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 59 | index int64 0 17.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | 12.3 | 123 | 59 | 17,300 | 0 | ||
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] | 12.4 | 124 | 59 | 17,301 | 0 | ||
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[
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] | 12.7 | 127 | 59 | 17,304 | 0 | ||
[
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] | 12.8 | 128 | 59 | 17,305 | 0 | ||
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[
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] | 13.1 | 131 | 59 | 17,308 | 0 | ||
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] | 13.2 | 132 | 59 | 17,309 | 0 | ||
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] | 0 | open top drawer 7cm | [
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] | 13.3 | 133 | 59 | 17,310 | 0 | ||
[
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] | 13.5 | 135 | 59 | 17,312 | 0 | ||
[
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] | 14.9 | 149 | 59 | 17,326 | 0 | ||
[
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[
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] | 17.299999 | 173 | 59 | 17,350 | 0 | ||
[
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] | 17.4 | 174 | 59 | 17,351 | 0 | ||
[
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] | 17.5 | 175 | 59 | 17,352 | 0 | ||
[
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] | 17.6 | 176 | 59 | 17,353 | 0 | ||
[
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] | pull drawer handle: release handle | gripper_open | 0.656002 | [
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] | 30 | open top drawer 7cm | [
0,
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] | 19.1 | 191 | 59 | 17,368 | 0 | ||
[
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] | 30 | open top drawer 7cm | [
0,
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] | 19.200001 | 192 | 59 | 17,369 | 0 | ||
[
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] | pull drawer handle: release handle | gripper_open | 0.771201 | [
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] | 30 | open top drawer 7cm | [
0,
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0
] | 19.299999 | 193 | 59 | 17,370 | 0 | ||
[
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] | pull drawer handle: release handle | gripper_open | 0.828791 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
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] | 19.4 | 194 | 59 | 17,371 | 0 | ||
[
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] | pull drawer handle: release handle | gripper_open | 0.886382 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
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] | 19.5 | 195 | 59 | 17,372 | 0 | ||
[
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] | pull drawer handle: release handle | gripper_open | 0.943981 | [
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] | 30 | open top drawer 7cm | [
0,
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0
] | 19.6 | 196 | 59 | 17,373 | 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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] | 0 | open top drawer 7cm | [
0,
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] | 19.700001 | 197 | 59 | 17,374 | 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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] | 0 | open top drawer 7cm | [
0,
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] | 19.799999 | 198 | 59 | 17,375 | 0 | ||
[
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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 | [
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] | 0 | open top drawer 7cm | [
0,
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] | 19.9 | 199 | 59 | 17,376 | 0 | ||
[
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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 | [
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] | [
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] | 0 | open top drawer 7cm | [
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] | 20 | 200 | 59 | 17,377 | 0 | ||
[
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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 | [
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.1 | 201 | 59 | 17,378 | 0 | ||
[
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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 | [
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.200001 | 202 | 59 | 17,379 | 0 | ||
[
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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 | [
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.299999 | 203 | 59 | 17,380 | 0 | ||
[
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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 | [
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.4 | 204 | 59 | 17,381 | 0 | ||
[
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30
] | [
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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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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.5 | 205 | 59 | 17,382 | 0 | ||
[
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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 | [
-5.184095859527588,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.6 | 206 | 59 | 17,383 | 0 | ||
[
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] | [
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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 | [
-5.184095859527588,
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46.635047912597656,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.700001 | 207 | 59 | 17,384 | 0 | ||
[
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] | [
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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 | [
-5.184095859527588,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.799999 | 208 | 59 | 17,385 | 0 | ||
[
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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 | [
-5.184095859527588,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 20.9 | 209 | 59 | 17,386 | 0 | ||
[
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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 | [
-5.184095859527588,
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46.635047912597656,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21 | 210 | 59 | 17,387 | 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 | [
