CoRL2026-CSI/SmolVLA-CaP-OpenDrawer-50epochs
Robotics • 0.5B • Updated • 16
Datasets:
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 99 | index int64 0 29.1k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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67.09194946289062,
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] | [
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0.6406567096710205,
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] | move to initial state | move_initial | 0 | [
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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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] | move to initial state | move_initial | 0 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | 0.494001 | [
0,
0,
0
] | 0.1 | 1 | 0 | 1 | 0 | |||
[
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] | [
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] | [
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3.085716485977173,
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] | 1 | [
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1.191941261291504,
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] | 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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] | 0.2 | 2 | 0 | 2 | 0 | |||
[
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] | [
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1.1919885873794556,
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] | move to initial state | move_initial | 0 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
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3.090510129928589,
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] | 0.494001 | [
0,
0,
0
] | 0.3 | 3 | 0 | 3 | 0 | |||
[
-5.2321295738220215,
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98.09091186523438,
67.09194946289062,
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] | [
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95.7652587890625,
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] | [
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0.001484700245782733,
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3.086426258087158,
0.6345473527908325,
3.0594611167907715
] | 1 | [
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1.5201749801635742,
1.1919031143188477,
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] | [
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1.4809324741363525,
1.192054033279419,
-0.02581169828772545,
-0.009041661396622658
] | move to initial state | move_initial | 0.003138 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
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] | 0.494001 | [
0,
0,
0
] | 0.4 | 4 | 0 | 4 | 0 | |||
[
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67.09194946289062,
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] | [
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] | [
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] | 1 | [
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1.1921370029449463,
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] | move to initial state | move_initial | 0.01291 | [
-5.369807720184326,
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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
] | 0.5 | 5 | 0 | 5 | 0 | |||
[
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97.63636016845703,
67.09194946289062,
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] | [
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92.95590209960938,
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] | [
0.16164816915988922,
0.0014632362872362137,
0.03738013654947281,
3.0893735885620117,
0.6085801124572754,
3.0611774921417236
] | 1 | [
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1.512505054473877,
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] | [
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1.433527946472168,
1.1922365427017212,
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] | move to initial state | move_initial | 0.024821 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
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] | 0.494001 | [
0,
0,
0
] | 0.6 | 6 | 0 | 6 | 0 | |||
[
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] | [
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] | 1 | [
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1.4036433696746826,
1.1923514604568481,
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] | move to initial state | move_initial | 0.03774 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
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] | 0.494001 | [
0,
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0
] | 0.7 | 7 | 0 | 7 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | move to initial state | move_initial | 0.066722 | [
-5.369807720184326,
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44.43939971923828,
67.29175567626953,
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] | [
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] | 0.494001 | [
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] | 0.8 | 8 | 0 | 8 | 0 | |||
[
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] | [
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] | 1 | [
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] | move to initial state | move_initial | 0.10434 | [
-5.369807720184326,
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44.43939971923828,
67.29175567626953,
-0.6105006337165833,
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] | [
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] | 0.494001 | [
0,
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0
] | 0.9 | 9 | 0 | 9 | 0 | |||
[
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67.09194946289062,
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] | [
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] | [
0.162481889128685,
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] | 1 | [
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] | [
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1.2933269739151,
1.192775845527649,
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] | move to initial state | move_initial | 0.137149 | [
-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 | |||
[
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] | [
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] | 1 | [
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] | move to initial state | move_initial | 0.18215 | [
-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
] | 1.1 | 11 | 0 | 11 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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1.2067019939422607,
1.193109154701233,
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] | move to initial state | move_initial | 0.226388 | [
-5.369807720184326,
-46.70050811767578,
44.43939971923828,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.21081578731536865,
0.002442389726638794,
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] | 0.494001 | [
0,
0,
0
] | 1.2 | 12 | 0 | 12 | 0 | |||
[
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] | [
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0.061325859278440475,
3.0905561447143555,
0.5978865027427673,
3.0618484020233154
] | 1 | [
-0.01073786336928606,
-1.5140390396118164,
1.293145775794983,
1.1919031143188477,
-0.026077672839164734,
-0.0077184936963021755
] | [
-0.011875370517373085,
-1.4252439737319946,
1.160851240158081,
1.1932857036590576,
-0.023642268031835556,
-0.0077184936963021755
] | move to initial state | move_initial | 0.272564 | [
-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
] | 1.3 | 13 | 0 | 13 | 0 | |||
[
-5.2321295738220215,
-78.94291687011719,
81.7272720336914,
67.09194946289062,
-0.8058608174324036,
0.4046962261199951
] | [
-5.293908596038818,
-74.17203521728516,
74.01640319824219,
67.18161010742188,
-0.7181987762451172,
0.4046962261199951
] | [
0.16742780804634094,
0.0015252582961693406,
0.06672120839357376,
3.0905561447143555,
0.5978864431381226,
3.0618484020233154
] | 1 | [
-0.01073786336928606,
-1.4649516344070435,
1.24405837059021,
1.1919031143188477,
-0.026077672839164734,
-0.007524597458541393
] | [
-0.012023862451314926,
-1.378411054611206,
