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 nozzle of the soap bottle | Press the pump of the pump bottle | Press down on the pump bottle | 0.991189 | [
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] | true | 4.866667 | 73 | 1 | 600 | 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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] | true | 4.933333 | 74 | 1 | 601 | 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 | 5 | 75 | 1 | 602 | 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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0.3991159200668335,
2.919442653656006,
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] | true | 5.066667 | 76 | 1 | 603 | 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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] | [
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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 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | [
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] | true | 5.133333 | 77 | 1 | 604 | 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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] | [
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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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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | [
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] | [
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] | true | 5.2 | 78 | 1 | 605 | 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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] | [
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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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] | 1 | 0 | EVGR D | EVGR D | 938130c4 | 938130c4 | [
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] | [
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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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] | true | 5.533333 | 83 | 1 | 610 | 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 | 5.6 | 84 | 1 | 611 | 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 | 5.666667 | 85 | 1 | 612 | 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 | 5.733333 | 86 | 1 | 613 | 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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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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] | true | 6.466667 | 97 | 1 | 624 | 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 | 6.533333 | 98 | 1 | 625 | 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 | 6.6 | 99 | 1 | 626 | 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 | 6.666667 | 100 | 1 | 627 | 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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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 | 7.133333 | 107 | 1 | 634 | 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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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 | 7.466667 | 112 | 1 | 639 | 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 | 7.533333 | 113 | 1 | 640 | 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 | 7.6 | 114 | 1 | 641 | 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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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 | 8.066667 | 121 | 1 | 648 | 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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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 | 8.4 | 126 | 1 | 653 | 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 | 8.466666 | 127 | 1 | 654 | 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 | 8.533334 | 128 | 1 | 655 | 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 | 8.6 | 129 | 1 | 656 | 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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] | true | 8.866667 | 133 | 1 | 660 | 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 | 8.933333 | 134 | 1 | 661 | 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 | 9 | 135 | 1 | 662 | 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 | 9.066667 | 136 | 1 | 663 | 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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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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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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] | true | 9.866667 | 148 | 1 | 675 | 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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] | true | 10 | 150 | 1 | 677 | 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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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 | 10.466666 | 157 | 1 | 684 | 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 | 10.533334 | 158 | 1 | 685 | 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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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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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 | 11.266666 | 169 | 1 | 696 | 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 | 11.333333 | 170 | 1 | 697 | 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 | 11.4 | 171 | 1 | 698 | 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 | 11.466666 | 172 | 1 | 699 | 5 |
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