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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-5.2321295738220215,
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48.272727966308594,
67.09194946289062,
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] | [
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66.89026641845703,
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] | [
0.2056109756231308,
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3.0923802852630615,
0.5810809135437012,
3.0628626346588135
] | 1 | [
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1.1919031143188477,
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0.6735477447509766,
1.1883870363235474,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.000739 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 3.1 | 31 | 39 | 11,400 | 0 | |
[
-5.2321295738220215,
-46.89217758178711,
48.3636360168457,
67.09194946289062,
-0.8058608174324036,
0.4940014183521271
] | [
-5.230187892913818,
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47.611324310302734,
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0.4940014183521271
] | [
0.20546792447566986,
0.00193385302554816,
0.11624488979578018,
3.0925440788269043,
0.5795530676841736,
3.0629525184631348
] | 1 | [
-0.01073786336928606,
-0.8835729360580444,
0.6810874342918396,
1.1919031143188477,
-0.026077672839164734,
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] | [
-0.010697444900870323,
-0.8745014667510986,
0.6683931350708008,
1.1789993047714233,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.000283 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 3.2 | 32 | 39 | 11,401 | 0 | |
[
-5.2321295738220215,
-46.723045349121094,
48.3636360168457,
67.09194946289062,
-0.8058608174324036,
0.4940014183521271
] | [
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-45.83848190307617,
46.73246383666992,
65.48725128173828,
-0.8058608174324036,
0.4940014183521271
] | [
0.20546619594097137,
0.0019338354468345642,
0.11582690477371216,
3.0928707122802734,
0.5764973163604736,
3.0631308555603027
] | 1 | [
-0.01073786336928606,
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0.6810874342918396,
1.1919031143188477,
-0.026077672839164734,
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] | [
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0.653563380241394,
1.1639273166656494,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.001225 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 3.3 | 33 | 39 | 11,402 | 0 | |
[
-5.2321295738220215,
-46.30021286010742,
48.3636360168457,
66.739990234375,
-0.8058608174324036,
0.4940014183521271
] | [
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46.0609245300293,
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0.4940014183521271
] | [
0.20623058080673218,
0.00194205017760396,
0.11523256450891495,
3.0930335521698,
0.574969470500946,
3.0632195472717285
] | 1 | [
-0.01073786336928606,
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0.6810874342918396,
1.1857671737670898,
-0.026077672839164734,
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] | [
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0.6422320008277893,
1.1432900428771973,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.006659 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 3.4 | 34 | 39 | 11,403 | 0 | |
[
-5.2321295738220215,
-45.53911209106445,
48.272727966308594,
65.86009979248047,
-0.8058608174324036,
0.4940014183521271
] | [
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-44.2506103515625,
45.23863983154297,
62.854007720947266,
-0.8058608174324036,
0.4940014183521271
] | [
0.20828622579574585,
0.0019641383551061153,
0.11477768421173096,
3.092707633972168,
0.5780251622200012,
3.063041925430298
] | 1 | [
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-0.859029233455658,
0.6795535087585449,
1.1704274415969849,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.010506430640816689,
-0.8356567025184631,
0.62835693359375,
1.1180200576782227,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.01902 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 3.5 | 35 | 39 | 11,404 | 0 | |
[
-5.2321295738220215,
-44.69344711303711,
48.272727966308594,
64.71623229980469,
-0.8058608174324036,
0.4940014183521271
] | [
-5.216529369354248,
-43.15664291381836,
44.26947784423828,
61.145606994628906,
-0.8058608174324036,
0.4940014183521271
] | [
0.210757315158844,
0.0019906910602003336,
0.11411113291978836,
3.0922162532806396,
0.5826088190078735,
3.062772512435913
] | 1 | [
-0.01073786336928606,
-0.8436894416809082,
0.6795535087585449,
1.1504855155944824,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.010413127020001411,
-0.815812885761261,
0.61200350522995,
1.0882363319396973,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.033613 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 3.6 | 36 | 39 | 11,405 | 0 | |
[
-5.2321295738220215,
-43.763214111328125,
48.181819915771484,
63.22041320800781,
-0.8058608174324036,
0.4940014183521271
] | [
-5.211433410644531,
-41.9127197265625,
43.1674690246582,
59.203033447265625,
-0.8058608174324036,
0.4940014183521271
] | [
0.21412545442581177,
0.0020268806256353855,
0.11398115754127502,
3.091057777404785,
0.5933032631874084,
3.0621299743652344
] | 1 | [
-0.01073786336928606,
-0.826815664768219,
0.6780195236206055,
1.1244078874588013,
-0.026077672839164734,
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] | [
-0.010307049378752708,
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0.593408465385437,
1.0543701648712158,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.052075 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 3.7 | 37 | 39 | 11,406 | 0 | |
[
-5.2321295738220215,
-42.494712829589844,
47.181819915771484,
61.46062469482422,
-0.8058608174324036,
0.4940014183521271
] | [
-5.205838680267334,
-40.54713821411133,
41.957679748535156,
57.070465087890625,
-0.8058608174324036,
