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 39 | index int64 0 29.4k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.419703 | [
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] | -10 | Fold right side of towel to the bottom (8/8) | Is the right side folded? | bimanual_move | 0.451051 | [
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[
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] | -10 | Fold right side of towel to the bottom (8/8) | Is the right side folded? | bimanual_move | 0.45766 | [
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] | -10 | 48.900002 | 489 | 39 | 29,201 | 0 |
[
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] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.430079 | [
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] | -10 | Fold right side of towel to the bottom (8/8) | Is the right side folded? | bimanual_move | 0.462111 | [
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54.06562423706055,
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] | [
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3.072479248046875,
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] | -10 | 49 | 490 | 39 | 29,202 | 0 |
[
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] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.435337 | [
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] | [
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] | -10 | Fold right side of towel to the bottom (8/8) | Is the right side folded? | bimanual_move | 0.469713 | [
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54.06562423706055,
18.92130470275879,
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] | [
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3.072479248046875,
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] | -10 | 49.099998 | 491 | 39 | 29,203 | 0 |
[
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] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.441965 | [
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] | [
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] | -10 | Fold right side of towel to the bottom (8/8) | Is the right side folded? | bimanual_move | 0.474526 | [
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54.06562423706055,
18.92130470275879,
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] | [
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] | -10 | 49.200001 | 492 | 39 | 29,204 | 0 |
[
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] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.447113 | [
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] | [
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0.07145682722330093,
2.991623878479004,
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] | -10 | Fold right side of towel to the bottom (8/8) | Is the right side folded? | bimanual_move | 0.481154 | [
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-12.983050346374512,
54.06562423706055,
18.92130470275879,
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] | [
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] | -10 | 49.299999 | 493 | 39 | 29,205 | 0 |
[
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] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.449832 | [
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0.7957077622413635,
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] | -10 | Fold right side of towel to the bottom (8/8) | Is the right side folded? | bimanual_move | 0.484008 | [
-41.881473541259766,
-12.983050346374512,
54.06562423706055,
18.92130470275879,
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3.072479248046875,
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] | -10 | 49.400002 | 494 | 39 | 29,206 | 0 |
[
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] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.451951 | [
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] | -10 | Fold right side of towel to the bottom (8/8) | Is the right side folded? | bimanual_move | 0.487895 | [
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54.06562423706055,
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] | -10 | 49.5 | 495 | 39 | 29,207 | 0 |
[
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] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.452991 | [
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] | [
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] | -10 | Fold right side of towel to the bottom (8/8) | Is the right side folded? | bimanual_move | 0.489317 | [
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54.06562423706055,
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] | [
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] | -10 | 49.599998 | 496 | 39 | 29,208 | 0 |
[
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] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.452991 | [
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60.62557601928711,
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] | [
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] | -10 | Fold right side of towel to the bottom (8/8) | Is the right side folded? | bimanual_move | 0.489317 | [
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-12.983050346374512,
54.06562423706055,
18.92130470275879,
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] | [
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3.072479248046875,
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] | -10 | 49.700001 | 497 | 39 | 29,209 | 0 |
[
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55.14706039428711,
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] | [
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0.8397701382637024,
0.3182406723499298,
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3.075645923614502,
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0.7587869763374329,
0.1706370711326599,
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] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.452991 | [
40.21227264404297,
-27.002105712890625,
60.62557601928711,
16.201488494873047,
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] | [
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0.07145682722330093,
2.991623878479004,
0.7957077622413635,
2.1674389839172363
] | -10 | Fold right side of towel to the bottom (8/8) | Is the right side folded? | bimanual_move | 0.489317 | [
-41.881473541259766,
-12.983050346374512,
54.06562423706055,
18.92130470275879,
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] | [
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3.072479248046875,
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] | -10 | 49.799999 | 498 | 39 | 29,210 | 0 |
[
