episode_index int64 0 10k | language_instruction stringclasses 15
values | actions stringlengths 2.91k 8.86k | length int64 10 29 |
|---|---|---|---|
0 | Pinch grip: thumb and index finger close | [[0.035471200942993164, 0.11371877044439316, 0.033410221338272095, 0.13552910089492798, 0.13365259766578674, 0.006520428694784641, 0.04315725713968277, 0.28864753246307373, 0.019336331635713577, 0.13515213131904602, 0.28555920720100403, 0.09539046883583069, 0.15425513684749603, -0.06939634680747986], [0.034545037895441... | 22 |
1 | Power grasp: all fingers wrap around cylinder | [[-0.046592552214860916, 0.06768172234296799, 0.2249552607536316, 0.000877031241543591, 0.030316369608044624, -0.08043114840984344, 0.03678203746676445, 0.09942051768302917, 0.05687367916107178, -0.0064319162629544735, 0.09016887843608856, -0.0610029436647892, 0.1628396213054657, 0.05084061250090599], [-0.0431835427880... | 25 |
2 | Precision grip: three-finger tripod on small object | [[0.26550617814064026, -0.04401114210486412, 0.0713706985116005, 0.2159910649061203, 0.15330536663532257, -0.03418100252747536, 0.04931076243519783, -0.040673766285181046, 0.13424618542194366, 0.12855587899684906, 0.0442872978746891, 0.2809465527534485, 0.1270311325788498, 0.2593289315700531], [0.26437416672706604, -0.... | 21 |
3 | Hook grip: fingers curl to carry handle | [[-0.029210897162556648, 0.03635398671030998, 0.2598032057285309, -0.03659860044717789, -0.08241292834281921, 0.2082844376564026, 0.168841153383255, 0.02978833019733429, 0.1426943838596344, -0.10009220987558365, 0.2012215554714203, 0.19660337269306183, -0.03836710378527641, 0.06253473460674286], [-0.02622094191610813, ... | 25 |
4 | Lateral pinch: thumb against side of index finger | [[0.013881062157452106, -0.0752965435385704, 0.13046160340309143, 0.14435815811157227, -0.08589925616979599, 0.21224036812782288, 0.2543887794017792, -0.04327130317687988, -0.04536999762058258, -0.03279490768909454, 0.1204700693488121, 0.14009393751621246, 0.26287195086479187, 0.2694529592990875], [0.013782303780317307... | 29 |
5 | Spherical grasp: fingers spread around ball | [[0.20949527621269226, 0.24491238594055176, -0.05016225203871727, 0.025946345180273056, 0.2885536253452301, 0.14998595416545868, 0.11444678157567978, -0.05926106870174408, -0.05014947056770325, 0.2017872929573059, -0.0315091498196125, -0.054401248693466187, 0.21287864446640015, 0.18001361191272736], [0.2060211300849914... | 12 |
6 | Release: open all fingers wide | [[0.09701215475797653, 0.19696347415447235, 0.0016404596390202641, 0.010182383470237255, -0.07216422259807587, 0.0571422316133976, 0.05077853798866272, 0.19687481224536896, 0.05638391152024269, -0.02594156190752983, 0.01951737515628338, 0.0007107692654244602, 0.22720102965831757, -0.036534812301397324], [0.090997792780... | 10 |
7 | Point: extend index finger, curl others | [[-0.06484653800725937, 0.010383473709225655, 0.29883429408073425, -0.030986927449703217, -0.047746192663908005, 0.10709769278764725, 0.08668535947799683, 0.24020729959011078, -0.049826882779598236, 0.021796150133013725, 0.051574286073446274, 0.1552932858467102, 0.27428969740867615, 0.08336139470338821], [-0.0653030052... | 26 |
8 | Thumbs up: extend thumb, close fingers | [[0.11455489695072174, 0.30460864305496216, 0.2436227798461914, -0.012477013282477856, -0.014188681729137897, -0.07061568647623062, 0.0023298056330531836, 0.010898289270699024, 0.058170586824417114, -0.03971647471189499, 0.10449595004320145, -0.014694121666252613, 0.10009736567735672, -0.03910791873931885], [0.10924887... | 26 |
9 | Wave: flex and extend fingers sequentially | [[0.08456863462924957, 0.11743627488613129, 0.1115642637014389, 0.17415979504585266, 0.2931305766105652, -0.07702377438545227, 0.27010616660118103, 0.06555113941431046, 0.16009384393692017, 0.07366892695426941, 0.0010954636381939054, 0.06577921658754349, 0.015794552862644196, 0.20925992727279663], [0.08305104076862335,... | 20 |
10 | Twist: rotate wrist while gripping | [[0.2275395691394806, 0.15618270635604858, 0.11743496358394623, 0.13219429552555084, 0.12236306071281433, 0.20464681088924408, -0.09251081198453903, -0.07944462448358536, 0.006077704951167107, 0.07968192547559738, -0.08069030195474625, 0.18545514345169067, 0.07397545129060745, 0.2322138547897339], [0.22369566559791565,... | 24 |
11 | Type: rapid alternating finger extensions | [[0.20062775909900665, 0.2682390511035919, 0.03235785663127899, 0.01204291544854641, 0.06421477347612381, 0.0762009471654892, 0.15386627614498138, 0.019602492451667786, 0.0387195348739624, 0.06978978961706161, 0.09184309095144272, 0.10023525357246399, -0.07780284434556961, 0.19787830114364624], [0.21796831488609314, 0.... | 18 |
