language_instruction stringclasses 594
values | actions stringlengths 8.95k 24.8k | length int64 30 79 | tool stringclasses 15
values | grasp_type stringclasses 5
values |
|---|---|---|---|---|
pick up the hammer and hit the nail | [[0.01449664682149887, 0.010752301663160324, 0.01088354829698801, 0.00118204893078655, 0.00399521179497242, 0.004174112342298031, -0.005707156378775835, 0.0035060998052358627, 0.0026005078107118607, 0.0026322505436837673, 0.00028588552959263325, 0.0009662656229920685, 0.0010095337638631463, -0.001380309578962624], [-0.... | 43 | hammer | power_grasp |
grab the screwdriver and tighten the screw | [[0.005936352536082268, -0.002698637545108795, -0.004438344854861498, -0.00041879568016156554, -0.00240524229593575, -0.001055726781487465, -0.018236257135868073, 0.0018690942088142037, -0.0008496813243255019, -0.0013974379980936646, -0.00013186018622945994, -0.0007573041366413236, -0.00033240157063119113, -0.005741789... | 74 | screwdriver | precision_grasp |
use the wrench to loosen the bolt from the toolbox | [[0.011471632868051529, -0.005711101461201906, -0.02119820937514305, 0.007727016694843769, -0.013537338003516197, 0.00022525610984303057, 0.009623817168176174, 0.0035135983489453793, -0.0017492292681708932, -0.006492710672318935, 0.002366675529628992, -0.004146294202655554, 6.899274740135297e-05, 0.0029476385097950697]... | 76 | wrench | power_grasp |
grip the wire with red pliers and pull | [[0.002598298480734229, 0.008467585779726505, -0.017134899273514748, -0.010476144962012768, 0.010980096645653248, 0.011431459337472916, 0.003191443858668208, 0.0010128933936357498, 0.003300914540886879, -0.006679689045995474, -0.004083910025656223, 0.004280365537852049, 0.004456319846212864, 0.0012441189028322697], [0.... | 53 | pliers | pinch_grasp |
pick up scissors and cut the paper on the counter | [[0.005534693598747253, 0.014970372430980206, -0.0018093012040480971, 0.016794346272945404, 0.001290715765208006, -0.006147837266325951, 0.004583314526826143, 0.0019301888532936573, 0.005220821592956781, -0.0006309822201728821, 0.005856920499354601, 0.0004501288349274546, -0.0021440188866108656, 0.0015984015772119164],... | 53 | scissors | precision_grasp |
grab the large knife and slice the bread | [[-0.015523912385106087, -0.005056765861809254, -0.02085036039352417, 0.018484747037291527, 0.004793965723365545, 0.017862191423773766, -0.005159080494195223, -0.002805602503940463, -0.000913898169528693, -0.0037682396359741688, 0.003340707626193762, 0.0008664028719067574, 0.003228194545954466, -0.0009323892300017178],... | 62 | knife | precision_grasp |
take the blue spatula and flip the pancake | [[-0.0005179625586606562, -0.0017953368369489908, 0.007579905446618795, -0.012249873019754887, 0.0007746697519905865, -0.0006457279669120908, -0.012744557112455368, -9.9220807896927e-05, -0.0003439143765717745, 0.001452005235478282, -0.0023465834092348814, 0.0001483955857111141, -0.00012369552860036492, -0.002441344782... | 63 | spatula | hook_grasp |
scoop soup with the ladle | [[0.00890063215047121, 0.005461417604237795, -0.006903357803821564, 0.003257136791944504, 0.0031425112392753363, 0.009841686114668846, -0.008208759129047394, 0.0022511889692395926, 0.0013813269324600697, -0.0017460291273891926, 0.0008238101145252585, 0.0007948184502311051, 0.002489204751327634, -0.0020761971827596426],... | 39 | ladle | hook_grasp |
pick up the brush and paint the wall | [[-0.00024489854695275426, 0.013343707658350468, -0.01427181251347065, -0.002221797127276659, 0.006684702355414629, -0.004588682670146227, 0.0002570144133642316, -8.873309707269073e-05, 0.004834771156311035, -0.005171047989279032, -0.0008050147444009781, 0.0024220410268753767, -0.0016625986900180578, 9.312298789154738e... | 77 | paintbrush | tripod_grasp |
grab the rusty pen and write on the paper on the counter | [[0.0154070183634758, -0.0004530521109700203, 0.013628566637635231, -0.01112466398626566, 0.015184115618467331, 0.007833442650735378, -0.0037769812624901533, 0.005422540474683046, -0.0001594528730493039, 0.004796609748154879, -0.003915354609489441, 0.00534408912062645, 0.0027570005040615797, -0.0013293183874338865], [-... | 54 | pen | tripod_grasp |
hold the large drill and make a hole from the table | [[-0.007263948675245047, 0.005573237780481577, 0.009635252878069878, 0.008493728004395962, -0.004421990364789963, -0.011796525679528713, -0.0042649805545806885, -0.001108789467252791, 0.0008507146267220378, 0.0014707519439980388, 0.0012965063797309995, -0.0006749849999323487, -0.0018006546888500452, -0.0006510185776278... | 33 | drill | power_grasp |
grip the red saw and cut the wood on the counter | [[0.003946017939597368, 0.004274893086403608, 0.00536383455619216, -0.020364034920930862, -0.0022691660560667515, 0.006035227328538895, -0.003623586380854249, 0.0015188833931460977, 0.001645472482778132, 0.002064622938632965, -0.007838431745767593, -0.0008734370931051672, 0.002323052380234003, -0.0013947744155302644], ... | 32 | saw | power_grasp |
