CoRL2026-CSI/smolVLA_Ours_Sim2RealO_OpenDrawer_100epi_50ep
Robotics • 0.5B • Updated • 96
Datasets:
observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | skill.natural_language stringclasses 13
values | skill.verification_question stringclasses 4
values | skill.type stringclasses 8
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 35 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 31.2 | frame_index int64 0 312 | episode_index int64 0 99 | index int64 0 28k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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98,
68.5877685546875,
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98,
68.5877685546875,
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0.0006882691523060203,
0.03829574957489967,
3.0900251865386963,
0.6224894523620605,
3.057919502258301
] | 1 | move to initial state | move_initial | 0 | [
-5.369807720184326,
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44.43939971923828,
67.29175567626953,
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] | 0.494001 | [
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] | 0 | 0 | 0 | 0 | 0 | |||
[
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0.0006882691523060203,
0.03829574957489967,
3.0900251865386963,
0.6224894523620605,
3.057919502258301
] | 1 | move to initial state | move_initial | 0 | [
-5.369807720184326,
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44.43939971923828,
67.29175567626953,
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] | 0.494001 | [
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] | 0.1 | 1 | 0 | 1 | 0 | |||
[
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0.16155733168125153,
0.0006882691523060203,
0.03829574957489967,
3.0900251865386963,
0.6224894523620605,
3.057919502258301
] | 1 | move to initial state | move_initial | 0 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
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3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
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0
] | 0.2 | 2 | 0 | 2 | 0 | |||
[
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98,
68.5877685546875,
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0.40075036883354187
] | [
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] | [
0.16155733168125153,
0.0006882691523060203,
0.03829574957489967,
3.0900251865386963,
0.6224894523620605,
3.057919502258301
] | 1 | move to initial state | move_initial | 0 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
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3.090510129928589,
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] | 0.494001 | [
0,
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0
] | 0.3 | 3 | 0 | 3 | 0 | |||
[
-4.937361717224121,
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3.089691638946533,
0.6255453824996948,
3.0577244758605957
] | 1 | move to initial state | move_initial | 0.001806 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
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] | 0.494001 | [
0,
0,
0
] | 0.4 | 4 | 0 | 4 | 0 | |||
[
-4.937361717224121,
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93.91234588623047,
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0.40482479333877563
] | [
0.16121885180473328,
0.0006867086049169302,
0.038583122193813324,
3.0905230045318604,
0.6179054379463196,
3.058208703994751
] | 1 | move to initial state | move_initial | 0.009124 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.5 | 5 | 0 | 5 | 0 | |||
[
-4.937361717224121,
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97.18181610107422,
68.76374816894531,
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0.40755435824394226
] | [
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92.17396545410156,
69.95429229736328,
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0.40755435824394226
] | [
0.16040030121803284,
0.0006829362246207893,
0.03866899013519287,
3.0915088653564453,
0.6087368726730347,
3.0587761402130127
] | 1 | move to initial state | move_initial | 0.02067 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
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3.090510129928589,
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] | 0.494001 | [
0,
0,
0
] | 0.6 | 6 | 0 | 6 | 0 | |||
[
-4.937361717224121,
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96,
69.11570739746094,
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] | [
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70.42543029785156,
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] | [
0.16001087427139282,
0.0006811360362917185,
0.04077986255288124,
3.091834783554077,
0.6056805849075317,
3.058962106704712
] | 1 | move to initial state | move_initial | 0.040976 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
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3.090510129928589,
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] | 0.494001 | [
0,
0,
0
] | 0.7 | 7 | 0 | 7 | 0 | |||
[
-4.937361717224121,
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94.45454406738281,
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0.4142516851425171
] | [
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87.90867614746094,
70.95474243164062,
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0.4142516851425171
] | [
0.15963536500930786,
0.0006793980719521642,
0.04361870512366295,
3.0921592712402344,
0.6026243567466736,
3.0591464042663574
] | 1 | move to initial state | move_initial | 0.067189 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
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3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 0.8 | 8 | 0 | 8 | 0 | |||
[
-4.937361717224121,
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92.45454406738281,
70.08358764648438,
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0.4181479811668396
] | [
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85.42725372314453,
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0.4181479811668396
] | [
0.15953753888607025,
0.0006789365434087813,
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3.0921592712402344,
0.6026244163513184,
3.0591464042663574
] | 1 | move to initial state | move_initial | 0.099376 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
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] | 0.494001 | [
0,
0,
0
] | 0.9 | 9 | 0 | 9 | 0 | |||
[
-4.937361717224121,
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90.2727279663086,
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] | [
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] | [
0.1596461832523346,
0.0006794252549298108,
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3.0919971466064453,
0.6041524410247803,
3.0590546131134033
] | 1 | move to initial state | move_initial | 0.134033 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
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] | 0.494001 | [