12 | Pen grip: hold thin cylinder between three fingers | [[0.005657217465341091, 0.19481270015239716, -0.07867563515901566, 0.15358299016952515, 0.06605087220668793, 0.009612116031348705, 0.2548980116844177, 0.17683745920658112, 0.010169986635446548, 0.12592864036560059, -0.06589138507843018, 0.16236674785614014, 0.1655590832233429, -0.07707007974386215], [0.0011688639642670... | 20 |
13 | Key pinch: rotate key with thumb and index | [[0.11371850222349167, 0.12375849485397339, -0.08696337789297104, 0.07840415835380554, -0.06517842411994934, 0.16443277895450592, 0.027639053761959076, 0.009551065042614937, 0.10638593137264252, 0.15827862918376923, 0.07028000056743622, 0.11890765279531479, 0.20650379359722137, 0.25568264722824097], [0.1167918369174003... | 12 |
14 | Cup fingers to scoop | [[0.261977881193161, 0.15118950605392456, 0.051079101860523224, 0.059261299669742584, 0.14672300219535828, 0.006158996373414993, -0.0550735704600811, 0.07907331734895706, 0.2598097324371338, 0.04583912342786789, -0.012805159203708172, -0.001888791099190712, 0.28224289417266846, 0.22324879467487335], [0.2693165838718414... | 20 |
15 | Pinch grip: thumb and index finger close | [[-0.08043729513883591, 0.08434896171092987, 0.22554878890514374, -0.07951439172029495, 0.06279212981462479, 0.038420420140028, 0.2709066569805145, 0.1130325049161911, 0.10644005984067917, 0.15951447188854218, 0.10199056565761566, 0.2659694254398346, 0.04487879201769829, 0.11955396085977554], [-0.05641989782452583, 0.0... | 10 |
16 | Power grasp: all fingers wrap around cylinder | [[-0.014638366177678108, 0.03554493561387062, -0.039496369659900665, -0.0668628141283989, -0.04160220921039581, 0.12078043818473816, -0.04934537410736084, 0.16806374490261078, 0.21336232125759125, 0.22663365304470062, -0.09320681542158127, 0.04317791014909744, -0.03587355837225914, 0.26887214183807373], [-0.00966011546... | 10 |
17 | Precision grip: three-finger tripod on small object | [[0.06363904476165771, -0.07966671139001846, 0.2845136523246765, 0.26502910256385803, -0.037602413445711136, 0.03573380783200264, -0.05284477770328522, 0.12340637296438217, -0.0268911961466074, -0.04556385055184364, 0.028582777827978134, -0.014554492197930813, -0.08259294182062149, 0.21616601943969727], [0.062690287828... | 13 |
18 | Hook grip: fingers curl to carry handle | [[0.2871468961238861, 0.11814143508672714, 0.02229917235672474, 0.1826642006635666, 0.26665809750556946, -0.05829194560647011, 0.26639580726623535, 0.19095581769943237, 0.115208700299263, 0.026097266003489494, 0.08040360361337662, 0.2506706714630127, -0.07209978252649307, -0.03294149041175842], [0.2778564691543579, 0.1... | 22 |
19 | Lateral pinch: thumb against side of index finger | [[0.20994260907173157, 0.1796347051858902, 0.009271093644201756, 0.07723632454872131, 0.18961791694164276, 0.07754534482955933, -0.04164402559399605, 0.29349955916404724, 0.2364834100008011, 0.20293501019477844, 0.17142362892627716, 0.13234131038188934, 0.004514683969318867, 0.18832719326019287], [0.21336126327514648, ... | 11 |
20 | Spherical grasp: fingers spread around ball | [[-0.07007820904254913, 0.26179128885269165, -0.019841264933347702, 0.08904922008514404, 0.14562846720218658, 0.1488366276025772, -0.07285730540752411, 0.13669458031654358, 0.09124896675348282, 0.24812786281108856, 0.16051307320594788, -0.06719571352005005, 0.22496332228183746, -0.07911750674247742], [-0.06520111858844... | 22 |
21 | Release: open all fingers wide | [[0.05636492744088173, -0.09138559550046921, 0.03807029500603676, 0.06808421015739441, 0.0649842768907547, -0.05409732460975647, 0.23752731084823608, 0.0046197595074772835, 0.01999826356768608, 0.2978246808052063, 0.05589733272790909, 0.20489200949668884, 0.2295660525560379, 0.03630856052041054], [0.05617375671863556, ... | 24 |
22 | Point: extend index finger, curl others | [[0.24087724089622498, 0.24675695598125458, -0.014832458458840847, 0.24505135416984558, 0.11629366874694824, 0.28903061151504517, 0.1533951610326767, 0.16700614988803864, 0.1972206085920334, 0.20211690664291382, 0.2544330954551697, 0.1625957489013672, 0.1418805867433548, 0.12471164017915726], [0.24322228133678436, 0.24... | 28 |
23 | Thumbs up: extend thumb, close fingers | [[-0.005152848549187183, 0.15666231513023376, 0.14346078038215637, 0.038106974214315414, 0.12667322158813477, 0.2255183905363083, 0.025484826415777206, 0.1372009962797165, 0.24466527998447418, 0.2993316948413849, 0.13300096988677979, -0.07198956608772278, 0.13826841115951538, 0.18552443385124207], [-0.00519946310669183... | 11 |
24 | Wave: flex and extend fingers sequentially | [[0.22729359567165375, 0.2329082041978836, 0.18880832195281982, 0.08402753621339798, -0.08619962632656097, 0.06951145082712173, -0.02082379348576069, 0.033598996698856354, -0.013385353609919548, 0.1168227344751358, 0.24576792120933533, 0.14684896171092987, 0.15858888626098633, 0.060735564678907394], [0.3359758853912353... | 12 |
