observation.state list | action list | observation.ee_pos.left_robot_xyzrpy list | left_observation.gripper_binary float32 0 1 | observation.state.left_radian_urdf0 list | action.left_radian_urdf0 list | observation.ee_pos.right_robot_xyzrpy list | right_observation.gripper_binary float32 0 1 | observation.state.right_radian_urdf0 list | action.right_radian_urdf0 list | left_skill.natural_language stringclasses 19
values | left_skill.verification_question stringclasses 10
values | left_skill.type stringclasses 7
values | left_skill.progress float32 0 0.97 | left_skill.goal_position.joint list | left_skill.goal_position.robot_xyzrpy list | left_skill.goal_position.gripper float32 -10 30 | right_skill.natural_language stringclasses 19
values | right_skill.verification_question stringclasses 10
values | right_skill.type stringclasses 7
values | right_skill.progress float32 0 0.97 | right_skill.goal_position.joint list | right_skill.goal_position.robot_xyzrpy list | right_skill.goal_position.gripper float32 -10 30 | timestamp float32 0 77.5 | frame_index int64 0 775 | episode_index int64 0 19 | index int64 0 14.8k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.416537 | [
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.470172 | [
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] | 30 | Grasp top-right corner of the towel | Is the right corner grasped? | bimanual_move | 0.385594 | [
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] | [
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] | 30 | 10.2 | 102 | 0 | 102 | 0 |
[
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.525383 | [
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] | [
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] | 30 | Grasp top-right corner of the towel | Is the right corner grasped? | bimanual_move | 0.456855 | [
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] | [
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] | 30 | 10.3 | 103 | 0 | 103 | 0 |
[
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.563855 | [
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] | [
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] | 30 | Grasp top-right corner of the towel | Is the right corner grasped? | bimanual_move | 0.508663 | [
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] | [
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] | 30 | 10.4 | 104 | 0 | 104 | 0 |
[
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.620034 | [
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] | [
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] | 30 | Grasp top-right corner of the towel | Is the right corner grasped? | bimanual_move | 0.573123 | [
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] | [
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.671138 | [
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] | [
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] | 30 | Grasp top-right corner of the towel | Is the right corner grasped? | bimanual_move | 0.632631 | [
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] | [
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] | 30 | 10.6 | 106 | 0 | 106 | 0 |
[
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] | [
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] | [
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] | [
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.799088 | [
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] | [
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] | [
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] | [
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] | [
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.839671 | [
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] | [
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] | [
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] | 30 | 11.1 | 111 | 0 | 111 | 0 |
[
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.863321 | [
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] | [
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] | 30 | Grasp top-right corner of the towel | Is the right corner grasped? | bimanual_move | 0.823726 | [
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] | [
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] | 30 | 11.2 | 112 | 0 | 112 | 0 |
[
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] | [
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.887168 | [
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] | [
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] | [
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] | 30 | 11.3 | 113 | 0 | 113 | 0 |
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] | [
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.91329 | [
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] | [
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] | [
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.939715 | [
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] | [
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] | [
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.957571 | [
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] | [
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] | [
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.963012 | [
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] | [
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] | 30 | Grasp top-right corner of the towel | Is the right corner grasped? | bimanual_move | 0.927328 | [
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] | [
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] | 30 | 11.7 | 117 | 0 | 117 | 0 |
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] | [
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.963012 | [
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] | [
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] | 30 | Grasp top-right corner of the towel | Is the right corner grasped? | bimanual_move | 0.927328 | [
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] | [
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] | 30 | 11.8 | 118 | 0 | 118 | 0 |
[
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] | [
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.963012 | [
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] | [
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] | 30 | Grasp top-right corner of the towel | Is the right corner grasped? | bimanual_move | 0.927328 | [
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] | [
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] | 30 | 11.9 | 119 | 0 | 119 | 0 |
[
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] | [
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.963012 | [
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] | [
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] | 30 | Grasp top-right corner of the towel | Is the right corner grasped? | bimanual_move | 0.927328 | [
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] | [
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] | 30 | 12 | 120 | 0 | 120 | 0 |
[
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] | [
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.963012 | [
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] | [
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] | [
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] | [
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] | [
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] | [
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] | [
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] | [
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] | [
