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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] | 0.997797 | 0.026432 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 63.599998 | 954 | 3 | 1,800 | 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 | [
0.6878916621208191,
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 63.666668 | 955 | 3 | 1,801 | 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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] | true | 63.733334 | 956 | 3 | 1,802 | 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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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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0.13639554381370544,
0.4174177944660187,
3.1203155517578125,
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] | [
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] | true | 63.799999 | 957 | 3 | 1,803 | 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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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | [
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] | true | 63.866665 | 958 | 3 | 1,804 | 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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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | [
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] | true | 63.933334 | 959 | 3 | 1,805 | 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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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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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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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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] | true | 66.800003 | 1,002 | 3 | 1,848 | 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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] | 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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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 | 67.73333 | 1,016 | 3 | 1,862 | 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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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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] | true | 69.533333 | 1,043 | 3 | 1,889 | 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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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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0.9977973699569702
] | [
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0.7798107266426086,
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-1.5247752666473389,
0.36402007937431335,
2.3229153156280518,
0.639983594417572,
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,
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] | [
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0.3498650789260864,
-1.919260025024414,
0.002631343901157379,
-0.8400292992591858
] | true | 70.133331 | 1,052 | 3 | 1,898 | 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 | [
0.6664877533912659,
-0.26577889919281006,
0.19870536029338837,
-3.0530900955200195,
0.07706908136606216,
-1.2347646951675415
] | [
-0.23064295947551727,
0.8123942613601685,
-0.19370844960212708,
-1.4779614210128784,
0.33752721548080444,
2.2708990573883057,
0.6547384858131409
] | [
-0.23064295947551727,
0.8123942613601685,
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0.33752721548080444,
2.2708990573883057,
0.6547384858131409,
0.9911894202232361
] | 0.997797 | 0.026432 | [
0.6492548584938049,
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0.2087530791759491,
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0.056929830461740494,
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] | [
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0.12614962458610535,
0.021277960389852524,
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] | [
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0.3677140176296234,
2.3437607288360596,
0.6361610889434814
] | [
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0.051838092505931854,
-0.3183826506137848,
0.146624356508255,
0.3119128346443176,
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] | [
0.6492548584938049,
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0.2087530791759491,
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0.056929830461740494,
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] | [
-0.24642355740070343,
0.7638363838195801,
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-1.5477138757705688,
0.3677140176296234,
2.3437607288360596,
0.6361610889434814,
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,
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] | [
0.22496777772903442,
-0.4625287353992462,
0.3498650789260864,
-1.919260025024414,
0.002631343901157379,
-0.8400292992591858
] | true | 70.199997 | 1,053 | 3 | 1,899 | 13 |
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