25 | Twist: rotate wrist while gripping | [[0.19982177019119263, 0.15671630203723907, -0.09624417126178741, 0.18582025170326233, 0.008232712745666504, 0.07817292958498001, 0.21485580503940582, 0.03472410514950752, -0.08645278960466385, 0.03700514882802963, -0.031216174364089966, 0.05997505784034729, 0.14248277246952057, 0.20650960505008698], [0.203758537769317... | 24 |
26 | Type: rapid alternating finger extensions | [[0.08485909551382065, 0.1932489424943924, 0.16105656325817108, 0.2609262466430664, -0.07931025326251984, -0.04180591553449631, 0.20467206835746765, 0.003218346508219838, 0.03395228087902069, 0.015907099470496178, 0.20536617934703827, 0.24741342663764954, 0.002190658589825034, 0.0470496341586113], [0.08616215735673904,... | 22 |
27 | Pen grip: hold thin cylinder between three fingers | [[0.1297098696231842, -0.027414759621024132, 0.2772262692451477, -0.032511599361896515, 0.16073568165302277, 0.09028226882219315, -0.061530791223049164, 0.20416860282421112, -0.0824749544262886, -0.025120403617620468, 0.08280974626541138, 0.23858021199703217, 0.1957653909921646, -0.026925768703222275], [0.1346958428621... | 21 |
28 | Key pinch: rotate key with thumb and index | [[0.16416890919208527, 0.04562247544527054, 0.1948743462562561, -0.08021305501461029, 0.21478256583213806, 0.009709183126688004, 0.02564406581223011, -0.04278741404414177, 0.11527314782142639, 0.013013583607971668, 0.26963165402412415, 0.11621981114149094, 0.22489358484745026, 0.2630668580532074], [0.15837036073207855,... | 25 |
29 | Cup fingers to scoop | [[0.10534431785345078, 0.2403445839881897, 0.1064164787530899, 0.0036198068410158157, 0.02552032098174095, 0.2674511969089508, -0.00039607842336408794, 0.1188783198595047, 0.10113878548145294, -0.09346260875463486, -0.06331927329301834, 0.2732020914554596, 0.21933779120445251, 0.029535844922065735], [0.1142124980688095... | 12 |
30 | Pinch grip: thumb and index finger close | [[-0.009157057851552963, -0.0028196140192449093, -0.03935075178742409, -0.037236135452985764, 0.25127914547920227, 0.10550163686275482, 0.05614018440246582, -0.04549991339445114, -0.0935334637761116, -0.04032645374536514, 0.041927192360162735, 0.148294135928154, 0.29395824670791626, 0.17368507385253906], [-0.0093201678... | 29 |
31 | Power grasp: all fingers wrap around cylinder | [[0.21799221634864807, 0.20843607187271118, 0.2808641493320465, 0.02584618702530861, 0.026145581156015396, -0.008722956292331219, 0.24631956219673157, -0.086708664894104, 0.10436517745256424, 0.25227341055870056, 0.177475705742836, 0.07329513877630234, 0.15900260210037231, 0.25063568353652954], [0.22048309445381165, 0.... | 16 |
32 | Precision grip: three-finger tripod on small object | [[0.1228126659989357, 0.05336272343993187, 0.13128609955310822, 0.03626880422234535, 0.007741990964859724, 0.2517351806163788, -0.05270404741168022, 0.0645299181342125, -0.06077996641397476, 0.19410006701946259, 0.16813842952251434, 0.02892192080616951, 0.06478000432252884, 0.288583368062973], [0.1217968612909317, 0.05... | 15 |
33 | Hook grip: fingers curl to carry handle | [[-0.06927590817213058, 0.2715741693973541, 0.2523391544818878, 0.1831946074962616, 0.18320141732692719, 0.07505970448255539, 0.04990227520465851, 0.25976842641830444, -0.0426991768181324, 0.20429834723472595, 0.1764361411333084, 0.1778203845024109, -0.08946053683757782, 0.1289500594139099], [-0.06846601516008377, 0.27... | 26 |
34 | Lateral pinch: thumb against side of index finger | [[0.16257497668266296, 0.2526783049106598, -0.056867215782403946, 0.030897920951247215, 0.0504818819463253, 0.08307968080043793, -0.02699066326022148, 0.21910853683948517, 0.2526795566082001, -0.05817461013793945, 0.00583004392683506, 0.2968469560146332, 0.04999013990163803, 0.009015250951051712], [0.16521254181861877,... | 14 |
35 | Spherical grasp: fingers spread around ball | [[0.179995596408844, 0.21724076569080353, 0.10082437098026276, 0.1631118208169937, 0.14406026899814606, 0.055314380675554276, 0.294358491897583, 0.14139410853385925, 0.07397706061601639, -0.07113392651081085, 0.14428873360157013, 0.22054016590118408, 0.2254028469324112, 0.2634330093860626], [0.17454297840595245, 0.2227... | 14 |
36 | Release: open all fingers wide | [[-0.09363128244876862, 0.06164073944091797, 0.2659896910190582, 0.28400859236717224, -0.07945046573877335, 0.12320923805236816, -0.06425952166318893, 0.12721458077430725, 0.2406141608953476, 0.021294908598065376, 0.06150161102414131, 0.011959083378314972, -0.08127807080745697, 0.11263275891542435], [-0.099981978535652... | 24 |