1.113946795463562,
1.1934661865234375,
-0.023324361070990562,
-0.007524597458541393
] | move to initial state | move_initial | 0.326789 | [
-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
] | 1.4 | 14 | 0 | 14 | 0 | |||
[
-5.2321295738220215,
-76.74418640136719,
79.2727279663086,
67.09194946289062,
-0.8058608174324036,
0.4131695330142975
] | [
-5.301109790802002,
-71.5655288696289,
71.21012878417969,
67.19205474853516,
-0.7079803347587585,
0.4131695330142975
] | [
0.169235959649086,
0.0015446740435436368,
0.07135295867919922,
3.090388298034668,
0.5994141101837158,
3.061753988265991
] | 1 | [
-0.01073786336928606,
-1.4250681400299072,
1.2026408910751343,
1.1919031143188477,
-0.026077672839164734,
-0.007328849285840988
] | [
-0.01217376347631216,
-1.331130862236023,
1.0665943622589111,
1.193648338317871,
-0.023003417998552322,
-0.007328849285840988
] | move to initial state | move_initial | 0.371784 | [
-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
] | 1.5 | 15 | 0 | 15 | 0 | |||
[
-5.2321295738220215,
-73.78435516357422,
76.2727279663086,
67.09194946289062,
-0.8058608174324036,
0.4216500520706177
] | [
-5.308317184448242,
-68.95679473876953,
68.40145874023438,
67.2025146484375,
-0.6977531909942627,
0.4216500520706177
] | [
0.17147937417030334,
0.0015687651466578245,
0.07641254365444183,
3.090723752975464,
0.5963587164878845,
3.0619428157806396
] | 1 | [
-0.01073786336928606,
-1.371378779411316,
1.1520196199417114,
1.1919031143188477,
-0.026077672839164734,
-0.007132934406399727
] | [
-0.012323793023824692,
-1.2838101387023926,
1.019201397895813,
1.1938306093215942,
-0.022682201117277145,
-0.007132934406399727
] | move to initial state | move_initial | 0.429194 | [
-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
] | 1.6 | 16 | 0 | 16 | 0 | |||
[
-5.2321295738220215,
-71.0782241821289,
73.63636016845703,
67.09194946289062,
-0.8058608174324036,
0.4300327003002167
] | [
-5.315441608428955,
-66.37818145751953,
65.62521362304688,
67.21286010742188,
-0.6876441240310669,
0.4300327003002167
] | [
0.17363028228282928,
0.001591864856891334,
0.08054270595312119,
3.091224193572998,
0.5917755961418152,
3.062222957611084
] | 1 | [
-0.01073786336928606,
-1.3222914934158325,
1.1075340509414673,
1.1919031143188477,
-0.026077672839164734,
-0.006939280312508345
] | [
-0.012472095899283886,
-1.237035870552063,
0.9723556637763977,
1.1940109729766846,
-0.022364692762494087,
-0.006939280312508345
] | move to initial state | move_initial | 0.48054 | [
-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
] | 1.7 | 17 | 0 | 17 | 0 | |||
[
-5.2321295738220215,
-68.71035766601562,
70.81818389892578,
67.09194946289062,
-0.8058608174324036,
0.4382234215736389
] | [
-5.3224029541015625,
-63.85860061645508,
62.91252517700195,
67.22296142578125,
-0.6777664422988892,
0.4382234215736389
] | [
0.17649459838867188,
0.0016226267907768488,
0.0858333632349968,
3.090723752975464,
0.5963586568832397,
3.0619428157806396
] | 1 | [
-0.01073786336928606,
-1.2793399095535278,
1.0599807500839233,
1.1919031143188477,
-0.026077672839164734,
-0.006750060245394707
] | [
-0.012617004103958607,
-1.1913323402404785,
0.9265823364257812,
1.194187045097351,
-0.022054452449083328,
-0.006750060245394707
] | move to initial state | move_initial | 0.530807 | [
-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 | |||
[
-5.2321295738220215,
-65.91966247558594,
67.90908813476562,
67.09194946289062,
-0.8058608174324036,
0.44613775610923767
] | [
-5.329129219055176,
-61.424034118652344,
60.2913703918457,
67.23271942138672,
-0.6682220697402954,
0.44613775610923767
] | [
0.17947781085968018,
0.0016546678962185979,
0.09048878401517868,
3.090890884399414,
0.5948310494422913,
3.0620365142822266
] | 1 | [
-0.01073786336928606,
-1.228718638420105,
1.0108933448791504,
1.1919031143188477,
-0.026077672839164734,
-0.0065672253258526325
] | [
-0.012757019139826298,
-1.1471710205078125,
0.8823535442352295,
1.1943572759628296,
-0.021754680201411247,
-0.0065672253258526325
] | move to initial state | move_initial | 0.585707 | [
-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 | |||
[
-5.2321295738220215,
-63.38266372680664,
65.36363983154297,
67.09194946289062,
-0.8058608174324036,
0.4536886215209961
] | [
-5.335546493530273,
-59.10129165649414,
57.79060363769531,
67.24203491210938,
-0.6591160893440247,
0.4536886215209961
] | [
0.1822526901960373,
0.0016844728961586952,
0.0942329540848732,
3.091224431991577,
0.5917754769325256,
3.062222957611084
] | 1 | [
-0.01073786336928606,
-1.182699203491211,
0.96794193983078,
1.1919031143188477,
-0.026077672839164734,
-0.0063927872106432915
] | [
-0.01289060153067112,
-1.105038046836853,
0.8401561379432678,
1.1945196390151978,
-0.02146867848932743,
-0.0063927872106432915
] | move to initial state | move_initial | 0.634519 | [
-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 | |||
[
-5.2321295738220215,
-61.014801025390625,
62.6363639831543,
67.09194946289062,
-0.8058608174324036,
0.4607965350151062
] | [
-5.341587543487549,
-56.914794921875,
55.43653106689453,
67.25080108642578,
-0.650544285774231,
0.4607965350151062
] | [
0.18555867671966553,
0.0017199822468683124,
0.09882326424121857,
3.090890884399414,
0.5948310494422913,
3.0620365142822266
] | 1 | [
-0.01073786336928606,
-1.1397477388381958,
0.9219224452972412,
1.1919031143188477,
-0.026077672839164734,
-0.006228582002222538
] | [
-0.013016353361308575,
-1.0653764009475708,
0.8004339933395386,
1.1946724653244019,
-0.021199451759457588,
-0.006228582002222538
] | move to initial state | move_initial | 0.68379 | [
-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 | |||
[
-5.2321295738220215,
-58.646934509277344,
60.09090805053711,
67.09194946289062,
-0.8058608174324036,
0.4673760235309601
] | [
-5.347179412841797,
-54.89085388183594,
53.257469177246094,
67.25891876220703,
-0.642609715461731,
0.4673760235309601
] | [
0.1887538880109787,
0.001754303346388042,
0.10264553129673004,
3.090890884399414,
0.5948310494422913,
3.0620365142822266
] | 1 | [
-0.01073786336928606,
-1.0967962741851807,
0.8789709806442261,
1.1919031143188477,
-0.026077672839164734,
-0.006076584104448557
] | [
-0.013132753781974316,
-1.0286635160446167,
0.763664960861206,
1.1948139667510986,
-0.02095024101436138,
-0.006076584104448557
] | move to initial state | move_initial | 0.731071 | [
-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 | |||
[
-5.2321295738220215,
-56.448204040527344,
57.818180084228516,
67.09194946289062,
-0.8058608174324036,
0.4733579754829407
] | [
-5.3522629737854,
-53.050716400146484,
51.27629852294922,
67.26629638671875,
-0.6353957056999207,
0.4733579754829407
] | [
0.19172663986682892,
0.0017862360691651702,
0.10575161874294281,
3.091057777404785,
0.5933033227920532,
3.0621299743652344
] | 1 | [
-0.01073786336928606,
-1.0569127798080444,
0.8406214714050293,
1.1919031143188477,
-0.026077672839164734,
-0.005938390735536814
] | [
-0.013238574378192425,
-0.9952846765518188,
0.7302350997924805,
1.194942593574524,
-0.02072366140782833,
-0.005938390735536814
] | move to initial state | move_initial | 0.773899 | [
-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 | |||
[
-5.2321295738220215,
-54.33403778076172,
55.6363639831543,
67.09194946289062,
-0.8058608174324036,
0.47933220863342285
] | [
-5.3573408126831055,
-51.21295928955078,
49.29769515991211,
67.27366638183594,
-0.6281910538673401,
0.47933220863342285
] | [
0.19470566511154175,
0.001818237011320889,
0.1086067408323288,
3.091224193572998,
0.5917754769325256,
3.062222957611084
] | 1 | [
-0.01073786336928606,
-1.0185632705688477,
0.803805947303772,
1.1919031143188477,
-0.026077672839164734,
-0.0058003757148981094
] | [
-0.013344274833798409,
-0.9619489908218384,
0.6968485713005066,
1.1950711011886597,
-0.02049737609922886,
-0.0058003757148981094
] | move to initial state | move_initial | 0.814884 | [
-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 | |||
[
-5.2321295738220215,
-52.55813980102539,
53.727272033691406,
67.09194946289062,
-0.8058608174324036,
0.4838499128818512
] | [
-5.361180305480957,
-49.82324981689453,
47.801475524902344,
67.27923583984375,
-0.6227428913116455,
0.4838499128818512
] | [
0.19741734862327576,
0.001847366220317781,
0.11117738485336304,
3.091224193572998,
0.5917755365371704,
3.062222957611084
] | 1 | [
-0.01073786336928606,
-0.9863496422767639,
0.7715923190116882,
1.1919031143188477,
-0.026077672839164734,
-0.005696008447557688
] | [