0.4940014183521271
] | [
0.21955661475658417,
0.002085229614749551,
0.11651638895273209,
3.088345766067505,
0.6177453994750977,
3.0605859756469727
] | 1 | [
-0.01073786336928606,
-0.8038058876991272,
0.6611457467079163,
1.0937283039093018,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.010190588422119617,
-0.7684782147407532,
0.5729947090148926,
1.0171916484832764,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.07927 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 3.8 | 38 | 39 | 11,407 | 0 | |
[
-5.2321295738220215,
-41.31078338623047,
45.90909194946289,
59.52485656738281,
-0.8058608174324036,
0.5097472667694092
] | [
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-39.061561584472656,
40.64158248901367,
54.75050354003906,
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0.5097472667694092
] | [
0.2257755994796753,
0.002152039436623454,
0.12055790424346924,
3.084458589553833,
0.6513475775718689,
3.058281183242798
] | 1 | [
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0.6396700143814087,
1.0599807500839233,
-0.026077672839164734,
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] | [
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0.5507871508598328,
0.976746141910553,
-0.026077672839164734,
-0.005097734276205301
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.10887 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 3.9 | 39 | 39 | 11,408 | 0 | |
[
-5.2321295738220215,
-39.78858184814453,
44.818180084228516,
57.413108825683594,
-0.8058608174324036,
1.9159157276153564
] | [
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39.2338752746582,
52.282283782958984,
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1.9159157276153564
] | [
0.23204529285430908,
0.0022193975746631622,
0.12328363209962845,
3.0811269283294678,
0.6788345575332642,
3.056225061416626
] | 1 | [
-0.01073786336928606,
-0.754718542098999,
0.6212621927261353,
1.0231651067733765,
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0.027387218549847603
] | [
-0.00992910098284483,
-0.7128614187240601,
0.527033805847168,
0.9337159395217896,
-0.026077672839164734,
0.027387218549847603
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.147804 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4 | 40 | 39 | 11,409 | 0 | |
[
-5.2321295738220215,
-38.26638412475586,
43.3636360168457,
55.03739547729492,
-0.8058608174324036,
3.322181224822998
] | [
-5.186481475830078,
-35.82234191894531,
37.74436569213867,
49.691959381103516,
-0.8058608174324036,
3.322181224822998
] | [
0.23937565088272095,
0.0022981474176049232,
0.12780725955963135,
3.0762460231781006,
0.7170013189315796,
3.0530874729156494
] | 1 | [
-0.01073786336928606,
-0.7271068692207336,
0.5967185497283936,
0.9817476868629456,
-0.026077672839164734,
0.05987441539764404
] | [
-0.009787647053599358,
-0.6827735900878906,
0.5019001364707947,
0.8885570168495178,
-0.026077672839164734,
0.05987441539764404
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.190894 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4.1 | 41 | 39 | 11,410 | 0 | |
[
-5.2321295738220215,
-36.57505416870117,
42,
52.573692321777344,
-0.8058608174324036,
4.729230880737305
] | [
-5.179394721984863,
-34.09260177612305,
36.19107437133789,
46.99070739746094,
-0.8058608174324036,
4.729230880737305
] | [
0.2466931790113449,
0.0023767610546201468,
0.13167163729667664,
3.0714595317840576,
0.7521036863327026,
3.0498788356781006
] | 1 | [
-0.01073786336928606,
-0.6964272856712341,
0.5737088322639465,
0.9387962818145752,
-0.026077672839164734,
0.09237972646951675
] | [
-0.00964012835174799,
-0.6513972878456116,
0.47569024562835693,
0.8414642214775085,
-0.026077672839164734,
0.09237972646951675
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.235144 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4.2 | 42 | 39 | 11,411 | 0 | |
[
-5.2321295738220215,
-35.052852630615234,
40.6363639831543,
50.021995544433594,
-0.8058608174324036,
6.135546684265137
] | [
-5.172125816345215,
-32.34555435180664,
34.597782135009766,
44.21989440917969,
-0.8058608174324036,
6.135546684265137
] | [
0.25403767824172974,
0.0024556624703109264,
0.1362934112548828,
3.06565523147583,
0.791769802570343,
3.0458292961120605
] | 1 | [
-0.01073786336928606,
-0.6688156127929688,
0.5506991147994995,
0.8943107724189758,
-0.026077672839164734,
0.12486808001995087
] | [
-0.009488817304372787,
-0.6197070479393005,
0.4488053619861603,
0.7931587100028992,
-0.026077672839164734,
0.12486808001995087
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.279253 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4.3 | 43 | 39 | 11,412 | 0 | |
[
-5.2321295738220215,
-33.02325439453125,
39.09090805053711,
47.2943229675293,
-0.8058608174324036,
7.542552471160889
] | [
-5.164719581604004,
-30.59430503845215,
32.97446060180664,
41.39685821533203,
-0.8058608174324036,
7.542552471160889
] | [
0.2620506286621094,
0.0025417476426810026,
0.1402769386768341,
3.0598676204681396,
0.828368604183197,
3.0416362285614014
] | 1 | [
-0.01073786336928606,
-0.6320000290870667,
0.5246214270591736,
0.8467573523521423,
-0.026077672839164734,
0.157372385263443
] | [
-0.009334648959338665,
-0.5879405736923218,
0.421413779258728,
0.7439427971839905,
-0.026077672839164734,
0.157372385263443
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.328444 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4.4 | 44 | 39 | 11,413 | 0 | |
[
-5.2321295738220215,
-31.331924438476562,
37.45454406738281,
44.566650390625,
-0.8058608174324036,
8.948744773864746
] | [
-5.15725040435791,
-28.828166961669922,
31.337337493896484,
38.54981994628906,
-0.8058608174324036,
8.948744773864746
] | [
0.26991650462150574,
0.002626248635351658,
0.14585399627685547,
3.052225112915039,
0.8725677728652954,
3.035890817642212
] | 1 | [
-0.01073786336928606,
-0.6013205051422119,
0.4970097541809082,
0.7992039918899536,
-0.026077672839164734,
0.18985788524150848
] | [
-0.009179169312119484,