use large tongs to pick up the hot coal from the toolbox | [[-0.00019159707881044596, -0.003915490582585335, -0.017270933836698532, -0.00745983375236392, 0.0020955803338438272, -0.012964211404323578, -0.009171805344522, -5.8766214351635426e-05, -0.001200950238853693, -0.00529730087146163, -0.002288063056766987, 0.0006427515763789415, -0.003976352978497744, -0.00281315506435930... | 68 | tongs | pinch_grasp |
take the whisk and beat the eggs | [[0.022521372884511948, -0.0025102486833930016, 0.008069701492786407, -0.010062038898468018, -0.004142731428146362, -0.00013871377450414002, 0.008080516941845417, 0.004858336411416531, -0.0005415137275122106, 0.0017408052226528525, -0.0021705946419388056, -0.0008936747908592224, -2.992349436681252e-05, 0.00174313841853... | 34 | whisk | power_grasp |
grab the new broom and sweep the floor from the table | [[-0.019366567954421043, -0.007482859306037426, -0.003954090178012848, 0.0097345607355237, 0.0013781912857666612, 0.006185196340084076, -0.0010372452670708299, -0.003999623935669661, -0.0015453756786882877, -0.000816606916487217, 0.0020104018040001392, 0.0002846269344445318, 0.0012773795751854777, -0.000214214043808169... | 55 | broom | power_grasp |
pick up the hammer and hit the nail from the drawer | [[0.00895657204091549, -0.006925540044903755, -0.006343225948512554, 0.00527212955057621, -0.010822257027029991, -0.01774817705154419, -0.007696995511651039, 0.0027159303426742554, -0.0021000539418309927, -0.0019234769279137254, 0.0015986849321052432, -0.003281668061390519, -0.005381837021559477, -0.0023339849431067705... | 69 | hammer | power_grasp |
grab the screwdriver and tighten the screw from the drawer | [[-0.00019393159891478717, -0.0005774336168542504, -0.004222329240292311, -0.013138195499777794, -0.01338098756968975, 0.005651490762829781, 0.02276100218296051, -2.3132000933401287e-05, -6.887580821057782e-05, -0.0005036359652876854, -0.0015671130968257785, -0.001596073154360056, 0.0006741051329299808, 0.0027149135712... | 36 | screwdriver | precision_grasp |
use the small wrench to loosen the bolt | [[0.007368955761194229, -0.006841256748884916, -0.0025802762247622013, -0.02486148104071617, -0.0050376541912555695, 0.004373416770249605, -0.006042939145117998, 0.001987415598705411, -0.001845094608142972, -0.0006959033780731261, -0.006705169565975666, -0.0013586609857156873, 0.0011795153841376305, -0.0016297874972224... | 63 | wrench | power_grasp |
grip the wire with large pliers and pull | [[-0.012592379935085773, 0.015580282546579838, -0.014409622177481651, -0.00753462640568614, 0.01742563210427761, -0.017466120421886444, -0.00495445029810071, -0.004799107555299997, 0.005937833338975906, -0.0054916804656386375, -0.002871536882594228, 0.006641118321567774, -0.00665654893964529, -0.0018882006406784058], [... | 41 | pliers | pinch_grasp |
pick up scissors and cut the paper | [[0.003541352925822139, 0.015909530222415924, 0.019961662590503693, -0.010161442682147026, 0.0028084737714380026, 0.0055728089064359665, 0.022421851754188538, 0.0005445139249786735, 0.00244622933678329, 0.0030692799482494593, -0.0015624106163159013, 0.00043182738590985537, 0.000856868049595505, 0.003447555471211672], [... | 34 | scissors | precision_grasp |
grab the large knife and slice the bread from the shelf | [[0.014498001895844936, -2.7713376766769215e-06, 0.003689419711008668, -0.0034716494847089052, 0.008940178900957108, 0.019808126613497734, 0.005515969358384609, 0.002349644899368286, -4.4914182240063383e-07, 0.0005979324341751635, -0.0005626391503028572, 0.001448906259611249, 0.0032102398108690977, 0.000893955526407808... | 44 | knife | precision_grasp |
take the spatula and flip the pancake from the table | [[0.001435640500858426, -0.004613788332790136, -0.008694791235029697, 0.01382108312100172, 0.007269937079399824, 0.012099516578018665, 0.005704752169549465, 0.00037925096694380045, -0.0012188174296170473, -0.002296889666467905, 0.003651094390079379, 0.0019204881973564625, 0.003196310717612505, 0.0015070156659930944], [... | 32 | spatula | hook_grasp |
scoop soup with the small ladle | [[0.013630048371851444, 0.018374593928456306, -0.017239771783351898, 0.01852823793888092, -0.007734686601907015, 0.006172741763293743, 0.025189630687236786, 0.004489927086979151, 0.006052846554666758, -0.005679020192474127, 0.0061034588143229485, -0.0025479132309556007, 0.0020333868451416492, 0.008297814056277275], [0.... | 52 | ladle | hook_grasp |
pick up the brush and paint the wall from the shelf | [[0.012494630180299282, -0.007927854545414448, 0.0015508255455642939, 0.009344595484435558, -0.007020645309239626, 0.007175692357122898, 0.006606325041502714, 0.004879583138972521, -0.003096100175753236, 0.0006056507700122893, 0.0036493863444775343, -0.0027418036479502916, 0.002802354982122779, 0.002579997293651104], [... | 64 | paintbrush | tripod_grasp |
grab the rusty pen and write on the paper from the shelf | [[-0.002804104471579194, 0.006516519468277693, -0.004659973084926605, -0.007874113507568836, -0.008507110178470612, 0.011556270532310009, -0.0017940038815140724, -0.0007641211850568652, 0.0017757578752934933, -0.0012698471546173096, -0.0021457034163177013, -0.002318195765838027, 0.003149094758555293, -0.000488867808599... | 66 | pen | tripod_grasp |
