
48.614166259765625,
-0.8058608174324036,
15.986175537109375
] | [
-5.1091227531433105,
-36.140987396240234,
30.05364418029785,
45.20097732543945,
-0.8058608174324036,
15.986175537109375
] | [
0.261954665184021,
0.0025406386703252792,
0.16972483694553375,
3.0362703800201416,
0.9517366290092468,
3.0232632160186768
] | 1 | [
-0.01073786336928606,
-0.7056311368942261,
0.45099034905433655,
0.8697671294212341,
-0.026077672839164734,
0.35243484377861023
] | [
-0.008177338168025017,
-0.6885536313056946,
0.37212851643562317,
0.8102626204490662,
-0.026077672839164734,
0.35243484377861023
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.580102 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 5 | 50 | 0 | 50 | 0 | |
[
-5.2321295738220215,
-36.321353912353516,
33.6363639831543,
47.206336975097656,
-0.8058608174324036,
17.393613815307617
] | [
-5.102048873901367,
-35.52914047241211,
29.06768035888672,
43.94718551635742,
-0.8058608174324036,
17.393613815307617
] | [
0.26577821373939514,
0.00258170859888196,
0.174417644739151,
3.0295300483703613,
0.9806294441223145,
3.017717123031616
] | 1 | [
-0.01073786336928606,
-0.6918253302574158,
0.4325825870037079,
0.8452234268188477,
-0.026077672839164734,
0.3849491477012634
] | [
-0.008030087687075138,
-0.6774551272392273,
0.355491578578949,
0.7884044051170349,
-0.026077672839164734,
0.3849491477012634
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.627684 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 5.1 | 51 | 0 | 51 | 0 | |
[
-5.2321295738220215,
-35.64482116699219,
32.6363639831543,
45.974483489990234,
-0.8058608174324036,
18.79979133605957
] | [
-5.098513603210449,
-35.22334289550781,
28.574899673461914,
43.3205451965332,
-0.8058608174324036,
18.79979133605957
] | [
0.2690924406051636,
0.0026173072401434183,
0.17871960997581482,
3.022986888885498,
1.0064616203308105,
3.0122337341308594
] | 1 | [
-0.01073786336928606,
-0.6795535087585449,
0.4157088100910187,
0.8237476944923401,
-0.026077672839164734,
0.41743430495262146
] | [
-0.007956497371196747,
-0.6719081997871399,
0.34717652201652527,
0.7774797677993774,
-0.026077672839164734,
0.41743430495262146
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.672079 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 5.2 | 52 | 0 | 52 | 0 | |
[
-5.2321295738220215,
-35.39112091064453,
32.3636360168457,
44.83061981201172,
-0.8058608174324036,
20.207489013671875
] | [
-5.094884872436523,
-34.90946960449219,
28.069108963012695,
42.67736053466797,
-0.8058608174324036,
20.207489013671875
] | [
0.27121275663375854,
0.002640082500874996,
0.18135246634483337,
3.0176119804382324,
1.026201605796814,
3.0076637268066406
] | 1 | [
-0.01073786336928606,
-0.6749515533447266,
0.4111068546772003,
0.803805947303772,
-0.026077672839164734,
0.4499545693397522
] | [
-0.00788096059113741,
-0.6662147045135498,
0.3386419117450714,
0.7662666440010071,
-0.026077672839164734,
0.4499545693397522
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.706638 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 5.3 | 53 | 0 | 53 | 0 | |
[
-5.2321295738220215,
-34.88372039794922,
31.545454025268555,
44.21469497680664,
-0.8058608174324036,
21.61481285095215
] | [
-5.0911664962768555,
-34.587825775146484,
27.55078887939453,
42.01824188232422,
-0.8058608174324036,
21.61481285095215
] | [
0.2732238471508026,
0.0026616831310093403,
0.18426157534122467,
3.013233184814453,
1.041377067565918,
3.0039010047912598
] | 1 | [
-0.01073786336928606,
-0.6657476425170898,
0.3973010182380676,
0.7930680513381958,
-0.026077672839164734,
0.4824662208557129
] | [
-0.007803558837622404,
-0.6603803038597107,
0.32989588379859924,
0.7547758221626282,
-0.026077672839164734,
0.4824662208557129
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.742133 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 5.4 | 54 | 0 | 54 | 0 | |
[
-5.2321295738220215,
-34.7145881652832,
31.090909957885742,
43.510780334472656,
-0.8058608174324036,
23.021934509277344
] | [
-5.08735466003418,
-34.25810241699219,
27.019454956054688,
41.34257507324219,
-0.8058608174324036,
23.021934509277344
] | [
0.27467432618141174,
0.0026772604323923588,
0.18708224594593048,
3.008146286010742,
1.0580596923828125,
2.9994893074035645
] | 1 | [
-0.01073786336928606,
-0.6626797318458557,
0.38963112235069275,
0.780796229839325,
-0.026077672839164734,
0.5149732232093811
] | [
-0.00772421108558774,
-0.6543993949890137,
0.32093027234077454,
0.7429964542388916,
-0.026077672839164734,
0.5149732232093811
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.773078 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 5.5 | 55 | 0 | 55 | 0 | |
[
-5.2321295738220215,
-34.29175567626953,
30.727272033691406,
42.806861877441406,
-0.8058608174324036,
24.42976188659668
] | [
-5.083437442779541,
-33.91928482055664,
26.473466873168945,
40.64827346801758,
-0.8058608174324036,
24.42976188659668
] | [
0.27637001872062683,
0.0026954759377986193,
0.18858125805854797,
