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 | Press the switch on the stove | Press the button on the stove | Press the switch on the stove. | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 0.333333 | 5 | 1 | 532 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
0.2990630865097046,
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 0.4 | 6 | 1 | 533 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
0.3033387064933777,
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0.4084010422229767,
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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0.3991159200668335,
2.919442653656006,
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] | true | 0.466667 | 7 | 1 | 534 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
0.30959177017211914,
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] | 0 | 0 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
0.20347000658512115,
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0.3991159200668335,
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] | true | 0.533333 | 8 | 1 | 535 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
0.317351371049881,
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2.135695457458496,
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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0.3991159200668335,
2.919442653656006,
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
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2.1772096157073975,
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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0.3991159200668335,
2.919442653656006,
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
0.33665934205055237,
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0.42836782336235046,
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2.214937448501587,
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
0.3466907739639282,
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2.243269205093384,
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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0.3991159200668335,
2.919442653656006,
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] | true | 0.8 | 12 | 1 | 539 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
0.3575182557106018,
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2.269831418991089,
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
0.20347000658512115,
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0.3991159200668335,
2.919442653656006,
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] | true | 0.866667 | 13 | 1 | 540 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
0.36802396178245544,
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0.4475398063659668,
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2.295581340789795,
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
0.20347000658512115,
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0.3991159200668335,
2.919442653656006,
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] | true | 0.933333 | 14 | 1 | 541 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
0.37858134508132935,
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0.45401477813720703,
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] | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
0.20347000658512115,
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0.3991159200668335,
2.919442653656006,
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] | true | 1 | 15 | 1 | 542 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
0.38892078399658203,
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0.46022212505340576,
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
0.20347000658512115,
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0.3991159200668335,
2.919442653656006,
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] | true | 1.066667 | 16 | 1 | 543 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
0.3992447257041931,
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 1.4 | 21 | 1 | 548 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
0.4430483281612396,
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 1.466667 | 22 | 1 | 549 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
0.4507567882537842,
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 1.533333 | 23 | 1 | 550 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
0.4575556516647339,
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 1.6 | 24 | 1 | 551 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
0.4644877314567566,
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 1.666667 | 25 | 1 | 552 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
0.47066134214401245,
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 1.733333 | 26 | 1 | 553 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
0.4768540859222412,
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] | 0 | 0 | [
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2.410797357559204,
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 1.8 | 27 | 1 | 554 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
0.48290619254112244,
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0.25
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2.4115545749664307,
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0.25
] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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0.3991159200668335,
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] | true | 1.866667 | 28 | 1 | 555 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0 | [
0.4884905517101288,
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0.4379453659057617,
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] | 0.276432 | 1 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 1.933333 | 29 | 1 | 556 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.026432 | [
0.49326005578041077,
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2.4126319885253906,
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 2 | 30 | 1 | 557 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.092511 | [
0.497456818819046,
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2.415814161300659,
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
0.20347000658512115,
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0.3991159200668335,
2.919442653656006,
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.185022 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.255507 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.343612 | [
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] | true | 2.266667 | 34 | 1 | 561 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.414097 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 2.333333 | 35 | 1 | 562 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.497797 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 2.4 | 36 | 1 | 563 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.568282 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 2.466667 | 37 | 1 | 564 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.634361 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 2.533333 | 38 | 1 | 565 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.722467 | [
0.5183225274085999,
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.788546 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.876652 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 2.733333 | 41 | 1 | 568 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.942731 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 2.8 | 42 | 1 | 569 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 2.866667 | 43 | 1 | 570 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 2.933333 | 44 | 1 | 571 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 3 | 45 | 1 | 572 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 0.997797 | 0.026432 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 3.4 | 51 | 1 | 578 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 3.466667 | 52 | 1 | 579 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 3.8 | 57 | 1 | 584 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 3.866667 | 58 | 1 | 585 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 3.933333 | 59 | 1 | 586 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 4.2 | 63 | 1 | 590 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 4.266667 | 64 | 1 | 591 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 4.333333 | 65 | 1 | 592 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 4.4 | 66 | 1 | 593 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 4.466667 | 67 | 1 | 594 | 5 |
false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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false | false | false | Press the nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | true | 4.8 | 72 | 1 | 599 | 5 |
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