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] | [
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.963012 | [
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] | [
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] | [
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.963012 | [
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] | [
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] | 30 | Grasp top-right corner of the towel | Is the right corner grasped? | bimanual_move | 0.927328 | [
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] | [
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] | 30 | 12.7 | 127 | 0 | 127 | 0 |
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] | [
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.963012 | [
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] | [
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] | 30 | Grasp top-right corner of the towel | Is the right corner grasped? | bimanual_move | 0.927328 | [
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] | [
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] | 30 | 12.8 | 128 | 0 | 128 | 0 |
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] | [
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] | [
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] | [
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] | [
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] | [
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] | [
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] | [
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.963012 | [
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] | [
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] | [
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.963012 | [
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] | [
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] | [
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] | Grasp top-left corner of the towel | Is the left corner grasped? | bimanual_move | 0.963012 | [
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] | [
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] | [
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[
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[
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0 | [
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.000674 | [
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45.233116149902344,
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[
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.000224 | [
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.002635 | [
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45.233116149902344,
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] | [
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] | -10 | 16.299999 | 163 | 0 | 163 | 0 |
[
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.000224 | [
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.003831 | [
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-21.56342315673828,
45.233116149902344,
40.0688362121582,
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] | [
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] | -10 | 16.4 | 164 | 0 | 164 | 0 |
[
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0.5002824664115906,
0.3058149218559265,
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.000224 | [
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-50.81911087036133,
68.09734344482422,
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2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.003831 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
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] | [
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3.0774993896484375,
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] | -10 | 16.5 | 165 | 0 | 165 | 0 |
[
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11.298481941223145,
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35.25267028808594,
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] | [
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0.022685864940285683,
3.0970616340637207,
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0.5047032237052917,
0.312463641166687,
-0.013805827125906944,
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.000224 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
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] | [
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0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.025136 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
-0.41514042019844055,
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] | [
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3.0774993896484375,
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] | -10 | 16.6 | 166 | 0 | 166 | 0 |
[
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35.05559158325195,
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] | [
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0.8200103640556335,
0.21549229323863983,
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0.024397840723395348,
3.096482038497925,
0.6244610548019409,
2.2285311222076416
] | 1 | [
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0.14419420063495636,
0.5046796798706055,
0.2960582971572876,
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] | [
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0.5088361501693726,
0.318679541349411,
-0.013805827125906944,
-0.32873207330703735
] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.00246 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
-2.808302879333496,
-10
] | [
0.2006164938211441,
0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.041328 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
-0.41514042019844055,
-10
] | [
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3.0774993896484375,
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] | -10 | 16.700001 | 167 | 0 | 167 | 0 |
[
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.031684 | [
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68.09734344482422,
28.029659271240234,
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] | [
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.063713 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
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] | [
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3.0774993896484375,
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] | -10 | 16.799999 | 168 | 0 | 168 | 0 |
[
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.061809 | [
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68.09734344482422,
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] | [
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2.9719412326812744,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.097217 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
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] | [
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3.0774993896484375,
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] | -10 | 16.9 | 169 | 0 | 169 | 0 |
[
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.098888 | [
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68.09734344482422,
28.029659271240234,
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] | [
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2.9719412326812744,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.133569 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
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] | [
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0.09896955639123917,