hold the drill and make a hole from the shelf | [[-0.003923286218196154, 0.011679566465318203, -0.004777534399181604, 0.000560924643650651, 0.01543249562382698, 0.0041509708389639854, -0.020683318376541138, -0.0006950893439352512, 0.0020692709367722273, -0.0008464366546832025, 9.937912545865402e-05, 0.0027341782115399837, 0.0007354283006861806, -0.003664467483758926... | 58 | drill | power_grasp |
grip the saw and cut the wood from the toolbox | [[-0.0035772204864770174, -0.011362059973180294, -0.0025470738764852285, 0.012671694159507751, -0.011900310404598713, 0.0002563089656177908, 0.01530399639159441, -0.0013221533736214042, -0.004199457820504904, -0.000941407517530024, 0.004683502949774265, -0.0043983967043459415, 9.473269892623648e-05, 0.00565641140565276... | 70 | saw | power_grasp |
use red tongs to pick up the hot coal | [[0.008601054549217224, -0.013578839600086212, 0.0038422108627855778, -0.005007368978112936, 0.0020594655070453882, -0.026354975998401642, -0.012499227188527584, 0.0021742084063589573, -0.0034325122833251953, 0.000971249130088836, -0.0012657823972404003, 0.0005205997731536627, -0.006662114057689905, -0.0031596038024872... | 67 | tongs | pinch_grasp |
take the red whisk and beat the eggs from the toolbox | [[-0.016852332279086113, 0.0055031366646289825, 0.005148308351635933, 0.002662243088707328, 0.01943819783627987, -0.006461468990892172, 0.014057103544473648, -0.005991588346660137, 0.0019565559923648834, 0.00183040217962116, 0.0009465197217650712, 0.00691095320507884, -0.0022972761653363705, 0.004997787531465292], [-0.... | 36 | whisk | power_grasp |
grab the blue broom and sweep the floor | [[-0.0003017017152160406, -0.007929683662950993, -0.0046744379214942455, -0.02284054271876812, 0.0038168379105627537, 0.014807255938649178, 0.0066823214292526245, -5.129283090354875e-05, -0.001348139252513647, -0.0007947092526592314, -0.0038831601850688457, 0.0006489072111435235, 0.0025174072943627834, 0.00113607302773... | 31 | broom | power_grasp |
pick up the large hammer and hit the nail | [[0.005214464385062456, -0.01061165239661932, 0.005610478576272726, 0.00047944870311766863, -0.01875142566859722, 0.0040755970403552055, -0.0023072483018040657, 0.0017522434936836362, -0.0035658886190503836, 0.0018853181973099709, 0.0001611116313142702, -0.006301139015704393, 0.0013695440720766783, -0.00077531661372631... | 74 | hammer | power_grasp |
grab the large screwdriver and tighten the screw from the shelf | [[-0.002258583437651396, -0.018694695085287094, 0.0010911754798144102, -0.015012399293482304, 0.016990741714835167, -0.016014160588383675, -0.015450926497578621, -0.0006886906921863556, -0.005700414534658194, 0.0003327228769194335, -0.004577603656798601, 0.005180842708796263, -0.004883062094449997, -0.00471131969243288... | 66 | screwdriver | precision_grasp |
use the wrench to loosen the bolt | [[0.001781452912837267, -0.004055315628647804, 0.016799231991171837, -0.014570924453437328, 0.0017675176495686173, -0.017400437965989113, -0.015848694369196892, 0.00020803269580937922, -0.0004735675174742937, 0.001961763482540846, -0.0017015485791489482, 0.00020640536968130618, -0.0020319705363363028, -0.00185076263733... | 30 | wrench | power_grasp |
grip the wire with pliers and pull from the shelf | [[-0.0051628584042191505, -0.0067131477408111095, -0.0027443801518529654, 0.0018572061089798808, 0.005188717041164637, 0.0032066365238279104, 0.00016385418712161481, -0.0008776647737249732, -0.0011412076419219375, -0.0004665333835873753, 0.0003157174214720726, 0.0008820606162771583, 0.0005451150937005877, 2.78545412584... | 73 | pliers | pinch_grasp |
pick up scissors and cut the paper | [[0.0033427963498979807, -0.018099544569849968, 0.0038118641823530197, -0.008795817382633686, 0.022520780563354492, 0.006455056369304657, 8.67551498231478e-05, 0.00036923683364875615, -0.0019992298912256956, 0.0004210488696116954, -0.0009715637424960732, 0.0024875884409993887, 0.0007130092126317322, 9.582754501025192e-... | 70 | scissors | precision_grasp |
grab the knife and slice the bread | [[0.0017983682919293642, 0.013542396947741508, 0.012292900122702122, 0.0038316708523780107, -9.250145376427099e-05, 0.009273028001189232, -0.005993642378598452, 0.000664133345708251, 0.005001176614314318, 0.0045397402718663216, 0.0014150274218991399, -3.41605773428455e-05, 0.0034245082642883062, -0.002213438507169485],... | 30 | knife | precision_grasp |
take the spatula and flip the pancake | [[0.005153863690793514, 0.006582414731383324, 0.008903703652322292, 0.004147492814809084, 0.016566894948482513, -0.010538366623222828, 0.006927815265953541, 0.0015170578844845295, 0.0019375568954274058, 0.0026208364870399237, 0.0012208290863782167, 0.004876523744314909, -0.0031020052265375853, 0.0020392267033457756], [... | 70 | spatula | hook_grasp |