3.0047495365142822,
1.0686700344085693,
2.9965202808380127
] | 1 | [
-0.01073786336928606,
-0.6550098061561584,
0.38349518179893494,
0.7685243487358093,
-0.026077672839164734,
0.547496497631073
] | [
-0.007642669603228569,
-0.6482534408569336,
0.31171736121177673,
0.7308921813964844,
-0.026077672839164734,
0.547496497631073
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.803184 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 5.6 | 56 | 0 | 56 | 0 | |
[
-5.2321295738220215,
-34.038055419921875,
30.18181800842285,
42.10294723510742,
-0.8058608174324036,
25.83704948425293
] | [
-5.0793914794921875,
-33.56931686401367,
25.9095458984375,
39.93112564086914,
-0.8058608174324036,
25.83704948425293
] | [
0.277925580739975,
0.0027121820021420717,
0.1915038526058197,
2.9991378784179688,
1.085332989692688,
2.9915788173675537
] | 1 | [
-0.01073786336928606,
-0.6504078507423401,
0.3742913007736206,
0.7562525272369385,
-0.026077672839164734,
0.5800073146820068
] | [
-0.007558448705822229,
-0.6419052481651306,
0.30220189690589905,
0.718389630317688,
-0.026077672839164734,
0.5800073146820068
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.83379 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 5.7 | 57 | 0 | 57 | 0 | |
[
-5.2321295738220215,
-33.6152229309082,
29.545454025268555,
41.57501220703125,
-0.8058608174324036,
27.24427032470703
] | [
-5.075174331665039,
-33.20454406738281,
25.321773529052734,
39.18362808227539,
-0.8058608174324036,
27.24427032470703
] | [
0.279506653547287,
0.0027291637379676104,
0.19380061328411102,
2.9948291778564453,
1.0974427461624146,
2.98775577545166
] | 1 | [
-0.01073786336928606,
-0.6427379846572876,
0.3635534346103668,
0.7470486760139465,
-0.026077672839164734,
0.6125165224075317
] | [
-0.007470664102584124,
-0.6352885365486145,
0.29228395223617554,
0.7053580284118652,
-0.026077672839164734,
0.6125165224075317
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.862663 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 5.8 | 58 | 0 | 58 | 0 | |
[
-5.2321295738220215,
-33.276954650878906,
28.81818199157715,
40.78310775756836,
-0.8058608174324036,
28.65131187438965
] | [
-5.070800304412842,
-32.83759307861328,
24.712188720703125,
38.408390045166016,
-0.8058608174324036,
28.65131187438965
] | [
0.2813097834587097,
0.002748528029769659,
0.197409987449646,
2.987375020980835,
1.117104172706604,
2.9810876846313477
] | 1 | [
-0.01073786336928606,
-0.636601984500885,
0.35128161311149597,
0.7332428693771362,
-0.026077672839164734,
0.6450216770172119
] | [
-0.007379613816738129,
-0.6286323070526123,
0.281997948884964,
0.6918427348136902,
-0.026077672839164734,
0.6450216770172119
] | Approach drawer handle for pushing | Is the gripper above the drawer handle and open? | move_and_open | 0.893038 | [
-5.066310405731201,
-32.5841178894043,
24.832433700561523,
37.61254119873047,
-0.8058608174324036,
30
] | [
0.28695884346961975,
0.001952641294337809,
0.21941247582435608,
2.9321746826171875,
1.2249842882156372,
2.9267115592956543
] | 30 | move drawer handle to target | [
0,
0,
0
] | 5.9 | 59 | 0 | 59 | 0 | |
[
-5.2321295738220215,
-33.02325439453125,
28.363636016845703,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.2321295738220215,
-33.138179779052734,
28.41187286376953,
40.60712814331055,
-0.8058608174324036,
30
] | [
0.2825118601322174,
0.0027614382561296225,
0.19958791136741638,
2.9824819564819336,
1.1291918754577637,
2.9766767024993896
] | 1 | [
-0.01073786336928606,
-0.6320000290870667,
0.3436116874217987,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.01073786336928606,
-0.6340847015380859,
0.34442561864852905,
0.7301748991012573,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.040894 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 6 | 60 | 0 | 60 | 0 | ||
[
-5.2321295738220215,
-32.854122161865234,
28,
39.9911994934082,
-0.8058608174324036,
30
] | [
-5.231523036956787,
-33.104610443115234,
28.43064308166504,
40.60407257080078,
-0.8058608174324036,
30
] | [
0.2832235097885132,
0.002769080689176917,
0.20110826194286346,
2.979294776916504,
1.1367418766021729,
2.973790168762207
] | 1 | [
-0.01073786336928606,
-0.6289321184158325,
0.3374757766723633,
0.7194369435310364,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010725237429141998,
-0.6334757804870605,
0.3447423577308655,
0.7301216125488281,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.037548 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 6.1 | 61 | 0 | 61 | 0 | ||
[
-5.2321295738220215,
-32.854122161865234,
28.81818199157715,
40.167179107666016,
-0.8058608174324036,
30
] | [
-5.229904651641846,
-33.015010833740234,
28.480741500854492,
40.595916748046875,
-0.8058608174324036,
30
] | [
0.2826707065105438,
0.0027631516568362713,
0.19715914130210876,
2.9861748218536377,
1.1201269626617432,
2.980008125305176
] | 1 | [
-0.01073786336928606,
-0.6289321184158325,
0.35128161311149597,