3.0774993896484375,
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] | -10 | 17 | 170 | 0 | 170 | 0 |
[
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0.27015194296836853,
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0.03560275584459305,
3.0948610305786133,
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2.2490482330322266
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0.5354798436164856,
0.3587515354156494,
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.131093 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
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] | [
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0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.160595 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
-0.41514042019844055,
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] | [
0.22544226050376892,
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0.09896955639123917,
3.0774993896484375,
0.7970564365386963,
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] | -10 | 17.1 | 171 | 0 | 171 | 0 |
[
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13.222079277038574,
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37.59191131591797,
29.05434226989746,
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33.34882736206055,
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38.05540466308594,
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] | [
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] | 1 | [
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0.8390875458717346,
0.26384469866752625,
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] | [
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0.844907283782959,
0.2889211177825928,
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] | [
0.22011378407478333,
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0.040397100150585175,
3.09380841255188,
0.651989221572876,
2.257617950439453
] | 1 | [
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0.029145631939172745,
0.5368932485580444,
0.3512815833091736,
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] | [
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0.5446288585662842,
0.372511625289917,
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.180029 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
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] | [
0.2006164938211441,
0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.204615 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
-0.41514042019844055,
-10
] | [
0.22544226050376892,
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0.09896955639123917,
3.0774993896484375,
0.7970564365386963,
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] | -10 | 17.200001 | 172 | 0 | 172 | 0 |
[
-42.50497055053711,
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59.49481201171875,
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3.0354132652282715,
38.14338302612305,
29.824562072753906,
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] | [
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33.029151916503906,
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38.45708465576172,
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] | [
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3.048943281173706,
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] | 1 | [
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0.8436894416809082,
0.27765053510665894,
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] | [
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0.8526989817619324,
0.30267420411109924,
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] | [
0.22040148079395294,
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0.042703792452812195,
3.09380841255188,
0.6519891619682312,
2.2652878761291504
] | 1 | [
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0.006135925184935331,
0.5460971593856812,
0.36508744955062866,
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] | [
0.7912937998771667,
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0.5513327717781067,
0.3825942575931549,
-0.013805827125906944,
-0.32873207330703735
] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.212739 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
-2.808302879333496,
-10
] | [
0.2006164938211441,
0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.23886 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
-0.41514042019844055,
-10
] | [
0.22544226050376892,
-0.1510983258485794,
0.09896955639123917,
3.0774993896484375,
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] | -10 | 17.299999 | 173 | 0 | 173 | 0 |
[
-42.1868782043457,
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14.762516021728516,
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38.51102828979492,
30.252460479736328,
-0.41514042019844055,
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] | [
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32.666622161865234,
-3.031226396560669,
38.91261291503906,
31.439172744750977,
-0.41514042019844055,
-10
] | [
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3.0461785793304443,
0.602418839931488,
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] | 1 | [
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0.8513593673706055,
0.29145634174346924,
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] | [
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0.8615352511405945,
0.31827110052108765,
-0.08897088468074799,
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] | [
0.22105717658996582,
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0.04645034298300743,
3.092738389968872,
0.6626936197280884,
2.269235849380493
] | 1 | [
0.7930681109428406,
-0.01840776763856411,
0.5522330403327942,
0.37275734543800354,
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0.024543695151805878
] | [
0.7836945056915283,
-0.10423452407121658,
0.5589354038238525,
0.3940286338329315,
-0.013805827125906944,
-0.32873207330703735
] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.248665 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
-2.808302879333496,
-10
] | [
0.2006164938211441,
0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
-2.6785526275634766
] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.270001 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
-0.41514042019844055,
-10
] | [
0.22544226050376892,
-0.1510983258485794,
0.09896955639123917,
3.0774993896484375,
0.7970564365386963,
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] | -10 | 17.4 | 174 | 0 | 174 | 0 |
[
-41.550697326660156,
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60.847991943359375,
15.789473533630371,
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32.67471694946289,
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39.15441131591797,
31.193838119506836,
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] | [
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.29824 | [
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68.09734344482422,
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] | [
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.316102 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
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] | [
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3.0774993896484375,
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] | -10 | 17.5 | 175 | 0 | 175 | 0 |
[
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.347425 | [
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68.09734344482422,
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2.9719412326812744,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.3589 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