37 | Point: extend index finger, curl others | [[0.06851407885551453, 0.059755731374025345, -0.027526913210749626, 0.030726991593837738, -0.021899085491895676, 0.19273591041564941, 0.28007540106773376, 0.2079974263906479, 0.14825184643268585, 0.022132841870188713, 0.08597106486558914, -0.07117307186126709, 0.07664543390274048, 0.2770534157752991], [0.07098038494586... | 19 |
38 | Thumbs up: extend thumb, close fingers | [[0.11298521608114243, 0.034387942403554916, -0.0054045505821704865, 0.13068906962871552, 0.182373508810997, -0.07029411196708679, 0.2797674238681793, 0.2076936662197113, 0.13768033683300018, 0.006057466845959425, 0.28367888927459717, -0.06160057708621025, 0.13607759773731232, 0.24102123081684113], [0.10452058166265488... | 12 |
39 | Wave: flex and extend fingers sequentially | [[0.06100292503833771, 0.23000457882881165, -0.0511334091424942, 0.13610370457172394, 0.038593072444200516, 0.17162896692752838, 0.2532014548778534, 0.11227083206176758, 0.1935614049434662, -0.0012392341159284115, -0.01981300674378872, -0.06683950871229172, -0.06541718542575836, 0.21089503169059753], [0.157666206359863... | 15 |
40 | Twist: rotate wrist while gripping | [[0.12288597226142883, -0.05270380899310112, -0.05721058323979378, 0.09600366652011871, 0.1539575159549713, 0.2510361969470978, -0.0397045761346817, -0.09842506796121597, 0.1302434504032135, 0.25941789150238037, 0.15564687550067902, 0.1672588586807251, 0.007117579225450754, 0.14261169731616974], [0.1195068508386612, -0... | 16 |
41 | Type: rapid alternating finger extensions | [[0.2535181939601898, 0.011326972395181656, 0.24362774193286896, 0.05842946469783783, 0.2652058005332947, 0.264274924993515, -0.031348105520009995, -0.059781514108181, 0.04713347926735878, 0.15886780619621277, 0.28907495737075806, 0.26693907380104065, 0.01865600235760212, 0.2587101459503174], [0.19167818129062653, 0.04... | 12 |
42 | Pen grip: hold thin cylinder between three fingers | [[0.16311340034008026, 0.13123005628585815, 0.015315594151616096, 0.27290868759155273, 0.07715559005737305, 0.1508750468492508, -0.04475138708949089, 0.3002222180366516, 0.27160385251045227, 0.2322603166103363, 0.2635900676250458, -0.034578755497932434, 0.08711498975753784, 0.2517945170402527], [0.15779782831668854, 0.... | 24 |
43 | Key pinch: rotate key with thumb and index | [[0.241200789809227, 0.2923262119293213, 0.08357667177915573, 0.23274201154708862, -0.09097249805927277, 0.04686461016535759, -0.01077896449714899, 0.1875317096710205, -0.07026983797550201, -0.010780592449009418, 0.19760875403881073, 0.04061281308531761, -0.03710060566663742, 0.13845866918563843], [0.2404877096414566, ... | 16 |
44 | Cup fingers to scoop | [[0.1943298876285553, 0.0069073582999408245, 0.1811007708311081, -0.10506464540958405, 0.2045861780643463, 0.27667731046676636, 0.1366845667362213, 0.134587362408638, 0.12572425603866577, 0.10797233134508133, 0.12050875276327133, 0.1940559446811676, 0.19645972549915314, 0.20696713030338287], [0.20497433841228485, 0.017... | 10 |
45 | Pinch grip: thumb and index finger close | [[0.042183998972177505, 0.19569110870361328, 0.15854322910308838, 0.18202388286590576, -0.014239240437746048, 0.039514604955911636, 0.14498449862003326, 0.2736489176750183, 0.13635773956775665, 0.18559423089027405, 0.08167615532875061, 0.23684068024158478, 0.13105693459510803, 0.1872856169939041], [0.04770423844456673,... | 14 |
46 | Power grasp: all fingers wrap around cylinder | [[0.2692703604698181, 0.26872238516807556, -0.04494217783212662, -0.039405111223459244, 0.19198012351989746, 0.19024476408958435, -0.06978701055049896, 0.16056112945079803, 0.028860563412308693, 0.21139006316661835, 0.07321011275053024, 0.2134317010641098, 0.10106559842824936, 0.08460508286952972], [0.26930540800094604... | 20 |
47 | Precision grip: three-finger tripod on small object | [[-0.0836377739906311, 0.19131110608577728, 0.14467307925224304, 0.22930873930454254, 0.2833176553249359, 0.21630218625068665, 0.05964518338441849, 0.07831452041864395, 0.2729795575141907, 0.2726074755191803, 0.12557554244995117, -0.08416398614645004, 0.14884120225906372, -0.041609350591897964], [-0.07887354493141174, ... | 27 |
48 | Hook grip: fingers curl to carry handle | [[-0.051734041422605515, -0.012729637324810028, 0.1060328409075737, 0.18717047572135925, -0.049687787890434265, 0.1106194257736206, 0.2266945093870163, 0.25205376744270325, 0.15412524342536926, -0.055460669100284576, 0.26142624020576477, 0.15764935314655304, 0.09277258068323135, 0.0723668709397316], [-0.054434999823570... | 12 |
49 | Lateral pinch: thumb against side of index finger | [[0.23207713663578033, -0.06580003350973129, 0.21466566622257233, 0.29609963297843933, 0.21528562903404236, -0.05469057336449623, 0.25013887882232666, 0.014062389731407166, 0.13620765507221222, 0.17314310371875763, 0.2056904286146164, 0.056560415774583817, 0.06601409614086151, 0.03632962703704834], [0.22520023584365845... | 29 |
