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 30.4 | frame_index int64 0 304 | episode_index int64 0 39 | index int64 0 11.7k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | 12.2 | 122 | 38 | 11,200 | 0 | ||
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] | 12.6 | 126 | 38 | 11,204 | 0 | ||
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] | 12.8 | 128 | 38 | 11,206 | 0 | ||
[
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] | 12.9 | 129 | 38 | 11,207 | 0 | ||
[
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] | 13 | 130 | 38 | 11,208 | 0 | ||
[
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] | 13.1 | 131 | 38 | 11,209 | 0 | ||
[
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] | 0 | open top drawer 7cm | [
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] | 13.2 | 132 | 38 | 11,210 | 0 | ||
[
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] | 13.3 | 133 | 38 | 11,211 | 0 | ||
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] | 0 | open top drawer 7cm | [
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] | 13.4 | 134 | 38 | 11,212 | 0 | ||
[
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[
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] | 14.8 | 148 | 38 | 11,226 | 0 | ||
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[
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[
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] | 17.200001 | 172 | 38 | 11,250 | 0 | ||
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] | 17.299999 | 173 | 38 | 11,251 | 0 | ||
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] | 17.4 | 174 | 38 | 11,252 | 0 | ||
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] | 17.5 | 175 | 38 | 11,253 | 0 | ||
[
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] | 17.6 | 176 | 38 | 11,254 | 0 | ||
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] | 18.4 | 184 | 38 | 11,262 | 0 | ||
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] | 18.6 | 186 | 38 | 11,264 | 0 | ||
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] | 19 | 190 | 38 | 11,268 | 0 | ||
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] | 19.1 | 191 | 38 | 11,269 | 0 | ||
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] | 19.200001 | 192 | 38 | 11,270 | 0 | ||
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] | 19.299999 | 193 | 38 | 11,271 | 0 | ||
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] | 19.4 | 194 | 38 | 11,272 | 0 | ||
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] | 19.5 | 195 | 38 | 11,273 | 0 | ||
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] | 19.6 | 196 | 38 | 11,274 | 0 | ||
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] | 19.700001 | 197 | 38 | 11,275 | 0 | ||
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] | 19.799999 | 198 | 38 | 11,276 | 0 | ||
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] | 19.9 | 199 | 38 | 11,277 | 0 | ||
[
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] | 20 | 200 | 38 | 11,278 | 0 | ||
[
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] | 20.1 | 201 | 38 | 11,279 | 0 | ||
[
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] | 0 | open top drawer 7cm | [
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] | 20.200001 | 202 | 38 | 11,280 | 0 | ||
[
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] | 0 | open top drawer 7cm | [
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] | 20.299999 | 203 | 38 | 11,281 | 0 | ||
[
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] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.4 | 204 | 38 | 11,282 | 0 | ||
[
-5.305821895599365,
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30
] | [
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] | [
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] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.3339457511901855,
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47.194881439208984,
15.380611419677734,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.5 | 205 | 38 | 11,283 | 0 | ||
[
-5.305821895599365,
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30
] | [
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] | [
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] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.3339457511901855,
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47.194881439208984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.6 | 206 | 38 | 11,284 | 0 | ||
[
-5.305821895599365,
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30
] | [
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] | [
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] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.3339457511901855,
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47.194881439208984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.700001 | 207 | 38 | 11,285 | 0 | ||
[
-5.305821895599365,
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30
] | [
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] | [
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] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.3339457511901855,
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47.194881439208984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.799999 | 208 | 38 | 11,286 | 0 | ||
[
-5.305821895599365,
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30
] | [
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] | [
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] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.3339457511901855,
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47.194881439208984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.9 | 209 | 38 | 11,287 | 0 | ||
[
-5.305821895599365,
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30
] | [
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] | [
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] | 0 | [
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] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.3339457511901855,
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47.194881439208984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21 | 210 | 38 | 11,288 | 0 | ||
[
-5.305821895599365,
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30
] | [
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] | [
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] | 0 | [
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] | [
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] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.3339457511901855,
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47.194881439208984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.1 | 211 | 38 | 11,289 | 0 | ||
[
-5.305821895599365,
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30
] | [
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] | [
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] | 0 | [