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] | [
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3.0774993896484375,
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] | -10 | 17.6 | 176 | 0 | 176 | 0 |
[
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.398548 | [
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68.09734344482422,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.404215 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
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] | [
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3.0774993896484375,
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] | -10 | 17.700001 | 177 | 0 | 177 | 0 |
[
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40.625,
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3.090217113494873,
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0.5932299494743347,
0.44600972533226013,
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.432375 | [
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68.09734344482422,
28.029659271240234,
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0.13185371458530426,
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2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.433449 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
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] | [
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3.0774993896484375,
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] | -10 | 17.799999 | 178 | 0 | 178 | 0 |
[
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0.06708042323589325,
3.08941388130188,
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0.6021678447723389,
0.45963558554649353,
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.478775 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
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] | [
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0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.473642 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
-0.41514042019844055,
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] | [
0.22544226050376892,
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3.0774993896484375,
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] | -10 | 17.9 | 179 | 0 | 179 | 0 |
[
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] | [
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30.170150756835938,
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] | [
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] | [
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0.9223835468292236,
0.42567476630210876,
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] | [
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0.07146202027797699,
3.088106632232666,
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2.3165512084960938
] | 1 | [
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0.6059224009513855,
0.4555923342704773,
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0.731363832950592,
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0.610782265663147,
0.47276830673217773,
-0.013805827125906944,
-0.32873207330703735
] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.525751 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
-2.808302879333496,
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] | [
0.2006164938211441,
0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.507983 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
-0.41514042019844055,
-10
] | [
0.22544226050376892,
-0.1510983258485794,
0.09896955639123917,
3.0774993896484375,
0.7970564365386963,
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] | -10 | 18 | 180 | 0 | 180 | 0 |
[
-38.92644119262695,
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42.00367736816406,
35.47282791137695,
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] | [
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29.876131057739258,
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] | [
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0.9295923709869385,
0.4157088100910187,
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] | [
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0.9295499324798584,
0.4383241534233093,
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] | [
0.22475504875183105,
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0.07455679774284363,
3.087275505065918,
0.7269917726516724,
2.3236708641052246
] | 1 | [
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-0.2346990704536438,
0.6105243563652039,
0.4663301408290863,
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0.023009711876511574
] | [
0.7252006530761719,
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0.6168652772903442,
0.4820418357849121,
-0.013805827125906944,
-0.32873207330703735
] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.557243 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
-2.808302879333496,
-10
] | [
0.2006164938211441,
0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
-2.6785526275634766
] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.532063 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
-0.41514042019844055,
-10
] | [
0.22544226050376892,
-0.1510983258485794,
0.09896955639123917,
3.0774993896484375,
0.7970564365386963,
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] | -10 | 18.1 | 181 | 0 | 181 | 0 |
[
-38.1312141418457,
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29.491140365600586,
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] | [
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] | [
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0.9389336705207825,
0.45488739013671875,
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.598818 | [
-34.79105758666992,
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68.09734344482422,
28.029659271240234,
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] | [
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0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.565685 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
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] | [
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3.0774993896484375,
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] | -10 | 18.200001 | 182 | 0 | 182 | 0 |
[
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65.35858917236328,
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.633501 | [
-34.79105758666992,
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68.09734344482422,
28.029659271240234,
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2.9719412326812744,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.589152 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
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] | [
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3.0774993896484375,
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2.371227979660034
] | -10 | 18.299999 | 183 | 0 | 183 | 0 |
[
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.650999 | [
-34.79105758666992,
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68.09734344482422,
28.029659271240234,
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2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.598344 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
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] | [
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3.0774993896484375,
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] | -10 | 18.4 | 184 | 0 | 184 | 0 |
[
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24.518613815307617,
