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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.964758 | [
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] | 0.991189 | 0.105727 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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0.545931339263916,
2.6303110122680664,
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] | [
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] | true | 11.4 | 171 | 290 | 71,900 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.964758 | [
0.5116860270500183,
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] | [
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] | 0.991189 | 0.105727 | [
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] | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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0.545931339263916,
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] | true | 11.466666 | 172 | 290 | 71,901 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.964758 | [
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] | 0.991189 | 0.105727 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 11.533334 | 173 | 290 | 71,902 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.964758 | [
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] | 0.991189 | 0.105727 | [
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] | [
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] | [
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] | [
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2.653540849685669,
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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0.545931339263916,
2.6303110122680664,
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] | [
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] | [
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] | true | 11.6 | 174 | 290 | 71,903 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.964758 | [
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] | [
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] | [
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] | 0.991189 | 0.105727 | [
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] | [
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] | [
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] | [
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] | [
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] | [
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2.6503005027770996,
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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0.14473332464694977,
0.545931339263916,
2.6303110122680664,
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] | [
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] | [
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] | true | 11.666667 | 175 | 290 | 71,904 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.964758 | [
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] | [
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] | [
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] | 0.991189 | 0.105727 | [
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] | [
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] | [
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] | [
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] | [
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] | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | [
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] | [
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] | true | 11.733334 | 176 | 290 | 71,905 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.964758 | [
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] | [
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] | [
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] | 0.991189 | 0.105727 | [
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] | [
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] | [
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] | [
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] | [
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] | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | [
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] | true | 11.8 | 177 | 290 | 71,906 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.964758 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 11.866667 | 178 | 290 | 71,907 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.964758 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 11.933333 | 179 | 290 | 71,908 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.964758 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 12 | 180 | 290 | 71,909 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.964758 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 12.066667 | 181 | 290 | 71,910 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.964758 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 12.133333 | 182 | 290 | 71,911 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.964758 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 12.2 | 183 | 290 | 71,912 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.964758 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 12.266666 | 184 | 290 | 71,913 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.942731 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 12.333333 | 185 | 290 | 71,914 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.885463 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 12.4 | 186 | 290 | 71,915 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.806167 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 12.466666 | 187 | 290 | 71,916 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.744493 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 12.533334 | 188 | 290 | 71,917 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.660793 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 12.6 | 189 | 290 | 71,918 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.594714 | [
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] | 0.278634 | -1 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 12.666667 | 190 | 290 | 71,919 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.528634 | [
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] | [
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] | 0.194934 | -1 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 12.733334 | 191 | 290 | 71,920 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.444934 | [
0.5448576211929321,
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] | [
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] | 0.128855 | -1 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 12.8 | 192 | 290 | 71,921 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.378855 | [
0.5453590154647827,
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0.10425402969121933,
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
0.21238605678081512,
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0.545931339263916,
2.6303110122680664,
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] | true | 12.866667 | 193 | 290 | 71,922 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.295154 | [
0.545560359954834,
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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0.545931339263916,
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] | true | 12.933333 | 194 | 290 | 71,923 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.229075 | [
0.5455639958381653,
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] | 0 | -0.687225 | [
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0
] | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 13 | 195 | 290 | 71,924 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.145375 | [
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] | 0 | -0.436123 | [
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0
] | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 13.066667 | 196 | 290 | 71,925 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.079295 | [
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] | [
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] | 0 | -0.237885 | [
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0
] | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | [
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] | true | 13.133333 | 197 | 290 | 71,926 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0.008811 | [
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] | [
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] | 0 | -0.026432 | [
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] | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | [
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] | true | 13.2 | 198 | 290 | 71,927 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0 | [
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] | 0 | 0 | [
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] | [
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0
] | [
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0
] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
0.21238605678081512,
0.14473332464694977,
0.545931339263916,
2.6303110122680664,
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] | true | 13.266666 | 199 | 290 | 71,928 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0 | [
0.5448165535926819,
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0.1053076833486557,
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] | 0 | 0 | [
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] | [
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2.6551427841186523,
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
0.21238605678081512,
0.14473332464694977,
0.545931339263916,
2.6303110122680664,
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] | true | 13.333333 | 200 | 290 | 71,929 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0 | [
0.5433860421180725,
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0.10762552917003632,
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2.6319420337677,
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] | 0 | 0 | [
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2.656346082687378,
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
0.21238605678081512,
0.14473332464694977,
0.545931339263916,
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] | true | 13.4 | 201 | 290 | 71,930 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0 | [
0.5410320162773132,
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] | 0 | 0 | [
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] | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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0.545931339263916,
2.6303110122680664,
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] | true | 13.466666 | 202 | 290 | 71,931 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0 | [
0.5378419160842896,
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] | 0 | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 13.533334 | 203 | 290 | 71,932 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0 | [
0.5339644551277161,
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] | 0 | 0 | [
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] | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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0.545931339263916,
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] | true | 13.6 | 204 | 290 | 71,933 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0 | [
0.5291665196418762,
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] | 0 | 0 | [
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0,
0,
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] | [
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] | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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0.545931339263916,
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] | [
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] | true | 13.666667 | 205 | 290 | 71,934 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0 | [
0.5237837433815002,
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] | [
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] | 0 | 0 | [
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0,
0,
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] | [
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] | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
0.21238605678081512,
0.14473332464694977,
0.545931339263916,
2.6303110122680664,
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] | [
0.17497815191745758,
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] | [
0.20640544593334198,
0.4549577236175537,
0.2834477722644806,
-2.171010971069336,
0.009879198856651783,
-2.282524347305298
] | true | 13.733334 | 206 | 290 | 71,935 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0 | [
0.5179594159126282,
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 13.8 | 207 | 290 | 71,936 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0 | [
0.513309121131897,
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 13.866667 | 208 | 290 | 71,937 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0 | [
0.5105995535850525,
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 13.933333 | 209 | 290 | 71,938 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0 | [
0.5094576478004456,
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 14 | 210 | 290 | 71,939 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0 | [
0.5093480348587036,
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] | 0 | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 14.066667 | 211 | 290 | 71,940 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0 | [
0.5093345642089844,
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] | 0 | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 14.133333 | 212 | 290 | 71,941 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0 | [
0.5093486309051514,
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] | 0 | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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] | true | 14.2 | 213 | 290 | 71,942 | 292 |
false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0 | [
0.5093350410461426,
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] | 0 | 0 | [
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] | 1 | 0 | BAIR | BAIR | 80edfcb1 | 80edfcb1 | [
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false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0 | [
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false | false | false | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0 | [
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false | true | true | Take the plate and move it to the right of the desk | Move the plate to the right | Move the yellow plate to the right | 0 | [
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true | false | false | Move the salt shaker to the left | Move the grey shaker to the left | Move the cellar closer to the orange bowl | 0 | [
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false | false | false | Move the salt shaker to the left | Move the grey shaker to the left | Move the cellar closer to the orange bowl | 0 | [
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false | false | false | Move the salt shaker to the left | Move the grey shaker to the left | Move the cellar closer to the orange bowl | 0 | [
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] | 1 | 0 | Glens office | Glens office | 4dbb5646 | 4dbb5646 | [
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false | false | false | Move the salt shaker to the left | Move the grey shaker to the left | Move the cellar closer to the orange bowl | 0 | [
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] | 1 | 0 | Glens office | Glens office | 4dbb5646 | 4dbb5646 | [
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false | false | false | Move the salt shaker to the left | Move the grey shaker to the left | Move the cellar closer to the orange bowl | 0 | [
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] | true | 3.266667 | 49 | 291 | 71,996 | 136 |
false | false | false | Move the salt shaker to the left | Move the grey shaker to the left | Move the cellar closer to the orange bowl | 0 | [
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] | 1 | 0 | Glens office | Glens office | 4dbb5646 | 4dbb5646 | [
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] | true | 3.333333 | 50 | 291 | 71,997 | 136 |
false | false | false | Move the salt shaker to the left | Move the grey shaker to the left | Move the cellar closer to the orange bowl | 0 | [
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] | 1 | 0 | Glens office | Glens office | 4dbb5646 | 4dbb5646 | [
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] | true | 3.4 | 51 | 291 | 71,998 | 136 |
false | false | false | Move the salt shaker to the left | Move the grey shaker to the left | Move the cellar closer to the orange bowl | 0 | [
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] | 0 | 0 | [
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] | 1 | 0 | Glens office | Glens office | 4dbb5646 | 4dbb5646 | [
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] | true | 3.466667 | 52 | 291 | 71,999 | 136 |
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