0,
0,
0
] | 1 | 10 | 0 | 10 | 0 | |||
[
-4.937361717224121,
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] | [
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] | [
0.15974664688110352,
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0.05719232186675072,
3.0919971466064453,
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3.0590546131134033
] | 1 | move to initial state | move_initial | 0.175222 | [
-5.369807720184326,
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44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
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] | 0.494001 | [
0,
0,
0
] | 1.1 | 11 | 0 | 11 | 0 | |||
[
-4.937361717224121,
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0.15971358120441437,
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3.0923209190368652,
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] | 1 | move to initial state | move_initial | 0.218602 | [
-5.369807720184326,
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44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
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] | 0.494001 | [
0,
0,
0
] | 1.2 | 12 | 0 | 12 | 0 | |||
[
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] | [
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0.16004353761672974,
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3.0923209190368652,
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] | 1 | move to initial state | move_initial | 0.263456 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
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3.090510129928589,
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] | 0.494001 | [
0,
0,
0
] | 1.3 | 13 | 0 | 13 | 0 | |||
[
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79.36363983154297,
73.33920288085938,
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] | [
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] | [
0.1606060117483139,
0.001617841306142509,
0.07350710034370422,
3.0921592712402344,
0.6026241779327393,
3.0668163299560547
] | 1 | move to initial state | move_initial | 0.308789 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
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] | 0.494001 | [
0,
0,
0
] | 1.4 | 14 | 0 | 14 | 0 | |||
[
-5.305821895599365,
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] | [
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] | [
0.16115036606788635,
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0.07938092947006226,
3.092482328414917,
0.5995679497718811,
3.0669991970062256
] | 1 | move to initial state | move_initial | 0.360135 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
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3.090510129928589,
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] | 0.494001 | [
0,
0,
0
] | 1.5 | 15 | 0 | 15 | 0 | |||
[
-5.305821895599365,
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] | [
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] | [
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0.0016389774391427636,
0.08565597236156464,
3.091834783554077,
0.6056805849075317,
3.066632032394409
] | 1 | move to initial state | move_initial | 0.404527 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
0.21081578731536865,
0.002442389726638794,
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3.090510129928589,
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] | 0.494001 | [
0,
0,
0
] | 1.6 | 16 | 0 | 16 | 0 | |||
[
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70,
75.53893280029297,
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] | [
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] | [
0.16319605708122253,
0.0018403981812298298,
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3.0921592712402344,
0.6026244163513184,
3.068350315093994
] | 1 | move to initial state | move_initial | 0.454404 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
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3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.7 | 17 | 0 | 17 | 0 | |||
[
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] | [
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] | [
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3.0919971466064453,
0.6041525602340698,
3.0728602409362793
] | 1 | move to initial state | move_initial | 0.502193 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.8 | 18 | 0 | 18 | 0 | |||
[
-5.600589752197266,
-72.00845336914062,
63.6363639831543,
77.03475952148438,
-0.7081807255744934,
0.46573546528816223
] | [
-6.449269771575928,
-67.28411102294922,
55.12040710449219,
78.6454086303711,
-0.7081807255744934,
0.46573546528816223
] | [
0.16574126482009888,
0.0024596997536718845,
0.10328876972198486,
3.0919971466064453,
0.6041523814201355,
3.0728604793548584
] | 1 | move to initial state | move_initial | 0.547328 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 1.9 | 19 | 0 | 19 | 0 | |||
[
-5.600589752197266,
-69.80972290039062,
60.54545593261719,
77.7386703491211,
-0.7081807255744934,
0.47019490599632263
] | [
-6.549408912658691,
-65.32445526123047,
52.28033447265625,
79.31156158447266,
-0.7081807255744934,
0.47019490599632263
] | [
0.1672268807888031,
0.002487044082954526,
0.10885420441627502,
3.0919971466064453,
0.6041524410247803,
3.0728604793548584
] | 1 | move to initial state | move_initial | 0.590687 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2 | 20 | 0 | 20 | 0 | |||
[
-5.600589752197266,
-67.61099243164062,
57.45454406738281,
78.53057861328125,
-0.7081807255744934,
0.47439178824424744
] | [
-6.643651485443115,
-63.48019790649414,
49.60749816894531,
79.93849182128906,
-0.7081807255744934,
0.47439178824424744
] | [
0.16866475343704224,
0.0025135104078799486,
0.11420118808746338,
3.0921592712402344,
0.6026242971420288,
3.0729522705078125
] | 1 | move to initial state | move_initial | 0.631146 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.1 | 21 | 0 | 21 | 0 | |||
[
-5.895357608795166,
-65.66596221923828,
54.727272033691406,
79.14649963378906,
-0.7081807255744934,
0.47827500104904175
] | [
-6.730851650238037,
-61.77375793457031,
47.134395599365234,
80.51856994628906,
-0.7081807255744934,
0.47827500104904175
] | [
0.170209601521492,
0.003348441096022725,
0.11893358826637268,
3.0921592712402344,
0.6026244163513184,
3.0790882110595703
] | 1 | move to initial state | move_initial | 0.664525 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.2 | 22 | 0 | 22 | 0 | |||
[
-6.190125465393066,
-63.80549621582031,
51.818180084228516,
79.7624282836914,
-0.7081807255744934,
0.4818086326122284
] | [
-6.810200214385986,
-60.22095489501953,
44.88395690917969,
81.04642486572266,
-0.7081807255744934,
0.4818086326122284
] | [
0.1720293015241623,
0.004211024846881628,
0.12434007227420807,
3.091671943664551,
0.6072088479995728,
3.084947109222412
] | 1 | move to initial state | move_initial | 0.694381 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.3 | 23 | 0 | 23 | 0 | |||