0.7225049138069153,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010691548697650433,
-0.63185054063797,
0.34558770060539246,
0.729979395866394,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.073708 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 6.2 | 62 | 0 | 62 | 0 | ||
[
-5.2321295738220215,
-32.854122161865234,
28.81818199157715,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.227307319641113,
-32.871219635009766,
28.561140060424805,
40.582828521728516,
-0.8058608174324036,
30
] | [
0.28256484866142273,
0.002762014511972666,
0.19696176052093506,
2.986776828765869,
1.1186156272888184,
2.9805498123168945
] | 1 | [
-0.01073786336928606,
-0.6289321184158325,
0.35128161311149597,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.01063748262822628,
-0.6292422413825989,
0.34694433212280273,
0.7297512292861938,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.073372 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 6.3 | 63 | 0 | 63 | 0 | ||
[
-5.2321295738220215,
-32.769554138183594,
28.81818199157715,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.2237467765808105,
-32.674137115478516,
28.671337127685547,
40.56488800048828,
-0.8058608174324036,
30
] | [
0.28268787264823914,
0.0027633372228592634,
0.19663439691066742,
2.987375020980835,
1.117104172706604,
2.9810876846313477
] | 1 | [
-0.01073786336928606,
-0.6273981332778931,
0.35128161311149597,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010563365183770657,
-0.6256673336029053,
0.3488037884235382,
0.7294384837150574,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.079797 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 6.4 | 64 | 0 | 64 | 0 | ||
[
-5.2321295738220215,
-32.43128967285156,
28.81818199157715,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.219390392303467,
-32.43294906616211,
28.806194305419922,
40.54293441772461,
-0.8058608174324036,
30
] | [
0.28317490220069885,
0.002768573584035039,
0.19532307982444763,
2.989731550216675,
1.111056923866272,
2.9832029342651367
] | 1 | [
-0.01073786336928606,
-0.6212621927261353,
0.35128161311149597,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010472682304680347,
-0.6212922930717468,
0.3510793149471283,
0.7290557622909546,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.10535 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 6.5 | 65 | 0 | 65 | 0 | ||
[
-5.2321295738220215,
-32.43128967285156,
28.909090042114258,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.214252948760986,
-32.14855194091797,
28.9652099609375,
40.51704788208008,
-0.8058608174324036,
30
] | [
0.2831299304962158,
0.0027680916246026754,
0.1949293166399002,
2.990311861038208,
1.1095447540283203,
2.983722448348999
] | 1 | [
-0.01073786336928606,
-0.6212621927261353,
0.35281556844711304,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010365741327404976,
-0.6161335706710815,
0.35376250743865967,
0.7286044359207153,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.109305 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 6.6 | 66 | 0 | 66 | 0 | ||
[
-5.2321295738220215,
-32.43128967285156,
29.272727966308594,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.2084197998046875,
-31.825647354125977,
29.14575958251953,
40.48765182495117,
-0.8058608174324036,
30
] | [
0.28294408321380615,
0.0027660990599542856,
0.193354994058609,
2.9925975799560547,
1.1034947633743286,
2.9857664108276367
] | 1 | [
-0.01073786336928606,
-0.6212621927261353,
0.35895150899887085,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010244317352771759,
-0.6102762818336487,
0.3568090796470642,
0.7280919551849365,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.124586 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 6.7 | 67 | 0 | 67 | 0 | ||
[
-5.2321295738220215,
-31.92388916015625,
29.363636016845703,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.202010631561279,
-31.47083282470703,
29.34415054321289,
40.45535659790039,
-0.8058608174324036,
30
] | [
0.28358983993530273,
0.0027730436995625496,
0.19099172949790955,
2.9964685440063477,
1.0929025411605835,
2.989213228225708
] | 1 | [
-0.01073786336928606,
-0.6120583415031433,
0.3604854941368103,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010110903531312943,
-0.603840172290802,
0.36015668511390686,
0.7275289297103882,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.167169 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 6.8 | 68 | 0 | 68 | 0 | ||
[
-5.2321295738220215,
-31.501056671142578,
29.454545974731445,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.19503116607666,
-31.08447265625,
29.560178756713867,
40.420188903808594,
-0.8058608174324036,
30
] | [
0.28409886360168457,
0.002778518246486783,
0.18895290791988373,
2.9996626377105713,
1.0838186740875244,
2.9920427799224854
] | 1 | [
-0.01073786336928606,
-0.604388415813446,
0.36201947927474976,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.009965618140995502,
