is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringclasses 300
values | language_instruction_2 stringclasses 285
values | language_instruction_3 stringclasses 293
values | observation.state.gripper_position float32 0 1 | observation.state.cartesian_position listlengths 6 6 | observation.state.joint_position listlengths 7 7 | observation.state listlengths 8 8 | action.gripper_position float32 0 1 | action.gripper_velocity float32 -1 1 | action.cartesian_position listlengths 6 6 | action.cartesian_velocity listlengths 6 6 | action.joint_position listlengths 7 7 | action.joint_velocity listlengths 7 7 | action.original listlengths 7 7 | action listlengths 8 8 | discount float32 1 1 | reward float32 0 1 | task_category stringclasses 40
values | building stringclasses 40
values | collector_id stringclasses 44
values | date stringclasses 44
values | camera_extrinsics.wrist_left listlengths 6 6 | camera_extrinsics.exterior_1_left listlengths 6 6 | camera_extrinsics.exterior_2_left listlengths 6 6 | is_episode_successful bool 2
classes | timestamp float32 0 53 | frame_index int64 0 795 | episode_index int64 0 299 | index int64 0 74.3k | task_index int64 0 299 |
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false | false | false | Move the can of fanta from the bottom shelf to the counter top to the left of the pink cup | Remove the orange can from the cabinet and put it on the counter. | Take the soda can out of the cupboard | 0.361234 | [
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false | false | false | Move the can of fanta from the bottom shelf to the counter top to the left of the pink cup | Remove the orange can from the cabinet and put it on the counter. | Take the soda can out of the cupboard | 0.361234 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 0.733333 | 11 | 2 | 464 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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] | 0 | 0 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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] | 0 | 0 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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0.5191217064857483,
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false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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] | 0 | 0 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 0.933333 | 14 | 2 | 467 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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] | 0 | 0 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 1 | 15 | 2 | 468 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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] | 0 | 0 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
0.2511254549026489,
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] | true | 1.066667 | 16 | 2 | 469 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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] | 0 | 0 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
0.2511254549026489,
0.04439457505941391,
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] | true | 1.133333 | 17 | 2 | 470 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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] | 0 | 0 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
0.2511254549026489,
0.04439457505941391,
0.5191217064857483,
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] | true | 1.2 | 18 | 2 | 471 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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] | 0 | 0 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
0.2511254549026489,
0.04439457505941391,
0.5191217064857483,
3.0905325412750244,
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] | [
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] | true | 1.266667 | 19 | 2 | 472 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
0.342472106218338,
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] | 0 | 0 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 1.333333 | 20 | 2 | 473 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 1.4 | 21 | 2 | 474 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0 | [
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] | 0.254405 | 1 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 1.466667 | 22 | 2 | 475 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.004405 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 1.533333 | 23 | 2 | 476 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.088106 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 1.6 | 24 | 2 | 477 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.15859 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 1.666667 | 25 | 2 | 478 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.255507 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 1.733333 | 26 | 2 | 479 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.330396 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
0.2511254549026489,
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] | true | 1.8 | 27 | 2 | 480 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.392071 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
0.2511254549026489,
0.04439457505941391,
0.5191217064857483,
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] | true | 1.866667 | 28 | 2 | 481 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.480176 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | true | 1.933333 | 29 | 2 | 482 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.550661 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
0.2511254549026489,
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] | true | 2 | 30 | 2 | 483 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.61674 | [
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] | 0.94163 | 1 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
0.2511254549026489,
0.04439457505941391,
0.5191217064857483,
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] | [
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] | true | 2.066667 | 31 | 2 | 484 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.704846 | [
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] | 0.970872 | 0.782167 | [
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] | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | [
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] | true | 2.133333 | 32 | 2 | 485 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.77533 | [
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] | 0.985004 | 0.574376 | [
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] | [
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] | [
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] | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | [
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] | [
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] | true | 2.2 | 33 | 2 | 486 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.863436 | [
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] | 1 | 0.324711 | [
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] | [
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1
] | [
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1
] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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0.04439457505941391,
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] | [
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] | [
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] | true | 2.266667 | 34 | 2 | 487 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.933921 | [
0.383825421333313,
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1
] | [
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1
] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
0.2511254549026489,
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0.5191217064857483,
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] | true | 2.333333 | 35 | 2 | 488 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
0.2511254549026489,
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0.5191217064857483,
3.0905325412750244,
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] | [
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] | true | 2.4 | 36 | 2 | 489 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.982379 | [
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] | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
0.2511254549026489,
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0.5191217064857483,
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] | [
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] | true | 2.466667 | 37 | 2 | 490 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.991189 | [
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] | 0.971588 | -0.043165 | [
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] | [
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] | [
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] | [
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] | [
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] | [
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2.485891103744507,
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
0.2511254549026489,
0.04439457505941391,
0.5191217064857483,
3.0905325412750244,
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] | [
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] | [
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] | true | 2.533333 | 38 | 2 | 491 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.982379 | [
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] | 0.98021 | -0.008676 | [
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] | [
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] | [
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] | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
0.2511254549026489,
0.04439457505941391,
0.5191217064857483,
3.0905325412750244,
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] | [
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] | [
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] | true | 2.6 | 39 | 2 | 492 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | [
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] | 0.970298 | 0.00454 | [
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] | [
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] | [
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] | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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0.5191217064857483,
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] | [
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] | [
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] | true | 2.666667 | 40 | 2 | 493 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.969163 | [
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] | 0.981678 | 0.032439 | [
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] | [
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] | [
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] | [
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] | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
0.2511254549026489,
0.04439457505941391,
0.5191217064857483,
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] | [
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] | [
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] | true | 2.733333 | 41 | 2 | 494 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.973568 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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0.5191217064857483,
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] | true | 2.8 | 42 | 2 | 495 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | [
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] | true | 2.866667 | 43 | 2 | 496 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 0.982781 | 0.001609 | [
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] | [
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] | [
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] | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | [
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] | true | 2.933333 | 44 | 2 | 497 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.982379 | [
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] | 0.974156 | -0.01527 | [
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] | [
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] | [
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] | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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] | [
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] | [
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] | true | 3 | 45 | 2 | 498 | 5 |
false | false | false | Push the top drawer on the light grey cabinet backwards | Close the top drawer of the left cabinet | Close the top drawer on the left filing cabinet | 0.977974 | [
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] | 0.978193 | 0.000877 | [
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] | [
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] | [
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] | [
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] | [
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] | 1 | 0 | Smith Hall Fetch Lab | Smith Hall Fetch Lab | 553d1bd5 | 553d1bd5 | [
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0.04439457505941391,
0.5191217064857483,
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] | [
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] | [
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0.031898003071546555,
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] | true | 3.066667 | 46 | 2 | 499 | 5 |
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