50 | Spherical grasp: fingers spread around ball | [[0.10808763653039932, 0.21400722861289978, 0.286428838968277, 0.12894639372825623, 0.016858981922268867, 0.24067285656929016, -0.0042594303376972675, -0.05002431198954582, -0.03212059661746025, -0.08396230638027191, 0.21657653152942657, 0.1859244406223297, -0.050238631665706635, 0.1824585646390915], [0.109252825379371... | 16 |
51 | Release: open all fingers wide | [[0.07684534788131714, 0.05433826148509979, 0.1602516621351242, 0.14116299152374268, 0.2792387306690216, 0.18608173727989197, 0.0008223194163292646, 0.2945719361305237, 0.05384282022714615, 0.27278998494148254, 0.15709462761878967, 0.14897798001766205, 0.29216471314430237, 0.20862050354480743], [0.08773630112409592, 0.... | 11 |
52 | Point: extend index finger, curl others | [[0.008705283515155315, 0.2320898175239563, -0.049922503530979156, 0.10614354908466339, -0.018654096871614456, 0.15523084998130798, -0.030990950763225555, 0.23996905982494354, 0.06864991039037704, 0.09621614962816238, 0.1283145248889923, 0.08954955637454987, 0.1875232309103012, 0.0970994383096695], [0.00610810285434126... | 18 |
53 | Thumbs up: extend thumb, close fingers | [[0.13564912974834442, -0.01835906319320202, 0.11846800148487091, 0.02905942313373089, 0.11596192419528961, 0.10772603005170822, 0.01997937634587288, 0.13891024887561798, 0.017788534983992577, 0.18991735577583313, 0.048505887389183044, -0.03039497137069702, 0.21637120842933655, 0.015423676930367947], [0.133479937911033... | 28 |
54 | Wave: flex and extend fingers sequentially | [[0.03896952420473099, -0.04559054598212242, 0.25710049271583557, -0.01652299053966999, -0.016305379569530487, 0.22077201306819916, 0.07234826683998108, 0.17326577007770538, 0.29471254348754883, 0.2690265476703644, 0.14462490379810333, 0.21766580641269684, 0.25572437047958374, -0.003025791607797146], [-0.03995881229639... | 21 |
55 | Twist: rotate wrist while gripping | [[0.22179292142391205, 0.24174442887306213, 0.012665974907577038, 0.17613810300827026, 0.2662285566329956, 0.22539426386356354, 0.2900073528289795, 0.24878494441509247, 0.23533155024051666, 0.03296326473355293, -0.061451081186532974, -0.09679915010929108, 0.2191518098115921, 0.0069568827748298645], [0.21445642411708832... | 29 |
56 | Type: rapid alternating finger extensions | [[0.1691368818283081, 0.09038075804710388, 0.15664511919021606, 0.12432634085416794, 0.20180419087409973, 0.2859749495983124, -0.0742853432893753, -0.052661530673503876, -0.08442308008670807, -0.09352496266365051, 0.21701182425022125, 0.26339298486709595, 0.2237679362297058, 0.26171159744262695], [0.13311609625816345, ... | 26 |
57 | Pen grip: hold thin cylinder between three fingers | [[-0.09052947908639908, 0.25467708706855774, 0.2825653851032257, -0.015513812191784382, 0.17030489444732666, -0.004734294954687357, 0.2205497771501541, 0.25468647480010986, 0.23557129502296448, 0.2408769130706787, 0.2018233984708786, 0.13918891549110413, 0.15974056720733643, 0.08449921011924744], [-0.08653344213962555,... | 17 |
58 | Key pinch: rotate key with thumb and index | [[0.0182583536952734, -0.0744507908821106, -0.018705597147345543, 0.28760644793510437, 0.2740466296672821, 0.027628496289253235, 0.28586605191230774, 0.20786626636981964, 0.08114201575517654, 0.03579964488744736, 0.0174705870449543, -0.009421105496585369, 0.1473185271024704, 0.18043191730976105], [0.04214915260672569, ... | 12 |
59 | Cup fingers to scoop | [[-0.062479738146066666, 0.11355695873498917, -0.07916741818189621, 0.12191252410411835, -0.049651388078927994, 0.04105713963508606, 0.2677185833454132, 0.1316588670015335, 0.25337910652160645, -0.08323708921670914, 0.18657901883125305, 0.1863725781440735, 0.062471985816955566, 0.07812187075614929], [-0.066966578364372... | 28 |
60 | Pinch grip: thumb and index finger close | [[-0.08176332712173462, 0.061514925211668015, -0.07284756749868393, -0.09202058613300323, 0.057347703725099564, -0.04915764927864075, 0.17620950937271118, 0.27146217226982117, 0.09526325017213821, 0.06559138745069504, 0.1988094300031662, 0.09184180200099945, -0.10586532205343246, 0.09982563555240631], [-0.0796580612659... | 27 |
61 | Power grasp: all fingers wrap around cylinder | [[0.0818181112408638, 0.2809734642505646, 0.186337411403656, 0.14035004377365112, 0.16272591054439545, 0.1654847115278244, 0.06671934574842453, 0.14893938601016998, 0.2429107427597046, 0.06737509369850159, 0.1268651783466339, 0.15101541578769684, 0.07550656050443649, 0.2755812406539917], [0.08466186374425888, 0.2693464... | 15 |
