is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringclasses 300
values | language_instruction_2 stringclasses 254
values | language_instruction_3 stringclasses 255
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 29
values | building stringclasses 29
values | collector_id stringclasses 32
values | date stringclasses 32
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 1
class | timestamp float32 0 78.2 | frame_index int64 0 1.17k | episode_index int64 0 299 | index int64 0 60.3k | task_index int64 0 299 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 10.266666 | 154 | 3 | 1,000 | 13 |
false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 10.333333 | 155 | 3 | 1,001 | 13 |
false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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] | 0.972467 | 0.330396 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 10.4 | 156 | 3 | 1,002 | 13 |
false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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] | 0.972467 | 0.330396 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | [
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] | true | 10.466666 | 157 | 3 | 1,003 | 13 |
false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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] | 0.972467 | 0.330396 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | [
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] | true | 10.533334 | 158 | 3 | 1,004 | 13 |
false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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] | 0.972467 | 0.330396 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 10.6 | 159 | 3 | 1,005 | 13 |
false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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] | 0.972467 | 0.330396 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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0.34662219882011414,
0.5721798539161682,
0.3827374577522278,
-2.0399491786956787,
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] | [
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0.3498650789260864,
-1.919260025024414,
0.002631343901157379,
-0.8400292992591858
] | true | 16.799999 | 252 | 3 | 1,098 | 13 |
false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
0.6683943271636963,
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0.23647335171699524,
-2.930213212966919,
-0.4739654064178467,
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] | [
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0.6749384999275208,
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-1.7155840396881104,
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2.5429720878601074,
1.8461343050003052
] | [
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-0.41760653257369995,
2.5429720878601074,
1.8461343050003052,
0.8898678421974182
] | 0.972467 | 0.330396 | [
0.6858470439910889,
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0.2290334403514862,
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-0.51729416847229,
-1.7950115203857422
] | [
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-0.24313989281654358,
0.09707221388816833,
-0.15860579907894135
] | [
0.0763334408402443,
0.7356418967247009,
-0.40014541149139404,
-1.6352043151855469,
-0.41642171144485474,
2.493102788925171,
1.85507071018219
] | [
0.029408566653728485,
0.2675332725048065,
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0.3686366081237793,
0.005950779188424349,
-0.21198111772537231,
0.04460594058036804
] | [
0.6858470439910889,
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0.2290334403514862,
-2.9454009532928467,
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0.9724669456481934
] | [
0.0763334408402443,
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-1.6352043151855469,
-0.41642171144485474,
2.493102788925171,
1.85507071018219,
0.9724669456481934
] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
0.21247054636478424,
0.13639554381370544,
0.4174177944660187,
3.1203155517578125,
-0.1543983370065689,
1.6963508129119873
] | [
0.34662219882011414,
0.5721798539161682,
0.3827374577522278,
-2.0399491786956787,
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] | [
0.22496777772903442,
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0.3498650789260864,
-1.919260025024414,
0.002631343901157379,
-0.8400292992591858
] | true | 16.866667 | 253 | 3 | 1,099 | 13 |
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