-0.013424198143184185,
-0.9367405772209167,
0.6716017127037048,
1.195168137550354,
-0.02032625861465931,
-0.005696008447557688
] | move to initial state | move_initial | 0.84998 | [
-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 | |||
[
-5.2321295738220215,
-50.78224182128906,
51.727272033691406,
67.09194946289062,
-0.8058608174324036,
0.4875682294368744
] | [
-5.364340305328369,
-48.679443359375,
46.57000732421875,
67.28382110595703,
-0.6182587742805481,
0.4875682294368744
] | [
0.2003495991230011,
0.001878864481113851,
0.11397641897201538,
3.091057777404785,
0.5933032631874084,
3.0621299743652344
] | 1 | [
-0.01073786336928606,
-0.954136073589325,
0.7378447651863098,
1.1919031143188477,
-0.026077672839164734,
-0.005610108841210604
] | [
-0.013489977456629276,
-0.9159927368164062,
0.6508221626281738,
1.1952481269836426,
-0.020185420289635658,
-0.005610108841210604
] | move to initial state | move_initial | 0.885846 | [
-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 | |||
[
-5.2321295738220215,
-49.429176330566406,
50.181819915771484,
67.09194946289062,
-0.8058608174324036,
0.4904678165912628
] | [
-5.366804599761963,
-47.78749084472656,
45.60969161987305,
67.28739929199219,
-0.614762008190155,
0.4904678165912628
] | [
0.202669158577919,
0.0019037816673517227,
0.11612360179424286,
3.090890884399414,
0.5948309898376465,
3.0620365142822266
] | 1 | [
-0.01073786336928606,
-0.9295923709869385,
0.7117671370506287,
1.1919031143188477,
-0.026077672839164734,
-0.005543123465031385
] | [
-0.013541274704039097,
-0.8998132944107056,
0.6346179842948914,
1.1953104734420776,
-0.020075593143701553,
-0.005543123465031385
] | move to initial state | move_initial | 0.913071 | [
-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 | |||
[
-5.2321295738220215,
-48.245243072509766,
49.3636360168457,
67.09194946289062,
-0.8058608174324036,
0.49251821637153625
] | [
-5.368546962738037,
-47.156761169433594,
44.93062210083008,
67.28992462158203,
-0.612289309501648,
0.49251821637153625
] | [
0.203915536403656,
0.001917173620313406,
0.11609615385532379,
3.091721773147583,
0.587192177772522,
3.062499523162842
] | 1 | [
-0.01073786336928606,
-0.9081166386604309,
0.6979612708091736,
1.1919031143188477,
-0.026077672839164734,
-0.005495755467563868
] | [
-0.013577543199062347,
-0.8883723020553589,
0.6231595277786255,
1.1953544616699219,
-0.01999793015420437,
-0.005495755467563868
] | move to initial state | move_initial | 0.929392 | [
-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 | |||
[
-5.2321295738220215,
-47.4841423034668,
48.272727966308594,
67.09194946289062,
-0.8058608174324036,
0.4936969578266144
] | [
-5.369548797607422,
-46.794158935546875,
44.54022979736328,
67.2913818359375,
-0.6108677983283997,
0.4936969578266144
] | [
0.20560353994369507,
0.001935305306687951,
0.11802471429109573,
3.091224431991577,
0.5917754769325256,
3.062222957611084
] | 1 | [
-0.01073786336928606,
-0.8943107724189758,
0.6795535087585449,
1.1919031143188477,
-0.026077672839164734,
-0.005468524526804686
] | [
-0.013598398305475712,
-0.8817949295043945,
0.6165721416473389,
1.1953799724578857,
-0.019953282549977303,
-0.005468524526804686
] | move to initial state | move_initial | 0.946398 | [
-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 | |||
[
-5.2321295738220215,
-46.97674560546875,
47.727272033691406,
67.09194946289062,
-0.8058608174324036,
0.4940014183521271
] | [
-5.2321295738220215,
-46.937740325927734,
47.48794174194336,
67.09190368652344,
-0.8058608174324036,
0.4940014183521271
] | [
0.2064560502767563,
0.0019444635836407542,
0.11866738647222519,
3.091224193572998,
0.5917755365371704,
3.062222957611084
] | 1 | [
-0.01073786336928606,
-0.8851069211959839,
0.6703495979309082,
1.1919031143188477,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.01073786336928606,
-0.8843994140625,
0.6663112044334412,
1.1919022798538208,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.000706 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 3 | 30 | 0 | 30 | 0 | |
[
-5.2321295738220215,
-46.97674560546875,
47.727272033691406,
67.09194946289062,
-0.8058608174324036,
0.4940014183521271
] | [
-5.231563091278076,
-46.80794906616211,
47.36972427368164,
66.88729095458984,
-0.8058608174324036,
0.4940014183521271
] | [
0.2064560502767563,
0.0019444635836407542,
0.11866738647222519,
3.091224193572998,
0.5917755365371704,
3.062222957611084
] | 1 | [
-0.01073786336928606,
-0.8851069211959839,
0.6703495979309082,
1.1919031143188477,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.01072607096284628,
-0.8820450901985168,
0.6643164157867432,
1.1883351802825928,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.000706 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 3.1 | 31 | 0 | 31 | 0 | |
[
-5.2321295738220215,
-46.97674560546875,
47.90909194946289,
67.09194946289062,
-0.8058608174324036,
0.4940014183521271
] | [
-5.2300519943237305,
-46.45323944091797,
47.05417251586914,
66.34112548828125,
-0.8058608174324036,
0.4940014183521271
] | [
0.2061762660741806,
0.0019414590205997229,
0.11803387105464935,
3.0915563106536865,
0.5887199640274048,
3.0624077320098877
] | 1 | [
-0.01073786336928606,
-0.8851069211959839,
0.6734175682067871,
1.1919031143188477,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.010694615542888641,
-0.875610888004303,
0.6589918732643127,
1.1788134574890137,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 3.2 | 32 | 0 | 32 | 0 | |
[
-5.2321295738220215,
-46.63847732543945,
47.90909194946289,
67.00395965576172,
-0.8058608174324036,
0.4940014183521271
] | [
-5.227627277374268,
-45.87196731567383,
46.15950012207031,
65.46489715576172,
-0.8058608174324036,
0.4940014183521271
] | [
0.20637474954128265,
0.0019435936119407415,
0.11730837821960449,
3.0920517444610596,
0.5841365456581116,
3.0626819133758545
] | 1 | [
-0.01073786336928606,
-0.8789709806442261,
0.6734175682067871,
1.1903691291809082,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.010644142515957355,
-0.8650670051574707,
0.6438953280448914,
1.1635375022888184,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.002443 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 3.3 | 33 | 0 | 33 | 0 | |
[
-5.2321295738220215,
-46.13107681274414,
47.90909194946289,
66.56401062011719,
-0.8058608174324036,
0.4940014183521271
] | [
-5.224303245544434,
-45.1734504699707,
45.465511322021484,
64.26372528076172,
-0.8058608174324036,
0.4940014183521271
] | [
0.20733946561813354,
0.0019539608620107174,
0.11661595851182938,
3.0922162532806396,
0.5826087594032288,
3.062772512435913
] | 1 | [
-0.01073786336928606,
-0.8697670698165894,
0.6734175682067871,
1.182699203491211,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.010574948973953724,
-0.8523963689804077,
0.6321851015090942,
1.14259672164917,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.009004 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 3.4 | 34 | 0 | 34 | 0 | |
[
-5.2321295738220215,
-45.53911209106445,
47.818180084228516,
65.50814056396484,
-0.8058608174324036,
0.4940014183521271
] | [
-5.220235824584961,
-44.19834899902344,
44.61626052856445,
62.79383087158203,
-0.8058608174324036,
0.4940014183521271
] | [
0.2097872793674469,
0.001980261178687215,
0.11682422459125519,
3.091224193572998,
0.5917755365371704,
3.062222957611084
] | 1 | [
-0.01073786336928606,
-0.859029233455658,
0.6718835830688477,
1.164291501045227,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.010490281507372856,
-0.8347086906433105,
0.6178550124168396,
1.1169710159301758,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.02169 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 3.5 | 35 | 0 | 35 | 0 | |
[
-5.2321295738220215,
-44.69344711303711,
47.54545593261719,
64.27628326416016,
-0.8058608174324036,
0.4940014183521271
] | [
-5.215439796447754,
-43.04862594604492,
43.61492919921875,
61.06070327758789,
-0.8058608174324036,
0.4940014183521271
] | [
0.2128995805978775,
0.0020137005485594273,
0.1172480583190918,
3.0900514125823975,
0.6024695634841919,
3.061563491821289
] | 1 | [
-0.01073786336928606,
-0.8436894416809082,
0.6672816872596741,
1.1428155899047852,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.0103904465213418,
-0.8138535022735596,
0.6009587645530701,
1.0867562294006348,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.038118 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 3.6 | 36 | 0 | 36 | 0 | |
[
-5.2321295738220215,
-43.763214111328125,