[
-6.190125465393066,
-61.86046600341797,
49.3636360168457,
80.37835693359375,
-0.7081807255744934,
0.4849510192871094
] | [
-6.880764484405518,
-58.84006881713867,
42.88267135620117,
81.51583099365234,
-0.7081807255744934,
0.4849510192871094
] | [
0.1735176146030426,
0.004256699699908495,
0.12799103558063507,
3.0921592712402344,
0.6026243567466736,
3.085224151611328
] | 1 | move to initial state | move_initial | 0.718803 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.4 | 24 | 0 | 24 | 0 | |||
[
-6.190125465393066,
-60.42283248901367,
47.09090805053711,
80.81829833984375,
-0.7081807255744934,
0.4876663088798523
] | [
-6.941737651824951,
-57.64686584472656,
41.15339279174805,
81.92144775390625,
-0.7081807255744934,
0.4876663088798523
] | [
0.17517372965812683,
0.004307524301111698,
0.13216665387153625,
3.091671943664551,
0.6072089076042175,
3.084947109222412
] | 1 | move to initial state | move_initial | 0.734779 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.5 | 25 | 0 | 25 | 0 | |||
[
-6.190125465393066,
-59.069766998291016,
45.09090805053711,
81.17025756835938,
-0.7081807255744934,
0.4899284541606903
] | [
-6.99253511428833,
-56.652801513671875,
39.71271896362305,
82.25936126708984,
-0.7081807255744934,
0.4899284541606903
] | [
0.17677168548107147,
0.004356564953923225,
0.13567036390304565,
3.0913455486297607,
0.6102651357650757,
3.0847604274749756
] | 1 | move to initial state | move_initial | 0.74632 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.6 | 26 | 0 | 26 | 0 | |||
[
-6.190125465393066,
-57.80126953125,
43.3636360168457,
81.69819641113281,
-0.7081807255744934,
0.4917091727256775
] | [
-7.032522201538086,
-55.87028121948242,
38.57863235473633,
82.5253677368164,
-0.7081807255744934,
0.4917091727256775
] | [
0.1777440458536148,
0.00438640546053648,
0.13815350830554962,
3.091671943664551,
0.6072088479995728,
3.084947109222412
] | 1 | move to initial state | move_initial | 0.751534 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.7 | 27 | 0 | 27 | 0 | |||
[
-6.3375091552734375,
-56.871036529541016,
41.818180084228516,
82.05015563964844,
-0.7081807255744934,
0.49298998713493347
] | [
-7.061283588409424,
-55.30744552612305,
37.7629280090332,
82.7166976928711,
-0.7081807255744934,
0.49298998713493347
] | [
0.1788041591644287,
0.004848815966397524,
0.14090967178344727,
3.0913455486297607,
0.6102651357650757,
3.0878283977508545
] | 1 | move to initial state | move_initial | 0.752862 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.8 | 28 | 0 | 28 | 0 | |||
[
-6.484893321990967,
-56.02537155151367,
40.818180084228516,
82.13814544677734,
-0.7081807255744934,
0.49375683069229126
] | [
-7.078503131866455,
-54.97046661376953,
37.27455520629883,
82.83124542236328,
-0.7081807255744934,
0.49375683069229126
] | [
0.17990544438362122,
0.005319350399076939,
0.14238063991069794,
3.0913455486297607,
0.6102651357650757,
3.0908963680267334
] | 1 | move to initial state | move_initial | 0.75563 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
0.12926703691482544,
3.090510129928589,
0.6388905644416809,
3.0696818828582764
] | 0.494001 | [
0,
0,
0
] | 2.9 | 29 | 0 | 29 | 0 | |||
[
-6.484893321990967,
-55.348838806152344,
39.90909194946289,
82.49010467529297,
-0.7081807255744934,
0.4940014183521271
] | [
-6.484891891479492,
-55.0102424621582,
39.70020294189453,
82.49007415771484,
-0.7081807255744934,
0.4940014183521271
] | [
0.18030765652656555,
0.005334164015948772,
0.14351794123649597,
3.091671943664551,
0.607208788394928,
3.09108304977417
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.000539 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 3 | 30 | 0 | 30 | 0 | |
[
-6.484893321990967,
-55.348838806152344,
39.90909194946289,
82.49010467529297,
-0.7081807255744934,
0.4940014183521271
] | [
-6.476570129394531,
-54.83623504638672,
39.58292007446289,
82.34355163574219,
-0.7081807255744934,
0.4940014183521271
] | [
0.18030765652656555,
0.005334164015948772,
0.14351794123649597,
3.091671943664551,
0.607208788394928,
3.09108304977417
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.000539 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 3.1 | 31 | 0 | 31 | 0 | |
[
-6.484893321990967,
-55.17970275878906,
40.272727966308594,
82.49010467529297,
-0.7081807255744934,
0.4940014183521271
] | [
-6.454898834228516,
-54.38309097290039,
39.277488708496094,
81.96198272705078,
-0.7081807255744934,
0.4940014183521271
] | [
0.180048406124115,
0.005324617959558964,
0.14198945462703705,
3.0926432609558105,
0.5980397462844849,
3.0916335582733154
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.000009 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 3.2 | 32 | 0 | 32 | 0 | |
[
-6.484893321990967,
-55.09513854980469,
40.272727966308594,
82.49010467529297,
-0.7081807255744934,
0.4940014183521271
] | [
-6.420619487762451,
-53.77598190307617,
38.33502197265625,
81.35841369628906,
-0.7081807255744934,
0.4940014183521271
] | [
0.18008719384670258,
0.0053260475397109985,
0.1418192833662033,
3.092803955078125,
0.5965115427970886,
3.091723918914795
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.000679 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 3.3 | 33 | 0 | 33 | 0 | |
[
-6.484893321990967,
-54.33403778076172,
40.272727966308594,
82.49010467529297,
-0.7081807255744934,
0.4940014183521271
] | [
-6.373561859130859,
-52.79201126098633,
37.67180633544922,
80.52986145019531,
-0.7081807255744934,
0.4940014183521271
] | [
0.1804245561361313,
0.005338479299098253,
0.14028511941432953,
3.09423565864563,
0.5827570557594299,
3.092519998550415
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.006677 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 3.4 | 34 | 0 | 34 | 0 | |
[
-6.484893321990967,
-53.74207305908203,
40.272727966308594,
82.22613525390625,
-0.7081807255744934,
0.4940014183521271
] | [
-6.316068649291992,
-51.589820861816406,
36.86150360107422,
79.5175552368164,
-0.7081807255744934,
0.4940014183521271
] | [
0.1812518984079361,
0.005368959624320269,
0.1394280344247818,
3.0948636531829834,
0.576643705368042,
3.0928640365600586
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.013021 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 3.5 | 35 | 0 | 35 | 0 | |
[
-6.484893321990967,
-52.55813980102539,
39.727272033691406,
81.6102066040039,
-0.7081807255744934,
0.4940014183521271
] | [
-6.248502254486084,
-50.177005767822266,
35.90923309326172,
78.32789611816406,
-0.7081807255744934,
0.4940014183521271
] | [
0.18366216123104095,
0.005457750055938959,
0.13956139981746674,
3.095019817352295,
0.5751153826713562,
3.092949151992798
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.029073 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 3.6 | 36 | 0 | 36 | 0 | |
[
-6.484893321990967,
-51.37420654296875,
38.90909194946289,
80.55433654785156,
-0.7081807255744934,
0.4940014183521271
] | [
-6.171762466430664,
-48.57237243652344,
34.82767868041992,
76.97671508789062,
