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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] | 13.5 | 135 | 39 | 11,504 | 0 | ||
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[
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[
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] | 14 | 140 | 39 | 11,509 | 0 | ||
[
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] | 14.1 | 141 | 39 | 11,510 | 0 | ||
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[
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[
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] | 18.1 | 181 | 39 | 11,550 | 0 | ||
[
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] | 18.200001 | 182 | 39 | 11,551 | 0 | ||
[
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] | 18.299999 | 183 | 39 | 11,552 | 0 | ||
[
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[
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30
] | [
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] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
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46.901424407958984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20 | 200 | 39 | 11,569 | 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 | [
-5.1891093254089355,
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46.901424407958984,
16.279613494873047,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.1 | 201 | 39 | 11,570 | 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 | [
-5.1891093254089355,
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46.901424407958984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.200001 | 202 | 39 | 11,571 | 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 | [
-5.1891093254089355,
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46.901424407958984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.299999 | 203 | 39 | 11,572 | 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 | [
-5.1891093254089355,
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46.901424407958984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.4 | 204 | 39 | 11,573 | 0 | ||
[
-5.305821895599365,
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30
] | [
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] | [
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] | [
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] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.1891093254089355,
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46.901424407958984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.5 | 205 | 39 | 11,574 | 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 | [
-5.1891093254089355,
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46.901424407958984,
16.279613494873047,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.6 | 206 | 39 | 11,575 | 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 | [
-5.1891093254089355,
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46.901424407958984,
16.279613494873047,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.700001 | 207 | 39 | 11,576 | 0 | ||
[
-5.305821895599365,
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30
] | [
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30
] | [
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] | 0 | [
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] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.1891093254089355,
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46.901424407958984,
16.279613494873047,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.799999 | 208 | 39 | 11,577 | 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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0.3463374376296997,
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0.6761787533760071
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.1891093254089355,
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46.901424407958984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.9 | 209 | 39 | 11,578 | 0 | ||
[
-5.305821895599365,
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19.40167236328125,
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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 | [
-5.1891093254089355,
-44.668373107910156,
46.901424407958984,
16.279613494873047,
-0.8058608174324036,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21 | 210 | 39 | 11,579 | 0 | ||
[
-5.305821895599365,
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-0.8058608174324036,
30
] | [
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30
] | [
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] | 0 | [
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] | [
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0.7408854365348816,
0.3412834107875824,
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0.6761787533760071
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.1891093254089355,
-44.668373107910156,
46.901424407958984,
16.279613494873047,
-0.8058608174324036,
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] | [
0.27936962246894836,
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.1 | 211 | 39 | 11,580 | 0 | ||
[
-5.2321295738220215,
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55.45454406738281,
19.40167236328125,
-0.8058608174324036,
30
] | [
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30
] | [
0.28059226274490356,
0.002740971278399229,
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] | 0 | [
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] | [
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0.3386354148387909,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.1891093254089355,
-44.668373107910156,
46.901424407958984,
16.279613494873047,
-0.8058608174324036,
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] | [
0.27936962246894836,
0.0025121988728642464,
0.21842032670974731,
2.584082841873169,
1.4301632642745972,
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.200001 | 212 | 39 | 11,581 | 0 | ||
[
-5.2321295738220215,
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55.272727966308594,
19.40167236328125,
-0.8058608174324036,
30
] | [
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17.993515014648438,
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30
] | [
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0.002741571282967925,
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2.9908883571624756,
1.108032464981079,
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] | 0 | [
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] | [
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0.7264638543128967,
0.3359360992908478,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.1891093254089355,
-44.668373107910156,
46.901424407958984,
16.279613494873047,
-0.8058608174324036,
0
] | [
0.27936962246894836,
0.0025121988728642464,
0.21842032670974731,
2.584082841873169,
1.4301632642745972,
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.299999 | 213 | 39 | 11,582 | 0 | ||
[
-5.2321295738220215,
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55.09090805053711,
19.40167236328125,
-0.8058608174324036,
30
] | [
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30
] | [
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] | 0 | [
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] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.1891093254089355,
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46.901424407958984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.4 | 214 | 39 | 11,583 | 0 | ||
[
-5.2321295738220215,
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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 | [
-5.1891093254089355,
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46.901424407958984,
16.279613494873047,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.5 | 215 | 39 | 11,584 | 0 | ||
[
-5.2321295738220215,
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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 | [
-5.1891093254089355,
-44.668373107910156,
46.901424407958984,
16.279613494873047,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.6 | 216 | 39 | 11,585 | 0 | ||