47.3636360168457,
62.86845397949219,
-0.8058608174324036,
0.4940014183521271
] | [
-5.20999813079834,
-41.74409484863281,
42.47876739501953,
59.094215393066406,
-0.8058608174324036,
0.4940014183521271
] | [
0.2162349820137024,
0.002049537841230631,
0.11735270917415619,
3.0888614654541016,
0.6131628751754761,
3.0608837604522705
] | 1 | [
-0.01073786336928606,
-0.826815664768219,
0.6642136573791504,
1.1182719469070435,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.010277172550559044,
-0.7901902198791504,
0.5817874073982239,
1.0524730682373047,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.055935 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 3.7 | 37 | 0 | 37 | 0 | |
[
-5.2321295738220215,
-42.41014862060547,
46.181819915771484,
61.108665466308594,
-0.8058608174324036,
0.4940014183521271
] | [
-5.204009056091309,
-40.308326721191406,
41.228309631347656,
56.92989730834961,
-0.8058608174324036,
0.4940014183521271
] | [
0.2219349592924118,
0.0021107736974954605,
0.12037310004234314,
3.0858943462371826,
0.6391294598579407,
3.0591447353363037
] | 1 | [
-0.01073786336928606,
-0.8022719621658325,
0.644271969795227,
1.087592363357544,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.010152502916753292,
-0.7641463279724121,
0.5606874823570251,
1.0147409439086914,
-0.026077672839164734,
-0.0054614911787211895
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.084032 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 3.8 | 38 | 0 | 38 | 0 | |
[
-5.2321295738220215,
-41.05708312988281,
45,
59.17290115356445,
-0.8058608174324036,
0.5103603005409241
] | [
-5.1974992752075195,
-38.7476921081543,
39.86909484863281,
54.57734680175781,
-0.8058608174324036,
0.5103603005409241
] | [
0.22797754406929016,
0.0021756901405751705,
0.12367698550224304,
3.082439661026001,
0.6681457757949829,
3.0570437908172607
] | 1 | [
-0.01073786336928606,
-0.777728259563446,
0.6243301630020142,
1.0538448095321655,
-0.026077672839164734,
-0.005083572119474411
] | [
-0.010016994550824165,
-0.735837459564209,
0.5377523899078369,
0.9737273454666138,
-0.026077672839164734,
-0.005083572119474411
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.113509 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 3.9 | 39 | 0 | 39 | 0 | |
[
-5.2321295738220215,
-39.619449615478516,
43.727272033691406,
56.97316360473633,
-0.8058608174324036,
1.917466640472412
] | [
-5.190568923950195,
-37.08629608154297,
38.4034538269043,
52.07291030883789,
-0.8058608174324036,
1.917466640472412
] | [
0.23466871678829193,
0.002247573807835579,
0.12751688063144684,
3.0782361030578613,
0.7017360329627991,
3.0543839931488037
] | 1 | [
-0.01073786336928606,
-0.7516505718231201,
0.6028544306755066,
1.0154953002929688,
-0.026077672839164734,
0.02742304839193821
] | [
-0.009872731752693653,
-0.7057008743286133,
0.5130214691162109,
0.9300658106803894,
-0.026077672839164734,
0.02742304839193821
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.152815 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4 | 40 | 0 | 40 | 0 | |
[
-5.2321295738220215,
-37.92811965942383,
42.3636360168457,
54.50946044921875,
-0.8058608174324036,
3.3249616622924805
] | [
-5.183294296264648,
-35.34236526489258,
36.86389923095703,
49.44405746459961,
-0.8058608174324036,
3.3249616622924805
] | [
0.24201451241970062,
0.0023264912888407707,
0.1314007192850113,
3.073578119277954,
0.7368432283401489,
3.051314353942871
] | 1 | [
-0.01073786336928606,
-0.7209709882736206,
0.5798447132110596,
0.9725438356399536,
-0.026077672839164734,
0.05993864685297012
] | [
-0.009721302427351475,
-0.6740671396255493,
0.4870433211326599,
0.884235143661499,
-0.026077672839164734,
0.05993864685297012
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.196125 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4.1 | 41 | 0 | 41 | 0 | |
[
-5.2321295738220215,
-36.321353912353516,
40.90909194946289,
52.13374328613281,
-0.8058608174324036,
4.732048034667969
] | [
-5.175714492797852,
-33.52521896362305,
35.25970458984375,
46.704833984375,
-0.8058608174324036,
4.732048034667969
] | [
0.24922174215316772,
0.002403918420895934,
0.135806143283844,
3.068389892578125,
0.7734645009040833,
3.047757863998413
] | 1 | [
-0.01073786336928606,
-0.6918253302574158,
0.5553010702133179,
0.9311263561248779,
-0.026077672839164734,
0.09244480729103088
] | [
-0.00956351961940527,
-0.6411053538322449,
0.4599744975566864,
0.8364803791046143,
-0.026077672839164734,
0.09244480729103088
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.238719 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4.2 | 42 | 0 | 42 | 0 | |
[
-5.2321295738220215,
-34.376319885253906,
39.45454406738281,
49.49406051635742,
-0.8058608174324036,
6.139184474945068
] | [
-5.167934894561768,
-31.70806312561035,
33.61331558227539,
43.8935661315918,
-0.8058608174324036,
6.139184474945068
] | [
0.2569645643234253,
0.002487101824954152,
0.13958534598350525,
3.0630576610565186,
0.8085463643074036,
3.0439655780792236
] | 1 | [
-0.01073786336928606,
-0.6565437316894531,
0.5307573080062866,
0.8851069211959839,
-0.026077672839164734,
0.12495212256908417
] | [
-0.009401578456163406,
-0.6081433892250061,
0.43219366669654846,
0.7874696254730225,
-0.026077672839164734,
0.12495212256908417
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.285279 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4.3 | 43 | 0 | 43 | 0 | |
[
-5.2321295738220215,
-32.60042190551758,
37.90909194946289,
46.766387939453125,
-0.8058608174324036,
7.5452961921691895
] | [
-5.1600189208984375,
-29.869651794433594,
31.938016891479492,
41.03292465209961,
-0.8058608174324036,
7.5452961921691895
] | [
0.2648192048072815,
0.0025714838411659002,
0.14448754489421844,
3.056274175643921,
0.849709689617157,
3.0389626026153564
] | 1 | [
-0.01073786336928606,
-0.6243301630020142,
0.5046796798706055,
0.8375535011291504,
-0.026077672839164734,
0.15743575990200043
] | [
-0.009236798621714115,
-0.5747958421707153,
0.4039250314235687,
0.7375980615615845,
-0.026077672839164734,
0.15743575990200043
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.33213 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4.4 | 44 | 0 | 44 | 0 | |
[
-5.2321295738220215,
-30.655391693115234,
36.272727966308594,
43.95072555541992,
-0.8058608174324036,
8.95261001586914
] | [
-5.152024269104004,
-28.012958526611328,
30.246057510375977,
38.143836975097656,
-0.8058608174324036,
8.95261001586914
] | [
0.27289870381355286,
0.0026582819409668446,
0.1493668258190155,
3.0488240718841553,
0.8908480405807495,
3.0332655906677246
] | 1 | [
-0.01073786336928606,
-0.5890486240386963,
0.4770680367946625,
0.7884660959243774,
-0.026077672839164734,
0.18994717299938202
] | [
-0.00907038152217865,
-0.5411167144775391,
0.37537527084350586,
0.6872305870056152,
-0.026077672839164734,
0.18994717299938202
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.38105 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4.5 | 45 | 0 | 45 | 0 | |
[
-5.2321295738220215,
-28.964059829711914,
34.45454406738281,
41.13506317138672,
-0.8058608174324036,
10.359676361083984
] | [
-5.144033432006836,
-26.15709114074707,
28.55484962463379,
35.25603485107422,
-0.8058608174324036,
10.359676361083984
] | [
0.2808745503425598,
0.0027439615223556757,
0.15600734949111938,
3.0389468669891357,
0.9395651817321777,
3.0254335403442383
] | 1 | [
-0.01073786336928606,
-0.5583690404891968,
0.4463883936405182,
0.7393787503242493,
-0.026077672839164734,
0.22245287895202637
] | [
-0.008904043585062027,
-0.5074524879455566,
0.34683817625045776,
0.6368855834007263,
-0.026077672839164734,
0.22245287895202637
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.429589 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4.6 | 46 | 0 | 46 | 0 | |
[
-5.2321295738220215,
-26.93446159362793,
32.90909194946289,
38.319400787353516,
-0.8058608174324036,
11.766718864440918
] | [
-5.136114597320557,
-24.31808853149414,
26.879011154174805,
32.394474029541016,
-0.8058608174324036,
11.766718864440918
] | [
0.28857868909835815,
0.002826728392392397,
0.16026000678539276,
3.030266523361206,
0.9775891304016113,
3.0183284282684326
] | 1 | [
-0.01073786336928606,
-0.5215534567832947,
0.42031076550483704,
0.6902913451194763,
-0.026077672839164734,
0.25495800375938416
] | [
-0.00873920414596796,
-0.4740942418575287,
0.3185604512691498,
0.5869979858398438,
-0.026077672839164734,
0.25495800375938416
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.478407 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4.7 | 47 | 0 | 47 | 0 | |