-0.7081807255744934,
0.4940014183521271
] | [
0.1873447448015213,
0.005593406967818737,
0.14111028611660004,
3.0939197540283203,
0.5858137011528015,
3.092345952987671
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.049317 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 3.7 | 37 | 0 | 37 | 0 | |
[
-6.484893321990967,
-49.85200881958008,
38,
79.32247924804688,
-0.7081807255744934,
0.4940014183521271
] | [
-6.08740758895874,
-46.808509826660156,
33.6387939453125,
75.49144744873047,
-0.7081807255744934,
0.4940014183521271
] | [
0.1916840374469757,
0.005753255914896727,
0.1424158364534378,
3.0929644107818604,
0.5949834585189819,
3.0918140411376953
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.073625 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 3.8 | 38 | 0 | 38 | 0 | |
[
-6.484893321990967,
-48.245243072509766,
36.818180084228516,
77.9146499633789,
-0.7081807255744934,
0.5564410090446472
] | [
-5.995772361755371,
-44.81224822998047,
32.3473014831543,
73.87799835205078,
-0.7081807255744934,
0.5564410090446472
] | [
0.19676929712295532,
0.005940584000200033,
0.14461348950862885,
3.0913455486297607,
0.6102651357650757,
3.0908963680267334
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.101297 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 3.9 | 39 | 0 | 39 | 0 | |
[
-6.484893321990967,
-46.3847770690918,
35.54545593261719,
76.41883087158203,
-0.7081807255744934,
2.201744794845581
] | [
-5.898220062255859,
-42.67896270751953,
30.9724178314209,
72.16036987304688,
-0.7081807255744934,
2.201744794845581
] | [
0.20230942964553833,
0.006144668906927109,
0.14657747745513916,
3.0898585319519043,
0.6240175366401672,
3.0900356769561768
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.141699 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 4 | 40 | 0 | 40 | 0 | |
[
-6.484893321990967,
-44.27061462402344,
34.181819915771484,
74.83502197265625,
-0.7081807255744934,
3.847306966781616
] | [
-5.795897006988525,
-40.44134521484375,
29.530292510986328,
70.35873413085938,
-0.7081807255744934,
3.847306966781616
] | [
0.20832423865795135,
0.006366241257637739,
0.14824753999710083,
3.0885119438171387,
0.63624107837677,
3.0892422199249268
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.185042 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 4.1 | 41 | 0 | 41 | 0 | |
[
-6.484893321990967,
-42.15644836425781,
32.818180084228516,
73.07523345947266,
-0.7081807255744934,
5.491631507873535
] | [
-5.689389228820801,
-38.11221694946289,
28.02918815612793,
68.48341369628906,
-0.7081807255744934,
5.491631507873535
] | [
0.21476128697395325,
0.006603367626667023,
0.15003587305545807,
3.086794137954712,
0.651519238948822,
3.0882108211517334
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.229496 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 4.2 | 42 | 0 | 42 | 0 | |
[
-6.484893321990967,
-39.704017639160156,
31.454545974731445,
71.22745513916016,
-0.7081807255744934,
7.13586950302124
] | [
-5.580082893371582,
-35.721893310546875,
26.488645553588867,
66.55883026123047,
-0.7081807255744934,
7.13586950302124
] | [
0.22163431346416473,
0.006856557447463274,
0.15088987350463867,
3.0855674743652344,
0.6622130870819092,
3.0874619483947754
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.277041 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 4.3 | 43 | 0 | 43 | 0 | |
[
-6.3375091552734375,
-37.2515869140625,
30,
69.29168701171875,
-0.7081807255744934,
8.782880783081055
] | [
-5.4686408042907715,
-33.28485870361328,
24.918109893798828,
64.59662628173828,
-0.7081807255744934,
8.782880783081055
] | [
0.22885893285274506,
0.006538972724229097,
0.15198972821235657,
3.0839602947235107,
0.6759611964225769,
3.0833969116210938
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.32568 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 4.4 | 44 | 0 | 44 | 0 | |
[
-6.116433143615723,
-34.799156188964844,
28.545454025268555,
67.35591888427734,
-0.7081807255744934,
10.42798137664795
] | [
-5.356321334838867,
-30.902408599853516,
23.335227966308594,
62.61898422241211,
-0.7081807255744934,
10.42798137664795
] | [
0.2361290454864502,
0.005875604692846537,
0.15288716554641724,
3.0823168754577637,
0.6897081136703491,
3.0777580738067627
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.374312 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 4.5 | 45 | 0 | 45 | 0 | |
[
-6.116433143615723,
-32.177589416503906,
26.909090042114258,
65.50814056396484,
-0.7081807255744934,
12.072504997253418
] | [
-5.244109153747559,
-28.525197982788086,
21.753860473632812,
60.64323425292969,
-0.7081807255744934,
12.072504997253418
] | [
0.24355165660381317,
0.00609204825013876,
0.15357175469398499,
3.080824851989746,
0.7019263505935669,
3.076801300048828
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.424407 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 4.6 | 46 | 0 | 46 | 0 | |
[
-5.895357608795166,
-29.72515869140625,
25.272727966308594,
63.48438262939453,
-0.7081807255744934,
13.717107772827148
] | [
-5.1329145431518555,
-26.169536590576172,
20.186824798583984,
58.68539047241211,
-0.7081807255744934,
13.717107772827148
] | [
0.2512666881084442,
0.00533869955688715,
0.15484924614429474,
3.0785276889801025,
0.7202516198158264,
3.070700168609619
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.47445 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 4.7 | 47 | 0 | 47 | 0 | |
[
-5.895357608795166,
-27.188159942626953,
23.81818199157715,
61.46062469482422,
-0.7081807255744934,
15.362638473510742
] | [
-5.023791790008545,
-23.857776641845703,
18.648996353149414,
56.7640380859375,
-0.7081807255744934,
15.362638473510742
] | [
0.25879958271980286,
0.005523668602108955,
0.15496353805065155,
3.0767557621002197,
0.7339938879013062,
3.0695221424102783
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.523963 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 4.8 | 48 | 0 | 48 | 0 | |
[
-5.747973442077637,
-24.820295333862305,
22.272727966308594,
59.52485656738281,
-0.7081807255744934,
17.008317947387695
] | [
-4.917555332183838,
-21.607158660888672,
17.151838302612305,
54.893497467041016,
-0.7081807255744934,
17.008317947387695
] | [
0.266164630651474,
0.005006697960197926,
0.1556488573551178,
3.0745294094085693,
0.7507877349853516,
3.0649490356445312
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.572189 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 4.9 | 49 | 0 | 49 | 0 | |
[
-5.674281597137451,
-22.452430725097656,
20.81818199157715,
57.589088439941406,
-0.7081807255744934,
18.652807235717773
] | [
-4.815603733062744,
-19.43341827392578,
15.715062141418457,
53.0984001159668,
-0.7081807255744934,
18.652807235717773
] | [
0.2733941674232483,
0.004802059847861528,
0.15579921007156372,
3.072444200515747,
0.7660526633262634,
3.061980724334717
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.619788 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 5 | 50 | 0 | 50 | 0 | |
[
-5.600589752197266,
-20.16913414001465,