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55.14706039428711,
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] | [
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] | 1 | [
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0.8397701382637024,
0.3182406723499298,
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0.16696347296237946,
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3.075645923614502,
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] | 1 | [
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0.7587869763374329,
0.1706370711326599,
-0.00920388475060463,
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] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.452991 | [
40.21227264404297,
-27.002105712890625,
60.62557601928711,
16.201488494873047,
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] | [
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0.07145682722330093,
2.991623878479004,
0.7957077622413635,
2.1674389839172363
] | -10 | Fold right side of towel to the bottom (8/8) | Is the right side folded? | bimanual_move | 0.489317 | [
-41.881473541259766,
-12.983050346374512,
54.06562423706055,
18.92130470275879,
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] | [
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3.072479248046875,
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] | -10 | 49.900002 | 499 | 39 | 29,211 | 0 |
[
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55.14706039428711,
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] | [
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-10,
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] | [
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] | 1 | [
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0.33594179153442383,
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] | [
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0.8397701382637024,
0.3182406723499298,
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] | [
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0.16696347296237946,
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3.075645923614502,
0.849460244178772,
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] | 1 | [
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0.8298836350440979,
0.18867962062358856,
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] | [
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0.7587869763374329,
0.1706370711326599,
-0.00920388475060463,
-0.32873207330703735
] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.452991 | [
40.21227264404297,
-27.002105712890625,
60.62557601928711,
16.201488494873047,
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] | [
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0.07145682722330093,
2.991623878479004,
0.7957077622413635,
2.1674389839172363
] | -10 | Fold right side of towel to the bottom (8/8) | Is the right side folded? | bimanual_move | 0.489317 | [
-41.881473541259766,
-12.983050346374512,
54.06562423706055,
18.92130470275879,
-0.2686202824115753,
-10
] | [
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3.072479248046875,
0.8726076483726501,
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] | -10 | 50 | 500 | 39 | 29,212 | 0 |
[
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17.24432945251465,
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55.14706039428711,
19.98288345336914,
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] | [
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-10,
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50.887149810791016,
18.976301193237305,
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-10
] | [
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3.0090811252593994,
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] | 1 | [
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0.9065826535224915,
0.33594179153442383,
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] | [
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0.8397701382637024,
0.3182406723499298,
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] | [
0.2224394977092743,
0.16696347296237946,
0.06737881898880005,
3.075645923614502,
0.849460244178772,
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] | 1 | [
-0.7378447651863098,
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0.8298836350440979,
0.18867962062358856,
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] | [
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0.7587869763374329,
0.1706370711326599,
-0.00920388475060463,
-0.32873207330703735
] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.452991 | [
40.21227264404297,
-27.002105712890625,
60.62557601928711,
16.201488494873047,
-3.0525031089782715,
-10
] | [
0.2086978256702423,
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0.07145682722330093,
2.991623878479004,
0.7957077622413635,
2.1674389839172363
] | -10 | Fold right side of towel to the bottom (8/8) | Is the right side folded? | bimanual_move | 0.489317 | [
-41.881473541259766,
-12.983050346374512,
54.06562423706055,
18.92130470275879,
-0.2686202824115753,
-10
] | [
0.21840491890907288,
0.17731845378875732,
0.07043023407459259,
3.072479248046875,
0.8726076483726501,
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] | -10 | 50.099998 | 501 | 39 | 29,213 | 0 |
[
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] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.452991 | [
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] | -10 | 50.5 | 505 | 39 | 29,217 | 0 |
[
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] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.452991 | [
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] | -10 | Fold right side of towel to the bottom (8/8) | Is the right side folded? | bimanual_move | 0.489317 | [
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54.06562423706055,
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] | -10 | 50.599998 | 506 | 39 | 29,218 | 0 |
[
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0.7587869763374329,
0.1706370711326599,
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] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.452991 | [
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] | [
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] | -10 | Fold right side of towel to the bottom (8/8) | Is the right side folded? | bimanual_move | 0.489317 | [
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-12.983050346374512,
54.06562423706055,
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] | [
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] | -10 | 50.700001 | 507 | 39 | 29,219 | 0 |
[
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0.7587869763374329,