scoop soup with the ladle from the table | [[-0.008077683858573437, 0.005431998521089554, 0.004422643221914768, -0.008143389597535133, -0.009055531583726406, -0.004305272363126278, 0.0033180920872837305, -0.002139768796041608, 0.001438929932191968, 0.0011715529253706336, -0.0021571742836385965, -0.00239879940636456, -0.0011404615361243486, 0.0008789586136117578... | 73 | ladle | hook_grasp |
pick up the brush and paint the wall | [[0.004545743577182293, 0.0017429676372557878, -0.00768381729722023, -0.0003493930271361023, 0.022234434261918068, -0.002939800499007106, 0.0035404544323682785, 0.0014512595953419805, 0.0005564542952924967, -0.0024531111121177673, -0.00011154610547237098, 0.007098494563251734, -0.0009385513258166611, 0.0011303141945973... | 75 | paintbrush | tripod_grasp |
grab the pen and write on the paper on the counter | [[-0.01863401010632515, -0.008276046253740788, -0.0026921569369733334, -0.0001050164137268439, 0.003281668294221163, -0.001338567235507071, -0.002896634628996253, -0.004099525976926088, -0.0018207496032118797, -0.0005922808777540922, -2.3103857529349625e-05, 0.0007219747640192509, -0.0002944879524875432, -0.00063726643... | 66 | pen | tripod_grasp |
hold the small drill and make a hole from the table | [[-0.007178785745054483, 0.009643194265663624, 0.01058289036154747, 0.011921395547688007, -0.011697649955749512, 0.006896157283335924, 0.0012652387376874685, -0.001893223263323307, 0.002543148584663868, 0.0027909697964787483, 0.0031439666636288166, -0.003084959462285042, 0.001818687072955072, 0.00033367471769452095], [... | 72 | drill | power_grasp |
grip the saw and cut the wood | [[-0.0023738250602036715, 0.0011456828797236085, -0.0005207015783526003, -0.0011888068402186036, 0.003808695590123534, -0.001718258485198021, 0.012307785451412201, -0.0002531626960262656, 0.00012218431220389903, -5.553156370297074e-05, -0.00012678337225224823, 0.0004061881627421826, -0.00018324810662306845, 0.001312595... | 62 | saw | power_grasp |
use new tongs to pick up the hot coal from the table | [[-0.0068612913601100445, 0.00881424080580473, -0.01642354018986225, -0.012850341387093067, -0.005532259587198496, 0.007135266903787851, 0.004917916376143694, -0.0014014164917171001, 0.001800305675715208, -0.00335450260899961, -0.002624677959829569, -0.0011299621546640992, 0.001457375823520124, 0.0010044827358797193], ... | 63 | tongs | pinch_grasp |
take the whisk and beat the eggs from the toolbox | [[-0.001300727017223835, -0.013142233714461327, 0.004089375026524067, -0.00237475847825408, 0.00498059019446373, 0.00703063840046525, 0.018412817269563675, -0.00018522997561376542, -0.0018715192563831806, 0.0005823472747579217, -0.0003381773713044822, 0.0007092607556842268, 0.0010011977283284068, 0.002622076543048024],... | 47 | whisk | power_grasp |
grab the large broom and sweep the floor | [[0.022189026698470116, -0.00311471289023757, 0.0034814125392585993, -0.011105445213615894, -0.015397600829601288, 0.010701756924390793, -0.012017559260129929, 0.007717309519648552, -0.0010832924162968993, 0.0012108299415558577, -0.0038624568842351437, -0.005355261731892824, 0.0037220546510070562, -0.004179688636213541... | 35 | broom | power_grasp |
pick up the blue hammer and hit the nail from the table | [[0.004897227976471186, 0.00022296558017842472, 0.0017347856191918254, -0.0009719902882352471, 0.0011134764645248652, -0.01749940775334835, -0.008960551582276821, 0.001870637759566307, 8.516814705217257e-05, 0.000662651495076716, -0.00037127977702766657, 0.00042532451334409416, -0.006684404332190752, -0.003422741545364... | 50 | hammer | power_grasp |
grab the screwdriver and tighten the screw from the toolbox | [[0.0008428121800534427, -0.00913442112505436, 0.005799448117613792, 0.010370428673923016, 0.00382351316511631, 0.020371953025460243, 0.010850881226360798, 0.0002963668084703386, -0.0032120314426720142, 0.0020393203012645245, 0.0036466617602854967, 0.0013445017393678427, 0.00716360192745924, 0.0038156083319336176], [0.... | 36 | screwdriver | precision_grasp |
use the rusty wrench to loosen the bolt | [[-0.00864110141992569, 0.027446324005723, -0.019939424470067024, 0.004873168189078569, -0.017778513953089714, -0.0012187834363430738, 0.005212319083511829, -0.003142106579616666, 0.009980125352740288, -0.007250440772622824, 0.001771997893229127, -0.006464683450758457, -0.0004431781417224556, 0.0018953210674226284], [-... | 70 | wrench | power_grasp |
grip the wire with pliers and pull from the shelf | [[-0.0084986025467515, -0.014034564606845379, 0.004411728121340275, -0.013518446125090122, -0.011242176406085491, 0.0027029947377741337, 0.011770030483603477, -0.003258689306676388, -0.005381389055401087, 0.0016916253371164203, -0.00518348952755332, -0.00431068055331707, 0.0010364316403865814, 0.004513080231845379], [0... | 72 | pliers | pinch_grasp |
pick up scissors and cut the paper on the counter | [[-0.009426034055650234, -0.013264450244605541, 0.01400588359683752, -0.014404002577066422, 0.029519658535718918, 0.013099108822643757, -0.007905718870460987, -0.002804978284984827, -0.003947205375880003, 0.004167839419096708, -0.004286311101168394, 0.008784393779933453, 0.0038980036042630672, -0.0023525662254542112], ... | 40 | scissors | precision_grasp |