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0.08582645654678345,
3.0834779739379883,
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0.6360822319984436,
0.5113379955291748,
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.667388 | [
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68.09734344482422,
28.029659271240234,
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] | [
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0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.608782 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
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] | [
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0.09896955639123917,
3.0774993896484375,
0.7970564365386963,
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] | -10 | 18.5 | 185 | 0 | 185 | 0 |
[
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24.94651222229004,
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43.75,
37.441162109375,
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28.74620246887207,
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43.78429412841797,
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] | [
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0.9618059992790222,
0.47400006651878357,
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] | [
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0.9570904970169067,
0.48693618178367615,
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0.22538523375988007,
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0.08815059810876846,
3.082400321960449,
0.7697945833206177,
2.3448963165283203
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0.6396700143814087,
0.5016117095947266,
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0.640242338180542,
0.5176802277565002,
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.683238 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
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] | [
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0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.617809 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
-0.41514042019844055,
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] | [
0.22544226050376892,
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0.09896955639123917,
3.0774993896484375,
0.7970564365386963,
2.371227979660034
] | -10 | 18.6 | 186 | 0 | 186 | 0 |
[
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66.5313491821289,
25.374412536621094,
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44.117645263671875,
37.95464324951172,
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28.58613395690918,
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43.982723236083984,
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] | [
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0.9633399248123169,
0.48166999220848083,
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] | [
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0.9612261056900024,
0.49382272362709045,
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0.08883596211671829,
3.082581043243408,
0.7682661414146423,
2.3496241569519043
] | 1 | [
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0.6458058953285217,
0.5108156204223633,
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] | [
0.69815993309021,
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0.6435540914535522,
0.5227288603782654,
-0.013805827125906944,
-0.32873207330703735
] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.695147 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
-2.808302879333496,
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] | [
0.2006164938211441,
0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.626729 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
-0.41514042019844055,
-10
] | [
0.22544226050376892,
-0.1510983258485794,
0.09896955639123917,
3.0774993896484375,
0.7970564365386963,
2.371227979660034
] | -10 | 18.700001 | 187 | 0 | 187 | 0 |
[
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44.39338302612305,
38.29696273803711,
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] | [
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28.37148666381836,
-20.991601943969727,
44.248802185058594,
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] | [
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] | 1 | [
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0.9710097908973694,
0.49240782856941223,
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] | [
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0.9667834043502808,
0.5030573010444641,
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] | [
0.2245645523071289,
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0.09080275893211365,
3.0818541049957275,
0.7743797898292542,
2.350651264190674
] | 1 | [
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0.6504078507423401,
0.5169515609741211,
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] | [
0.69366055727005,
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0.647994875907898,
0.5294988751411438,
-0.013805827125906944,
-0.32873207330703735
] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.710107 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
-2.808302879333496,
-10
] | [
0.2006164938211441,
0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.634452 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
-0.41514042019844055,
-10
] | [
0.22544226050376892,
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0.09896955639123917,
3.0774993896484375,
0.7970564365386963,
2.371227979660034
] | -10 | 18.799999 | 188 | 0 | 188 | 0 |
[
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44.66911697387695,
38.81044006347656,
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] | [
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28.15346908569336,
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44.519065856933594,
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] | [
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0.9756117463111877,
0.5000777244567871,
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] | [
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0.972428023815155,
0.5124369263648987,
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] | [
0.22459585964679718,
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0.09244564920663834,
3.0814871788024902,
0.7774366736412048,
2.35653018951416
] | 1 | [
0.699495255947113,
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0.6550098061561584,
0.526155412197113,
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0.023009711876511574
] | [
0.6890904903411865,
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0.6525054574012756,
0.5363752841949463,
-0.013805827125906944,
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.722551 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
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] | [
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0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.641361 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
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] | [
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0.09896955639123917,
3.0774993896484375,
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2.371227979660034
] | -10 | 18.9 | 189 | 0 | 189 | 0 |
[
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67.523681640625,
26.91484832763672,
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.732031 | [
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68.09734344482422,
28.029659271240234,
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] | [