0.1706370711326599,
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] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.452991 | [
40.21227264404297,
-27.002105712890625,
60.62557601928711,
16.201488494873047,
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] | [
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0.07145682722330093,
2.991623878479004,
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2.1674389839172363
] | -10 | Fold right side of towel to the bottom (8/8) | Is the right side folded? | bimanual_move | 0.489317 | [
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-12.983050346374512,
54.06562423706055,
18.92130470275879,
-0.2686202824115753,
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] | [
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] | -10 | 50.799999 | 508 | 39 | 29,220 | 0 |
[
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] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.452991 | [
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[
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0.7587869763374329,
0.1706370711326599,
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] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.452991 | [
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] | -10 | Fold right side of towel to the bottom (8/8) | Is the right side folded? | bimanual_move | 0.489317 | [
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54.06562423706055,
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] | [
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] | -10 | 51.400002 | 514 | 39 | 29,226 | 0 |
[
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0.7587869763374329,
0.1706370711326599,
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] | Fold left side of towel to the bottom (8/8) | Is the left side folded? | bimanual_move | 0.452991 | [
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-27.002105712890625,
60.62557601928711,
16.201488494873047,
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] | [
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2.991623878479004,
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] | -10 | Fold right side of towel to the bottom (8/8) | Is the right side folded? | bimanual_move | 0.489317 | [
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-12.983050346374512,
54.06562423706055,
18.92130470275879,
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] | [
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] | -10 | 51.5 | 515 | 39 | 29,227 | 0 |
[
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[
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.044502 | [
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] | -10 | Release right side of the towel | Is the right side released? | bimanual_move | 0.028439 | [
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[
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.063691 | [
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-2.857043981552124,
59.13288879394531,
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] | -10 | Release right side of the towel | Is the right side released? | bimanual_move | 0.043072 | [
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9.16248607635498,
50.1032829284668,
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[
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.090092 | [
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] | -10 | Release right side of the towel | Is the right side released? | bimanual_move | 0.045422 | [
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9.16248607635498,
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[
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.120318 | [
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.144969 | [
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.182235 | [
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9.16248607635498,
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] | -10 | 52.599998 | 526 | 39 | 29,238 | 0 |
[
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.204013 | [
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59.13288879394531,
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9.16248607635498,
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] | -10 | 52.700001 | 527 | 39 | 29,239 | 0 |
[
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0.7819600701332092,
0.1383041888475418,
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.235846 | [
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-2.857043981552124,
59.13288879394531,
5.697483539581299,
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] | [
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] | -10 | Release right side of the towel | Is the right side released? | bimanual_move | 0.169561 | [
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9.16248607635498,
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] | [
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] | -10 | 52.799999 | 528 | 39 | 29,240 | 0 |
[
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0.13163290917873383,
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.271467 | [
41.81256103515625,
-2.857043981552124,
59.13288879394531,
5.697483539581299,
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] | [
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3.0456383228302,
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] | -10 | Release right side of the towel | Is the right side released? | bimanual_move | 0.201858 | [
-43.27503204345703,
9.16248607635498,
50.1032829284668,
12.940449714660645,
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] | [
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] | -10 | 52.900002 | 529 | 39 | 29,241 | 0 |
[
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] | [
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3.0827271938323975,
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0.12668417394161224,
-0.00920388475060463,
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.296575 | [
41.81256103515625,
-2.857043981552124,
59.13288879394531,
5.697483539581299,
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-10
] | [
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0.00502970302477479,
3.0456383228302,
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2.171060562133789
] | -10 | Release right side of the towel | Is the right side released? | bimanual_move | 0.230195 | [
-43.27503204345703,
9.16248607635498,
50.1032829284668,
12.940449714660645,
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-10
] | [
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] | -10 | 53 | 530 | 39 | 29,242 | 0 |
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.413429 | [