-0.5559040307998657,
0.39378929138183594,
0.6943084001541138,
-0.026077672839164734,
0.18985788524150848
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.376352 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4.5 | 45 | 39 | 11,414 | 0 | |
[
-5.2321295738220215,
-29.5560245513916,
35.727272033691406,
41.7509880065918,
-0.8058608174324036,
10.355807304382324
] | [
-5.149778366088867,
-27.061349868774414,
29.6995849609375,
35.70168685913086,
-0.8058608174324036,
10.355807304382324
] | [
0.2779185175895691,
0.002712211338803172,
0.15175257623195648,
3.0434229373931885,
0.9182572364807129,
3.0290188789367676
] | 1 | [
-0.01073786336928606,
-0.5691068768501282,
0.46786412596702576,
0.7501165866851807,
-0.026077672839164734,
0.22236348688602448
] | [
-0.009023630060255527,
-0.5238551497459412,
0.3661542236804962,
0.6446549296379089,
-0.026077672839164734,
0.22236348688602448
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.425911 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4.6 | 46 | 39 | 11,415 | 0 | |
[
-5.2321295738220215,
-27.526426315307617,
34.09090805053711,
38.93532943725586,
-0.8058608174324036,
11.763067245483398
] | [
-5.142373085021973,
-25.3103084564209,
28.076454162597656,
32.87898635864258,
-0.8058608174324036,
11.763067245483398
] | [
0.2857980728149414,
0.0027968622744083405,
0.1563553661108017,
3.034897565841675,
0.9578210711479187,
3.0221426486968994
] | 1 | [
-0.01073786336928606,
-0.5322912931442261,
0.44025248289108276,
0.7010292410850525,
-0.026077672839164734,
0.254873663187027
] | [
-0.008869481272995472,
-0.49209243059158325,
0.33876585960388184,
0.5954448580741882,
-0.026077672839164734,
0.254873663187027
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.476217 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4.7 | 47 | 39 | 11,416 | 0 | |
[
-5.2321295738220215,
-26.004228591918945,
32.45454406738281,
36.119667053222656,
-0.8058608174324036,
13.169262886047363
] | [
-5.1351118087768555,
-23.593278884887695,
26.484851837158203,
30.11111068725586,
-0.8058608174324036,
13.169262886047363
] | [
0.29310935735702515,
0.0028754014056175947,
0.16301016509532928,
3.022986888885498,
1.0064616203308105,
3.0122337341308594
] | 1 | [
-0.01073786336928606,
-0.5046796798706055,
0.4126408100128174,
0.6519418358802795,
-0.026077672839164734,
0.28735923767089844
] | [
-0.008718329481780529,
-0.4609466791152954,
0.3119094967842102,
0.5471905469894409,
-0.026077672839164734,
0.28735923767089844
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.52395 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4.8 | 48 | 39 | 11,417 | 0 | |
[
-5.2321295738220215,
-23.97463035583496,
30.909090042114258,
33.39199447631836,
-0.8058608174324036,
14.576318740844727
] | [
-5.128035545349121,
-21.920080184936523,
24.93399429321289,
27.413894653320312,
-0.8058608174324036,
14.576318740844727
] | [
0.300417959690094,
0.002953918417915702,
0.16706916689872742,
3.0127828121185303,
1.0428941249847412,
3.003512144088745
] | 1 | [
-0.01073786336928606,
-0.46786415576934814,
0.38656315207481384,
0.6043884754180908,
-0.026077672839164734,
0.3198646903038025
] | [
-0.008571029640734196,
-0.4305959939956665,
0.2857406437397003,
0.5001680850982666,
-0.026077672839164734,
0.3198646903038025
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.572888 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4.9 | 49 | 39 | 11,418 | 0 | |
[
-5.2321295738220215,
-22.536998748779297,
29.363636016845703,
30.576330184936523,
-0.8058608174324036,
15.983663558959961
] | [
-5.121241569519043,
-20.313547134399414,
23.44493865966797,
24.824142456054688,
-0.8058608174324036,
15.983663558959961
] | [
0.3070923089981079,
0.0030256137251853943,
0.1738303005695343,
2.9970085620880127,
1.0913888216018677,
2.9896926879882812
] | 1 | [
-0.01073786336928606,
-0.4417864680290222,
0.3604854941368103,
0.5553010106086731,
-0.026077672839164734,
0.3523768186569214
] | [
-0.008429604582488537,
-0.4014545679092407,
0.26061463356018066,
0.45501917600631714,
-0.026077672839164734,
0.3523768186569214
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.619632 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5 | 50 | 39 | 11,419 | 0 | |
[
-5.2321295738220215,
-20.59196662902832,
27.81818199157715,
27.936647415161133,
-0.8058608174324036,
17.39072608947754
] | [
-5.114858627319336,
-18.77796745300293,
22.046010971069336,
22.391141891479492,
-0.8058608174324036,
17.39072608947754
] | [
0.31384873390197754,
0.0030981977470219135,
0.17804142832756042,
2.983107328414917,
1.1276814937591553,
2.9772417545318604
] | 1 | [
-0.01073786336928606,
-0.40650492906570435,
0.3344078063964844,
0.5092816352844238,
-0.026077672839164734,
0.3848824203014374
] | [
-0.008296736516058445,
-0.37360021471977234,
0.2370094209909439,
0.4126029908657074,
-0.026077672839164734,
0.3848824203014374
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.667226 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.1 | 51 | 39 | 11,420 | 0 | |
[
-5.2321295738220215,
-19.154333114624023,
26.272727966308594,
25.296964645385742,
-0.8058608174324036,
18.79775619506836
] | [
-5.111669540405273,
-18.009313583374023,
21.34703826904297,
21.175493240356445,
-0.8058608174324036,
18.79775619506836
] | [
0.3198276460170746,
0.003162421751767397,
0.18451030552387238,
2.9624228477478027,
1.1729217767715454,
2.9583542346954346
] | 1 | [
-0.01073786336928606,
-0.38042721152305603,
0.30833014845848083,
0.4632622003555298,
-0.026077672839164734,
0.4173872768878937
] | [
-0.008230352774262428,
-0.359657347202301,
0.2252151072025299,
0.3914097547531128,
-0.026077672839164734,
0.4173872768878937
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.712358 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.2 | 52 | 39 | 11,421 | 0 | |
[
-5.2321295738220215,
-17.885835647583008,
25.18181800842285,
23.185216903686523,
-0.8058608174324036,
20.20376968383789
] | [
-5.108401775360107,
-17.124685287475586,
20.63088607788086,
