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Datasets:
Joocjun
/
GR1-Tabletop-NextState-100x24

Tasks:
Robotics
Modalities:
Tabular
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
GR00T
GR1
robocasa
simulation
manipulation
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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  1. README.md +132 -0
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  7. meta/info.json +269 -0
  8. meta/modality.json +121 -0
  9. meta/tasks.jsonl +185 -0
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README.md ADDED
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ - GR00T
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+ - GR1
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+ - robocasa
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+ - simulation
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+ - manipulation
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+ size_categories:
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+ - 10K<n<100K
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+ ---
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+
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+ # GR1 Tabletop Merged LeRobot Datasets
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+
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+ Merged and subsampled versions of the GR1 tabletop manipulation datasets from the [NVIDIA PhysicalAI-Robotics-GR00T-X-Embodiment-Sim](https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim) collection, formatted in **LeRobot v2.0** format.
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+
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+ ## Dataset Variants
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+
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+ | Variant | Demos/Task | Tasks | Total Episodes | Total Frames | Approx Size |
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+ |---------|-----------|-------|----------------|--------------|-------------|
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+ | `1000x24/` | 1000 | 24 folders, 186 unique tasks | 24,000 | 6,020,058 | ~40 GB |
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+ | `300x24/` | 300 | 24 folders, 186 unique tasks | 7,200 | 1,803,236 | ~12 GB |
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+ | `100x24/` | 100 | 24 folders, 185 unique tasks | 2,400 | 602,846 | ~4 GB |
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+
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+ ## Source Dataset
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+
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+ The original per-task datasets were downloaded from:
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+ **[nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim](https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim)**
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+
33
+ To download the original dataset:
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+ ```bash
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+ # Install huggingface_hub
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+ pip install huggingface_hub
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+
38
+ # Download specific task datasets
39
+ from huggingface_hub import snapshot_download
40
+ snapshot_download(
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+ repo_id="nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim",
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+ repo_type="dataset",
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+ allow_patterns="gr1_unified.PnP*", # or specific task patterns
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+ local_dir="./original_data"
45
+ )
46
+ ```
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+
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+ The 24 source task folders used (each with 1000 demos):
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+ - 6 **PnP** tasks: Bottle→Cabinet, Can→Drawer, Cup→Drawer, Milk→Microwave, Potato→Microwave, Wine→Cabinet
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+ - 18 **PosttrainPnPNovel** tasks: Various object transfers between surfaces (Cuttingboard→{Basket,Cardboardbox,Pan,Pot,Tieredbasket}, Placemat→{Basket,Bowl,Plate,Tieredshelf}, Plate→{Bowl,Cardboardbox,Pan,Plate}, Tray→{Cardboardbox,Plate,Pot,Tieredbasket,Tieredshelf})
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+
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+ ## Processing
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+
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+ Each merged dataset was created by:
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+
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+ 1. **Subsampling**: Randomly sampling N episodes (with seed=42) from each of the 24 task folders
57
+ 2. **Merging**: Combining all sampled episodes into a single dataset with:
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+ - Re-indexed episode IDs (0 to total-1)
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+ - Globally re-indexed task IDs across all source folders
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+ - Updated parquet files with corrected `episode_index`, `task_index`, and `index` columns
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+ - Consolidated `meta/` files (`info.json`, `episodes.jsonl`, `tasks.jsonl`, `modality.json`)
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+
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+ ### Note on task counts
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+
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+ The `100x24` variant has 185 unique tasks instead of 186. This is because some task folders contain multiple task variants (e.g., the `PosttrainPnPNovelFromTrayToTieredbasket` folder has 10 different object variants like eggplant, tomato, etc.). The "eggplant" variant only appears in 58 out of 1000 source episodes, so when randomly sampling only 100 episodes, none of the eggplant episodes were selected. This is expected behavior with random subsampling.
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+
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+ ## Dataset Structure (LeRobot v2.0)
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+
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+ ```
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+ <variant>/
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+ ├── data/
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+ │ └── chunk-000/
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+ │ ├── episode_000000.parquet
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+ │ ├── episode_000001.parquet
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+ │ └── ...
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+ ├── videos/
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+ │ └── chunk-000/
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+ │ └── observation.images.ego_view/
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+ │ ├── episode_000000.mp4
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+ │ ├── episode_000001.mp4
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+ │ └── ...