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0.36380189657211304,
0.7269158363342285,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.203113 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 6.9 | 69 | 0 | 69 | 0 | ||
[
-5.2321295738220215,
-30.9936580657959,
29.909090042114258,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.187605857849121,
-30.673431396484375,
29.790008544921875,
40.38277053833008,
-0.8058608174324036,
30
] | [
0.28445255756378174,
0.002782328985631466,
0.18501389026641846,
3.0052428245544434,
1.0671546459197998,
2.996952533721924
] | 1 | [
-0.01073786336928606,
-0.5951845645904541,
0.36968934535980225,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.00981105212122202,
-0.5893758535385132,
0.36768001317977905,
0.7262634634971619,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.260925 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 7 | 70 | 0 | 70 | 0 | ||
[
-5.2321295738220215,
-30.739957809448242,
29.909090042114258,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.179815769195557,
-30.242176055908203,
30.031139373779297,
40.3435173034668,
-0.8058608174324036,
30
] | [
0.2847650945186615,
0.002785689663141966,
0.1840226799249649,
3.006706476211548,
1.0626076459884644,
2.998232841491699
] | 1 | [
-0.01073786336928606,
-0.5905826091766357,
0.36968934535980225,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.009648892097175121,
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0.37174877524375916,
0.7255791425704956,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.280189 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 7.1 | 71 | 0 | 71 | 0 | ||
[
-5.2321295738220215,
-30.23255729675293,
30.363636016845703,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.171694278717041,
-29.792585372924805,
30.282522201538086,
40.30259323120117,
-0.8058608174324036,
30
] | [
0.28503140807151794,
0.0027885616291314363,
0.1800847053527832,
3.0118749141693115,
1.0459280014038086,
3.0027272701263428
] | 1 | [
-0.01073786336928606,
-0.581378698348999,
0.3773592710494995,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.009479834698140621,
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0.3759905695915222,
0.7248656749725342,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.337935 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 7.2 | 72 | 0 | 72 | 0 | ||
[
-5.2321295738220215,
-29.894290924072266,
30.545454025268555,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.163366317749023,
-29.331571578979492,
30.540292739868164,
40.26062774658203,
-0.8058608174324036,
30
] | [
0.2852698564529419,
0.0027911292854696512,
0.1779804229736328,
3.014570474624634,
1.0368252992630005,
3.005053758621216
] | 1 | [
-0.01073786336928606,
-0.5752427577972412,
0.3804272413253784,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.00930647924542427,
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0.3803401291370392,
0.724134087562561,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.371307 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 7.3 | 73 | 0 | 73 | 0 | ||
[
-5.2321295738220215,
-29.302326202392578,
30.636363983154297,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.154879570007324,
-28.86174774169922,
30.802989959716797,
40.21786117553711,
-0.8058608174324036,
30
] | [
0.28583788871765137,
0.0027972396928817034,
0.17526856064796448,
3.018037796020508,
1.0246835947036743,
3.0080277919769287
] | 1 | [
-0.01073786336928606,
-0.5645049214363098,
0.38196122646331787,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.009129817597568035,
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0.3847728371620178,
0.7233884930610657,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.419998 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 7.4 | 74 | 0 | 74 | 0 | ||
[
-5.2321295738220215,
-28.879491806030273,
30.909090042114258,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.146322727203369,
-28.388050079345703,
31.067852020263672,
40.17474365234375,
-0.8058608174324036,
30
] | [
0.2860332727432251,
0.0027993463445454836,
0.17244265973567963,
3.021369218826294,
1.012536883354187,
3.0108642578125
] | 1 | [
-0.01073786336928606,
-0.5568349957466125,
0.38656315207481384,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.008951697498559952,
-0.5479205846786499,
0.3892420530319214,
0.7226368188858032,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.463636 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 7.5 | 75 | 0 | 75 | 0 | ||
[
-5.2321295738220215,
-28.54122543334961,
31.272727966308594,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.137767791748047,
-27.91447639465332,
31.332645416259766,
40.13163375854492,
-0.8058608174324036,
30
] | [
0.2860230505466461,
0.002799244364723563,
0.1695648431777954,
3.024573802947998,
1.0003852844238281,
3.0135719776153564
] | 1 | [
-0.01073786336928606,
-0.5506991147994995,
0.39269909262657166,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.008773616515100002,