19.929969787597656,
-0.8058608174324036,
20.20376968383789
] | [
0.3244682252407074,
0.0032122721895575523,
0.18851704895496368,
2.9450876712799072,
1.2044813632965088,
2.9422671794891357
] | 1 | [
-0.01073786336928606,
-0.3574175238609314,
0.2899223566055298,
0.4264466464519501,
-0.026077672839164734,
0.44986864924430847
] | [
-0.008162329904735088,
-0.3436107933521271,
0.2131309062242508,
0.36969566345214844,
-0.026077672839164734,
0.44986864924430847
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.74979 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.3 | 53 | 39 | 11,422 | 0 | |
[
-5.2321295738220215,
-16.955602645874023,
24.363636016845703,
21.953365325927734,
-0.8058608174324036,
21.61070442199707
] | [
-5.105050563812256,
-16.316923141479492,
19.89634895324707,
18.652469635009766,
-0.8058608174324036,
21.61070442199707
] | [
0.32749566435813904,
0.003244794672355056,
0.19078992307186127,
2.933842420578003,
1.2224643230438232,
2.9317314624786377
] | 1 | [
-0.01073786336928606,
-0.3405437469482422,
0.2761165499687195,
0.4049709141254425,
-0.026077672839164734,
0.48237133026123047
] | [
-0.008092571049928665,
-0.32895851135253906,
0.20073647797107697,
0.34742411971092224,
-0.026077672839164734,
0.48237133026123047
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.776955 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.4 | 54 | 39 | 11,423 | 0 | |
[
-5.2321295738220215,
-16.194503784179688,
23.727272033691406,
20.545534133911133,
-0.8058608174324036,
23.017684936523438
] | [
-5.101614475250244,
-15.488755226135254,
19.14325523376465,
17.342697143554688,
-0.8058608174324036,
23.017684936523438
] | [
0.33028537034988403,
0.0032747620716691017,
0.1934376209974289,
2.9192302227020264,
1.243387222290039,
2.9179446697235107
] | 1 | [
-0.01073786336928606,
-0.3267379105091095,
0.2653786540031433,
0.3804272413253784,
-0.026077672839164734,
0.514875054359436
] | [
-0.008021045476198196,
-0.31393611431121826,
0.18802893161773682,
0.32458996772766113,
-0.026077672839164734,
0.514875054359436
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.80355 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.5 | 55 | 39 | 11,424 | 0 | |
[
-5.2321295738220215,
-15.433403968811035,
23.363636016845703,
19.225692749023438,
-0.8058608174324036,
24.424734115600586
] | [
-5.098085403442383,
-14.63815975189209,
18.369768142700195,
15.997455596923828,
-0.8058608174324036,
24.424734115600586
] | [
0.33276644349098206,
0.003301416989415884,
0.1946263313293457,
2.907642364501953,
1.258288025856018,
2.906944513320923
] | 1 | [
-0.01073786336928606,
-0.3129320740699768,
0.2592427432537079,
0.3574175238609314,
-0.026077672839164734,
0.5473803281784058
] | [
-0.007947583682835102,
-0.29850688576698303,
0.17497727274894714,
0.30113741755485535,
-0.026077672839164734,
0.5473803281784058
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.827289 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.6 | 56 | 39 | 11,425 | 0 | |
[
-5.2321295738220215,
-14.418604850769043,
22.272727966308594,
17.905851364135742,
-0.8058608174324036,
25.83200454711914
] | [
-5.094438076019287,
-13.759184837341309,
17.57047462463379,
14.607332229614258,
-0.8058608174324036,
25.83200454711914
] | [
0.3360147178173065,
0.003336309688165784,
0.19792276620864868,
2.8881101608276367,
1.280556321144104,
2.888291358947754
] | 1 | [
-0.01073786336928606,
-0.29452431201934814,
0.24083499610424042,
0.3344078063964844,
-0.026077672839164734,
0.5798907279968262
] | [
-0.007871660403907299,
-0.28256288170814514,
0.16149017214775085,
0.276902437210083,
-0.026077672839164734,
0.5798907279968262
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.856466 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.7 | 57 | 39 | 11,426 | 0 | |
[
-5.2321295738220215,
-13.65750503540039,
21.727272033691406,
16.586009979248047,
-0.8058608174324036,
27.237945556640625
] | [
-5.090639114379883,
-12.940656661987305,
16.73786735534668,
13.159266471862793,
-0.8058608174324036,
27.237945556640625
] | [
0.33851122856140137,
0.003363128285855055,
0.19992698729038239,
2.870260715484619,
1.298284888267517,
2.871143102645874
] | 1 | [
-0.01073786336928606,
-0.28071847558021545,
0.2316310852766037,
0.31139811873435974,
-0.026077672839164734,
0.6123704314231873
] | [
-0.007792580872774124,
-0.26771533489227295,
0.14744092524051666,
0.25165730714797974,
-0.026077672839164734,
0.6123704314231873
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.880099 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.8 | 58 | 39 | 11,427 | 0 | |
[
-5.2321295738220215,
-12.55813980102539,
21,
15.266167640686035,
-0.8058608174324036,
28.64410972595215
] | [
-5.08669900894165,
-11.893906593322754,
15.874288558959961,
11.657340049743652,
-0.8058608174324036,
28.64410972595215
] | [
0.34157487750053406,
0.0033960428554564714,
0.20109641551971436,
2.853564500808716,
1.312988042831421,
2.855030059814453
] | 1 | [
-0.01073786336928606,
-0.26077672839164734,
0.21935924887657166,
0.28838837146759033,
-0.026077672839164734,
0.6448553204536438
] | [
-0.007710563018918037,
-0.24872799217700958,
0.13286907970905304,
0.22547319531440735,
-0.026077672839164734,
0.6448553204536438
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.904816 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.9 | 59 | 39 | 11,428 | 0 | |
[
-5.2321295738220215,
-11.881607055664062,
19.909090042114258,
13.85833740234375,
-0.8058608174324036,
30
] | [
-5.082631587982178,
-11.010627746582031,
14.98279857635498,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.344160258769989,
0.0034238083753734827,
0.20624442398548126,
2.813908576965332,
1.3421489000320435,
2.8165369033813477
] | 1 | [
-0.01073786336928606,
-0.2485048919916153,
0.2009514719247818,
0.26384469866752625,
-0.026077672839164734,
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] | [
-0.007625895086675882,
-0.23270592093467712,
0.11782626807689667,
0.1984427571296692,
-0.026077672839164734,
0.6761787533760071