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+ └── meta/
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+ ├── info.json
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+ ├── episodes.jsonl
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+ ├── tasks.jsonl
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+ ├── modality.json
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+ ├── stats.json
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+ └── relative_stats.json
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+ ```
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+
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+ ### Features
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+
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+ | Feature | Type | Shape |
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+ |---------|------|-------|
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+ | `observation.images.ego_view` | video (h264) | [256, 256, 3] @ 20fps |
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+ | `observation.state` | float64 | [44] |
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+ | `action` | float64 | [44] |
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+ | `timestamp` | float64 | [1] |
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+ | `next.reward` | float64 | [1] |
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+ | `next.done` | bool | [1] |
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+ | `task_index` | int64 | [1] |
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+ | `episode_index` | int64 | [1] |
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+ | `annotation.human.coarse_action` | int64 | [1] |
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+
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+ Robot: **GR1ArmsAndWaistFourierHands** (44-DOF: arms, hands, legs, neck, waist)
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+
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+ ## Usage
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+
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+ ```python
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+ # Download a specific variant
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+ from huggingface_hub import snapshot_download
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+
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+ snapshot_download(
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+ repo_id="Joocjun/GR1-Tabletop-Merged-LeRobot",
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+ repo_type="dataset",
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+ allow_patterns="100x24/**", # or "300x24/**" or "1000x24/**"
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+ local_dir="./gr1_merged"
118
+ )
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+ ```
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+
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+ ## License
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+
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+ Apache 2.0 (following the original NVIDIA dataset license)
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+
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+
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+ ## Modification: Next-State Hand Actions
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+
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+ Hand action channels (left_hand indices 7-12, right_hand indices 29-34) have been replaced with next-state values:
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+ - `action[t][7:13] = observation.state[t+1][7:13]`
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+ - `action[t][29:35] = observation.state[t+1][29:35]`
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+ - Last timestep repeats current state.
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+ - `stats.json` removed so training auto-regenerates normalization stats.
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+ {
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+ "original_key": "annotation.human.coarse_action"
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meta/tasks.jsonl ADDED
@@ -0,0 +1,185 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {"task_index": 0, "task": "unlocked_waist: pick up the bottled water, place it into the cabinet and close the cabinet"}
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+ {"task_index": 1, "task": "unlocked_waist: pick up the can, place it into the drawer and close the drawer"}
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+ {"task_index": 2, "task": "unlocked_waist: pick up the cup, place it into the drawer and close the drawer"}
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+ {"task_index": 3, "task": "unlocked_waist: pick up the milk, place it into the microwave and close the microwave"}
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+ {"task_index": 5, "task": "unlocked_waist: pick up the wine, place it into the cabinet and close the cabinet"}
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+ {"task_index": 6, "task": "unlocked_waist: pick the squash from the cutting board and place it in the basket"}
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+ {"task_index": 9, "task": "unlocked_waist: pick the bell pepper from the cutting board and place it in the basket"}
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+ {"task_index": 10, "task": "unlocked_waist: pick the sweet potato from the cutting board and place it in the basket"}
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+ {"task_index": 11, "task": "unlocked_waist: pick the can from the cutting board and place it in the basket"}
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+ {"task_index": 12, "task": "unlocked_waist: pick the tomato from the cutting board and place it in the basket"}
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+ {"task_index": 13, "task": "unlocked_waist: pick the croissant from the cutting board and place it in the basket"}