19.272727966308594,
55.741310119628906,
-0.7081807255744934,
20.29840087890625
] | [
-4.721110820770264,
-17.39300537109375,
14.383406639099121,
51.43463897705078,
-0.7081807255744934,
20.29840087890625
] | [
0.28048765659332275,
0.004572749603539705,
0.15627871453762054,
3.0700783729553223,
0.7828415632247925,
3.0587923526763916
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.666617 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 5.1 | 51 | 0 | 51 | 0 | |
[
-5.379513740539551,
-18.054967880249023,
17.727272033691406,
53.98152160644531,
-0.7081807255744934,
21.943967819213867
] | [
-4.673154830932617,
-16.35747718811035,
13.707578659057617,
50.59026336669922,
-0.7081807255744934,
21.943967819213867
] | [
0.2872786819934845,
0.003554181195795536,
0.1571003645658493,
3.0674057006835938,
0.801153302192688,
3.052288055419922
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.711738 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 5.2 | 52 | 0 | 52 | 0 | |
[
-5.305821895599365,
-16.194503784179688,
16.636363983154297,
52.573692321777344,
-0.7081807255744934,
23.589744567871094
] | [
-4.623977184295654,
-15.295561790466309,
13.01452922821045,
49.72437286376953,
-0.7081807255744934,
23.589744567871094
] | [
0.29261747002601624,
0.0032385631930083036,
0.15640033781528473,
3.0660314559936523,
0.8103078007698059,
3.049762487411499
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.750438 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 5.3 | 53 | 0 | 53 | 0 | |
[
-5.305821895599365,
-15.264270782470703,
16,
51.517818450927734,
-0.7081807255744934,
25.23531150817871
] | [
-4.573570728302002,
-14.20711612701416,
12.2357816696167,
48.836849212646484,
-0.7081807255744934,
25.23531150817871
] | [
0.2960304021835327,
0.003280468052253127,
0.1569875180721283,
3.064157009124756,
0.8225123286247253,
3.048396587371826
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.778487 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 5.4 | 54 | 0 | 54 | 0 | |
[
-5.305821895599365,
-14.164904594421387,
15.363636016845703,
50.54993438720703,
-0.7081807255744934,
26.881120681762695
] | [
-4.521875858306885,
-13.090858459472656,
11.419065475463867,
47.9266471862793,
-0.7081807255744934,
26.881120681762695
] | [
0.2993915379047394,
0.003321739612147212,
0.15669122338294983,
3.062960386276245,
0.8301392793655396,
3.0475165843963623
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.806832 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 5.5 | 55 | 0 | 55 | 0 | |
[
-5.2321295738220215,
-12.980972290039062,
14.545454978942871,
49.670040130615234,
-0.7081807255744934,
28.525667190551758
] | [
-4.468807697296143,
-11.944940567016602,
10.580648422241211,
46.99225997924805,
-0.7081807255744934,
28.525667190551758
] | [
0.3028799593448639,
0.0029594763182103634,
0.1565602421760559,
3.0617434978485107,
0.8377654552459717,
3.045081377029419
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.835963 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 5.6 | 56 | 0 | 56 | 0 | |
[
-5.2321295738220215,
-11.797039985656738,
13.727272987365723,
48.79014587402344,
-0.7081807255744934,
30.170148849487305
] | [
-4.413949012756348,
-10.760353088378906,
9.713939666748047,
46.02634048461914,
-0.7081807255744934,
30.170148849487305
] | [
0.3063510060310364,
0.002996771829202771,
0.15638026595115662,
3.0605061054229736,
0.8453909158706665,
3.044158458709717
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.864576 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 5.7 | 57 | 0 | 57 | 0 | |
[
-5.011053562164307,
-10.697674751281738,
12.818181991577148,
47.822261810302734,
-0.7081807255744934,
31.814504623413086
] | [
-4.35686731338501,
-9.527769088745117,
8.812112808227539,
45.02128601074219,
-0.7081807255744934,
31.814504623413086
] | [
0.31002873182296753,
0.0017881726380437613,
0.15704907476902008,
3.058480978012085,
0.8575900197029114,
3.0380330085754395
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.893414 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 5.8 | 58 | 0 | 58 | 0 | |
[
-4.937361717224121,
-9.42917537689209,
11.909090995788574,
46.85437774658203,
-0.7081807255744934,
33.458797454833984
] | [
-4.297595500946045,
-8.247893333435059,
7.875685214996338,
43.97766876220703,
-0.7081807255744934,
33.458797454833984
] | [
0.3138032555580139,
0.0013895492302253842,
0.1569361686706543,
3.056924343109131,
0.866737961769104,
3.0353171825408936
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.921763 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 5.9 | 59 | 0 | 59 | 0 | |
[
-4.78997802734375,
-8.32981014251709,
11,
45.88649368286133,
-0.7081807255744934,
35
] | [
-4.238020420074463,
-6.9614667892456055,
6.934464454650879,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3174346685409546,
0.0005515415687114,
0.15753059089183807,
3.054795742034912,
0.8789333701133728,
3.03061842918396
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.945772 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 6 | 60 | 0 | 60 | 0 | |
[
-4.8636698722839355,
-6.976744174957275,
10.090909004211426,
44.83061981201172,
-0.7081807255744934,
35
] | [
-4.238020420074463,
-6.848199844360352,
6.934464454650879,
42.9287109375,
-0.7081807255744934,
35
] | [
0.321377158164978,
0.0009910312946885824,
0.1571013331413269,
3.0531578063964844,
0.8880783915519714,
3.03088641166687
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.967334 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 6.1 | 61 | 0 | 61 | 0 | |
[
-4.8636698722839355,
-6.384778022766113,
9.818181991577148,
44.47866439819336,
-0.7081807255744934,
35
] | [
-4.238020420074463,
-6.848199844360352,
6.934464454650879,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3227494955062866,
0.000995252630673349,
0.15617205202579498,
3.0531578063964844,
0.8880783319473267,
3.03088641166687
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.97295 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 6.2 | 62 | 0 | 62 | 0 | |
[
-4.8636698722839355,
-6.384778022766113,
9.818181991577148,
44.39067459106445,
-0.7081807255744934,
35
] | [
-4.238020420074463,
-6.848199844360352,
6.934464454650879,
42.9287109375,
-0.7081807255744934,
35
] | [
0.32289808988571167,
0.0009957090951502323,
0.1563396155834198,
3.0528812408447266,
0.8896024227142334,
3.0306715965270996
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.973762 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 6.3 | 63 | 0 | 63 | 0 | |
[
-4.8636698722839355,
-6.384778022766113,
9.818181991577148,
44.39067459106445,
-0.7081807255744934,
35
] | [
-4.238020420074463,
-6.848199844360352,
6.934464454650879,
42.9287109375,
-0.7081807255744934,
35
] | [
0.32289808988571167,
0.0009957090951502323,
0.1563396155834198,
3.0528812408447266,
0.8896024227142334,
3.0306715965270996
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.973762 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 6.4 | 64 | 0 | 64 | 0 | |
[
-4.8636698722839355,
-6.384778022766113,