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.929513 | [
-5.082631587982178,
-10.705801963806152,
15.814020156860352,
10.106868743896484,
-0.8058608174324036,
30
] | [
0.3493206202983856,
0.002512887120246887,
0.2288045883178711,
2.5163753032684326,
1.443514108657837,
2.5201518535614014
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6 | 60 | 39 | 11,429 | 0 | |
[
-5.2321295738220215,
-11.458773612976074,
19.454545974731445,
12.978442192077637,
-0.8058608174324036,
30
] | [
-5.2321295738220215,
-11.831706047058105,
19.23493003845215,
13.506379127502441,
-0.8058608174324036,
30
] | [
0.34561559557914734,
0.0034394394606351852,
0.20841237902641296,
2.7901298999786377,
1.3565733432769775,
2.793337821960449
] | 1 | [
-0.01073786336928606,
-0.24083498120307922,
0.19328159093856812,
0.2485048770904541,
-0.026077672839164734,
0.6761787533760071
] | [
-0.01073786336928606,
-0.24759972095489502,
0.18957583606243134,
0.25770875811576843,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.009735 | [
-5.082489490509033,
-0.9236695766448975,
24.423355102539062,
14.222583770751953,
-0.8058608174324036,
30
] | [
0.34910574555397034,
0.0025105937384068966,
0.12946978211402893,
3.004934549331665,
1.0681029558181763,
2.99356746673584
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.1 | 61 | 39 | 11,430 | 0 | ||
[
-5.2321295738220215,
-10.782240867614746,
18.636363983154297,
11.834579467773438,
-0.8058608174324036,
30
] | [
-5.231948375701904,
-11.81881332397461,
19.700071334838867,
13.507245063781738,
-0.8058608174324036,
30
] | [
0.3477569818496704,
0.0034624391701072454,
0.21165384352207184,
2.7510368824005127,
1.3765356540679932,
2.7550551891326904
] | 1 | [
-0.01073786336928606,
-0.228563129901886,
0.17947575449943542,
0.228563129901886,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010734091512858868,
-0.24736586213111877,
0.1974245309829712,
0.257723867893219,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.012778 | [
-5.082489490509033,
-0.9236695766448975,
24.423355102539062,
14.222583770751953,
-0.8058608174324036,
30
] | [
0.34910574555397034,
0.0025105937384068966,
0.12946978211402893,
3.004934549331665,
1.0681029558181763,
2.99356746673584
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.2 | 62 | 39 | 11,431 | 0 | ||
[
-5.2321295738220215,
-10.782240867614746,
19.636363983154297,
12.626484870910645,
-0.8058608174324036,
30
] | [
-5.231422424316406,
-11.781325340270996,
19.257770538330078,
13.509764671325684,
-0.8058608174324036,
30
] | [
0.34686577320098877,
0.003452881006523967,
0.20503360033035278,
2.804760456085205,
1.347933053970337,
2.8076207637786865
] | 1 | [
-0.01073786336928606,
-0.228563129901886,
0.19634954631328583,
0.24236896634101868,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010723142884671688,
-0.24668584764003754,
0.189961239695549,
0.25776779651641846,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.063776 | [
-5.082489490509033,
-0.9236695766448975,
24.423355102539062,
14.222583770751953,
-0.8058608174324036,
30
] | [
0.34910574555397034,
0.0025105937384068966,
0.12946978211402893,
3.004934549331665,
1.0681029558181763,
2.99356746673584
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.3 | 63 | 39 | 11,432 | 0 | ||
[
-5.2321295738220215,
-10.697674751281738,
19.909090042114258,
13.242410659790039,
-0.8058608174324036,
30
] | [
-5.230565071105957,
-11.720256805419922,
19.285457611083984,
13.51386833190918,
-0.8058608174324036,
30
] | [
0.3464537262916565,
0.00344846211373806,
0.20182675123214722,
2.8288674354553223,
1.3319849967956543,
2.8310890197753906
] | 1 | [
-0.01073786336928606,
-0.22702915966510773,
0.2009514719247818,
0.25310683250427246,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010705295950174332,
-0.2455781102180481,
0.19042842090129852,
0.2578393220901489,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.086112 | [
-5.082489490509033,
-0.9236695766448975,
24.423355102539062,
14.222583770751953,
-0.8058608174324036,
30
] | [
0.34910574555397034,
0.0025105937384068966,
0.12946978211402893,
3.004934549331665,
1.0681029558181763,
2.99356746673584
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.4 | 64 | 39 | 11,433 | 0 | ||
[
-5.2321295738220215,
-10.697674751281738,
19.909090042114258,
13.242410659790039,
-0.8058608174324036,
30
] | [
-5.229391098022461,
-11.636651039123535,
19.323360443115234,
13.519486427307129,
-0.8058608174324036,
30
] | [
0.3464537262916565,
0.00344846211373806,
0.20182675123214722,
2.8288674354553223,
1.3319849967956543,
2.8310890197753906
] | 1 | [
-0.01073786336928606,
-0.22702915966510773,
0.2009514719247818,
0.25310683250427246,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010680858045816422,
-0.24406155943870544,
0.19106799364089966,
0.2579372823238373,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.086112 | [
-5.082489490509033,
-0.9236695766448975,
24.423355102539062,
14.222583770751953,
-0.8058608174324036,
30
] | [
0.34910574555397034,
0.0025105937384068966,
0.12946978211402893,
3.004934549331665,
1.0681029558181763,
2.99356746673584
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.5 | 65 | 39 | 11,434 | 0 | ||
[
-5.2321295738220215,
-10.697674751281738,
19.909090042114258,
13.242410659790039,
-0.8058608174324036,
30
] | [
-5.227915287017822,
-11.531526565551758,
19.371021270751953,
13.52655029296875,
-0.8058608174324036,
30
] | [
0.3464537262916565,
0.00344846211373806,
0.20182675123214722,
2.8288674354553223,
1.3319849967956543,
2.8310890197753906
] | 1 | [
-0.01073786336928606,
-0.22702915966510773,
0.2009514719247818,
0.25310683250427246,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010650137439370155,
-0.24215467274188995,
0.19187220931053162,
0.25806042551994324,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.086112 | [
-5.082489490509033,
-0.9236695766448975,
24.423355102539062,
14.222583770751953,
-0.8058608174324036,
30
] | [
0.34910574555397034,
0.0025105937384068966,
