is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringclasses 300
values | language_instruction_2 stringclasses 292
values | language_instruction_3 stringclasses 295
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 39
values | building stringclasses 39
values | collector_id stringclasses 43
values | date stringclasses 43
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 2
classes | timestamp float32 0 68.3 | frame_index int64 0 1.03k | episode_index int64 0 299 | index int64 0 90.1k | task_index int64 0 299 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.933921 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 20.4 | 306 | 291 | 87,700 | 31 |
false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.9163 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 20.466667 | 307 | 291 | 87,701 | 31 |
false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.837004 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 20.533333 | 308 | 291 | 87,702 | 31 |
false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.770925 | [
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] | 0.450441 | -1 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 20.6 | 309 | 291 | 87,703 | 31 |
false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.700441 | [
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] | 0.379956 | -1 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 20.666666 | 310 | 291 | 87,704 | 31 |
false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.60793 | [
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] | 0.29185 | -1 | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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] | true | 20.733334 | 311 | 291 | 87,705 | 31 |
false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.54185 | [
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] | [
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] | 0.225771 | -1 | [
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] | [
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] | 1 | 0 | BAIR | BAIR | 5d05c5aa | 5d05c5aa | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.171806 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.088106 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0.017621 | [
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false | false | false | Stack the clear cups together | Stack the four cups together | Stack the cups | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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] | true | 2.333333 | 35 | 292 | 87,758 | 296 |
false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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] | true | 3.8 | 57 | 292 | 87,780 | 296 |
false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0 | [
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false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.013216 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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] | true | 4.733333 | 71 | 292 | 87,794 | 296 |
false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.013216 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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] | true | 4.8 | 72 | 292 | 87,795 | 296 |
false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.066079 | [
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] | true | 4.866667 | 73 | 292 | 87,796 | 296 |
false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.079295 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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] | true | 4.933333 | 74 | 292 | 87,797 | 296 |
false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.079295 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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] | true | 5 | 75 | 292 | 87,798 | 296 |
false | false | false | Put the coffee pod on top of the green cylinder. | Pick up the bottle from the disposable plate and put it on the green object | Remove the capsule from the carton box | 0.132159 | [
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] | 1 | 0 | TRI | TRI | 52ca9b6a | 52ca9b6a | [
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] | true | 5.066667 | 76 | 292 | 87,799 | 296 |
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