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0.10135215520858765,
2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.645403 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
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] | [
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0.09896955639123917,
3.0774993896484375,
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] | -10 | 19 | 190 | 0 | 190 | 0 |
[
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.737131 | [
-34.79105758666992,
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68.09734344482422,
28.029659271240234,
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] | [
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0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.650187 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
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] | [
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0.09896955639123917,
3.0774993896484375,
0.7970564365386963,
2.371227979660034
] | -10 | 19.1 | 191 | 0 | 191 | 0 |
[
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44.944854736328125,
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] | [
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] | [
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] | [
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0.09566022455692291,
3.0799975395202637,
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] | 1 | [
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0.659796416759491,
0.5474902987480164,
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] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.737131 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
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] | [
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0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.650187 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
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] | [
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0.09896955639123917,
3.0774993896484375,
0.7970564365386963,
2.371227979660034
] | -10 | 19.200001 | 192 | 0 | 192 | 0 |
[
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67.6138916015625,
27.00042724609375,
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44.944854736328125,
39.15275955200195,
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] | [
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27.801061630249023,
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] | [
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0.9817476868629456,
0.5108156204223633,
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] | [
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0.9815520644187927,
0.5275982022285461,
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] | [
0.22542864084243774,
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0.09566022455692291,
3.0799975395202637,
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2.364682674407959
] | 1 | [
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0.6596117615699768,
0.5322913527488708,
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] | [
0.6817033886909485,
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0.659796416759491,
0.5474902987480164,
-0.013805827125906944,
-0.32873207330703735
] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.737131 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
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] | [
0.2006164938211441,
0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.650187 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
-0.41514042019844055,
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] | [
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-0.1510983258485794,
0.09896955639123917,
3.0774993896484375,
0.7970564365386963,
2.371227979660034
] | -10 | 19.299999 | 193 | 0 | 193 | 0 |
[
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67.6138916015625,
27.00042724609375,
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28.210758209228516,
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44.944854736328125,
39.15275955200195,
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27.801061630249023,
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44.95591735839844,
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] | [
0.1980430781841278,
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] | 1 | [
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0.9817476868629456,
0.5108156204223633,
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] | [
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0.9815520644187927,
0.5275982022285461,
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] | [
0.22542864084243774,
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0.09566022455692291,
3.0799975395202637,
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2.364682674407959
] | 1 | [
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0.6596117615699768,
0.5322913527488708,
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] | [
0.6817033886909485,
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0.659796416759491,
0.5474902987480164,
-0.013805827125906944,
-0.32873207330703735
] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.737131 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
-2.808302879333496,
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] | [
0.2006164938211441,
0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
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] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.650187 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
-0.41514042019844055,
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] | [
0.22544226050376892,
-0.1510983258485794,
0.09896955639123917,
3.0774993896484375,
0.7970564365386963,
2.371227979660034
] | -10 | 19.4 | 194 | 0 | 194 | 0 |
[
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67.6138916015625,
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28.210758209228516,
-19.983137130737305,
44.944854736328125,
39.15275955200195,
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] | [
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27.801061630249023,
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44.95591735839844,
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] | [
0.1980430781841278,
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] | 1 | [
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0.5108156204223633,
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] | [
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0.9815520644187927,
0.5275982022285461,
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] | [
0.22542864084243774,
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0.09566022455692291,
3.0799975395202637,
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] | 1 | [
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0.6596117615699768,
0.5322913527488708,
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] | [
0.6817033886909485,
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0.659796416759491,
0.5474902987480164,
-0.013805827125906944,
-0.32873207330703735
] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.737131 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
-2.808302879333496,
-10
] | [
0.2006164938211441,
0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
-2.6785526275634766
] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.650187 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
-0.41514042019844055,
-10
] | [
0.22544226050376892,
-0.1510983258485794,
0.09896955639123917,
3.0774993896484375,
0.7970564365386963,
2.371227979660034
] | -10 | 19.5 | 195 | 0 | 195 | 0 |