-0.5393303036689758,
0.3937101364135742,
0.7218852639198303,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.504677 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 7.6 | 76 | 0 | 76 | 0 | ||
[
-5.2321295738220215,
-27.949260711669922,
31.454545974731445,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.129257678985596,
-27.44337272644043,
31.596057891845703,
40.08875274658203,
-0.8058608174324036,
30
] | [
0.28639301657676697,
0.0028032276313751936,
0.16646338999271393,
3.028036594390869,
0.9867093563079834,
3.0164737701416016
] | 1 | [
-0.01073786336928606,
-0.5399612784385681,
0.39576706290245056,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.008596469648182392,
-0.5307847857475281,
0.3981548845767975,
0.7211377024650574,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.557155 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 7.7 | 77 | 0 | 77 | 0 | ||
[
-5.2321295738220215,
-27.526426315307617,
31.81818199157715,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.120934963226318,
-26.982624053955078,
31.853679656982422,
40.04681396484375,
-0.8058608174324036,
30
] | [
0.2863777279853821,
0.002803072100505233,
0.16326002776622772,
3.0313589572906494,
0.9730281829833984,
3.019232988357544
] | 1 | [
-0.01073786336928606,
-0.5322912931442261,
0.401902973651886,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.008423222228884697,
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0.4025019407272339,
0.7204065322875977,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.604493 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 7.8 | 78 | 0 | 78 | 0 | ||
[
-5.2321295738220215,
-27.019027709960938,
32.09090805053711,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.112834453582764,
-26.534202575683594,
32.104408264160156,
40.0059928894043,
-0.8058608174324036,
30
] | [
0.28648772835731506,
0.0028042620979249477,
0.16011163592338562,
3.034550666809082,
0.9593420624732971,
3.0218586921691895
] | 1 | [
-0.01073786336928606,
-0.5230874419212341,
0.40650489926338196,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.008254601620137691,
-0.5142930746078491,
0.4067326784133911,
0.7196948528289795,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.654278 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 7.9 | 79 | 0 | 79 | 0 | ||
[
-5.2321295738220215,
-26.427061080932617,
32.272727966308594,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.1050519943237305,
-26.103391647338867,
32.34529113769531,
39.96677780151367,
-0.8058608174324036,
30
] | [
0.28672441840171814,
0.0028068136889487505,
0.15701408684253693,
3.0376198291778564,
0.9456512928009033,
3.024359941482544
] | 1 | [
-0.01073786336928606,
-0.5123496055603027,
0.40957286953926086,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.008092600852251053,
-0.5064784288406372,
0.4107972979545593,
0.7190111875534058,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.706348 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 8 | 80 | 0 | 80 | 0 | ||
[
-5.2321295738220215,
-26.17336082458496,
32.6363639831543,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.097760200500488,
-25.699724197387695,
32.57099914550781,
39.93003463745117,
-0.8058608174324036,
30
] | [
0.28645816445350647,
0.0028039596509188414,
0.15449266135692596,
3.0399277210235596,
0.9350000023841858,
3.026224136352539
] | 1 | [
-0.01073786336928606,
-0.5077476501464844,
0.4157088100910187,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.007940813899040222,
-0.4991561770439148,
0.41460585594177246,
0.7183706164360046,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.740574 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 8.1 | 81 | 0 | 81 | 0 | ||
[
-5.2321295738220215,
-25.835094451904297,
32.727272033691406,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.094106197357178,
-25.497438430786133,
32.684104919433594,
39.91162109375,
-0.8058608174324036,
30
] | [
0.28657031059265137,
0.0028051689732819796,
0.15278011560440063,
3.0415358543395996,
0.9273903965950012,
3.0275144577026367
] | 1 | [
-0.01073786336928606,
-0.5016117095947266,
0.41724276542663574,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.007864751853048801,
-0.495486855506897,
0.4165143668651581,
0.7180496454238892,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.769752 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 8.2 | 82 | 0 | 82 | 0 | ||
[
-5.2321295738220215,
-25.412261962890625,
32.90909194946289,
40.25516891479492,
-0.8058608174324036,
30
] | [
-5.090358734130859,
-25.289974212646484,
32.800106048583984,
39.892738342285156,
-0.8058608174324036,
30
] | [
0.28660133481025696,
0.0028055086731910706,
0.15035660564899445,
3.0437328815460205,
0.9167348742485046,
3.0292651653289795
] | 1 | [
-0.01073786336928606,
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0.42031076550483704,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | [
