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 | 0.991189 | [
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0.19828136265277863,
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] | [
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] | 0.997797 | 0.026432 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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0.4174177944660187,
3.1203155517578125,
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] | true | 43.599998 | 654 | 3 | 1,500 | 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 | 0.991189 | [
0.6903859376907349,
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] | [
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] | 0.997797 | 0.026432 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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0.4174177944660187,
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] | true | 43.666668 | 655 | 3 | 1,501 | 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 | 0.991189 | [
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] | 0.997797 | 0.026432 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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0.13639554381370544,
0.4174177944660187,
3.1203155517578125,
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] | true | 43.733334 | 656 | 3 | 1,502 | 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 | 0.991189 | [
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] | [
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] | 0.997797 | 0.026432 | [
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] | [
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2.2511351108551025,
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
0.21247054636478424,
0.13639554381370544,
0.4174177944660187,
3.1203155517578125,
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1.6963508129119873
] | [
0.34662219882011414,
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] | [
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] | true | 43.799999 | 657 | 3 | 1,503 | 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 | 0.991189 | [
0.6905906200408936,
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] | [
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] | [
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] | 0.997797 | 0.026432 | [
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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 | 5d05c5aa | 5d05c5aa | [
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0.13639554381370544,
0.4174177944660187,
3.1203155517578125,
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] | [
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] | [
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] | true | 43.866665 | 658 | 3 | 1,504 | 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 | 0.991189 | [
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] | [
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] | [
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] | 0.997797 | 0.026432 | [
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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 | 5d05c5aa | 5d05c5aa | [
0.21247054636478424,
0.13639554381370544,
0.4174177944660187,
3.1203155517578125,
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] | [
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] | [
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] | true | 43.933334 | 659 | 3 | 1,505 | 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 | 0.991189 | [
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] | [
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] | [
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] | 0.997797 | 0.026432 | [
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] | [
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] | [
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] | [
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] | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 45.799999 | 687 | 3 | 1,533 | 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 | 0.991189 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 45.866665 | 688 | 3 | 1,534 | 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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 46.733334 | 701 | 3 | 1,547 | 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 | 0.991189 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 46.799999 | 702 | 3 | 1,548 | 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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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] | true | 49.066666 | 736 | 3 | 1,582 | 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 | 0.991189 | [
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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 | 0.991189 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 49.200001 | 738 | 3 | 1,584 | 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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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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 | 0.991189 | [
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0.10101141035556793,
-0.6597675085067749
] | [
0.04775262624025345,
-0.10326928645372391,
-0.08926087617874146,
0.03726471588015556,
-0.016536343842744827,
0.059021636843681335
] | [
0.10267950594425201,
0.7340587973594666,
-0.0641959011554718,
-1.569467544555664,
0.13014920055866241,
2.216707229614258,
0.6299750804901123
] | [
-0.06544052064418793,
0.0868598222732544,
0.01086445339024067,
0.06753979623317719,
0.021634045988321304,
0.022878240793943405,
-0.11411616206169128
] | [
0.6919583082199097,
0.03630923479795456,
0.20275859534740448,
3.1349661350250244,
0.10101141035556793,
-0.6597675085067749,
0.9977973699569702
] | [
0.10267950594425201,
0.7340587973594666,
-0.0641959011554718,
-1.569467544555664,
0.13014920055866241,
2.216707229614258,
0.6299750804901123,
0.9977973699569702
] | 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,
-0.0191944632679224,
-2.818686008453369
] | [
0.22496777772903442,
-0.4625287353992462,
0.3498650789260864,
-1.919260025024414,
0.002631343901157379,
-0.8400292992591858
] | true | 50.200001 | 753 | 3 | 1,599 | 13 |
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