[
-5.2321295738220215,
-25.07399559020996,
31.272727966308594,
35.415748596191406,
-0.8058608174324036,
13.173627853393555
] | [
-5.128345489501953,
-22.513713836669922,
25.23481559753418,
29.586795806884766,
-0.8058608174324036,
13.173627853393555
] | [
0.29621264338493347,
0.0029087376315146685,
0.16575954854488373,
3.018882989883423,
1.0216474533081055,
3.008749485015869
] | 1 | [
-0.01073786336928606,
-0.48780587315559387,
0.39269909262657166,
0.6396699547767639,
-0.026077672839164734,
0.2874600887298584
] | [
-0.008577480912208557,
-0.4413641095161438,
0.29081663489341736,
0.5380498170852661,
-0.026077672839164734,
0.2874600887298584
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.527507 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4.8 | 48 | 0 | 48 | 0 | |
[
-5.2321295738220215,
-23.298097610473633,
29.636363983154297,
32.6000862121582,
-0.8058608174324036,
14.580559730529785
] | [
-5.120779037475586,
-20.756534576416016,
23.633670806884766,
26.852558135986328,
-0.8058608174324036,
14.580559730529785
] | [
0.3034331798553467,
0.0029863042291253805,
0.1714593917131424,
3.0057334899902344,
1.0656390190124512,
2.9973819255828857
] | 1 | [
-0.01073786336928606,
-0.4555923044681549,
0.3650874197483063,
0.590582549571991,
-0.026077672839164734,
0.31996268033981323
] | [
-0.008419976569712162,
-0.40949007868766785,
0.263799250125885,
0.4903819262981415,
-0.026077672839164734,
0.31996268033981323
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.575411 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 4.9 | 49 | 0 | 49 | 0 | |
[
-5.2321295738220215,
-21.437631607055664,
27.909090042114258,
29.784425735473633,
-0.8058608174324036,
15.986598014831543
] | [
-5.11352014541626,
-19.04953384399414,
22.097522735595703,
24.22930908203125,
-0.8058608174324036,
15.986598014831543
] | [
0.3106044828891754,
0.0030633416026830673,
0.1772230565547943,
2.990311861038208,
1.1095447540283203,
2.983722448348999
] | 1 | [
-0.01073786336928606,
-0.4218447208404541,
0.33594179153442383,
0.5414952039718628,
-0.026077672839164734,
0.3524446189403534
] | [
-0.008268875069916248,
-0.3785262405872345,
0.23787862062454224,
0.44464901089668274,
-0.026077672839164734,
0.3524446189403534
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.62415 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5 | 50 | 0 | 50 | 0 | |
[
-5.2321295738220215,
-19.577167510986328,
26.18181800842285,
27.056753158569336,
-0.8058608174324036,
17.392518997192383
] | [
-5.106704235076904,
-17.436107635498047,
20.655166625976562,
21.7662296295166,
-0.8058608174324036,
17.392518997192383
] | [
0.31744399666786194,
0.0031368148047477007,
0.18279461562633514,
2.9725983142852783,
1.151829481124878,
2.967693328857422
] | 1 | [
-0.01073786336928606,
-0.3880971372127533,
0.3067961633205414,
0.4939418137073517,
-0.026077672839164734,
0.3849238455295563
] | [
-0.008126993663609028,
-0.34925976395606995,
0.21354061365127563,
0.4017084538936615,
-0.026077672839164734,
0.3849238455295563
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.672084 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.1 | 51 | 0 | 51 | 0 | |
[
-5.2321295738220215,
-17.885835647583008,
24.727272033691406,
24.50506019592285,
-0.8058608174324036,
18.79958724975586
] | [
-5.103293418884277,
-16.628660202026367,
19.933330535888672,
20.5335693359375,
-0.8058608174324036,
18.79958724975586
] | [
0.3234551250934601,
0.003201389452442527,
0.18749506771564484,
2.9536828994750977,
1.1894659996032715,
2.9502687454223633
] | 1 | [
-0.01073786336928606,
-0.3574175238609314,
0.2822524607181549,
0.4494563937187195,
-0.026077672839164734,
0.4174295961856842
] | [
-0.008055994287133217,
-0.33461323380470276,
0.20136049389839172,
0.38021862506866455,
-0.026077672839164734,
0.4174295961856842
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.716236 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.2 | 52 | 0 | 52 | 0 | |
[
-5.2321295738220215,
-16.701902389526367,
23.636363983154297,
22.217334747314453,
-0.8058608174324036,
20.20656394958496
] | [
-5.099796295166016,
-15.800830841064453,
19.193275451660156,
19.269792556762695,
-0.8058608174324036,
20.20656394958496
] | [
0.3280852437019348,
0.003251125570386648,
0.19228485226631165,
2.931859254837036,
1.2254573106765747,
2.929866313934326
] | 1 | [
-0.01073786336928606,
-0.33594179153442383,
0.26384469866752625,
0.40957289934158325,
-0.026077672839164734,
0.4499332010746002
] | [
-0.007983197458088398,
-0.31959694623947144,
0.18887296319007874,
0.3581863343715668,
-0.026077672839164734,
0.4499332010746002
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.753855 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.3 | 53 | 0 | 53 | 0 | |
[
-5.2321295738220215,
-15.856236457824707,
23.090909957885742,
20.897491455078125,
-0.8058608174324036,
21.613981246948242
] | [
-5.096210479736328,
-14.952019691467285,
18.434463500976562,
17.973987579345703,
-0.8058608174324036,
21.613981246948242
] | [
0.3308511972427368,
0.0032808403484523296,
0.19390332698822021,
2.92033314704895,
1.2418949604034424,
2.9189887046813965
] | 1 | [
-0.01073786336928606,
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0.2546408176422119,
0.38656315207481384,
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0.4824470281600952
] | [
-0.007908554747700691,
-0.30420011281967163,
0.17606893181800842,
0.33559566736221313,
-0.026077672839164734,
0.4824470281600952
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.779181 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.4 | 54 | 0 | 54 | 0 | |
[
-5.2321295738220215,
-15.095137596130371,
22.363636016845703,
19.665639877319336,
-0.8058608174324036,
23.0211238861084
] | [
-5.092535018920898,
-14.081942558288574,
17.656641006469727,
16.645715713500977,
-0.8058608174324036,
23.0211238861084
] | [
0.3334885239601135,
0.003309170249849558,
0.19653701782226562,
2.905195474624634,
1.261263132095337,
2.9046151638031006
] | 1 | [
-0.01073786336928606,
-0.3067961633205414,
0.24236895143985748,
0.3650874197483063,
-0.026077672839164734,
0.5149544477462769
] | [
-0.007832045666873455,
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0.16294412314891815,
0.3124389946460724,
-0.026077672839164734,
0.5149544477462769
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.804276 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.5 | 55 | 0 | 55 | 0 | |
[
-5.2321295738220215,
-14.080338478088379,
21.636363983154297,
18.257808685302734,
-0.8058608174324036,
24.427337646484375
] | [
-5.088762283325195,
-13.188910484313965,
16.858295440673828,
15.282400131225586,
-0.8058608174324036,
24.427337646484375
] | [
0.3365947902202606,
0.0033425414003431797,
0.19836315512657166,
2.8895022869110107,
1.279075264930725,
2.889624834060669
] | 1 | [
-0.01073786336928606,
-0.2883884012699127,
0.23009712994098663,
0.3405437171459198,
-0.026077672839164734,
0.5474404692649841
] | [
-0.007753512356430292,
-0.2722184956073761,
0.14947301149368286,
0.2886713743209839,
-0.026077672839164734,
0.5474404692649841
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.831616 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.6 | 56 | 0 | 56 | 0 | |
[
-5.2321295738220215,
-13.150105476379395,
20.727272033691406,
16.93796730041504,
-0.8058608174324036,
25.834251403808594
] | [
-5.08486270904541,
-12.265756607055664,
16.033023834228516,
13.873101234436035,
-0.8058608174324036,
25.834251403808594
] | [
0.3395516574382782,
0.003374303923919797,
0.2012060433626175,
2.868670701980591,
1.2997583150863647,
2.8696115016937256
] | 1 | [
-0.01073786336928606,
-0.2715145945549011,
0.2147572934627533,
0.31753402948379517,
-0.026077672839164734,
0.5799426436424255
] | [
-0.007672338280826807,
-0.2554731070995331,
0.13554754853248596,
0.26410210132598877,
-0.026077672839164734,
0.5799426436424255
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.858687 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.7 | 57 | 0 | 57 | 0 | |
[
-5.2321295738220215,
-12.219873428344727,
20,
15.618125915527344,
-0.8058608174324036,
27.240510940551758
] | [
-5.080798625946045,
-11.303791999816895,
15.173055648803711,
12.404553413391113,
-0.8058608174324036,
27.240510940551758
] | [
0.34235602617263794,
0.003404430579394102,
0.2031942754983902,
2.8481874465942383,
1.3173846006393433,
2.849827527999878
] | 1 | [
-0.01073786336928606,
-0.2546408176422119,
0.20248545706272125,