-0.007786744274199009,
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0.4184717535972595,
0.7177204489707947,
-0.026077672839164734,
0.6761787533760071
] | push drawer handle: descend to pre-contact | move | 0.808606 | [
-5.060851573944092,
-23.571020126342773,
33.97880554199219,
39.744049072265625,
-0.8058608174324036,
30
] | [
0.28689056634902954,
0.001924165291711688,
0.1396581083536148,
3.051872491836548,
0.874501645565033,
3.032055139541626
] | 30 | move drawer handle to target | [
0,
0,
0
] | 8.3 | 83 | 0 | 83 | 0 | ||
[
-5.2321295738220215,
-25.07399559020996,
33,
40.25516891479492,
-0.8058608174324036,
29.6812744140625
] | [
-5.232128143310547,
-25.455204010009766,
32.63352966308594,
40.25516891479492,
-0.8058608174324036,
30
] | [
0.2866811454296112,
0.002806370612233877,
0.14864547550678253,
3.0452654361724854,
0.9091224074363708,
3.03047776222229
] | 1 | [
-0.01073786336928606,
-0.48780587315559387,
0.4218447208404541,
0.7240388989448547,
-0.026077672839164734,
0.6688156127929688
] | [
-0.010737833566963673,
-0.4947207570075989,
0.4156609773635864,
0.7240388989448547,
-0.026077672839164734,
0.6761787533760071
] | Push the drawer handle to close the drawer | move_linear | 0 | [
-4.964293003082275,
25.015417098999023,
-30.549779891967773,
49.20423126220703,
-0.8058608174324036,
30
] | [
0.3828935921192169,
0.0019217635272070765,
0.1499548852443695,
3.04372239112854,
0.9167869091033936,
3.023681640625
] | 30 | move drawer handle to target | [
0,
0,
0
] | 8.4 | 84 | 0 | 84 | 0 | ||
[
-5.2321295738220215,
-25.07399559020996,
33,
40.25516891479492,
-0.8058608174324036,
29.6812744140625
] | [
-5.1807379722595215,
-25.321226119995117,
32.523170471191406,
40.2181282043457,
-0.8058608174324036,
30
] | [
0.2866811454296112,
0.002806370612233877,
0.14864547550678253,
3.0452654361724854,
0.9091224074363708,
3.03047776222229
] | 1 | [
-0.01073786336928606,
-0.48780587315559387,
0.4218447208404541,
0.7240388989448547,
-0.026077672839164734,
0.6688156127929688
] | [
-0.00966808944940567,
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0.41379880905151367,
0.7233931422233582,
-0.026077672839164734,
0.6761787533760071
] | Push the drawer handle to close the drawer | move_linear | 0 | [
-4.964293003082275,
25.015417098999023,
-30.549779891967773,
49.20423126220703,
-0.8058608174324036,
30
] | [
0.3828935921192169,
0.0019217635272070765,
0.1499548852443695,
3.04372239112854,
0.9167869091033936,
3.023681640625
] | 30 | move drawer handle to target | [
0,
0,
0
] | 8.5 | 85 | 0 | 85 | 0 | ||
[
-5.2321295738220215,
-25.07399559020996,
33,
40.25516891479492,
-0.8058608174324036,
29.6812744140625
] | [
-5.097356796264648,
-25.10384750366211,
32.3441047668457,
40.15803146362305,
-0.8058608174324036,
30
] | [
0.2866811454296112,
0.002806370612233877,
0.14864547550678253,
3.0452654361724854,
0.9091224074363708,
3.03047776222229
] | 1 | [
-0.01073786336928606,
-0.48780587315559387,
0.4218447208404541,
0.7240388989448547,
-0.026077672839164734,
0.6688156127929688
] | [
-0.007932417094707489,
-0.4883473813533783,
0.4107772707939148,
0.7223454713821411,
-0.026077672839164734,
0.6761787533760071
] | Push the drawer handle to close the drawer | move_linear | 0 | [
-4.964293003082275,
25.015417098999023,
-30.549779891967773,
49.20423126220703,
-0.8058608174324036,
30
] | [
0.3828935921192169,
0.0019217635272070765,
0.1499548852443695,
3.04372239112854,
0.9167869091033936,
3.023681640625
] | 30 | move drawer handle to target | [
0,
0,
0
] | 8.6 | 86 | 0 | 86 | 0 | ||
[
-5.2321295738220215,
-25.07399559020996,
33,
40.25516891479492,
-0.8058608174324036,
29.6812744140625
] | [
-5.059640407562256,
-24.91399383544922,
32.18170166015625,
40.11141586303711,
-0.8058608174324036,
30
] | [
0.2866811454296112,
0.002806370612233877,
0.14864547550678253,
3.0452654361724854,
0.9091224074363708,
3.03047776222229
] | 1 | [
-0.01073786336928606,
-0.48780587315559387,
0.4218447208404541,
0.7240388989448547,
-0.026077672839164734,
0.6688156127929688
] | [
-0.007147307973355055,
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0.4080369174480438,
0.7215327620506287,
-0.026077672839164734,
0.6761787533760071
] | Push the drawer handle to close the drawer | move_linear | 0 | [
-4.964293003082275,
25.015417098999023,
-30.549779891967773,
49.20423126220703,
-0.8058608174324036,
30
] | [
0.3828935921192169,
0.0019217635272070765,
0.1499548852443695,
3.04372239112854,
0.9167869091033936,
3.023681640625
] | 30 | move drawer handle to target | [
0,
0,
0
] | 8.7 | 87 | 0 | 87 | 0 | ||
[
-5.2321295738220215,
-25.07399559020996,
33,
40.25516891479492,
-0.8058608174324036,
29.6812744140625
] | [
-5.058815002441406,
-24.634510040283203,
31.933242797851562,
40.05194854736328,
-0.8058608174324036,
30
] | [
0.2866811454296112,
0.002806370612233877,
0.14864547550678253,
3.0452654361724854,
0.9091224074363708,
3.03047776222229
] | 1 | [
-0.01073786336928606,
-0.48780587315559387,
0.4218447208404541,