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] | [
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] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
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47.194881439208984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.200001 | 212 | 38 | 11,290 | 0 | ||
[
-5.305821895599365,
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30
] | [
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30
] | [
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] | 0 | [
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] | [
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] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
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47.194881439208984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.299999 | 213 | 38 | 11,291 | 0 | ||
[
-5.305821895599365,
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30
] | [
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30
] | [
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] | 0 | [
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] | [
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0.7312051057815552,
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] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.3339457511901855,
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47.194881439208984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.4 | 214 | 38 | 11,292 | 0 | ||
[
-5.305821895599365,
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30
] | [
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30
] | [
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] | 0 | [
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] | [
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0.6761787533760071
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.3339457511901855,
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47.194881439208984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.5 | 215 | 38 | 11,293 | 0 | ||
[
-5.305821895599365,
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30
] | [
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30
] | [
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] | 0 | [
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] | [
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0.6761787533760071
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.3339457511901855,
-44.461639404296875,
47.194881439208984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.6 | 216 | 38 | 11,294 | 0 | ||
[
-5.305821895599365,
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54.3636360168457,
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30
] | [
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30
] | [
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2.9669055938720703,
1.1638869047164917,
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] | 0 | [
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] | [
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0.7093151807785034,
0.31226086616516113,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.3339457511901855,
-44.461639404296875,
47.194881439208984,
15.380611419677734,
-0.8058608174324036,
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] | [
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0.003247438697144389,
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.700001 | 217 | 38 | 11,295 | 0 | ||
[
-5.305821895599365,
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30
] | [
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30
] | [
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] | 0 | [
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0.6761787533760071
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.3339457511901855,
-44.461639404296875,
47.194881439208984,
15.380611419677734,
-0.8058608174324036,
0
] | [
0.2801426649093628,
0.003247438697144389,
0.21852338314056396,
2.55643630027771,
1.4360114336013794,
2.565101385116577
] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.799999 | 218 | 38 | 11,296 | 0 | ||
[
-5.305821895599365,
-39.1120491027832,
53.90909194946289,
18.34579849243164,
-0.8058608174324036,
30
] | [
-5.325408935546875,
-41.529903411865234,
49.20375442504883,
16.334096908569336,
-0.8058608174324036,
30
] | [
0.28199782967567444,
0.0031290818005800247,
0.159653902053833,
2.9536828994750977,
1.1894659996032715,
2.9518027305603027
] | 0 | [
-0.012271851301193237,
-0.7424466609954834,
0.7746602892875671,
0.34207770228385925,
-0.026077672839164734,
0.6761787533760071
] | [
-0.012679576873779297,
-0.7863048911094666,
0.6952634453773499,
0.3070063292980194,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.3339457511901855,
-44.461639404296875,
47.194881439208984,
15.380611419677734,
-0.8058608174324036,
0
] | [
0.2801426649093628,
0.003247438697144389,
0.21852338314056396,
2.55643630027771,
1.4360114336013794,
2.565101385116577
] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.9 | 219 | 38 | 11,297 | 0 | ||
[
-5.305821895599365,
-39.53488540649414,
53.09090805053711,
18.34579849243164,
-0.8058608174324036,
30
] | [
-5.326685905456543,
-41.976192474365234,
48.80968475341797,
16.191471099853516,
-0.8058608174324036,
30
] | [
0.2824193239212036,
0.0031342429574579,
0.16499964892864227,
2.9414587020874023,
1.2104803323745728,
2.940408706665039
] | 0 | [
-0.012271851301193237,
-0.7501166462898254,
0.7608544826507568,
0.34207770228385925,
-0.026077672839164734,
0.6761787533760071
] | [
-0.012706158682703972,
-0.7944002747535706,
0.688614010810852,
0.3045198321342468,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.3339457511901855,
-44.461639404296875,
47.194881439208984,
15.380611419677734,
-0.8058608174324036,
0
] | [
0.2801426649093628,
0.003247438697144389,
0.21852338314056396,
2.55643630027771,
1.4360114336013794,
2.565101385116577
] | 0 | open top drawer 7cm | [
0,
0,
0
] | 22 | 220 | 38 | 11,298 | 0 | ||
[
-5.305821895599365,
-40.04228210449219,
52.6363639831543,
18.34579849243164,
-0.8058608174324036,
29.906980514526367
] | [
-5.327884674072266,
-42.395050048828125,
48.4398307800293,
16.05760955810547,
-0.8058608174324036,
29.906980514526367
] | [
0.2823447287082672,
0.0031333162914961576,
0.16903173923492432,
2.9308552742004395,
1.2269532680511475,
2.930455446243286
] | 0 | [
-0.012271851301193237,
-0.7593204975128174,
0.7531845569610596,
0.34207770228385925,
-0.026077672839164734,
0.6740298271179199
] | [
-0.012731112539768219,
-0.8019980788230896,
0.6823731660842896,
0.30218613147735596,
-0.026077672839164734,
0.6740298271179199
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0.001318 | [
-5.3339457511901855,
-44.461639404296875,
47.194881439208984,
15.380611419677734,
-0.8058608174324036,
0
] | [
0.2801426649093628,
0.003247438697144389,
0.21852338314056396,
2.55643630027771,
1.4360114336013794,
2.565101385116577
] | 0 | open top drawer 7cm | [
0,
0,
0
] | 22.1 | 221 | 38 | 11,299 | 0 |
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