[
-5.2321295738220215,
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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 | [
-5.1891093254089355,
-44.668373107910156,
46.901424407958984,
16.279613494873047,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.700001 | 217 | 39 | 11,586 | 0 | ||
[
-5.2321295738220215,
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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 | [
-5.1891093254089355,
-44.668373107910156,
46.901424407958984,
16.279613494873047,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.799999 | 218 | 39 | 11,587 | 0 | ||
[
-5.2321295738220215,
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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 | 0.002406 | [
-5.1891093254089355,
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46.901424407958984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.9 | 219 | 39 | 11,588 | 0 | ||
[
-5.2321295738220215,
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] | [
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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 | 0.008034 | [
-5.1891093254089355,
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46.901424407958984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 22 | 220 | 39 | 11,589 | 0 | ||
[
-5.2321295738220215,
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] | [
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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 | 0.114104 | [
-5.1891093254089355,
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46.901424407958984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 22.1 | 221 | 39 | 11,590 | 0 | ||
[
-5.2321295738220215,
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] | [
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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 | 0.222001 | [
-5.1891093254089355,
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46.901424407958984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 22.200001 | 222 | 39 | 11,591 | 0 | ||
[
-5.2321295738220215,
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] | [
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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 | 0.331554 | [
-5.1891093254089355,
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46.901424407958984,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 22.299999 | 223 | 39 | 11,592 | 0 | ||
[
-5.2321295738220215,
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] | [
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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 | 0.434738 | [
-5.1891093254089355,
-44.668373107910156,
46.901424407958984,
16.279613494873047,
-0.8058608174324036,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 22.4 | 224 | 39 | 11,593 | 0 | ||
[
-5.2321295738220215,
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] | [
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] | [
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] | 0 | [
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] | [
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0.6610429286956787,
0.3116791248321533,
-0.026077672839164734,
0.2884630560874939
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0.536367 | [
-5.1891093254089355,
-44.668373107910156,
46.901424407958984,
16.279613494873047,
-0.8058608174324036,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 22.5 | 225 | 39 | 11,594 | 0 | ||
[
-5.2321295738220215,
-41.902748107910156,
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18.169818878173828,
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] | [
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] | [
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] | 0 | [
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] | [
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0.6574621796607971,
0.3103514015674591,
-0.026077672839164734,
0.21135209500789642
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0.63288 | [
-5.1891093254089355,
-44.668373107910156,
46.901424407958984,
16.279613494873047,
-0.8058608174324036,
0
] | [
0.27936962246894836,
0.0025121988728642464,
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2.584082841873169,
1.4301632642745972,
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 22.6 | 226 | 39 | 11,595 | 0 | ||
[
-5.2321295738220215,
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51.54545593261719,
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] | [
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] | [
0.2811216711997986,
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2.88141131401062
] | 0 | [
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] | [
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0.6537294983863831,
0.30896738171577454,
-0.026077672839164734,
0.13424243032932281
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0.724167 | [
-5.1891093254089355,
-44.668373107910156,
46.901424407958984,
16.279613494873047,
-0.8058608174324036,
0
] | [
0.27936962246894836,
0.0025121988728642464,
0.21842032670974731,
2.584082841873169,
1.4301632642745972,
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 22.700001 | 227 | 39 | 11,596 | 0 | ||
[
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51,
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0.0027487650513648987,
0.18661803007125854,
2.8654396533966064,
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0.6498600840568542,
0.3075326681137085,
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0.05717533826828003
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0.809987 | [
-5.1891093254089355,
-44.668373107910156,
46.901424407958984,
16.279613494873047,
-0.8058608174324036,
0
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0.0025121988728642464,
0.21842032670974731,
2.584082841873169,
1.4301632642745972,
2.5894713401794434
] | 0 | open top drawer 7cm | [
0,
0,
0
] | 22.799999 | 228 | 39 | 11,597 | 0 | ||
[
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50.3636360168457,
17.72987174987793,
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0
] | [
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0
] | [
0.2808856666088104,
0.002743985503911972,
0.19204726815223694,
2.838808059692383,
1.3246958255767822,
2.8407392501831055
] | 0 | [
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0.7148350477218628,
0.33133983612060547,
-0.026077672839164734,
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] | [
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0.645878791809082,
0.3060564696788788,
-0.026077672839164734,
-0.016873788088560104
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0.866827 | [
-5.1891093254089355,
-44.668373107910156,
46.901424407958984,
16.279613494873047,
-0.8058608174324036,
0
] | [
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0.0025121988728642464,
0.21842032670974731,
2.584082841873169,
1.4301632642745972,
2.5894713401794434
] | 0 | open top drawer 7cm | [
0,
0,
0
] | 22.9 | 229 | 39 | 11,598 | 0 | ||
[
-5.2321295738220215,
-42.91754913330078,
50.181819915771484,
17.641883850097656,
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0
] | [
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0
] | [
0.2810143232345581,
0.0027453650254756212,
0.19310350716114044,
2.832914352416992,
1.329072117805481,
2.835019826889038
] | 0 | [
-0.01073786336928606,
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0.7117671370506287,
0.3298058807849884,
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] | [
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0.645878791809082,
0.3060564696788788,
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-0.016873788088560104
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0.872674 | [
-5.1891093254089355,
-44.668373107910156,
46.901424407958984,
16.279613494873047,
-0.8058608174324036,
0
] | [
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0.0025121988728642464,
0.21842032670974731,
2.584082841873169,
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2.5894713401794434
] | 0 | open top drawer 7cm | [
0,
0,
0
] | 23 | 230 | 39 | 11,599 | 0 |
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