62 | Precision grip: three-finger tripod on small object | [[-0.029983865097165108, 0.2576611042022705, 0.03513249009847641, 0.06792938709259033, 0.23751211166381836, 0.07034559547901154, 0.08313043415546417, 0.21887032687664032, -0.06352134793996811, -0.009470259770751, -0.02694653905928135, 0.16005434095859528, 0.1452820897102356, 0.22408978641033173], [-0.02504807896912098,... | 16 |
63 | Hook grip: fingers curl to carry handle | [[0.10252384841442108, 0.08884932100772858, 0.22084516286849976, 0.005676602944731712, 0.084313303232193, -0.008702406659722328, 0.0927688404917717, -0.06089818850159645, 0.24818623065948486, -0.07421897351741791, -0.07048480957746506, 0.1263853907585144, 0.06283193826675415, 0.2576754093170166], [0.10701766610145569, ... | 29 |
64 | Lateral pinch: thumb against side of index finger | [[0.1610557734966278, 0.26998597383499146, 0.041949138045310974, 0.06219860911369324, 0.1412714123725891, 0.013624913059175014, 0.17387892305850983, -0.03607168048620224, 0.015685856342315674, -0.01344275288283825, 0.14669246971607208, -0.09159926325082779, 0.00480887945741415, 0.21859556436538696], [0.1539657115936279... | 16 |
65 | Spherical grasp: fingers spread around ball | [[0.13343869149684906, 0.1811959147453308, 0.15983183681964874, 0.14086619019508362, 0.05472763627767563, 0.2868311107158661, 0.10407425463199615, 0.1996062844991684, 0.2608792781829834, 0.2481016367673874, 0.09800567477941513, -0.02518489770591259, 0.22239847481250763, -0.02831147238612175], [0.13337905704975128, 0.16... | 10 |
66 | Release: open all fingers wide | [[-0.009841324761509895, 0.06201114133000374, 0.25368183851242065, 0.24403642117977142, 0.19935476779937744, 0.06826461106538773, 0.03896215185523033, 0.22069233655929565, -0.01861005462706089, 0.1314522624015808, 0.2933443784713745, -0.05550650507211685, 0.23739846050739288, 0.28868186473846436], [-0.01198017224669456... | 21 |
67 | Point: extend index finger, curl others | [[0.23728181421756744, 0.30289480090141296, 0.1888883411884308, 0.24848324060440063, 0.009042040444910526, 0.16402702033519745, 0.18690982460975647, 0.06884493678808212, 0.06216335669159889, 0.21328775584697723, 0.19771826267242432, 0.06690710037946701, 0.18698348104953766, -0.0939885601401329], [0.23732520639896393, 0... | 22 |
68 | Thumbs up: extend thumb, close fingers | [[0.0927729681134224, -0.00264305854216218, 0.03259534016251564, 0.19189511239528656, 0.11820294708013535, 0.20747506618499756, 0.01569010131061077, 0.10208795219659805, 0.22452206909656525, 0.13250260055065155, 0.09857816994190216, 0.2724171578884125, -0.01986771449446678, 0.02713979035615921], [0.0788814052939415, 0.... | 10 |
69 | Wave: flex and extend fingers sequentially | [[0.20831871032714844, 0.12068738788366318, 0.23510073125362396, 0.11062905937433243, 0.17500858008861542, -0.027307502925395966, -0.059741854667663574, 0.09449131041765213, 0.09563735872507095, 0.22115926444530487, 0.21672438085079193, 0.2941429913043976, 0.08370049297809601, -0.08557575196027756], [0.1481291651725769... | 24 |
70 | Twist: rotate wrist while gripping | [[0.007796148303896189, 0.11267966777086258, -0.07672804594039917, 0.2918366491794586, 0.25306937098503113, 0.23658886551856995, 0.07574744522571564, 0.08320263028144836, 0.12659110128879547, 0.004802478943020105, 0.2796045243740082, 0.026598285883665085, 0.19972634315490723, -0.04556114226579666], [0.00867475848644971... | 27 |
71 | Type: rapid alternating finger extensions | [[0.05728058144450188, 0.16738161444664001, -0.07150935381650925, 0.04859457537531853, 0.23236773908138275, -0.010524283163249493, -0.09804825484752655, 0.03623787313699722, -0.07238871604204178, 0.22419549524784088, 0.27952054142951965, -0.049521125853061676, 0.19579532742500305, 0.0007795780547894537], [0.08693735301... | 27 |
72 | Pen grip: hold thin cylinder between three fingers | [[0.1052299439907074, -0.008607456460595131, -0.003382415510714054, -0.05358603596687317, 0.20042751729488373, 0.23482246696949005, 0.30382898449897766, 0.27295994758605957, 0.2785119414329529, 0.05181947723031044, -0.06432750076055527, 0.024387486279010773, 0.009848938323557377, -0.002100021578371525], [0.111584059894... | 16 |
73 | Key pinch: rotate key with thumb and index | [[0.02298085391521454, 0.03501743823289871, 0.10493899136781693, 0.15610679984092712, 0.2432001829147339, 0.2851964831352234, 0.23889891803264618, 0.0735967680811882, 0.03516063094139099, 0.17639315128326416, -0.06576072424650192, 0.30867594480514526, 0.018492065370082855, 0.16396963596343994], [0.027072390541434288, 0... | 25 |
74 | Cup fingers to scoop | [[-0.030189182609319687, -0.03514981269836426, -0.005926914978772402, 0.051353972405195236, -0.015085500665009022, 0.011014873161911964, 0.24352817237377167, 0.056711163371801376, -0.04665183648467064, 0.12746120989322662, -0.026299022138118744, 0.013216794468462467, -0.09570056945085526, 0.1446172595024109], [-0.03729... | 14 |