grab the large knife and slice the bread | [[-0.011664641089737415, 0.011307858861982822, -0.013206557370722294, 0.005579149350523949, 0.00924944318830967, -0.009944667108356953, -0.014073316007852554, -0.0013674227520823479, 0.0013255978701636195, -0.001548178493976593, 0.0006540326285175979, 0.0010842938208952546, -0.0011657936265692115, -0.00164978695102036]... | 33 | knife | precision_grasp |
take the spatula and flip the pancake | [[0.011740096844732761, 0.001423261477611959, 0.005373357329517603, 0.007615998852998018, 0.0013556609628722072, -0.00509839178994298, -0.006528747268021107, 0.004235902335494757, 0.0005135218962095678, 0.0019387418869882822, 0.0027479014825075865, 0.0004891311982646585, -0.0018395325168967247, -0.0023556139785796404],... | 74 | spatula | hook_grasp |
scoop soup with the ladle | [[0.002948006382212043, -0.005701063666492701, -0.0028207970317453146, -0.013751707039773464, -0.011770524084568024, -0.012144427746534348, 0.011816968210041523, 0.0003349931794218719, -0.0006478335708379745, -0.0003205378889106214, -0.0015626588137820363, -0.001337529392912984, -0.0013800174929201603, 0.00134280708152... | 34 | ladle | hook_grasp |
pick up the brush and paint the wall from the table | [[-0.007946851663291454, -0.01644909381866455, -0.000718990748282522, -0.007810486480593681, -0.009217547252774239, -0.004422611091285944, -0.018865101039409637, -0.0008565044263377786, -0.001772868330590427, -7.749216456431895e-05, -0.0008418071083724499, -0.0009934587869793177, -0.00047666497994214296, -0.00203326344... | 75 | paintbrush | tripod_grasp |
grab the small pen and write on the paper from the table | [[0.00860219169408083, -0.003883901983499527, -0.01519558485597372, -0.0022460855543613434, 0.01009464543312788, -0.011874943971633911, -0.006064128130674362, 0.0026757277082651854, -0.0012080948799848557, -0.00472661480307579, -0.0006986490334384143, 0.003139958018437028, -0.003693723352625966, -0.0018862582510337234]... | 35 | pen | tripod_grasp |
hold the large drill and make a hole | [[0.0011225291527807713, 0.006370547227561474, 0.005379105918109417, 0.016911370679736137, 0.0001953814789885655, -0.0033937792759388685, -0.003960931673645973, 0.0003677773929666728, 0.002087200293317437, 0.0017623716266825795, 0.00554072018712759, 6.401338032446802e-05, -0.0011119134724140167, -0.0012977311853319407]... | 73 | drill | power_grasp |
grip the rusty saw and cut the wood | [[0.002128513529896736, -0.006103355437517166, 0.0023996392264962196, 0.008704428561031818, -0.007289125584065914, -0.004937422927469015, -0.011723354458808899, 0.000830173899885267, -0.0023804623633623123, 0.0009359197574667633, 0.0033949464559555054, -0.0028429427184164524, -0.0019257193198427558, -0.0045724036172032... | 53 | saw | power_grasp |
use small tongs to pick up the hot coal from the shelf | [[0.0035345195792615414, -0.0008258455200120807, 0.0043453858233988285, 0.026126759126782417, -0.013025084510445595, -0.008982734754681587, 0.0018023421289399266, 0.0008080200059339404, -0.00018879502022173256, 0.000993390684016049, 0.005972790531814098, -0.00297764060087502, -0.0020535264629870653, 0.00041203011642210... | 49 | tongs | pinch_grasp |
take the whisk and beat the eggs from the table | [[0.01138883363455534, -0.021879995241761208, -0.01696232333779335, 0.011209789663553238, 0.008251999504864216, -0.01906982623040676, -0.01194017007946968, 0.0015528462827205658, -0.0029832967557013035, -0.0023127812892198563, 0.0015284339897334576, 0.0011251447722315788, -0.0026001352816820145, -0.0016280199633911252]... | 53 | whisk | power_grasp |
grab the broom and sweep the floor | [[0.01490778662264347, -0.009889667853713036, 0.0070735989138484, 0.0027862044516950846, -0.004950958304107189, 0.00803670659661293, 0.0005084923468530178, 0.004735884256660938, -0.0031417354475706816, 0.0022471307311207056, 0.0008851174497976899, -0.0015728133730590343, 0.0025530895218253136, 0.00016153711476363242], ... | 61 | broom | power_grasp |
pick up the hammer and hit the nail | [[0.0011029402958229184, 0.0035121282562613487, 0.002797891153022647, 0.0011381615186110139, -0.0018551821121945977, 0.012062648311257362, -0.005734029691666365, 0.0004316140548326075, 0.0013744025491178036, 0.0010948998387902975, 0.00044539719237945974, -0.0007259891135618091, 0.004720481112599373, -0.0022438999731093... | 47 | hammer | power_grasp |
grab the rusty screwdriver and tighten the screw | [[-0.0007554325857199728, -0.0029142252169549465, 0.016675543040037155, -0.0007810788811184466, 0.007125893607735634, 0.004265691619366407, -0.0030037628021091223, -8.440258534392342e-05, -0.00032559907413087785, 0.0018631166312843561, -8.72679811436683e-05, 0.0007961582159623504, 0.000476595014333725, -0.0003356028755... | 37 | screwdriver | precision_grasp |