[
-36.06361770629883,
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67.6138916015625,
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28.210758209228516,
-19.983137130737305,
44.944854736328125,
39.15275955200195,
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] | [
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27.93671989440918,
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27.801061630249023,
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44.95591735839844,
40.000701904296875,
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] | [
0.1980430781841278,
0.13639125227928162,
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] | 1 | [
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0.9817476868629456,
0.5108156204223633,
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] | [
-0.6819460391998291,
-0.8373753428459167,
0.9815520644187927,
0.5275982022285461,
-0.08897088468074799,
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] | [
0.22542864084243774,
-0.15402765572071075,
0.09566022455692291,
3.0799975395202637,
0.7896630167961121,
2.364682674407959
] | 1 | [
0.6902913451194763,
-0.41264083981513977,
0.6596117615699768,
0.5322913527488708,
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0.019941745325922966
] | [
0.6817033886909485,
-0.4735993444919586,
0.659796416759491,
0.5474902987480164,
-0.013805827125906944,
-0.32873207330703735
] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.737131 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
-2.808302879333496,
-10
] | [
0.2006164938211441,
0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
-2.6785526275634766
] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.650187 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
-0.41514042019844055,
-10
] | [
0.22544226050376892,
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0.09896955639123917,
3.0774993896484375,
0.7970564365386963,
2.371227979660034
] | -10 | 19.6 | 196 | 0 | 196 | 0 |
[
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67.6138916015625,
27.00042724609375,
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28.210758209228516,
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44.944854736328125,
39.15275955200195,
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0.08935316652059555,
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0.822615921497345,
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0.9817476868629456,
0.5108156204223633,
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0.9815520644187927,
0.5275982022285461,
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] | [
0.22542864084243774,
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0.09566022455692291,
3.0799975395202637,
0.7896630167961121,
2.364682674407959
] | 1 | [
0.6902913451194763,
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0.6596117615699768,
0.5322913527488708,
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] | [
0.6817033886909485,
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0.659796416759491,
0.5474902987480164,
-0.013805827125906944,
-0.32873207330703735
] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.737131 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
-2.808302879333496,
-10
] | [
0.2006164938211441,
0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
-2.6785526275634766
] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.650187 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
-0.41514042019844055,
-10
] | [
0.22544226050376892,
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0.09896955639123917,
3.0774993896484375,
0.7970564365386963,
2.371227979660034
] | -10 | 19.700001 | 197 | 0 | 197 | 0 |
[
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67.6138916015625,
27.00042724609375,
-2.808302879333496,
4.150943279266357,
28.210758209228516,
-19.983137130737305,
44.944854736328125,
39.15275955200195,
-0.3663003742694855,
4.450095176696777
] | [
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67.60238647460938,
27.93671989440918,
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-10,
27.801061630249023,
-23.333791732788086,
44.95591735839844,
40.000701904296875,
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-10
] | [
0.1980430781841278,
0.13639125227928162,
0.08935316652059555,
2.9917852878570557,
0.822615921497345,
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] | 1 | [
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0.9817476868629456,
0.5108156204223633,
-0.08897088468074799,
0.004601939581334591
] | [
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-0.8373753428459167,
0.9815520644187927,
0.5275982022285461,
-0.08897088468074799,
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] | [
0.22542864084243774,
-0.15402765572071075,
0.09566022455692291,
3.0799975395202637,
0.7896630167961121,
2.364682674407959
] | 1 | [
0.6902913451194763,
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0.6596117615699768,
0.5322913527488708,
-0.012271846644580364,
0.019941745325922966
] | [
0.6817033886909485,
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0.659796416759491,
0.5474902987480164,
-0.013805827125906944,
-0.32873207330703735
] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.737131 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
-2.808302879333496,
-10
] | [
0.2006164938211441,
0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
-2.6785526275634766
] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.650187 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
-0.41514042019844055,
-10
] | [
0.22544226050376892,
-0.1510983258485794,
0.09896955639123917,
3.0774993896484375,
0.7970564365386963,
2.371227979660034
] | -10 | 19.799999 | 198 | 0 | 198 | 0 |
[
-36.06361770629883,
-45.85824203491211,
67.6138916015625,
27.00042724609375,
-2.808302879333496,
4.150943279266357,
28.210758209228516,
-19.983137130737305,
44.944854736328125,
39.15275955200195,
-0.3663003742694855,
4.450095176696777
] | [
-34.83576202392578,
-50.45976638793945,
67.60238647460938,
27.93671989440918,
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-10,
27.801061630249023,
-23.333791732788086,
44.95591735839844,
40.000701904296875,
-0.41514042019844055,
-10
] | [
0.1980430781841278,
0.13639125227928162,
0.08935316652059555,
2.9917852878570557,
0.822615921497345,
-2.6390480995178223
] | 1 | [
-0.7056311368942261,
-0.754718542098999,
0.9817476868629456,
0.5108156204223633,
-0.08897088468074799,
0.004601939581334591
] | [
-0.6819460391998291,
-0.8373753428459167,
0.9815520644187927,
0.5275982022285461,
-0.08897088468074799,
-0.3405437469482422
] | [
0.22542864084243774,
-0.15402765572071075,
0.09566022455692291,
3.0799975395202637,
0.7896630167961121,
2.364682674407959
] | 1 | [
0.6902913451194763,
-0.41264083981513977,
0.6596117615699768,
0.5322913527488708,
-0.012271846644580364,
0.019941745325922966
] | [
0.6817033886909485,
-0.4735993444919586,
0.659796416759491,
0.5474902987480164,
-0.013805827125906944,
-0.32873207330703735
] | Fold left side of towel to the bottom (1/8) | Is the left side folded? | bimanual_move | 0.737131 | [
-34.79105758666992,
-50.81911087036133,
68.09734344482422,
28.029659271240234,
-2.808302879333496,
-10
] | [
0.2006164938211441,
0.13185371458530426,
0.10135215520858765,
2.9719412326812744,
0.88368159532547,
-2.6785526275634766
] | -10 | Fold right side of towel to the bottom (1/8) | Is the right side folded? | bimanual_move | 0.650187 | [
27.762340545654297,
-21.56342315673828,
45.233116149902344,
40.0688362121582,
-0.41514042019844055,
-10
] | [
0.22544226050376892,
-0.1510983258485794,
0.09896955639123917,
3.0774993896484375,
0.7970564365386963,
2.371227979660034
] | -10 | 19.9 | 199 | 0 | 199 | 0 |
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