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 8
values | skill.verification_question stringclasses 3
values | skill.type stringclasses 8
values | skill.progress float32 0 0.98 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 30.3 | frame_index int64 0 303 | episode_index int64 0 19 | index int64 0 5.82k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.852952 | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.7 | 57 | 18 | 5,300 | 0 | |
[
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] | 1 | [
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] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.878462 | [
-5.082481384277344,
-10.821941375732422,
16.181974411010742,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.8 | 58 | 18 | 5,301 | 0 | |
[
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] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.903312 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
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] | 5.9 | 59 | 18 | 5,302 | 0 | |
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.037612 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6 | 60 | 18 | 5,303 | 0 | ||
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.057173 | [
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24.458518981933594,
14.136746406555176,
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30
] | [
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3.004584789276123,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.1 | 61 | 18 | 5,304 | 0 | ||
[
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13.594368934631348,
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30
] | [
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30
] | [
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2.832914113998413,
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] | 1 | [
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] | [
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0.21462254226207733,
0.27608147263526917,
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] | pull drawer handle: descend to grasp | move | 0.079885 | [
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24.458518981933594,
14.136746406555176,
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30
] | [
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3.004584789276123,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.2 | 62 | 18 | 5,305 | 0 | ||
[
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21,
14.210294723510742,
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30
] | [
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30
] | [
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2.8481874465942383,
1.3173844814300537,
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] | 1 | [
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] | [
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0.21495097875595093,
0.2760390043258667,
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0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.083144 | [
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24.458518981933594,
14.136746406555176,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.3 | 63 | 18 | 5,306 | 0 | ||
[
-5.2321295738220215,
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21,
14.210294723510742,
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30
] | [
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20.765399932861328,
14.554469108581543,
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30
] | [
0.34363263845443726,
0.003418157109990716,
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2.8499999046325684,
1.3159198760986328,
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] | 1 | [
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] | [
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0.21540066599845886,
0.2759808599948883,
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] | pull drawer handle: descend to grasp | move | 0.08962 | [
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24.458518981933594,
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30
] | [
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3.004584789276123,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.4 | 64 | 18 | 5,307 | 0 | ||
[
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21,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.083144 | [
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24.458518981933594,
14.136746406555176,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.5 | 65 | 18 | 5,308 | 0 | ||
[
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21,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.083071 | [
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24.458518981933594,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.6 | 66 | 18 | 5,309 | 0 | ||
[
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21,
14.298284530639648,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.083071 | [
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24.458518981933594,
14.136746406555176,
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30
] | [
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3.004584789276123,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.7 | 67 | 18 | 5,310 | 0 | ||
[
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21,
14.298284530639648,
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30
] | [
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14.53293514251709,
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30
] | [
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2.8499999046325684,
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.083071 | [
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24.458518981933594,
14.136746406555176,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.8 | 68 | 18 | 5,311 | 0 | ||
[
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14.298284530639648,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.100409 | [
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24.458518981933594,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.9 | 69 | 18 | 5,312 | 0 | ||
[
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14.298284530639648,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.113401 | [
-5.082523822784424,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7 | 70 | 18 | 5,313 | 0 | ||
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.130673 | [
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24.458518981933594,
14.136746406555176,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.1 | 71 | 18 | 5,314 | 0 | ||
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.156693 | [
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24.458518981933594,
14.136746406555176,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.2 | 72 | 18 | 5,315 | 0 | ||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.176159 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.3 | 73 | 18 | 5,316 | 0 | ||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.193477 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.4 | 74 | 18 | 5,317 | 0 | ||
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.219459 | [
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24.458518981933594,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.5 | 75 | 18 | 5,318 | 0 | ||
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.251813 | [
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24.458518981933594,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.6 | 76 | 18 | 5,319 | 0 | ||
[
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14.298284530639648,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.262753 | [
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24.458518981933594,
14.136746406555176,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.7 | 77 | 18 | 5,320 | 0 | ||
[
-5.2321295738220215,
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21.727272033691406,
14.298284530639648,
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30
] | [
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30
] | [
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2.9064245223999023,
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] | 1 | [
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] | [
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0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.295128 | [
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24.458518981933594,
14.136746406555176,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.8 | 78 | 18 | 5,321 | 0 | ||
[
-5.2321295738220215,
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22,
14.298284530639648,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.327685 | [
-5.082523822784424,
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24.458518981933594,
14.136746406555176,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.9 | 79 | 18 | 5,322 | 0 | ||
[
-5.2321295738220215,
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22,
14.298284530639648,
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30
] | [
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30
] | [
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2.9192302227020264,
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] | 1 | [
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] | [
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0.2345903217792511,