9.818181991577148,
44.39067459106445,
-0.7081807255744934,
35
] | [
-4.238020420074463,
-6.848199844360352,
6.934464454650879,
42.9287109375,
-0.7081807255744934,
35
] | [
0.32289808988571167,
0.0009957090951502323,
0.1563396155834198,
3.0528812408447266,
0.8896024227142334,
3.0306715965270996
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.973762 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 6.5 | 65 | 0 | 65 | 0 | |
[
-4.8636698722839355,
-6.384778022766113,
9.818181991577148,
44.39067459106445,
-0.7081807255744934,
35
] | [
-4.238020420074463,
-6.848199844360352,
6.934464454650879,
42.9287109375,
-0.7081807255744934,
35
] | [
0.32289808988571167,
0.0009957090951502323,
0.1563396155834198,
3.0528812408447266,
0.8896024227142334,
3.0306715965270996
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.973762 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 6.6 | 66 | 0 | 66 | 0 | |
[
-4.8636698722839355,
-6.384778022766113,
9.818181991577148,
44.39067459106445,
-0.7081807255744934,
35
] | [
-4.238020420074463,
-6.848199844360352,
6.934464454650879,
42.9287109375,
-0.7081807255744934,
35
] | [
0.32289808988571167,
0.0009957090951502323,
0.1563396155834198,
3.0528812408447266,
0.8896024227142334,
3.0306715965270996
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.973762 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 6.7 | 67 | 0 | 67 | 0 | |
[
-4.8636698722839355,
-6.384778022766113,
9.818181991577148,
44.39067459106445,
-0.7081807255744934,
35
] | [
-4.238020420074463,
-6.848199844360352,
6.934464454650879,
42.9287109375,
-0.7081807255744934,
35
] | [
0.32289808988571167,
0.0009957090951502323,
0.1563396155834198,
3.0528812408447266,
0.8896024227142334,
3.0306715965270996
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.973762 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 6.8 | 68 | 0 | 68 | 0 | |
[
-4.8636698722839355,
-6.384778022766113,
9.818181991577148,
44.39067459106445,
-0.7081807255744934,
35
] | [
-4.238020420074463,
-6.848199844360352,
6.934464454650879,
42.9287109375,
-0.7081807255744934,
35
] | [
0.32289808988571167,
0.0009957090951502323,
0.1563396155834198,
3.0528812408447266,
0.8896024227142334,
3.0306715965270996
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.973762 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 6.9 | 69 | 0 | 69 | 0 | |
[
-4.8636698722839355,
-6.384778022766113,
9.818181991577148,
44.39067459106445,
-0.7081807255744934,
35
] | [
-4.238020420074463,
-6.848199844360352,
6.934464454650879,
42.9287109375,
-0.7081807255744934,
35
] | [
0.32289808988571167,
0.0009957090951502323,
0.1563396155834198,
3.0528812408447266,
0.8896024227142334,
3.0306715965270996
] | 1 | Approach drawer handle and open gripper | Is the gripper positioned above the drawer handle and open? | move_and_open | 0.973762 | [
-4.238020420074463,
-6.623002529144287,
8.540892601013184,
42.9287109375,
-0.7081807255744934,
35
] | [
0.3266235291957855,
-0.0027409917674958706,
0.16556866466999054,
3.042971611022949,
0.9406076073646545,
3.0097904205322266
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 7 | 70 | 0 | 70 | 0 | |
[
-4.8636698722839355,
-6.384778022766113,
9.818181991577148,
44.39067459106445,
-0.7081807255744934,
35
] | [
-4.8636698722839355,
-6.610974311828613,
8.89482307434082,
44.39067459106445,
-0.7081807255744934,
35
] | [
0.32289808988571167,
0.0009957090951502323,
0.1563396155834198,
3.0528812408447266,
0.8896024227142334,
3.0306715965270996
] | 1 | pull drawer handle: descend to grasp | move | 0.000223 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 7.1 | 71 | 0 | 71 | 0 | ||
[
-4.8636698722839355,
-6.384778022766113,
9.818181991577148,
44.39067459106445,
-0.7081807255744934,
35
] | [
-4.863499641418457,
-6.596732139587402,
8.885025024414062,
44.374576568603516,
-0.7081807255744934,
35
] | [
0.32289808988571167,
0.0009957090951502323,
0.1563396155834198,
3.0528812408447266,
0.8896024227142334,
3.0306715965270996
] | 1 | pull drawer handle: descend to grasp | move | 0.000223 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 7.2 | 72 | 0 | 72 | 0 | ||
[
-4.8636698722839355,
-6.384778022766113,
9.818181991577148,
44.39067459106445,
-0.7081807255744934,
35
] | [
-4.863005638122559,
-6.555307865142822,
8.856527328491211,
44.32775115966797,
-0.7081807255744934,
35
] | [
0.32289808988571167,
0.0009957090951502323,
0.1563396155834198,
3.0528812408447266,
0.8896024227142334,
3.0306715965270996
] | 1 | pull drawer handle: descend to grasp | move | 0.000223 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 7.3 | 73 | 0 | 73 | 0 | ||
[
-4.8636698722839355,
-6.384778022766113,
9.818181991577148,
44.39067459106445,
-0.7081807255744934,
35
] | [
-4.8622002601623535,
-6.487868309020996,
8.810133934020996,
44.251522064208984,
-0.7081807255744934,
35
] | [
0.32289808988571167,
0.0009957090951502323,
0.1563396155834198,
3.0528812408447266,
0.8896024227142334,
3.0306715965270996
] | 1 | pull drawer handle: descend to grasp | move | 0.000223 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 7.4 | 74 | 0 | 74 | 0 | ||
[
-4.8636698722839355,
-6.384778022766113,
9.818181991577148,
44.39067459106445,
-0.7081807255744934,
35
] | [
-4.861098289489746,
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35
] | [
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3.0528812408447266,
0.8896024227142334,
3.0306715965270996
] | 1 | pull drawer handle: descend to grasp | move | 0.000223 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
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35
] | [
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3.0225493907928467,
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] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 7.5 | 75 | 0 | 75 | 0 | ||
[
-4.8636698722839355,
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35
] | [
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35
] | [
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3.0537078380584717,
0.8850301504135132,
3.0313124656677246
] | 1 | pull drawer handle: descend to grasp | move | 0.008309 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
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] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 7.6 | 76 | 0 | 76 | 0 | ||
[
-4.8636698722839355,
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44.39067459106445,
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35
] | [
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35
] | [
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3.053981304168701,
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3.031524181365967
] | 1 | pull drawer handle: descend to grasp | move | 0.010979 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
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] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 7.7 | 77 | 0 | 77 | 0 | ||
[
-4.8636698722839355,
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44.39067459106445,