75 | Pinch grip: thumb and index finger close | [[0.13434548676013947, 0.10147514939308167, 0.20634117722511292, -0.08220017701387405, 0.27061882615089417, 0.2114270180463791, 0.07913874089717865, 0.05002974346280098, 0.14585547149181366, -0.014734103344380856, 0.14102551341056824, 0.285459041595459, 0.07991582155227661, 0.00018359530076850206], [0.12872791290283203... | 17 |
76 | Power grasp: all fingers wrap around cylinder | [[-0.09350799024105072, 0.1500214785337448, 0.2856181263923645, 0.05959777906537056, 0.27570050954818726, 0.15063604712486267, 0.19133277237415314, 0.23933517932891846, 0.2593051493167877, 0.11568336933851242, -0.04251214861869812, 0.21663932502269745, 0.047948207706213, 0.0205494686961174], [-0.092304527759552, 0.1575... | 14 |
77 | Precision grip: three-finger tripod on small object | [[0.2568908631801605, 0.22739863395690918, 0.24230949580669403, 0.007501831278204918, 0.08850886672735214, 0.16778302192687988, 0.2354883998632431, 0.029769405722618103, -0.04017195105552673, 0.2698339521884918, 0.2384815812110901, 0.14896751940250397, -0.0296721663326025, 0.21587349474430084], [0.2518448233604431, 0.2... | 18 |
78 | Hook grip: fingers curl to carry handle | [[0.12845946848392487, 0.06421642005443573, -0.08562290668487549, 0.1611008644104004, 0.26998746395111084, -0.013007935136556625, 0.11471658200025558, 0.020120810717344284, -0.00020564885926432908, 0.07132420688867569, 0.08108088374137878, 0.24784930050373077, 0.2727977931499481, -0.09947305172681808], [0.1215096414089... | 17 |
79 | Lateral pinch: thumb against side of index finger | [[0.29153910279273987, -0.01933450624346733, -0.06878668814897537, 0.17055393755435944, 0.04071950167417526, 0.05620863661170006, -0.040301211178302765, 0.12081265449523926, -0.07030884921550751, 0.1739528328180313, 0.23469822108745575, 0.0476304329931736, -0.06682463735342026, -0.03372883051633835], [0.273958623409271... | 11 |
80 | Spherical grasp: fingers spread around ball | [[0.2643621563911438, -0.03561059385538101, 0.07698661834001541, 0.049127839505672455, -0.06441662460565567, 0.11935168504714966, 0.13161268830299377, 0.11316089332103729, -0.08728061616420746, 0.18746432662010193, 0.029072072356939316, 0.17723727226257324, 0.23451897501945496, 0.10489565879106522], [0.2599072754383087... | 25 |
81 | Release: open all fingers wide | [[0.11659896373748779, 0.23443542420864105, 0.2406322956085205, 0.23992913961410522, 0.17743836343288422, 0.15041619539260864, 0.010824181139469147, 0.24118471145629883, 0.2442062795162201, -0.0588715523481369, 0.1572030931711197, 0.02746884897351265, 0.1740955114364624, 0.13882112503051758], [0.11046352982521057, 0.21... | 12 |
82 | Point: extend index finger, curl others | [[0.0387282595038414, 0.05236858129501343, 0.17226485908031464, 0.1447272002696991, -0.0029290453530848026, -0.02064702659845352, 0.09501529484987259, -0.05426356941461563, 0.04951932281255722, 0.22655338048934937, -0.08487553149461746, -0.07739128917455673, 0.016003385186195374, 0.056999530643224716], [0.0339593142271... | 13 |
83 | Thumbs up: extend thumb, close fingers | [[0.253040075302124, 0.0007510628784075379, 0.1896822601556778, -0.01857151836156845, 0.29607954621315, -0.08579841256141663, 0.2610863745212555, 0.055318497121334076, 0.05493786558508873, 0.15408529341220856, 0.2589185833930969, 0.24569295346736908, -0.055248651653528214, 0.013775361701846123], [0.2592913508415222, -0... | 11 |
84 | Wave: flex and extend fingers sequentially | [[-0.08856096118688583, 0.045863572508096695, 0.10774344950914383, 0.1974978893995285, -0.011455247178673744, -0.05257077515125275, 0.0923951119184494, -0.054025109857320786, 0.14833325147628784, 0.012484366074204445, 0.12410999834537506, -0.00687309168279171, 0.05625502020120621, 0.09998910129070282], [-0.136721462011... | 18 |
85 | Twist: rotate wrist while gripping | [[0.13076156377792358, 0.11054562777280807, 0.12938833236694336, 0.15572860836982727, 0.016620468348264694, -0.006704888306558132, 0.21158075332641602, 0.15764370560646057, -0.08518105000257492, 0.27637597918510437, 0.07740470767021179, -0.059334129095077515, 0.12867751717567444, 0.11660803854465485], [0.13759094476699... | 13 |
86 | Type: rapid alternating finger extensions | [[-0.018338561058044434, -0.041980013251304626, 0.1832633763551712, 0.09736920893192291, 0.13101623952388763, 0.0836988091468811, 0.06971542537212372, 0.0494324155151844, 0.16065138578414917, 0.10527309030294418, 0.1752917617559433, 0.06956923007965088, 0.08463744074106216, 0.02503790333867073], [0.007659695576876402, ... | 29 |
87 | Pen grip: hold thin cylinder between three fingers | [[0.0875869169831276, 0.28091660141944885, 0.2123401015996933, -0.005449237767606974, 0.04049351066350937, 0.23306632041931152, 0.29088789224624634, 0.004125338979065418, 0.10423897206783295, 0.221016988158226, 0.20764951407909393, 0.21836557984352112, -0.05825617164373398, 0.027182959020137787], [0.08546008169651031, ... | 29 |