use the wrench to loosen the bolt from the table | [[0.010457586497068405, -0.022995352745056152, -0.004517882596701384, -0.00971045158803463, -0.00713464105501771, 0.007836700417101383, 0.012167371809482574, 0.003653881372883916, -0.00803457759320736, -0.0015785484574735165, -0.003392832586541772, -0.0024928441271185875, 0.0027381437830626965, 0.004251280799508095], [... | 62 | wrench | power_grasp |
grip the wire with rusty pliers and pull from the toolbox | [[0.0061122952029109, -7.505597022827715e-05, -4.1519244405208156e-05, -0.004814633633941412, 0.02025127410888672, -0.007715644780546427, -0.003970154095441103, 0.001527978340163827, -1.8762821127893403e-05, -1.0379162631579675e-05, -0.0012035832041874528, 0.005062502343207598, -0.0019287907052785158, -0.00099247647449... | 77 | pliers | pinch_grasp |
pick up scissors and cut the paper from the drawer | [[-0.0014164113672450185, 0.012522656470537186, -0.012649760581552982, 0.011496150866150856, 0.006668676156550646, 0.001934617175720632, -0.00397791201248765, -0.0002137955598300323, 0.0018901912262663245, -0.0019093765877187252, 0.001735248719342053, 0.0010065814713016152, 0.0002920144470408559, -0.0006004328606650233... | 51 | scissors | precision_grasp |
grab the knife and slice the bread | [[0.02377612330019474, 0.021706368774175644, 0.0007092531304806471, 0.001211728435009718, -0.003545339684933424, -0.01409643143415451, -0.00012294022599235177, 0.00949073489755392, 0.008664549328386784, 0.0002831131569109857, 0.00048368662828579545, -0.0014151961077004671, -0.005626883823424578, -4.907415132038295e-05]... | 71 | knife | precision_grasp |
take the red spatula and flip the pancake | [[0.009848682209849358, 0.0012466597836464643, -0.006559635512530804, 0.005490914452821016, -0.007218241225928068, 0.0010212319903075695, -0.0035020792856812477, 0.001568634994328022, 0.00019855998107232153, -0.0010447767563164234, 0.0008745577069930732, -0.0011496752267703414, 0.00016265528392978013, -0.00055778876412... | 59 | spatula | hook_grasp |
scoop soup with the ladle from the toolbox | [[-0.001525654224678874, 0.019565699622035027, 0.011676410213112831, -0.021089650690555573, -0.005174343474209309, -0.0032490247394889593, 0.01878402568399906, -0.0003136794548481703, 0.004022771492600441, 0.0024007076863199472, -0.004336100537329912, -0.0010638617677614093, -0.0006680100341327488, 0.003862056648358702... | 41 | ladle | hook_grasp |
pick up the brush and paint the wall from the toolbox | [[0.010309201665222645, 0.008135039359331131, -0.0061581977643072605, -0.0004059302737005055, -0.009325952269136906, -0.0039033975917845964, -0.005281624849885702, 0.002739116083830595, 0.0021614492870867252, -0.001636209897696972, -0.00010785413905978203, -0.00247787032276392, -0.001037118025124073, -0.001403307775035... | 66 | paintbrush | tripod_grasp |
grab the pen and write on the paper | [[-0.006692464463412762, 0.0031856971327215433, 0.013208528980612755, 0.012064076960086823, -0.0049907248467206955, -0.0021951121743768454, 0.022234130650758743, -0.002500826260074973, 0.0011904247803613544, 0.004935735836625099, 0.004508079495280981, -0.0018649237463250756, -0.0008202649769373238, 0.008308404125273228... | 44 | pen | tripod_grasp |
hold the drill and make a hole | [[-0.01009603776037693, 0.01377933844923973, 0.012359491549432278, -0.0010661766864359379, -0.004489697515964508, -0.01446347776800394, 0.0068649244494736195, -0.0019220495596528053, 0.002623263979330659, 0.0023529583122581244, -0.0002029751194640994, -0.0008547334582544863, -0.0027535080444067717, 0.001306921127252280... | 77 | drill | power_grasp |
grip the saw and cut the wood from the shelf | [[-0.004332310985773802, 0.0002920555416494608, 0.012881255708634853, -0.008121166378259659, -0.0015235655009746552, -0.0009682120871730149, -0.010882212780416012, -0.0008817137568257749, 5.943926589679904e-05, 0.002621598541736603, -0.0016528231790289283, -0.0003100766916759312, -0.00019705093291122466, -0.00221475237... | 64 | saw | power_grasp |
use tongs to pick up the hot coal from the toolbox | [[-0.007110989186912775, 0.009519465267658234, -0.015460770577192307, 0.0070402054116129875, 0.017800353467464447, -0.006649528164416552, -0.0013944506645202637, -0.0023162136785686016, 0.0031007102224975824, -0.0050359307788312435, 0.002293157856911421, 0.005797986872494221, -0.002165905199944973, -0.00045420485548675... | 46 | tongs | pinch_grasp |
take the whisk and beat the eggs | [[-0.011089939624071121, 0.01032316219061613, -0.013256635516881943, -0.004647629335522652, -0.006460041739046574, 0.005330529995262623, 0.014710827730596066, -0.002247235272079706, 0.0020918576046824455, -0.0026862886734306812, -0.0009417830151505768, -0.0013090453576296568, 0.001080164103768766, 0.002980962162837386]... | 44 | whisk | power_grasp |
grab the broom and sweep the floor from the toolbox | [[0.0018628645921126008, -0.018508559092879295, -0.0024692839942872524, -0.013571646995842457, -0.002135542221367359, -0.0028931850101798773, -0.016881341114640236, 0.0007200867985375226, -0.007154448423534632, -0.000954497023485601, -0.005246094428002834, -0.0008254898129962385, -0.0011183551978319883, -0.006525450386... | 51 | broom | power_grasp |