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35
] | [
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35
] | [
0.32313716411590576,
0.0009964482160285115,
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3.053981304168701,
0.8835060000419617,
3.031524181365967
] | 1 | pull drawer handle: descend to grasp | move | 0.010979 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
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] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 7.8 | 78 | 0 | 78 | 0 | ||
[
-4.8636698722839355,
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44.39067459106445,
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35
] | [
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35
] | [
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0.15244391560554504,
3.055601119995117,
0.8743603229522705,
3.032771587371826
] | 1 | pull drawer handle: descend to grasp | move | 0.02674 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
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] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 7.9 | 79 | 0 | 79 | 0 | ||
[
-4.8636698722839355,
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44.39067459106445,
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35
] | [
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35
] | [
0.3235865831375122,
0.0009978382149711251,
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3.056133270263672,
0.8713114857673645,
3.03317928314209
] | 1 | pull drawer handle: descend to grasp | move | 0.03189 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
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] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 8 | 80 | 0 | 80 | 0 | ||
[
-4.8636698722839355,
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44.39067459106445,
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35
] | [
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35
] | [
0.3235865831375122,
0.0009978382149711251,
0.15166373550891876,
3.056133270263672,
0.8713114857673645,
3.03317928314209
] | 1 | pull drawer handle: descend to grasp | move | 0.03189 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
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] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 8.1 | 81 | 0 | 81 | 0 | ||
[
-4.8636698722839355,
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44.39067459106445,
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35
] | [
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35
] | [
0.3238985538482666,
0.0009988034144043922,
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3.057706832885742,
0.8621641397476196,
3.0343785285949707
] | 1 | pull drawer handle: descend to grasp | move | 0.04702 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
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] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 8.2 | 82 | 0 | 82 | 0 | ||
[
-4.8636698722839355,
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44.39067459106445,
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35
] | [
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35
] | [
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0.0009992611594498158,
0.14814893901348114,
3.058480978012085,
0.8575899600982666,
3.0349652767181396
] | 1 | pull drawer handle: descend to grasp | move | 0.054398 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 8.3 | 83 | 0 | 83 | 0 | ||
[
-4.8636698722839355,
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9.818181991577148,
44.03871536254883,
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35
] | [
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35
] | [
0.3247087597846985,
0.0010012966813519597,
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3.057706832885742,
0.8621641397476196,
3.0343785285949707
] | 1 | pull drawer handle: descend to grasp | move | 0.070221 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 8.4 | 84 | 0 | 84 | 0 | ||
[
-4.8636698722839355,
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43.6867561340332,
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35
] | [
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41.7879638671875,
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35
] | [
0.3255133628845215,
0.0010037727188318968,
0.14749430119991302,
3.057706832885742,
0.8621641397476196,
3.0343785285949707
] | 1 | pull drawer handle: descend to grasp | move | 0.093304 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 8.5 | 85 | 0 | 85 | 0 | ||
[
-4.8636698722839355,
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9.818181991577148,
43.510780334472656,
-0.7081807255744934,
35
] | [
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6.6671857833862305,
41.45564651489258,
-0.7081807255744934,
35
] | [
0.3260057270526886,
0.0010052897268906236,
0.14624685049057007,
3.0582237243652344,
0.8591147065162659,
3.0347704887390137
] | 1 | pull drawer handle: descend to grasp | move | 0.109616 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 8.6 | 86 | 0 | 86 | 0 | ||
[
-4.8636698722839355,
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9.818181991577148,
42.98284149169922,
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35
] | [
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6.457751274108887,
41.11152648925781,
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35
] | [
0.32701534032821655,
0.0010083930101245642,
0.14643868803977966,
3.0571861267089844,
0.8652133941650391,
3.033982515335083
] | 1 | pull drawer handle: descend to grasp | move | 0.134272 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 8.7 | 87 | 0 | 87 | 0 | ||
[
-4.8636698722839355,
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42.63088607788086,
-0.7081807255744934,
35
] | [
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40.75614547729492,
-0.7081807255744934,
35
] | [
0.32837390899658203,
0.0010125692933797836,
0.14659468829631805,
3.0563979148864746,
0.8697869777679443,
3.033381462097168
] | 1 | pull drawer handle: descend to grasp | move | 0.167603 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 8.8 | 88 | 0 | 88 | 0 | ||
[
-4.8636698722839355,
-3.0021140575408936,
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42.36691665649414,
-0.7081807255744934,
35
] | [
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6.019097805023193,
40.39078140258789,
-0.7081807255744934,
35
] | [
0.3292262852191925,
0.0010151895694434643,
0.1466366946697235,
3.0558676719665527,
0.8728359341621399,
3.032975912094116
] | 1 | pull drawer handle: descend to grasp | move | 0.188755 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 8.9 | 89 | 0 | 89 | 0 | ||
[
-4.8636698722839355,
-2.4947144985198975,
9.272727012634277,
41.92696762084961,
-0.7081807255744934,
35
] | [
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-2.7411811351776123,
5.7913079261779785,
40.016502380371094,
-0.7081807255744934,