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+ {"task_index": 14, "task": "unlocked_waist: pick the eggplant from the cutting board and place it in the basket"}
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+ {"task_index": 15, "task": "unlocked_waist: pick the pear from the cutting board and place it in the basket"}
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+ {"task_index": 16, "task": "unlocked_waist: pick the croissant from the cutting board and place it in the cardboard box"}
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+ {"task_index": 18, "task": "unlocked_waist: pick the sweet potato from the cutting board and place it in the cardboard box"}
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+ {"task_index": 24, "task": "unlocked_waist: pick the can from the cutting board and place it in the cardboard box"}
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+ {"task_index": 25, "task": "unlocked_waist: pick the eggplant from the cutting board and place it in the cardboard box"}
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+ {"task_index": 26, "task": "unlocked_waist: pick the squash from the cutting board and place it in the pan"}
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+ {"task_index": 27, "task": "unlocked_waist: pick the bell pepper from the cutting board and place it in the pan"}
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+ {"task_index": 28, "task": "unlocked_waist: pick the eggplant from the cutting board and place it in the pan"}
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+ {"task_index": 29, "task": "unlocked_waist: pick the can from the cutting board and place it in the pan"}
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+ {"task_index": 30, "task": "unlocked_waist: pick the croissant from the cutting board and place it in the pan"}
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+ {"task_index": 31, "task": "unlocked_waist: pick the cupcake from the cutting board and place it in the pan"}
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+ {"task_index": 32, "task": "unlocked_waist: pick the tomato from the cutting board and place it in the pan"}
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+ {"task_index": 33, "task": "unlocked_waist: pick the lemon from the cutting board and place it in the pan"}
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+ {"task_index": 34, "task": "unlocked_waist: pick the sweet potato from the cutting board and place it in the pan"}
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+ {"task_index": 35, "task": "unlocked_waist: pick the pear from the cutting board and place it in the pan"}
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+ {"task_index": 36, "task": "unlocked_waist: pick the cupcake from the cutting board and place it in the pot"}
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+ {"task_index": 37, "task": "unlocked_waist: pick the tomato from the cutting board and place it in the pot"}
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+ {"task_index": 38, "task": "unlocked_waist: pick the eggplant from the cutting board and place it in the pot"}
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+ {"task_index": 39, "task": "unlocked_waist: pick the sweet potato from the cutting board and place it in the pot"}
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+ {"task_index": 40, "task": "unlocked_waist: pick the squash from the cutting board and place it in the pot"}
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+ {"task_index": 41, "task": "unlocked_waist: pick the pear from the cutting board and place it in the pot"}
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+ {"task_index": 42, "task": "unlocked_waist: pick the lemon from the cutting board and place it in the pot"}
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+ {"task_index": 43, "task": "unlocked_waist: pick the bell pepper from the cutting board and place it in the pot"}
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+ {"task_index": 44, "task": "unlocked_waist: pick the croissant from the cutting board and place it in the pot"}
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+ {"task_index": 45, "task": "unlocked_waist: pick the can from the cutting board and place it in the pot"}
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+ {"task_index": 46, "task": "unlocked_waist: pick the lemon from the cutting board and place it in the tiered basket"}
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+ {"task_index": 47, "task": "unlocked_waist: pick the cupcake from the cutting board and place it in the tiered basket"}
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+ {"task_index": 48, "task": "unlocked_waist: pick the eggplant from the cutting board and place it in the tiered basket"}
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+ {"task_index": 49, "task": "unlocked_waist: pick the croissant from the cutting board and place it in the tiered basket"}
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+ {"task_index": 50, "task": "unlocked_waist: pick the sweet potato from the cutting board and place it in the tiered basket"}
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+ {"task_index": 51, "task": "unlocked_waist: pick the pear from the cutting board and place it in the tiered basket"}
53
+ {"task_index": 52, "task": "unlocked_waist: pick the tomato from the cutting board and place it in the tiered basket"}
54
+ {"task_index": 53, "task": "unlocked_waist: pick the can from the cutting board and place it in the tiered basket"}
55
+ {"task_index": 54, "task": "unlocked_waist: pick the bell pepper from the cutting board and place it in the tiered basket"}
56
+ {"task_index": 55, "task": "unlocked_waist: pick the squash from the cutting board and place it in the tiered basket"}
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+ {"task_index": 56, "task": "unlocked_waist: pick the pear from the placemat and place it in the basket"}
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+ {"task_index": 57, "task": "unlocked_waist: pick the sweet potato from the placemat and place it in the basket"}
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+ {"task_index": 58, "task": "unlocked_waist: pick the cupcake from the placemat and place it in the basket"}