0.27349916100502014,
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0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.353623 | [
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24.458518981933594,
14.136746406555176,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8 | 80 | 18 | 5,323 | 0 | ||
[
-5.2321295738220215,
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22,
14.298284530639648,
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30
] | [
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30
] | [
0.34714239835739136,
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2.92142653465271,
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] | 1 | [
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] | [
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0.2732836902141571,
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0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.366553 | [
-5.082523822784424,
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24.458518981933594,
14.136746406555176,
-0.8058608174324036,
30
] | [
0.34915655851364136,
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3.004584789276123,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.1 | 81 | 18 | 5,324 | 0 | ||
[
-5.2321295738220215,
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22.272727966308594,
14.298284530639648,
-0.8058608174324036,
30
] | [
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22.101425170898438,
14.387238502502441,
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30
] | [
0.3474327623844147,
0.003459054743871093,
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2.9308552742004395,
1.2269532680511475,
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] | 1 | [
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] | [
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0.23794446885585785,
0.27306538820266724,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.412087 | [
-5.082523822784424,
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24.458518981933594,
14.136746406555176,
-0.8058608174324036,
30
] | [
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3.004584789276123,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.2 | 82 | 18 | 5,325 | 0 | ||
[
-5.2321295738220215,
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22.272727966308594,
14.298284530639648,
-0.8058608174324036,
30
] | [
-5.166146755218506,
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22.20250701904297,
14.37458610534668,
-0.8058608174324036,
30
] | [
0.3476954400539398,
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2.933842420578003,
1.2224643230438232,
2.9317314624786377
] | 1 | [
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0.24083499610424042,
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] | [
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0.23965010046958923,
0.2728448212146759,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.431512 | [
-5.082523822784424,
-0.9336746335029602,
24.458518981933594,
14.136746406555176,
-0.8058608174324036,
30
] | [
0.34915655851364136,
0.002511201659217477,
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3.004584789276123,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.3 | 83 | 18 | 5,326 | 0 | ||
[
-5.2321295738220215,
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22.454545974731445,
14.298284530639648,
-0.8058608174324036,
30
] | [
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22.30422592163086,
14.36185359954834,
-0.8058608174324036,
30
] | [
0.3479306995868683,
0.0034644161351025105,
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2.940533399581909,
1.2119792699813843,
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] | 1 | [
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0.6761787533760071
] | [
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0.24136649072170258,
0.27262285351753235,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.468338 | [
-5.082523822784424,
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.4 | 84 | 18 | 5,327 | 0 | ||
[
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] | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.500613 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.5 | 85 | 18 | 5,328 | 0 | ||
[
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30
] | [
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] | [
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] | 1 | [
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] | pull drawer handle: descend to grasp | move | 0.515829 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.6 | 86 | 18 | 5,329 | 0 | ||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.550348 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.7 | 87 | 18 | 5,330 | 0 | ||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.567857 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.8 | 88 | 18 | 5,331 | 0 | ||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.600069 | [
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.9 | 89 | 18 | 5,332 | 0 | ||
[
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23,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.630508 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9 | 90 | 18 | 5,333 | 0 | ||
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.671409 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.1 | 91 | 18 | 5,334 | 0 | ||
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.68417 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.2 | 92 | 18 | 5,335 | 0 | ||
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.710581 | [
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24.458518981933594,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.3 | 93 | 18 | 5,336 | 0 | ||
[
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14.298284530639648,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.755386 | [
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24.458518981933594,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.4 | 94 | 18 | 5,337 | 0 | ||
[
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14.298284530639648,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.757922 | [
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24.458518981933594,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.5 | 95 | 18 | 5,338 | 0 | ||
[
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23.545454025268555,
14.298284530639648,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.804861 | [
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24.458518981933594,
14.136746406555176,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.6 | 96 | 18 | 5,339 | 0 | ||
[
-5.2321295738220215,
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23.545454025268555,
14.298284530639648,
-0.8058608174324036,
30
] | [
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23.45709228515625,
14.217549324035645,
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30
] | [
0.34960129857063293,
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1.1201269626617432,
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] | 1 | [
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] | [
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0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.811113 | [
-5.082523822784424,
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24.458518981933594,
14.136746406555176,
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30
] | [
0.34915655851364136,
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3.004584789276123,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.7 | 97 | 18 | 5,340 | 0 | ||
[
-5.2321295738220215,
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23.636363983154297,
14.298284530639648,
-0.8058608174324036,
30
] | [
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23.501855850219727,
14.211945533752441,
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30
] | [
0.3494674265384674,
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2.986776828765869,
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] | 1 | [
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] | [
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0.26157504320144653,
0.2700093984603882,
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0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.813833 | [
-5.082523822784424,
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24.458518981933594,
14.136746406555176,
-0.8058608174324036,
30
] | [
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] | 11.9 | 119 | 18 | 5,362 | 0 | ||
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] | 12.1 | 121 | 18 | 5,364 | 0 | ||
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] | 12.2 | 122 | 18 | 5,365 | 0 | ||
[
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] | 12.3 | 123 | 18 | 5,366 | 0 | ||
[
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] | 12.4 | 124 | 18 | 5,367 | 0 | ||
[
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] | 0 | open top drawer 7cm | [
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] | 12.5 | 125 | 18 | 5,368 | 0 | ||
[
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] | 15.5 | 155 | 18 | 5,398 | 0 | ||
[
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] | 0 | open top drawer 7cm | [
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] | 15.6 | 156 | 18 | 5,399 | 0 |
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