0.12946978211402893,
3.004934549331665,
1.0681029558181763,
2.99356746673584
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.6 | 66 | 39 | 11,435 | 0 | ||
[
-5.2321295738220215,
-10.697674751281738,
19.909090042114258,
13.242410659790039,
-0.8058608174324036,
30
] | [
-5.226151466369629,
-11.405914306640625,
19.427968978881836,
13.534990310668945,
-0.8058608174324036,
30
] | [
0.3464537262916565,
0.00344846211373806,
0.20182675123214722,
2.8288674354553223,
1.3319849967956543,
2.8310890197753906
] | 1 | [
-0.01073786336928606,
-0.22702915966510773,
0.2009514719247818,
0.25310683250427246,
-0.026077672839164734,
0.6761787533760071
] | [
-0.01061342190951109,
-0.2398761510848999,
0.19283314049243927,
0.2582075595855713,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.086112 | [
-5.082489490509033,
-0.9236695766448975,
24.423355102539062,
14.222583770751953,
-0.8058608174324036,
30
] | [
0.34910574555397034,
0.0025105937384068966,
0.12946978211402893,
3.004934549331665,
1.0681029558181763,
2.99356746673584
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.7 | 67 | 39 | 11,436 | 0 | ||
[
-5.2321295738220215,
-10.697674751281738,
19.909090042114258,
13.242410659790039,
-0.8058608174324036,
30
] | [
-5.224114418029785,
-11.260799407958984,
19.49376106262207,
13.5447416305542,
-0.8058608174324036,
30
] | [
0.3464537262916565,
0.00344846211373806,
0.20182675123214722,
2.8288674354553223,
1.3319849967956543,
2.8310890197753906
] | 1 | [
-0.01073786336928606,
-0.22702915966510773,
0.2009514719247818,
0.25310683250427246,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010571018792688847,
-0.2372438609600067,
0.19394329190254211,
0.2583775818347931,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.086112 | [
-5.082489490509033,
-0.9236695766448975,
24.423355102539062,
14.222583770751953,
-0.8058608174324036,
30
] | [
0.34910574555397034,
0.0025105937384068966,
0.12946978211402893,
3.004934549331665,
1.0681029558181763,
2.99356746673584
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.8 | 68 | 39 | 11,437 | 0 | ||
[
-5.2321295738220215,
-10.697674751281738,
19.909090042114258,
13.242410659790039,
-0.8058608174324036,
30
] | [
-5.221818447113037,
-11.09725570678711,
19.56790542602539,
13.555730819702148,
-0.8058608174324036,
30
] | [
0.3464537262916565,
0.00344846211373806,
0.20182675123214722,
2.8288674354553223,
1.3319849967956543,
2.8310890197753906
] | 1 | [
-0.01073786336928606,
-0.22702915966510773,
0.2009514719247818,
0.25310683250427246,
-0.026077672839164734,
0.6761787533760071
] | [
-0.01052322518080473,
-0.23427729308605194,
0.19519439339637756,
0.2585691511631012,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.086112 | [
-5.082489490509033,
-0.9236695766448975,
24.423355102539062,
14.222583770751953,
-0.8058608174324036,
30
] | [
0.34910574555397034,
0.0025105937384068966,
0.12946978211402893,
3.004934549331665,
1.0681029558181763,
2.99356746673584
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.9 | 69 | 39 | 11,438 | 0 | ||
[
-5.2321295738220215,
-10.697674751281738,
19.909090042114258,
13.242410659790039,
-0.8058608174324036,
30
] | [
-5.219277381896973,
-10.916277885437012,
19.64995574951172,
13.567892074584961,
-0.8058608174324036,
30
] | [
0.3464537262916565,
0.00344846211373806,
0.20182675123214722,
2.8288674354553223,
1.3319849967956543,
2.8310890197753906
] | 1 | [
-0.01073786336928606,
-0.22702915966510773,
0.2009514719247818,
0.25310683250427246,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010470329783856869,
-0.23099447786808014,
0.19657889008522034,
0.25878116488456726,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.086112 | [
-5.082489490509033,
-0.9236695766448975,
24.423355102539062,
14.222583770751953,
-0.8058608174324036,
30
] | [
0.34910574555397034,
0.0025105937384068966,
0.12946978211402893,
3.004934549331665,
1.0681029558181763,
2.99356746673584
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7 | 70 | 39 | 11,439 | 0 | ||
[
-5.2321295738220215,
-10.697674751281738,
19.909090042114258,
13.242410659790039,
-0.8058608174324036,
30
] | [
-5.216506481170654,
-10.718918800354004,
19.739431381225586,
13.581153869628906,
-0.8058608174324036,
30
] | [
0.3464537262916565,
0.00344846211373806,
0.20182675123214722,
2.8288674354553223,
1.3319849967956543,
2.8310890197753906
] | 1 | [
-0.01073786336928606,
-0.22702915966510773,
0.2009514719247818,
0.25310683250427246,
-0.026077672839164734,
0.6761787533760071
] | [
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] | pull drawer handle: descend to grasp | move | 0.086112 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.1 | 71 | 39 | 11,440 | 0 | ||
[
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] | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.099016 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.2 | 72 | 39 | 11,441 | 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 | 0.131961 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.3 | 73 | 39 | 11,442 | 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 | 0.145448 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.4 | 74 | 39 | 11,443 | 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 | 0.178355 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.5 | 75 | 39 | 11,444 | 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 | 0.191214 | [
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24.423355102539062,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.6 | 76 | 39 | 11,445 | 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 | 0.226834 | [
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.7 | 77 | 39 | 11,446 | 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 | 0.255865 | [
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24.423355102539062,
14.222583770751953,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.8 | 78 | 39 | 11,447 | 0 | ||
[
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13.506379127502441,