0.29452431201934814,
-0.026077672839164734,
0.612429678440094
] | [
-0.007587739732116461,
-0.23802371323108673,
0.12103662639856339,
0.23849987983703613,
-0.026077672839164734,
0.612429678440094
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.883868 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.8 | 58 | 0 | 58 | 0 | |
[
-5.2321295738220215,
-11.374207496643066,
19.272727966308594,
14.210294723510742,
-0.8058608174324036,
28.647483825683594
] | [
-5.076581954956055,
-10.30562973022461,
14.280728340148926,
10.880744934082031,
-0.8058608174324036,
28.647483825683594
] | [
0.3450337052345276,
0.0034331942442804575,
0.20580241084098816,
2.820476531982422,
1.337799072265625,
2.8229305744171143
] | 1 | [
-0.01073786336928606,
-0.23930101096630096,
0.1902136355638504,
0.26998060941696167,
-0.026077672839164734,
0.6449332237243652
] | [
-0.007499965373426676,
-0.21991772949695587,
0.10597968101501465,
0.21193426847457886,
-0.026077672839164734,
0.6449332237243652
] | Approach drawer handle and open gripper | Is the gripper above the drawer handle and open? | move_and_open | 0.908123 | [
-5.072241306304932,
-8.965888023376465,
14.208580017089844,
9.312186241149902,
-0.8058608174324036,
30
] | [
0.353257417678833,
0.0024749254807829857,
0.22944334149360657,
2.4701719284057617,
1.4509745836257935,
2.47408390045166
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 5.9 | 59 | 0 | 59 | 0 | |
[
-5.2321295738220215,
-10.951374053955078,
18.636363983154297,
13.506379127502441,
-0.8058608174324036,
30
] | [
-5.2321295738220215,
-11.494885444641113,
18.592554092407227,
14.034316062927246,
-0.8058608174324036,
30
] | [
0.34646210074424744,
0.0034485349897295237,
0.208372101187706,
2.7975873947143555,
1.3522588014602661,
2.800621747970581
] | 1 | [
-0.01073786336928606,
-0.2316311001777649,
0.17947575449943542,
0.25770875811576843,
-0.026077672839164734,
0.6761787533760071
] | [
-0.01073786336928606,
-0.24149002134799957,
0.17873652279376984,
0.26691266894340515,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.030396 | [
-5.072310924530029,
0.9439931511878967,
22.714630126953125,
13.703274726867676,
-0.8058608174324036,
30
] | [
0.35312116146087646,
0.002474636072292924,
0.12847937643527985,
3.0036354064941406,
1.0720621347427368,
2.992216110229492
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6 | 60 | 0 | 60 | 0 | ||
[
-5.2321295738220215,
-10.190275192260742,
17.909090042114258,
12.362516403198242,
-0.8058608174324036,
30
] | [
-5.231936454772949,
-11.593414306640625,
19.05638885498047,
14.033915519714355,
-0.8058608174324036,
30
] | [
0.34872862696647644,
0.003472881391644478,
0.21074408292770386,
2.7658753395080566,
1.3694415092468262,
2.769604444503784
] | 1 | [
-0.01073786336928606,
-0.2178252786397934,
0.167203888297081,
0.2377670258283615,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010733842849731445,
-0.24327726662158966,
0.1865631639957428,
0.26690566539764404,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.059354 | [
-5.072310924530029,
0.9439931511878967,
22.714630126953125,
13.703274726867676,
-0.8058608174324036,
30
] | [
0.35312116146087646,
0.002474636072292924,
0.12847937643527985,
3.0036354064941406,
1.0720621347427368,
2.992216110229492
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.1 | 61 | 0 | 61 | 0 | ||
[
-5.2321295738220215,
-10.27484130859375,
19.090909957885742,
13.15442180633545,
-0.8058608174324036,
30
] | [
-5.2313737869262695,
-11.437296867370605,
18.61028289794922,
14.032751083374023,
-0.8058608174324036,
30
] | [
0.3475857675075531,
0.003460620529949665,
0.20371423661708832,
2.8183140754699707,
1.339250087738037,
2.820826292037964
] | 1 | [
-0.01073786336928606,
-0.21935924887657166,
0.1871456652879715,
0.251572847366333,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010722130537033081,
-0.24044540524482727,
0.17903567850589752,
0.266885370016098,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.09008 | [
-5.072310924530029,
0.9439931511878967,
22.714630126953125,
13.703274726867676,
-0.8058608174324036,
30
] | [
0.35312116146087646,
0.002474636072292924,
0.12847937643527985,
3.0036354064941406,
1.0720621347427368,
2.992216110229492
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.2 | 62 | 0 | 62 | 0 | ||
[
-5.2321295738220215,
-10.190275192260742,
19.363636016845703,
13.682357788085938,
-0.8058608174324036,
30
] | [
-5.2304582595825195,
-11.36750602722168,
18.631765365600586,
14.030854225158691,
-0.8058608174324036,
30
] | [
0.3472141921520233,
0.0034566360991448164,
0.20072691142559052,
2.838808059692383,
1.3246958255767822,
2.8407392501831055
] | 1 | [
-0.01073786336928606,
-0.2178252786397934,
0.19174759089946747,
0.26077672839164734,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010703072883188725,
-0.23917944729328156,
0.17939816415309906,
0.26685231924057007,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.103546 | [
-5.072310924530029,
0.9439931511878967,
22.714630126953125,
13.703274726867676,
-0.8058608174324036,
30
] | [
0.35312116146087646,
0.002474636072292924,
0.12847937643527985,
3.0036354064941406,
1.0720621347427368,
2.992216110229492
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.3 | 63 | 0 | 63 | 0 | ||
[
-5.2321295738220215,
-10.190275192260742,
19.363636016845703,
13.770347595214844,
-0.8058608174324036,
30
] | [
-5.2292046546936035,
-11.27193546295166,
18.661184310913086,
14.028257369995117,
-0.8058608174324036,
30
] | [
0.34715181589126587,
0.0034559667110443115,
0.20051178336143494,
2.8407273292541504,
1.323235273361206,
2.8426003456115723
] | 1 | [
-0.01073786336928606,
-0.2178252786397934,
0.19174759089946747,
0.2623107135295868,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010676977224647999,
-0.2374458611011505,
0.1798945665359497,
0.26680704951286316,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.103533 | [
-5.072310924530029,
0.9439931511878967,
22.714630126953125,
13.703274726867676,
-0.8058608174324036,
30
] | [
0.35312116146087646,
0.002474636072292924,
0.12847937643527985,
3.0036354064941406,
1.0720621347427368,
2.992216110229492
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.4 | 64 | 0 | 64 | 0 | ||
[
-5.2321295738220215,
-10.190275192260742,
19.363636016845703,
13.770347595214844,
-0.8058608174324036,
30
] | [
-5.2276291847229,
-11.151859283447266,
18.69814682006836,
14.024993896484375,
-0.8058608174324036,
30
] | [
0.34715181589126587,
0.0034559667110443115,
0.20051178336143494,
2.8407273292541504,
1.323235273361206,
2.8426003456115723
] | 1 | [
-0.01073786336928606,
-0.2178252786397934,
0.19174759089946747,
0.2623107135295868,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010644182562828064,
-0.2352677583694458,
0.1805182695388794,
0.26675012707710266,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.103533 | [
-5.072310924530029,
0.9439931511878967,
22.714630126953125,
13.703274726867676,
-0.8058608174324036,
30
] | [
0.35312116146087646,
0.002474636072292924,
0.12847937643527985,
3.0036354064941406,
1.0720621347427368,
2.992216110229492
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.5 | 65 | 0 | 65 | 0 | ||
[
-5.2321295738220215,
-10.190275192260742,
19.363636016845703,
13.770347595214844,
-0.8058608174324036,
30
] | [
-5.225747108459473,
-11.008402824401855,
18.742305755615234,
14.021095275878906,
-0.8058608174324036,
30
] | [
0.34715181589126587,
0.0034559667110443115,
0.20051178336143494,
2.8407273292541504,
1.323235273361206,
2.8426003456115723
] | 1 | [
-0.01073786336928606,
-0.2178252786397934,
0.19174759089946747,
0.2623107135295868,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010605004616081715,
-0.232665553689003,
0.18126340210437775,
0.2666821777820587,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.103533 | [
-5.072310924530029,
0.9439931511878967,
22.714630126953125,
13.703274726867676,
-0.8058608174324036,
30
] | [
0.35312116146087646,
0.002474636072292924,
0.12847937643527985,
3.0036354064941406,
1.0720621347427368,
2.992216110229492
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.6 | 66 | 0 | 66 | 0 | ||
[
-5.2321295738220215,
-10.190275192260742,
19.363636016845703,
13.770347595214844,
-0.8058608174324036,
30
] | [
-5.223573207855225,
-10.842711448669434,
18.793310165405273,
14.016592025756836,
-0.8058608174324036,
30
] | [
0.34715181589126587,
0.0034559667110443115,
0.20051178336143494,
2.8407273292541504,
1.323235273361206,
2.8426003456115723
] | 1 | [
-0.01073786336928606,