pick up the blue hammer and hit the nail from the toolbox | [[-0.007962451316416264, -0.00043208900024183095, 0.009061639197170734, -0.004248655866831541, -0.00574377691373229, -7.629610627191141e-05, -0.018258683383464813, -0.001553244306705892, -8.428808359894902e-05, 0.0017676641000434756, -0.0008287900127470493, -0.0011204449692741036, -1.4883166841173079e-05, -0.0035617416... | 69 | hammer | power_grasp |
grab the screwdriver and tighten the screw from the toolbox | [[0.008593989536166191, 0.009937194176018238, 0.008375956676900387, 0.012358631938695908, 0.010559535585343838, 0.009729741141200066, -0.007351277396082878, 0.0032450524158775806, 0.0037522404454648495, 0.0031627241987735033, 0.004666564520448446, 0.0039872340857982635, 0.0036739071365445852, -0.0027758097276091576], [... | 73 | screwdriver | precision_grasp |
use the small wrench to loosen the bolt | [[-0.00638014730066061, -0.0036689182743430138, -0.0005680063040927052, 0.011576741933822632, -0.0041870358400046825, -0.002336840145289898, 0.010469433851540089, -0.001286351471208036, -0.0007397193694487214, -0.00011452020407887176, 0.0023340776097029448, -0.0008441811078228056, -0.0004711486690212041, 0.002110824687... | 62 | wrench | power_grasp |
grip the wire with pliers and pull on the counter | [[-0.013983651995658875, -0.002978024771437049, 0.004882911220192909, 0.009678581729531288, -0.006484749726951122, 0.01219906285405159, -0.0020764553919434547, -0.0026902060490101576, -0.0005729190306738019, 0.0009393852669745684, 0.0018619870534166694, -0.0012475504772737622, 0.0023468828294426203, -0.0003994730941485... | 74 | pliers | pinch_grasp |
pick up scissors and cut the paper from the shelf | [[-0.007069561164826155, -0.009041578508913517, 0.0033961962908506393, 0.008034490048885345, -0.01561586931347847, -0.010890420526266098, -0.009950792416930199, -0.0017954594222828746, -0.0022962933871895075, 0.0008625334012322128, 0.0020405228715389967, -0.003965968731790781, -0.002765844576060772, -0.0025272069033235... | 75 | scissors | precision_grasp |
grab the rusty knife and slice the bread from the shelf | [[-0.00886420626193285, -0.011554851196706295, -0.010052687488496304, -0.007585036102682352, -0.008222900331020355, -0.010600599460303783, -0.00337864994071424, -0.0024698381312191486, -0.003219533944502473, -0.002800985239446163, -0.002113422378897667, -0.0022911508567631245, -0.0029536501970142126, -0.000941394886467... | 66 | knife | precision_grasp |
take the small spatula and flip the pancake | [[0.0022484194487333298, -0.0069360691122710705, -0.008700739592313766, 0.0002754374290816486, -0.010487928055226803, -0.005394539330154657, 0.0006253467290662229, 0.0006831249920651317, -0.002107348060235381, -0.0026434981264173985, 8.368465205421671e-05, -0.0031864899210631847, -0.0016389935044571757, 0.0001899956841... | 77 | spatula | hook_grasp |
scoop soup with the ladle from the toolbox | [[0.007054338231682777, 0.002608788665384054, 0.006346493493765593, 0.002487270627170801, -0.009336190298199654, -0.007167347706854343, 0.005538172088563442, 0.0025162179954349995, 0.0009305310668423772, 0.0022637362126260996, 0.0008871866739355028, -0.0033301336225122213, -0.002556527266278863, 0.001975415274500847], ... | 33 | ladle | hook_grasp |
pick up the brush and paint the wall | [[0.004905331414192915, 0.0027371104806661606, 0.004415601491928101, 0.004626321606338024, 0.011684780940413475, 0.0015476710395887494, -0.012674817815423012, 0.0014135397505015135, 0.0007887366227805614, 0.0012724172556772828, 0.0013331391382962465, 0.0033671327400952578, 0.00044598302338272333, -0.003652425715699792]... | 78 | paintbrush | tripod_grasp |
grab the small pen and write on the paper | [[-0.003718610154464841, 0.014971635304391384, -0.002464213175699115, -0.0020251604728400707, 0.008310828357934952, -0.005436415318399668, -0.001787691842764616, -0.0009856661781668663, 0.003968427423387766, -0.0006531718536280096, -0.0005367951816879213, 0.0022028936073184013, -0.0014409928116947412, -0.00047385104699... | 43 | pen | tripod_grasp |
hold the large drill and make a hole | [[0.008946855552494526, -0.01764019951224327, -0.0003235711483284831, -0.019015150144696236, -0.004736557137221098, 0.00992663949728012, -0.012042430229485035, 0.001748596434481442, -0.003447646042332053, -6.3239574956242e-05, -0.0037163698580116034, -0.0009257249184884131, 0.001940087997354567, -0.0023536034859716892]... | 42 | drill | power_grasp |
grip the new saw and cut the wood | [[-0.0035448800772428513, -0.0006162670906633139, 0.0011985248420387506, -0.003508747322484851, -0.014665096066892147, 0.005201747640967369, -0.003434816375374794, -0.0006130209076218307, -0.0001065719043253921, 0.0002072625356959179, -0.0006067724316380918, -0.0025360549334436655, 0.0008995452662929893, -0.00059398746... | 37 | saw | power_grasp |
use tongs to pick up the hot coal from the drawer | [[-0.002219180576503277, 0.012040971778333187, -0.004712110850960016, -0.004450311418622732, -0.017182482406497, -0.010041828267276287, 0.007784953806549311, -0.0007405371288768947, 0.004018053412437439, -0.001572424080222845, -0.001485062064602971, -0.005733767990022898, -0.0033509426284581423, 0.00259782699868083], [... | 40 | tongs | pinch_grasp |