0.7240388989448547,
-0.026077672839164734,
0.6688156127929688
] | [
-0.007130126003175974,
-0.4798339307308197,
0.4038444757461548,
0.7204960584640503,
-0.026077672839164734,
0.6761787533760071
] | Push the drawer handle to close the drawer | move_linear | 0 | [
-4.964293003082275,
25.015417098999023,
-30.549779891967773,
49.20423126220703,
-0.8058608174324036,
30
] | [
0.3828935921192169,
0.0019217635272070765,
0.1499548852443695,
3.04372239112854,
0.9167869091033936,
3.023681640625
] | 30 | move drawer handle to target | [
0,
0,
0
] | 8.8 | 88 | 0 | 88 | 0 | ||
[
-5.2321295738220215,
-24.820295333862305,
33,
40.25516891479492,
-0.8058608174324036,
29.6812744140625
] | [
-5.057945728302002,
-24.33995246887207,
31.212051391601562,
39.98927307128906,
-0.8058608174324036,
30
] | [
0.28682631254196167,
0.0028079331386834383,
0.14764438569545746,
3.046170473098755,
0.9045544266700745,
3.0311906337738037
] | 1 | [
-0.01073786336928606,
-0.4832039475440979,
0.4218447208404541,
0.7240388989448547,
-0.026077672839164734,
0.6688156127929688
] | [
-0.00711203133687377,
-0.47449085116386414,
0.39167526364326477,
0.7194033861160278,
-0.026077672839164734,
0.6761787533760071
] | Push the drawer handle to close the drawer | move_linear | 0.001914 | [
-4.964293003082275,
25.015417098999023,
-30.549779891967773,
49.20423126220703,
-0.8058608174324036,
30
] | [
0.3828935921192169,
0.0019217635272070765,
0.1499548852443695,
3.04372239112854,
0.9167869091033936,
3.023681640625
] | 30 | move drawer handle to target | [
0,
0,
0
] | 8.9 | 89 | 0 | 89 | 0 | ||
[
-5.2321295738220215,
-24.48202896118164,
33,
40.25516891479492,
-0.8058608174324036,
29.6812744140625
] | [
-5.057137489318848,
-24.070890426635742,
30.979944229125977,
39.92522430419922,
-0.8058608174324036,
30
] | [
0.28701266646385193,
0.00280993920750916,
0.14630858600139618,
3.047361135482788,
0.8984631299972534,
3.0321245193481445
] | 1 | [
-0.01073786336928606,
-0.4770680069923401,
0.4218447208404541,
0.7240388989448547,
-0.026077672839164734,
0.6688156127929688
] | [
-0.007095206994563341,
-0.4696102440357208,
0.387758731842041,
0.7182867527008057,
-0.026077672839164734,
0.6761787533760071
] | Push the drawer handle to close the drawer | move_linear | 0.004457 | [
-4.964293003082275,
25.015417098999023,
-30.549779891967773,
49.20423126220703,
-0.8058608174324036,
30
] | [
0.3828935921192169,
0.0019217635272070765,
0.1499548852443695,
3.04372239112854,
0.9167869091033936,
3.023681640625
] | 30 | move drawer handle to target | [
0,
0,
0
] | 9 | 90 | 0 | 90 | 0 | ||
[
-5.2321295738220215,
-24.312896728515625,
33,
40.25516891479492,
-0.8058608174324036,
29.6812744140625
] | [
-5.055387496948242,
-23.568586349487305,
30.669309616088867,
39.68790054321289,
-0.8058608174324036,
30
] | [
0.2871027886867523,
0.002810909179970622,
0.1456402689218521,
3.0479495525360107,
0.8954172134399414,
3.0325844287872314
] | 1 | [
-0.01073786336928606,
-0.47400006651878357,
0.4218447208404541,
0.7240388989448547,
-0.026077672839164734,
0.6688156127929688
] | [
-0.007058778777718544,
-0.46049878001213074,
0.38251712918281555,
0.7141493558883667,
-0.026077672839164734,
0.6761787533760071
] | Push the drawer handle to close the drawer | move_linear | 0.005725 | [
-4.964293003082275,
25.015417098999023,
-30.549779891967773,
49.20423126220703,
-0.8058608174324036,
30
] | [
0.3828935921192169,
0.0019217635272070765,
0.1499548852443695,
3.04372239112854,
0.9167869091033936,
3.023681640625
] | 30 | move drawer handle to target | [
0,
0,
0
] | 9.1 | 91 | 0 | 91 | 0 | ||
[
-5.2321295738220215,
-24.05919647216797,
33,
40.25516891479492,
-0.8058608174324036,
29.6812744140625
] | [
-5.0537214279174805,
-23.201547622680664,
30.37360382080078,
39.461978912353516,
-0.8058608174324036,
30
] | [
0.2872341275215149,
0.0028123229276388884,
0.14463727176189423,
3.0488240718841553,
0.8908480405807495,
3.0332655906677246
] | 1 | [
-0.01073786336928606,
-0.4693981111049652,
0.4218447208404541,
0.7240388989448547,
-0.026077672839164734,
0.6688156127929688
] | [
-0.0070240977220237255,
-0.4538409411907196,
0.37752747535705566,
0.7102106809616089,
-0.026077672839164734,
0.6761787533760071
] | Push the drawer handle to close the drawer | move_linear | 0.007621 | [
-4.964293003082275,
25.015417098999023,
-30.549779891967773,
49.20423126220703,
-0.8058608174324036,
30
] | [
0.3828935921192169,
0.0019217635272070765,
0.1499548852443695,
3.04372239112854,
0.9167869091033936,
3.023681640625
] | 30 | move drawer handle to target | [
0,
0,
0
] | 9.2 | 92 | 0 | 92 | 0 | ||
[
-5.2321295738220215,
-23.805496215820312,
33,
40.25516891479492,
-0.8058608174324036,
29.6812744140625
] | [
-5.052313327789307,
-22.797353744506836,
30.12364387512207,
39.27101135253906,
-0.8058608174324036,
30
] | [
0.287360817193985,
0.0028136870823800564,
0.1436336785554886,
3.0496885776519775,
0.886278510093689,
3.0339365005493164
] | 1 | [
-0.01073786336928606,
-0.46479615569114685,