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+ {"task_index": 59, "task": "unlocked_waist: pick the croissant from the placemat and place it in the basket"}
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+ {"task_index": 60, "task": "unlocked_waist: pick the tomato from the placemat and place it in the basket"}
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+ {"task_index": 61, "task": "unlocked_waist: pick the eggplant from the placemat and place it in the basket"}
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+ {"task_index": 62, "task": "unlocked_waist: pick the squash from the placemat and place it in the basket"}
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+ {"task_index": 63, "task": "unlocked_waist: pick the lemon from the placemat and place it in the basket"}
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+ {"task_index": 64, "task": "unlocked_waist: pick the can from the placemat and place it in the basket"}
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+ {"task_index": 65, "task": "unlocked_waist: pick the bell pepper from the placemat and place it in the basket"}
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+ {"task_index": 66, "task": "unlocked_waist: pick the tomato from the placemat and place it in the bowl"}
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+ {"task_index": 67, "task": "unlocked_waist: pick the can from the placemat and place it in the bowl"}
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+ {"task_index": 68, "task": "unlocked_waist: pick the lemon from the placemat and place it in the bowl"}
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+ {"task_index": 69, "task": "unlocked_waist: pick the bell pepper from the placemat and place it in the bowl"}
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+ {"task_index": 70, "task": "unlocked_waist: pick the cupcake from the placemat and place it in the bowl"}
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+ {"task_index": 71, "task": "unlocked_waist: pick the croissant from the placemat and place it in the bowl"}
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+ {"task_index": 72, "task": "unlocked_waist: pick the pear from the placemat and place it in the bowl"}
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+ {"task_index": 73, "task": "unlocked_waist: pick the eggplant from the placemat and place it in the bowl"}
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+ {"task_index": 74, "task": "unlocked_waist: pick the squash from the placemat and place it in the bowl"}
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+ {"task_index": 75, "task": "unlocked_waist: pick the sweet potato from the placemat and place it in the bowl"}
77
+ {"task_index": 76, "task": "unlocked_waist: pick the cupcake from the placemat and place it in the plate"}
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+ {"task_index": 77, "task": "unlocked_waist: pick the bell pepper from the placemat and place it in the plate"}
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+ {"task_index": 78, "task": "unlocked_waist: pick the tomato from the placemat and place it in the plate"}
80
+ {"task_index": 79, "task": "unlocked_waist: pick the croissant from the placemat and place it in the plate"}
81
+ {"task_index": 80, "task": "unlocked_waist: pick the lemon from the placemat and place it in the plate"}
82
+ {"task_index": 81, "task": "unlocked_waist: pick the squash from the placemat and place it in the plate"}
83
+ {"task_index": 82, "task": "unlocked_waist: pick the can from the placemat and place it in the plate"}
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+ {"task_index": 83, "task": "unlocked_waist: pick the sweet potato from the placemat and place it in the plate"}
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+ {"task_index": 84, "task": "unlocked_waist: pick the pear from the placemat and place it in the plate"}
86
+ {"task_index": 85, "task": "unlocked_waist: pick the eggplant from the placemat and place it in the plate"}
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+ {"task_index": 86, "task": "unlocked_waist: pick the croissant from the placemat and place it in the tiered shelf"}
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+ {"task_index": 87, "task": "unlocked_waist: pick the pear from the placemat and place it in the tiered shelf"}
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+ {"task_index": 88, "task": "unlocked_waist: pick the tomato from the placemat and place it in the tiered shelf"}
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+ {"task_index": 89, "task": "unlocked_waist: pick the sweet potato from the placemat and place it in the tiered shelf"}
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+ {"task_index": 90, "task": "unlocked_waist: pick the lemon from the placemat and place it in the tiered shelf"}
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+ {"task_index": 91, "task": "unlocked_waist: pick the can from the placemat and place it in the tiered shelf"}
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+ {"task_index": 92, "task": "unlocked_waist: pick the cupcake from the placemat and place it in the tiered shelf"}
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+ {"task_index": 93, "task": "unlocked_waist: pick the squash from the placemat and place it in the tiered shelf"}
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+ {"task_index": 94, "task": "unlocked_waist: pick the bell pepper from the placemat and place it in the tiered shelf"}
96
+ {"task_index": 95, "task": "unlocked_waist: pick the eggplant from the placemat and place it in the tiered shelf"}
97
+ {"task_index": 96, "task": "unlocked_waist: pick the pear from the plate and place it in the bowl"}
98
+ {"task_index": 97, "task": "unlocked_waist: pick the can from the plate and place it in the bowl"}
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+ {"task_index": 98, "task": "unlocked_waist: pick the lemon from the plate and place it in the bowl"}
100
+ {"task_index": 99, "task": "unlocked_waist: pick the squash from the plate and place it in the bowl"}