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.444498 | [
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59.13288879394531,
5.697483539581299,
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9.16248607635498,
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[
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.465215 | [
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-2.857043981552124,
59.13288879394531,
5.697483539581299,
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] | [
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] | -10 | Release right side of the towel | Is the right side released? | bimanual_move | 0.390227 | [
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9.16248607635498,
50.1032829284668,
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] | [
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] | -10 | 53.599998 | 536 | 39 | 29,248 | 0 |
[
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0.7547257542610168,
0.08718053996562958,
-0.00920388475060463,
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.477691 | [
41.81256103515625,
-2.857043981552124,
59.13288879394531,
5.697483539581299,
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] | [
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0.00502970302477479,
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] | -10 | Release right side of the towel | Is the right side released? | bimanual_move | 0.400436 | [
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9.16248607635498,
50.1032829284668,
12.940449714660645,
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] | [
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] | -10 | 53.700001 | 537 | 39 | 29,249 | 0 |
[
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.512971 | [
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[
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.520565 | [
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59.13288879394531,
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] | -10 | Release right side of the towel | Is the right side released? | bimanual_move | 0.436992 | [
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9.16248607635498,
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] | [
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[
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.523647 | [
41.81256103515625,
-2.857043981552124,
59.13288879394531,
5.697483539581299,
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] | [
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] | -10 | Release right side of the towel | Is the right side released? | bimanual_move | 0.441705 | [
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9.16248607635498,
50.1032829284668,
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[
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.526404 | [
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.527226 | [
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[
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.527226 | [
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] | -10 | Release right side of the towel | Is the right side released? | bimanual_move | 0.446504 | [
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] | [
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] | -10 | 55 | 550 | 39 | 29,262 | 0 |
[
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.527226 | [
41.81256103515625,
-2.857043981552124,
59.13288879394531,
5.697483539581299,
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] | [
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] | -10 | Release right side of the towel | Is the right side released? | bimanual_move | 0.446504 | [
-43.27503204345703,
9.16248607635498,
50.1032829284668,
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] | [
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] | -10 | 55.099998 | 551 | 39 | 29,263 | 0 |
[
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0.7416770458221436,
0.06268581748008728,
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.527226 | [
41.81256103515625,
-2.857043981552124,
59.13288879394531,
5.697483539581299,
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] | [
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3.0456383228302,
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] | -10 | Release right side of the towel | Is the right side released? | bimanual_move | 0.446504 | [
-43.27503204345703,
9.16248607635498,
50.1032829284668,
12.940449714660645,
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.527226 | [
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] | -10 | Release right side of the towel | Is the right side released? | bimanual_move | 0.446504 | [
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[
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] | Release left side of the towel | Is the left side released? | bimanual_move | 0.527226 | [
41.81256103515625,
-2.857043981552124,
59.13288879394531,
5.697483539581299,
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] | -10 | Release right side of the towel | Is the right side released? | bimanual_move | 0.446504 | [
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9.16248607635498,
50.1032829284668,
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[
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] | Release towel while lifting (left) | Is towel released by left arm? | bimanual_move | 0 | [
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] | Release towel while lifting (left) | Is towel released by left arm? | bimanual_move | 0 | [
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] | Release towel while lifting (left) | Is towel released by left arm? | bimanual_move | 0.457342 | [
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] | [
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] | 30 | Release towel while lifting (right) | Is towel released by right arm? | bimanual_move | 0.474107 | [
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] | [
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] | 30 | 58.599998 | 586 | 39 | 29,298 | 0 |
[
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] | Release towel while lifting (left) | Is towel released by left arm? | bimanual_move | 0.498084 | [
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] | [
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] | 30 | Release towel while lifting (right) | Is towel released by right arm? | bimanual_move | 0.516337 | [
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] | [
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] | 30 | 58.700001 | 587 | 39 | 29,299 | 0 |
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