-0.2178252786397934,
0.19174759089946747,
0.2623107135295868,
-0.026077672839164734,
0.6761787533760071
] | [
-0.010559752583503723,
-0.2296600341796875,
0.1821240335702896,
0.2666036784648895,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.103533 | [
-5.072310924530029,
0.9439931511878967,
22.714630126953125,
13.703274726867676,
-0.8058608174324036,
30
] | [
0.35312116146087646,
0.002474636072292924,
0.12847937643527985,
3.0036354064941406,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.7 | 67 | 0 | 67 | 0 | ||
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.103533 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.8 | 68 | 0 | 68 | 0 | ||
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.103533 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 6.9 | 69 | 0 | 69 | 0 | ||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.103533 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7 | 70 | 0 | 70 | 0 | ||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.116009 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.1 | 71 | 0 | 71 | 0 | ||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.14091 | [
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30
] | [
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3.0036354064941406,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.2 | 72 | 0 | 72 | 0 | ||
[
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19.363636016845703,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.153334 | [
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.3 | 73 | 0 | 73 | 0 | ||
[
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19.454545974731445,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.180301 | [
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0.9439931511878967,
22.714630126953125,
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30
] | [
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3.0036354064941406,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.4 | 74 | 0 | 74 | 0 | ||
[
-5.2321295738220215,
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19.636363983154297,
13.770347595214844,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.215613 | [
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0.9439931511878967,
22.714630126953125,
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30
] | [
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3.0036354064941406,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.5 | 75 | 0 | 75 | 0 | ||
[
-5.2321295738220215,
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19.636363983154297,
13.770347595214844,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.221823 | [
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0.9439931511878967,
22.714630126953125,
13.703274726867676,
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30
] | [
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3.0036354064941406,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.6 | 76 | 0 | 76 | 0 | ||
[
-5.2321295738220215,
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19.636363983154297,
13.770347595214844,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.252796 | [
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0.9439931511878967,
22.714630126953125,
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30
] | [
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3.0036354064941406,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.7 | 77 | 0 | 77 | 0 | ||
[
-5.2321295738220215,
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19.727272033691406,
13.770347595214844,
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30
] | [
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30
] | [
0.3501162528991699,
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] | 1 | [
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] | [
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0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.279742 | [
-5.072310924530029,
0.9439931511878967,
22.714630126953125,
13.703274726867676,
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30
] | [
0.35312116146087646,
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3.0036354064941406,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.8 | 78 | 0 | 78 | 0 | ||
[
-5.2321295738220215,
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19.81818199157715,
13.770347595214844,
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30
] | [
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19.809280395507812,
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30
] | [
0.35047242045402527,
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1.2701778411865234,
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] | 1 | [
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] | [
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0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.306683 | [
-5.072310924530029,
0.9439931511878967,
22.714630126953125,
13.703274726867676,
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30
] | [
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3.0036354064941406,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 7.9 | 79 | 0 | 79 | 0 | ||
[
-5.2321295738220215,
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20,
13.770347595214844,
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30
] | [
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19.916492462158203,
13.91743278503418,
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30
] | [
0.3506348729133606,
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] | 1 | [
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] | [
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0.26487496495246887,
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0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.329673 | [
-5.072310924530029,
0.9439931511878967,
22.714630126953125,
13.703274726867676,
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30
] | [
0.35312116146087646,
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3.0036354064941406,
1.0720621347427368,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8 | 80 | 0 | 80 | 0 | ||
[
-5.2321295738220215,
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20.272727966308594,
13.770347595214844,
-0.8058608174324036,
30
] | [
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20.025489807128906,
13.90781021118164,
-0.8058608174324036,
30
] | [
0.3507995903491974,
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2.912403106689453,
1.2523324489593506,
2.911470413208008
] | 1 | [
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0.2070874124765396,
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0.6761787533760071
] | [
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0.20291557908058167,
0.26470720767974854,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.360895 | [
-5.072310924530029,
0.9439931511878967,
22.714630126953125,
13.703274726867676,
-0.8058608174324036,
30
] | [
0.35312116146087646,
0.002474636072292924,
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3.0036354064941406,
1.0720621347427368,
2.992216110229492
] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.1 | 81 | 0 | 81 | 0 | ||
[
-5.2321295738220215,
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30
] | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.394094 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.2 | 82 | 0 | 82 | 0 | ||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.412722 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.3 | 83 | 0 | 83 | 0 | ||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.449784 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.4 | 84 | 0 | 84 | 0 | ||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.470553 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.5 | 85 | 0 | 85 | 0 | ||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.50361 | [
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] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.6 | 86 | 0 | 86 | 0 | ||
[
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30
] | [
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] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.543471 | [
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.7 | 87 | 0 | 87 | 0 | ||
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.562048 | [