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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 | 0.268689 | [
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24.423355102539062,
14.222583770751953,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.9 | 79 | 39 | 11,448 | 0 | ||
[
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13.506379127502441,
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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 | 0.297881 | [
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24.423355102539062,
14.222583770751953,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
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] | 8 | 80 | 39 | 11,449 | 0 | ||
[
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21,
13.506379127502441,
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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 | 0.333305 | [
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24.423355102539062,
14.222583770751953,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.1 | 81 | 39 | 11,450 | 0 | ||
[
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21.18181800842285,
13.506379127502441,
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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 | 0.359172 | [
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24.423355102539062,
14.222583770751953,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.2 | 82 | 39 | 11,451 | 0 | ||
[
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21.272727966308594,
13.506379127502441,
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30
] | [
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21.222726821899414,
13.800999641418457,
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30
] | [
0.3495650589466095,
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2.914719581604004,
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] | 1 | [
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] | [
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0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.381724 | [
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24.423355102539062,
14.222583770751953,
-0.8058608174324036,
30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.3 | 83 | 39 | 11,452 | 0 | ||
[
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21.363636016845703,
13.506379127502441,
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30
] | [
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21.366317749023438,
13.822282791137695,
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30
] | [
0.3498552143573761,
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2.92033314704895,
1.2418949604034424,
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] | 1 | [
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] | [
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0.2255404144525528,
0.26321613788604736,
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0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.410647 | [
-5.082489490509033,
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24.423355102539062,
14.222583770751953,
-0.8058608174324036,
30
] | [
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3.004934549331665,
1.0681029558181763,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.4 | 84 | 39 | 11,453 | 0 | ||
[
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21.545454025268555,
13.506379127502441,
-0.8058608174324036,
30
] | [
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21.510900497436523,
13.843711853027344,
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30
] | [
0.3502146899700165,
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1.2299443483352661,
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.455622 | [
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.5 | 85 | 39 | 11,454 | 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 | 0.471977 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.6 | 86 | 39 | 11,455 | 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 | 0.507312 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.7 | 87 | 39 | 11,456 | 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 | 0.526373 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.8 | 88 | 39 | 11,457 | 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 | 0.564831 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.9 | 89 | 39 | 11,458 | 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 | 0.59798 | [
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9 | 90 | 39 | 11,459 | 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 | 0.620335 | [
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.1 | 91 | 39 | 11,460 | 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 | 0.64615 | [
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24.423355102539062,
14.222583770751953,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.2 | 92 | 39 | 11,461 | 0 | ||
[
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13.594368934631348,
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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 | 0.662173 | [
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24.423355102539062,
14.222583770751953,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.3 | 93 | 39 | 11,462 | 0 | ||
[
-5.2321295738220215,
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23,
13.594368934631348,
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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 | 0.700654 | [
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24.423355102539062,
14.222583770751953,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.4 | 94 | 39 | 11,463 | 0 | ||
[
-5.2321295738220215,
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23,
13.594368934631348,
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30