88 | Key pinch: rotate key with thumb and index | [[0.016665395349264145, 0.021782411262392998, 0.11115057021379471, 0.011099657975137234, 0.2529642879962921, 0.2835899591445923, 0.2545563578605652, 0.020044270902872086, 0.25348028540611267, 0.16078345477581024, 0.17656321823596954, -0.0904146358370781, 0.1677110195159912, -0.047124866396188736], [0.023181583732366562... | 12 |
89 | Cup fingers to scoop | [[0.01683681271970272, 0.2810620367527008, -0.045941613614559174, -0.08820278197526932, 0.13008321821689606, 0.03638996183872223, 0.2830730378627777, -0.08406323939561844, 0.23335857689380646, 0.15190941095352173, -0.07060541212558746, 0.04837178811430931, -0.060310911387205124, -0.06587684899568558], [0.00848904065787... | 10 |
90 | Pinch grip: thumb and index finger close | [[0.223131000995636, -0.01646154187619686, 0.2767302691936493, 0.09691920131444931, 0.12303514033555984, 0.12351967394351959, -0.03931086137890816, -0.06820746511220932, -0.010840343311429024, 0.21001017093658447, 0.2826504707336426, 0.09305080026388168, 0.011943052522838116, 0.22741630673408508], [0.2255462408065796, ... | 16 |
91 | Power grasp: all fingers wrap around cylinder | [[-0.09982079267501831, 0.1881846934556961, 0.15292949974536896, 0.28047168254852295, 0.2379302829504013, 0.24991324543952942, 0.2057046890258789, 0.02658744342625141, -0.0034756625536829233, 0.2774757742881775, 0.024997511878609657, -0.0050443909130990505, -0.014522306621074677, 0.213701531291008], [-0.070929609239101... | 10 |
92 | Precision grip: three-finger tripod on small object | [[0.014445407316088676, 0.27643871307373047, -0.050994787365198135, 0.08969355374574661, 0.19075629115104675, 0.3039756119251251, 0.0325089767575264, 0.1409308910369873, -0.054681118577718735, -0.07013853639364243, 0.08279625326395035, 0.07618754357099533, 0.23082688450813293, 0.19165445864200592], [0.02071927860379219... | 12 |
93 | Hook grip: fingers curl to carry handle | [[-0.09628519415855408, 0.2986447513103485, 0.18847033381462097, 0.26594826579093933, -0.08671838790178299, 0.062259308993816376, 0.12104524672031403, -0.08971796184778214, -0.022840259596705437, 0.22005242109298706, 0.041100308299064636, 0.003967625554651022, 0.2614887058734894, -0.08743786811828613], [-0.079061649739... | 14 |
94 | Lateral pinch: thumb against side of index finger | [[-0.05850677192211151, 0.16329897940158844, 0.04297443851828575, -0.05209580808877945, 0.02183692902326584, -0.03992669656872749, -0.07576382160186768, -0.021570201963186264, 0.024779561907052994, 0.2717397212982178, -0.07651124894618988, 0.17215082049369812, 0.18643003702163696, 0.07522538304328918], [-0.057415012270... | 28 |
95 | Spherical grasp: fingers spread around ball | [[0.2969341278076172, 0.14647182822227478, 0.06788095086812973, 0.002761844778433442, 0.039974603801965714, -0.07452255487442017, 0.13153332471847534, 0.19660206139087677, 0.19484451413154602, 0.22051557898521423, 0.1809300035238266, 0.1898597627878189, 0.012260565534234047, 0.1768685281276703], [0.29521846771240234, 0... | 15 |
96 | Release: open all fingers wide | [[0.28464367985725403, 0.23649588227272034, 0.07463603466749191, 0.2937434911727905, -0.06294820457696915, 0.14921292662620544, -0.0741395428776741, 0.15760040283203125, -0.05204520374536514, 0.2726275622844696, 0.2795034945011139, 0.2854253053665161, 0.040062110871076584, 0.19367630779743195], [0.2770068049430847, 0.2... | 14 |
97 | Point: extend index finger, curl others | [[0.08846955001354218, 0.07720036804676056, 0.10056184977293015, 0.2582743763923645, 0.21071496605873108, 0.27704548835754395, 0.08558537065982819, -0.010902268812060356, 0.19104190170764923, -0.08942562341690063, 0.0062105837278068066, -0.0842459574341774, 0.14114728569984436, 0.11872775852680206], [0.0918136388063430... | 21 |
98 | Thumbs up: extend thumb, close fingers | [[0.12126773595809937, 0.2684568166732788, -0.03708166629076004, 0.215017631649971, -0.09126287698745728, 0.191606342792511, 0.19240768253803253, 0.09161583334207535, 0.11496099084615707, 0.15221147239208221, 0.038736723363399506, -0.022453542798757553, 0.17118999361991882, 0.20533807575702667], [0.12122552841901779, 0... | 22 |
99 | Wave: flex and extend fingers sequentially | [[0.06839179247617722, 0.05533955991268158, 0.05396602302789688, 0.2305798977613449, 0.29537296295166016, -0.02407091297209263, 0.027158692479133606, 0.25248339772224426, 0.12239349633455276, -0.06157674640417099, 0.1396031528711319, 0.0029812937136739492, -0.03266458958387375, 0.028742875903844833], [0.022067463025450... | 18 |
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