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 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 3.8 | 57 | 3 | 903 | 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 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 3.866667 | 58 | 3 | 904 | 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 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 3.933333 | 59 | 3 | 905 | 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 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 4 | 60 | 3 | 906 | 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 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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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 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.022026 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.092511 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.167401 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.264317 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.334802 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.418502 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.484582 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.572687 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.638767 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.704846 | [
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1
] | [
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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 | 0.792952 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.859031 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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] | true | 9.933333 | 149 | 3 | 995 | 13 |
false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 10 | 150 | 3 | 996 | 13 |
false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 10.066667 | 151 | 3 | 997 | 13 |
false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | [
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] | true | 10.133333 | 152 | 3 | 998 | 13 |
false | false | false | Lay the white object along the black object and press down on it | Align the rope along the middle of the board then push it into the ridge | Put the white rope straight on the black thing then press on it | 0.889868 | [
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] | 0.972467 | 0.330396 | [
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] | [
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1.4185422658920288,
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | [
0.34662219882011414,
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] | true | 10.2 | 153 | 3 | 999 | 13 |
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