] | [
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22.904455184936523,
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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 | 0.738454 | [
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24.423355102539062,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.5 | 95 | 39 | 11,464 | 0 | ||
[
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23,
13.594368934631348,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.2675035893917084,
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0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.762691 | [
-5.082489490509033,
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24.423355102539062,
14.222583770751953,
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30
] | [
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3.004934549331665,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.6 | 96 | 39 | 11,465 | 0 | ||
[
-5.2321295738220215,
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23.18181800842285,
13.594368934631348,
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30
] | [
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23.08722496032715,
14.077345848083496,
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30
] | [
0.350861132144928,
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1.1412699222564697,
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] | 1 | [
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] | [
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0.2545786499977112,
0.26766282320022583,
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0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.770101 | [
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24.423355102539062,
14.222583770751953,
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30
] | [
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3.004934549331665,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.7 | 97 | 39 | 11,466 | 0 | ||
[
-5.2321295738220215,
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23.18181800842285,
13.594368934631348,
-0.8058608174324036,
30
] | [
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23.149341583251953,
14.086552619934082,
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30
] | [
0.3510953187942505,
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] | 1 | [
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] | [
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0.2556267976760864,
0.26782333850860596,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.799901 | [
-5.082489490509033,
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24.423355102539062,
14.222583770751953,
-0.8058608174324036,
30
] | [
0.34910574555397034,
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3.004934549331665,
1.0681029558181763,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.8 | 98 | 39 | 11,467 | 0 | ||
[
-5.2321295738220215,
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23.454545974731445,
13.594368934631348,
-0.8058608174324036,
30
] | [
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23.212970733642578,
14.095983505249023,
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30
] | [
0.3507010340690613,
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] | 1 | [
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] | [
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] | 9.9 | 99 | 39 | 11,468 | 0 | ||
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] | 10 | 100 | 39 | 11,469 | 0 | ||
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] | 10.1 | 101 | 39 | 11,470 | 0 | ||
[
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] | 10.2 | 102 | 39 | 11,471 | 0 | ||
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] | 10.3 | 103 | 39 | 11,472 | 0 | ||
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] | 10.4 | 104 | 39 | 11,473 | 0 | ||
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] | 10.5 | 105 | 39 | 11,474 | 0 | ||
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] | 10.6 | 106 | 39 | 11,475 | 0 | ||
[
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] | 10.7 | 107 | 39 | 11,476 | 0 | ||
[
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] | 10.8 | 108 | 39 | 11,477 | 0 | ||
[
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] | 10.9 | 109 | 39 | 11,478 | 0 | ||
[
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] | 11 | 110 | 39 | 11,479 | 0 | ||
[
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] | 0 | open top drawer 7cm | [
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] | 11.1 | 111 | 39 | 11,480 | 0 | ||
[
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] | 11.2 | 112 | 39 | 11,481 | 0 | ||
[
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] | 12 | 120 | 39 | 11,489 | 0 | ||
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] | 12.1 | 121 | 39 | 11,490 | 0 | ||
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] | 12.2 | 122 | 39 | 11,491 | 0 | ||
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] | 12.3 | 123 | 39 | 11,492 | 0 | ||
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] | 12.4 | 124 | 39 | 11,493 | 0 | ||
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] | 12.5 | 125 | 39 | 11,494 | 0 | ||
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] | 12.8 | 128 | 39 | 11,497 | 0 | ||
[
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] | 0 | open top drawer 7cm | [
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] | 12.9 | 129 | 39 | 11,498 | 0 | ||
[
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] | Grasp handle and pull drawer open by 7cm | move_linear | 0.026652 | [
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] | 0 | open top drawer 7cm | [
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0
] | 13 | 130 | 39 | 11,499 | 0 |
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