-5.184095859527588,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.1 | 211 | 59 | 17,388 | 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 | [
-5.184095859527588,
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46.635047912597656,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.200001 | 212 | 59 | 17,389 | 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 | [
-5.184095859527588,
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46.635047912597656,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.299999 | 213 | 59 | 17,390 | 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 | [
-5.184095859527588,
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46.635047912597656,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.4 | 214 | 59 | 17,391 | 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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0.6761787533760071
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0 | [
-5.184095859527588,
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46.635047912597656,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.5 | 215 | 59 | 17,392 | 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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0.6761787533760071
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0.000433 | [
-5.184095859527588,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.6 | 216 | 59 | 17,393 | 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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0.6761787533760071
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0.004819 | [
-5.184095859527588,
-44.58417892456055,
46.635047912597656,
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] | [
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.700001 | 217 | 59 | 17,394 | 0 | ||
[
-5.2321295738220215,
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] | [
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] | [
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] | 0 | [
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] | [
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0.32346418499946594,
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0.6738219857215881
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0.01064 | [
-5.184095859527588,
-44.58417892456055,
46.635047912597656,
16.64656639099121,
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] | [
0.27934256196022034,
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0.2184167206287384,
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1.4272493124008179,
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.799999 | 218 | 59 | 17,395 | 0 | ||
[
-5.2321295738220215,
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52,
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] | [
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] | [
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] | 0 | [
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] | [
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0.322374552488327,
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] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0.119567 | [
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-44.58417892456055,
46.635047912597656,
16.64656639099121,
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0
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0.0024868312757462263,
0.2184167206287384,
2.5968587398529053,
1.4272493124008179,
2.6020140647888184
] | 0 | open top drawer 7cm | [
0,
0,
0
] | 21.9 | 219 | 59 | 17,396 | 0 | ||
[
-5.2321295738220215,
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51.45454406738281,
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0.2821348011493683,
0.0027574480045586824,
0.17654010653495789,
2.911229133605957,
1.2538220882415771,
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0.34821364283561707,
-0.026077672839164734,
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] | [
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0.32125675678253174,
-0.026077672839164734,
0.5196327567100525
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0.227857 | [
-5.184095859527588,
-44.58417892456055,
46.635047912597656,
16.64656639099121,
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0
] | [
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0.2184167206287384,
2.5968587398529053,
1.4272493124008179,
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] | 0 | open top drawer 7cm | [
0,
0,
0
] | 22 | 220 | 59 | 17,397 | 0 | ||
[
-5.2321295738220215,
-40.97251510620117,
51.45454406738281,
18.697755813598633,
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] | [
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47.300838470458984,
17.08578109741211,
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19.88539695739746
] | [
0.281949907541275,
0.0027554596308618784,
0.1771930456161499,
2.908849000930786,
1.2567998170852661,
2.9080922603607178
] | 0 | [
-0.01073786336928606,
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0.7332428097724915,
0.34821364283561707,
-0.026077672839164734,
0.44251370429992676
] | [
-0.010117682628333569,
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0.6631540656089783,
0.320110946893692,
-0.026077672839164734,
0.44251370429992676
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0.331221 | [
-5.184095859527588,
-44.58417892456055,
46.635047912597656,
16.64656639099121,
-0.8058608174324036,
0
] | [
0.27934256196022034,
0.0024868312757462263,
0.2184167206287384,
2.5968587398529053,
1.4272493124008179,
2.6020140647888184
] | 0 | open top drawer 7cm | [
0,
0,
0
] | 22.1 | 221 | 59 | 17,398 | 0 | ||
[
-5.2321295738220215,
-41.395347595214844,
51.09090805053711,
18.697755813598633,
-0.8058608174324036,
16.547321319580078
] | [
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47.10307693481445,
17.01839828491211,
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16.547321319580078
] | [
0.28170245885849,
0.0027527923230081797,
0.18049195408821106,
2.8975741863250732,
1.2701778411865234,
2.897345781326294
] | 0 | [
-0.01073786336928606,
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0.7271068692207336,
0.34821364283561707,
-0.026077672839164734,
0.3653982877731323
] | [
-0.010059427469968796,
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0.6598170399665833,
0.31893622875213623,
-0.026077672839164734,
0.3653982877731323
] | pull drawer handle: retreat after pull and close gripper | move_and_close | 0.437798 | [
-5.184095859527588,
-44.58417892456055,
46.635047912597656,
16.64656639099121,
-0.8058608174324036,
0
] | [
0.27934256196022034,
0.0024868312757462263,
0.2184167206287384,
2.5968587398529053,
1.4272493124008179,
2.6020140647888184
] | 0 | open top drawer 7cm | [
0,
0,
0
] | 22.200001 | 222 | 59 | 17,399 | 0 |
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