35
] | [
0.33025261759757996,
0.0010183489648625255,
0.14506423473358154,
3.056133270263672,
0.8713115453720093,
3.03317928314209
] | 1 | pull drawer handle: descend to grasp | move | 0.21952 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 9 | 90 | 0 | 90 | 0 | ||
[
-4.8636698722839355,
-2.4101479053497314,
8.909090995788574,
41.57501220703125,
-0.7081807255744934,
35
] | [
-4.81344747543335,
-2.403435230255127,
5.558960437774658,
39.634735107421875,
-0.7081807255744934,
35
] | [
0.33142217993736267,
0.001021939911879599,
0.14681324362754822,
3.0542538166046143,
0.8819818496704102,
3.0317344665527344
] | 1 | pull drawer handle: descend to grasp | move | 0.243391 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 9.1 | 91 | 0 | 91 | 0 | ||
[
-4.8636698722839355,
-1.8181818723678589,
8.363636016845703,
41.223052978515625,
-0.7081807255744934,
35
] | [
-4.809353351593018,
-2.0604403018951416,
5.323001861572266,
39.24703598022461,
-0.7081807255744934,
35
] | [
0.33311793208122253,
0.0010271529899910092,
0.14689409732818604,
3.053433418273926,
0.8865543007850647,
3.031100034713745
] | 1 | pull drawer handle: descend to grasp | move | 0.285305 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 9.2 | 92 | 0 | 92 | 0 | ||
[
-4.8636698722839355,
-1.7336152791976929,
8.363636016845703,
40.78310775756836,
-0.7081807255744934,
35
] | [
-4.8052077293396,
-1.7131112813949585,
5.084062099456787,
38.85443878173828,
-0.7081807255744934,
35
] | [
0.3339071571826935,
0.001029578153975308,
0.14732713997364044,
3.0523250102996826,
0.8926503658294678,
3.0302388668060303
] | 1 | pull drawer handle: descend to grasp | move | 0.304452 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 9.3 | 93 | 0 | 93 | 0 | ||
[
-4.8636698722839355,
-1.3107821941375732,
8.090909004211426,
40.69511795043945,
-0.7081807255744934,
35
] | [
-4.801023483276367,
-1.3625634908676147,
4.842907905578613,
38.45820236206055,
-0.7081807255744934,
35
] | [
0.3346732556819916,
0.0010319354478269815,
0.14658473432064056,
3.0526037216186523,
0.8911263942718506,
3.0304558277130127
] | 1 | pull drawer handle: descend to grasp | move | 0.325496 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 9.4 | 94 | 0 | 94 | 0 | ||
[
-4.8636698722839355,
-0.8033826351165771,
7.7272725105285645,
40.25516891479492,
-0.7081807255744934,
35
] | [
-4.796812057495117,
-1.0097477436065674,
4.600193023681641,
38.05939865112305,
-0.7081807255744934,
35
] | [
0.33620303869247437,
0.0010366386268287897,
0.1464737504720688,
3.051764488220215,
0.8956982493400574,
3.029801845550537
] | 1 | pull drawer handle: descend to grasp | move | 0.364177 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 9.5 | 95 | 0 | 95 | 0 | ||
[
-4.8636698722839355,
-0.7188160419464111,
7.636363506317139,
39.639244079589844,
-0.7081807255744934,
35
] | [
-4.7925896644592285,
-0.6560264229774475,
4.356855869293213,
37.659576416015625,
-0.7081807255744934,
35
] | [
0.3374033570289612,
0.0010403257329016924,
0.14762461185455322,
3.0497686862945557,
0.906364381313324,
3.0282371044158936
] | 1 | pull drawer handle: descend to grasp | move | 0.392294 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 9.6 | 96 | 0 | 96 | 0 | ||
[
-4.8636698722839355,
-0.21141649782657623,
7.181818008422852,
39.46326446533203,
-0.7081807255744934,
35
] | [
-4.788372993469238,
-0.30273041129112244,
4.113811016082764,
37.260231018066406,
-0.7081807255744934,
35
] | [
0.3386133015155792,
0.0010440461337566376,
0.14737406373023987,
3.0494790077209473,
0.9078879356384277,
3.0280091762542725
] | 1 | pull drawer handle: descend to grasp | move | 0.422736 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 9.7 | 97 | 0 | 97 | 0 | ||
[
-4.8636698722839355,
0.12684988975524902,
7.090909004211426,
39.0233154296875,
-0.7081807255744934,
35
] | [
-4.7841715812683105,
0.049230627715587616,
3.8716843128204346,
36.862396240234375,
-0.7081807255744934,
35
] | [
0.33965355157852173,
0.0010472453432157636,
0.146947979927063,
3.048896551132202,
0.9109349846839905,
3.0275492668151855
] | 1 | pull drawer handle: descend to grasp | move | 0.450942 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 9.8 | 98 | 0 | 98 | 0 | ||
[
-4.8636698722839355,
0.38054966926574707,
7.090909004211426,
38.40739059448242,
-0.7081807255744934,
35
] | [
-4.779996871948242,
0.39899101853370667,
3.6310718059539795,
36.4670524597168,
-0.7081807255744934,
35
] | [
0.3408033847808838,
0.0010507802944630384,
0.14689984917640686,
3.047717571258545,
0.917028546333313,
3.026615619659424
] | 1 | pull drawer handle: descend to grasp | move | 0.481544 | [
-4.723043918609619,
5.4462690353393555,
2.6562728881835938,
31.07374382019043,
-0.7081807255744934,
35
] | [
0.36093512177467346,
0.0001697681873338297,
0.15477816760540009,
3.0225493907928467,
1.026916265487671,
3.0028674602508545
] | 35 | open the top drawer 7cm | [
0,
0,
0
] | 9.9 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
A robot manipulation dataset for imitation learning, compatible with LeRobot v3.0 format.
- Robot Type: so101_follower
- Total Episodes: 100
- Total Frames: 28003
- FPS: 10
- Codebase Version: v3.0
Features
| Feature | Shape | Type |
|---|---|---|
| observation.state | [6] | float32 |
| action | [6] | float32 |
| observation.images.top | [480, 640, 3] | video |
| observation.images.left_wrist | [480, 640, 3] | video |
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 100,
"total_frames": 28003,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.ee_pos.robot_xyzrpy": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.gripper_binary": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"skill.natural_language": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"skill.verification_question": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"skill.type": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"skill.progress": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"skill.goal_position.joint": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"skill.goal_position.robot_xyzrpy": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"skill.goal_position.gripper": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper.pos"
]
},
"subtask.natural_language": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"subtask.object_name": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"subtask.target_position": {
"dtype": "float32",
"shape": [
3
],
"names": [
"x",
"y",
"z"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Usage
from lerobot.datasets.lerobot_dataset import LeRobotDataset
# Load the dataset
dataset = LeRobotDataset("CoRL2026-CSI/SO101-OpenDrawer_Ours_100epi")
# Access a sample
sample = dataset[0]
print(sample.keys())
Citation
@misc{SO101-OpenDrawer_Ours_100epi,
title = {SO101-OpenDrawer_Ours_100epi},
year = {2025},
publisher = {Hugging Face},
howpublished = {\url{https://huggingface.co/datasets/CoRL2026-CSI/SO101-OpenDrawer_Ours_100epi}}
}
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