take the whisk and beat the eggs from the drawer | [[-0.0009327226434834301, -0.011035035364329815, 0.001969139091670513, -0.0014417808270081878, 0.01707606390118599, -0.006843268871307373, -0.02902906760573387, -0.00023931065516080707, -0.0028312827926129103, 0.0005052262567915022, -0.00036992080276831985, 0.004381242673844099, -0.0017557922983542085, -0.0074480506591... | 55 | whisk | power_grasp |
grab the broom and sweep the floor | [[0.0032388344407081604, -0.004644450265914202, 0.002994953654706478, -0.008293632417917252, 0.009553302079439163, -0.010103177279233932, -0.008175840601325035, 0.0007356552523560822, -0.0010549209546297789, 0.00068026123335585, -0.0018837809329852462, 0.0021698970813304186, -0.0022947932593524456, -0.00185702613089233... | 45 | broom | power_grasp |
pick up the new hammer and hit the nail from the toolbox | [[0.0018202865030616522, 0.005688745994120836, 0.010777427814900875, -0.0069100214168429375, -0.008708210662007332, -0.005125412717461586, 0.013746951706707478, 0.0006585201481357217, 0.0020580023992806673, 0.003898921189829707, -0.002499819966033101, -0.003150345990434289, -0.0018542067846283317, 0.0049731978215277195... | 73 | hammer | power_grasp |
grab the red screwdriver and tighten the screw | [[0.014224240556359291, 0.004721310455352068, -0.002169775078073144, 0.0018246870022267103, 0.02168591506779194, 0.0015995335998013616, -0.00041836098534986377, 0.004009466618299484, 0.0013308222405612469, -0.0006116066942922771, 0.0005143347661942244, 0.006112730596214533, 0.000450869498308748, -0.000117925759695936],... | 79 | screwdriver | precision_grasp |
use the large wrench to loosen the bolt from the shelf | [[-0.01923980377614498, 1.995232014451176e-05, 0.006420051213353872, -0.018056154251098633, -0.003746345406398177, 0.004929898772388697, -0.015793194994330406, -0.005148060619831085, 5.3387111620395444e-06, 0.0017178351990878582, -0.004831347614526749, -0.001002422533929348, 0.0013191100442782044, -0.004225839395076036... | 78 | wrench | power_grasp |
grip the wire with blue pliers and pull from the toolbox | [[0.0003090913232881576, 0.0010057359468191862, 0.00564079824835062, 0.016148356720805168, -0.0011968963081017137, -0.0021923319436609745, 0.007743893191218376, 5.036257425672375e-05, 0.0001638721296330914, 0.0009190976852551103, 0.002631173236295581, -0.00019501932547427714, -0.0003572131390683353, 0.00126177072525024... | 37 | pliers | pinch_grasp |
pick up scissors and cut the paper | [[-0.009584037587046623, -0.0030650063417851925, -0.002085260581225157, -0.015555870719254017, -0.009146766737103462, -0.0004021539934910834, -0.005230433773249388, -0.001717646257020533, -0.0005493088392540812, -0.0003737193183042109, -0.0027879150584340096, -0.0016392788384109735, -7.20738316886127e-05, -0.0009373956... | 64 | scissors | precision_grasp |
grab the small knife and slice the bread | [[0.008838914334774017, -0.013104334473609924, 0.002536068670451641, 0.0018075526459142566, -0.018196914345026016, -0.005959975533187389, 0.013111462816596031, 0.0009544044733047485, -0.001414974220097065, 0.00027383852284401655, 0.0001951751473825425, -0.0019648585002869368, -0.000643543666228652, 0.001415743841789662... | 33 | knife | precision_grasp |
take the new spatula and flip the pancake | [[-0.012850113213062286, 0.0036780883092433214, 0.0012850675266236067, 0.012847162783145905, 0.00444213580340147, -0.013575248420238495, 0.004074811935424805, -0.0013866388471797109, 0.000396897696191445, 0.0001386699586873874, 0.0013863204512745142, 0.00047934503527358174, -0.0014648872893303633, 0.0004397075972519815... | 38 | spatula | hook_grasp |
scoop soup with the ladle on the counter | [[0.0033952954690903425, -0.01168668083846569, 0.006334040779620409, 0.006085589993745089, -0.004238611552864313, 0.004006203729659319, -0.015595679171383381, 0.0005216700374148786, -0.001795599702745676, 0.0009731934405863285, 0.0009350202744826674, -0.0006512413383461535, 0.0006155330338515341, -0.002396197523921728]... | 34 | ladle | hook_grasp |
pick up the brush and paint the wall | [[0.018232306465506554, 0.008392035029828548, -0.0065854256972670555, 0.0052382610738277435, -0.010501271113753319, 0.0011814538156613708, 0.0004207020392641425, 0.006358191836625338, 0.0029265726916491985, -0.0022965497337281704, 0.0018267501145601273, -0.00366213102824986, 0.0004120109661016613, 0.0001467123365728184... | 37 | paintbrush | tripod_grasp |
grab the pen and write on the paper | [[0.015670711174607277, -0.00992645788937807, 0.007298286538571119, 0.008672188967466354, -0.002690849592909217, -0.0086220046505332, 0.010813507251441479, 0.004412349779158831, -0.002794959582388401, 0.002054954180493951, 0.0024417992681264877, -0.0007576534990221262, -0.002427669009193778, 0.003044723067432642], [-0.... | 33 | pen | tripod_grasp |
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