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.8 | 88 | 0 | 88 | 0 | ||
[
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20.909090042114258,
13.770347595214844,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.592805 | [
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0.9439931511878967,
22.714630126953125,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 8.9 | 89 | 0 | 89 | 0 | ||
[
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21.18181800842285,
13.770347595214844,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.624325 | [
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0.9439931511878967,
22.714630126953125,
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30
] | [
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9 | 90 | 0 | 90 | 0 | ||
[
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21.272727966308594,
13.770347595214844,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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] | pull drawer handle: descend to grasp | move | 0.657428 | [
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0.9439931511878967,
22.714630126953125,
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30
] | [
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3.0036354064941406,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.1 | 91 | 0 | 91 | 0 | ||
[
-5.2321295738220215,
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21.272727966308594,
13.770347595214844,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.681959 | [
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0.9439931511878967,
22.714630126953125,
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30
] | [
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3.0036354064941406,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.2 | 92 | 0 | 92 | 0 | ||
[
-5.2321295738220215,
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21.363636016845703,
13.770347595214844,
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30
] | [
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21.341398239135742,
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30
] | [
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] | 1 | [
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] | [
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0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.708802 | [
-5.072310924530029,
0.9439931511878967,
22.714630126953125,
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30
] | [
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3.0036354064941406,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.3 | 93 | 0 | 93 | 0 | ||
[
-5.2321295738220215,
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21.454545974731445,
13.770347595214844,
-0.8058608174324036,
30
] | [
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21.440858840942383,
13.782855033874512,
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30
] | [
0.3536459803581238,
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2.973973512649536,
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] | 1 | [
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] | [
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0.26252877712249756,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.735614 | [
-5.072310924530029,
0.9439931511878967,
22.714630126953125,
13.703274726867676,
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30
] | [
0.35312116146087646,
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3.0036354064941406,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.4 | 94 | 0 | 94 | 0 | ||
[
-5.2321295738220215,
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21.636363983154297,
13.770347595214844,
-0.8058608174324036,
30
] | [
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21.534448623657227,
13.774592399597168,
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30
] | [
0.35354581475257874,
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2.977332353591919,
1.1412699222564697,
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] | 1 | [
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] | [
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0.22837743163108826,
0.26238471269607544,
-0.026077672839164734,
0.6761787533760071
] | pull drawer handle: descend to grasp | move | 0.758853 | [
-5.072310924530029,
0.9439931511878967,
22.714630126953125,
13.703274726867676,
-0.8058608174324036,
30
] | [
0.35312116146087646,
0.002474636072292924,
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3.0036354064941406,
1.0720621347427368,
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] | 30 | open top drawer 7cm | [
0,
0,
0
] | 9.5 | 95 | 0 | 95 | 0 | ||
[
-5.2321295738220215,
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21.636363983154297,
13.770347595214844,
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30
] | [
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End of preview. Expand in Data Studio
SO101 CAP Open Top Drawer
This dataset contains 100 LeRobot v3.0 demonstration episodes for an SO101 follower robot. The task is: Grasp the top drawer handle and pull the drawer open by about 7 cm. The dataset was collected at 10 Hz and includes paired top-view and wrist-view RGB videos, robot state/action trajectories, and CAP skill annotations.
Dataset Details
| Field | Value |
|---|---|
| Repository | CoRL2026-CSI/SO101-cap_open_topdrawer_10fps |
| LeRobot codebase version | v3.0 |
| Robot type | so101_follower |
| FPS | 10 |
| Episodes | 100 |
| Frames | 29063 |
| Tasks | 1 |
| Split | 0:100 train |
| Objects | top drawer and drawer handle |
| Parquet files | 2 |
| Video files | 4 |
Task And Annotations
Task: Grasp the top drawer handle and pull the drawer open by about 7 cm.
Task indices: 0
Observed subtask annotations:
- open top drawer 7cm
Representative skill types:
- move_initial
- move_and_open
- move
- gripper_close
- move_linear
- gripper_open
- move_and_close
- move_free
Representative skill-language annotations:
- move to initial state
- Approach drawer handle and open gripper
- pull drawer handle: descend to grasp
- pull drawer handle: grasp handle
- Grasp handle and pull drawer open by 7cm
- pull drawer handle: release handle
- pull drawer handle: retreat after pull and close gripper
- Move to safe position
Observation And Action Space
| Feature | Shape | Names / Notes |
|---|---|---|
observation.state |
6 |
shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
action |
6 |
shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
observation.images.top |
480x640x3 |
RGB video, 10 fps |
observation.images.left_wrist |
480x640x3 |
RGB video, 10 fps |
Raw camera keys are observation.images.top and observation.images.left_wrist. The local SmolVLA training scripts map them to observation.images.camera2 and observation.images.camera1, respectively.
Files
meta/info.json
meta/tasks.parquet
meta/episodes/chunk-*/file-*.parquet
data/chunk-*/file-*.parquet
videos/{observation.images.top,observation.images.left_wrist}/chunk-*/file-*.mp4
The dataset uses the LeRobot v3.0 format. Episode metadata and frame-level trajectories are stored in parquet files; image observations are stored as H.264 MP4 videos referenced by the frame records.
Annotation Columns
| Column | Shape |
|---|---|
skill.natural_language |
1 |
skill.verification_question |
1 |
skill.type |
1 |
skill.progress |
1 |
skill.goal_position.joint |
6 |
skill.goal_position.robot_xyzrpy |
6 |
skill.goal_position.gripper |
1 |
subtask.natural_language |
1 |
subtask.object_name |
1 |
subtask.target_position |
3 |
Loading
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("CoRL2026-CSI/SO101-cap_open_topdrawer_10fps")
sample = dataset[0]
Intended Uses
This dataset is intended for robot imitation learning, action-chunking policy training, skill-conditioned behavior analysis, and reproducible LeRobot/SmolVLA experiments on the specified tabletop task.
Limitations
The dataset is task-specific and collected in a fixed workspace. It does not include an official validation or test split, nor does it include benchmark success-rate results. Downstream users should verify camera calibration, action normalization, and task-language assumptions before transferring policies to a different robot, workspace, or object set.
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