0.4218447208404541,
0.7240388989448547,
-0.026077672839164734,
0.6688156127929688
] | [
-0.00699478667229414,
-0.44650915265083313,
0.3733097016811371,
0.7068814039230347,
-0.026077672839164734,
0.6761787533760071
] | Push the drawer handle to close the drawer | move_linear | 0.009511 | [
-4.964293003082275,
25.015417098999023,
-30.549779891967773,
49.20423126220703,
-0.8058608174324036,
30
] | [
0.3828935921192169,
0.0019217635272070765,
0.1499548852443695,
3.04372239112854,
0.9167869091033936,
3.023681640625
] | 30 | move drawer handle to target | [
0,
0,
0
] | 9.3 | 93 | 0 | 93 | 0 | ||
[
-5.2321295738220215,
-23.298097610473633,
33,
40.167179107666016,
-0.8058608174324036,
29.6812744140625
] | [
-5.050627708435059,
-22.18484878540039,
29.524028778076172,
39.193519592285156,
-0.8058608174324036,
30
] | [
0.287750780582428,
0.0028178817592561245,
0.14179077744483948,
3.0511081218719482,
0.8786618113517761,
3.0350329875946045
] | 1 | [
-0.01073786336928606,
-0.4555923044681549,
0.4218447208404541,
0.7225049138069153,
-0.026077672839164734,
0.6688156127929688
] | [
-0.006959698628634214,
-0.43539872765541077,
0.3631919026374817,
0.7055304646492004,
-0.026077672839164734,
0.6761787533760071
] | Push the drawer handle to close the drawer | move_linear | 0.013151 | [
-4.964293003082275,
25.015417098999023,
-30.549779891967773,
49.20423126220703,
-0.8058608174324036,
30
] | [
0.3828935921192169,
0.0019217635272070765,
0.1499548852443695,
3.04372239112854,
0.9167869091033936,
3.023681640625
] | 30 | move drawer handle to target | [
0,
0,
0
] | 9.4 | 94 | 0 | 94 | 0 | ||
[
-5.2321295738220215,
-22.79069709777832,
33,
40.167179107666016,
-0.8058608174324036,
29.6812744140625
] | [
-5.049033164978027,
-21.596044540405273,
28.935043334960938,
39.13108825683594,
-0.8058608174324036,
30
] | [
0.2879733741283417,
0.002820278750732541,
0.13977839052677155,
3.0527777671813965,
0.8695204854011536,
3.036313533782959
] | 1 | [
-0.01073786336928606,
-0.4463883936405182,
0.4218447208404541,
0.7225049138069153,
-0.026077672839164734,
0.6688156127929688
] | [
-0.006926506292074919,
-0.4247182011604309,
0.35325348377227783,
0.704442024230957,
-0.026077672839164734,
0.6761787533760071
] | Push the drawer handle to close the drawer | move_linear | 0.016886 | [
-4.964293003082275,
25.015417098999023,
-30.549779891967773,
49.20423126220703,
-0.8058608174324036,
30
] | [
0.3828935921192169,
0.0019217635272070765,
0.1499548852443695,
3.04372239112854,
0.9167869091033936,
3.023681640625
] | 30 | move drawer handle to target | [
0,
0,
0
] | 9.5 | 95 | 0 | 95 | 0 | ||
[
-5.2321295738220215,
-22.198732376098633,
32.90909194946289,
40.167179107666016,
-0.8058608174324036,
29.6812744140625
] | [
-5.047206401824951,
-20.921422958374023,
28.260217666625977,
39.0595588684082,
-0.8058608174324036,
30
] | [
0.28835204243659973,
0.0028243528213351965,
0.13779811561107635,
3.0544114112854004,
0.8603777885437012,
3.0375568866729736
] | 1 | [
-0.01073786336928606,
-0.4356505572795868,
0.42031076550483704,
0.7225049138069153,
-0.026077672839164734,
0.6688156127929688
] | [
-0.0068884799256920815,
-0.41248103976249695,
0.3418666422367096,
0.7031950354576111,
-0.026077672839164734,
0.6761787533760071
] | Push the drawer handle to close the drawer | move_linear | 0.022102 | [
-4.964293003082275,
25.015417098999023,
-30.549779891967773,
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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": 20,
"total_frames": 4692,
"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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]
},
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]
},
"observation.images.top": {
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"shape": [
480,
640,
3
],
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"video.codec": "h264",
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},
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},
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},
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},
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},
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},
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],
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},
"subtask.natural_language": {
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},
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},
"subtask.target_position": {
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},
"timestamp": {
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},
"frame_index": {
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},
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},
"index": {
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},
"task_index": {
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],
"names": null
}
}
}
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