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+ {"task_index": 100, "task": "unlocked_waist: pick the cupcake from the plate and place it in the bowl"}
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+ {"task_index": 101, "task": "unlocked_waist: pick the tomato from the plate and place it in the bowl"}
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+ {"task_index": 102, "task": "unlocked_waist: pick the eggplant from the plate and place it in the bowl"}
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+ {"task_index": 103, "task": "unlocked_waist: pick the sweet potato from the plate and place it in the bowl"}
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+ {"task_index": 104, "task": "unlocked_waist: pick the bell pepper from the plate and place it in the bowl"}
106
+ {"task_index": 105, "task": "unlocked_waist: pick the croissant from the plate and place it in the bowl"}
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+ {"task_index": 106, "task": "unlocked_waist: pick the bell pepper from the plate and place it in the cardboard box"}
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+ {"task_index": 107, "task": "unlocked_waist: pick the cupcake from the plate and place it in the cardboard box"}
109
+ {"task_index": 108, "task": "unlocked_waist: pick the squash from the plate and place it in the cardboard box"}
110
+ {"task_index": 109, "task": "unlocked_waist: pick the tomato from the plate and place it in the cardboard box"}
111
+ {"task_index": 110, "task": "unlocked_waist: pick the pear from the plate and place it in the cardboard box"}
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+ {"task_index": 111, "task": "unlocked_waist: pick the lemon from the plate and place it in the cardboard box"}
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+ {"task_index": 112, "task": "unlocked_waist: pick the eggplant from the plate and place it in the cardboard box"}
114
+ {"task_index": 113, "task": "unlocked_waist: pick the sweet potato from the plate and place it in the cardboard box"}
115
+ {"task_index": 114, "task": "unlocked_waist: pick the can from the plate and place it in the cardboard box"}
116
+ {"task_index": 115, "task": "unlocked_waist: pick the croissant from the plate and place it in the cardboard box"}
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+ {"task_index": 116, "task": "unlocked_waist: pick the tomato from the plate and place it in the pan"}
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+ {"task_index": 117, "task": "unlocked_waist: pick the lemon from the plate and place it in the pan"}
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+ {"task_index": 118, "task": "unlocked_waist: pick the squash from the plate and place it in the pan"}
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+ {"task_index": 119, "task": "unlocked_waist: pick the bell pepper from the plate and place it in the pan"}
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+ {"task_index": 120, "task": "unlocked_waist: pick the croissant from the plate and place it in the pan"}
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+ {"task_index": 121, "task": "unlocked_waist: pick the can from the plate and place it in the pan"}
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+ {"task_index": 122, "task": "unlocked_waist: pick the pear from the plate and place it in the pan"}
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+ {"task_index": 123, "task": "unlocked_waist: pick the eggplant from the plate and place it in the pan"}
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+ {"task_index": 124, "task": "unlocked_waist: pick the sweet potato from the plate and place it in the pan"}
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+ {"task_index": 125, "task": "unlocked_waist: pick the cupcake from the plate and place it in the pan"}
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+ {"task_index": 126, "task": "unlocked_waist: pick the can from the plate and place it in the plate"}
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+ {"task_index": 127, "task": "unlocked_waist: pick the lemon from the plate and place it in the plate"}
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+ {"task_index": 128, "task": "unlocked_waist: pick the croissant from the plate and place it in the plate"}
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+ {"task_index": 129, "task": "unlocked_waist: pick the bell pepper from the plate and place it in the plate"}
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+ {"task_index": 130, "task": "unlocked_waist: pick the squash from the plate and place it in the plate"}
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+ {"task_index": 131, "task": "unlocked_waist: pick the sweet potato from the plate and place it in the plate"}
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+ {"task_index": 134, "task": "unlocked_waist: pick the pear from the plate and place it in the plate"}
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+ {"task_index": 135, "task": "unlocked_waist: pick the cupcake from the plate and place it in the plate"}
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+ {"task_index": 136, "task": "unlocked_waist: pick the squash from the tray and place it in the cardboard box"}
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+ {"task_index": 137, "task": "unlocked_waist: pick the croissant from the tray and place it in the cardboard box"}
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+ {"task_index": 138, "task": "unlocked_waist: pick the can from the tray and place it in the cardboard box"}
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+ {"task_index": 139, "task": "unlocked_waist: pick the bell pepper from the tray and place it in the cardboard box"}
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+ {"task_index": 140, "task": "unlocked_waist: pick the sweet potato from the tray and place it in the cardboard box"}
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+ {"task_index": 141, "task": "unlocked_waist: pick the eggplant from the tray and place it in the cardboard box"}
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+ {"task_index": 142, "task": "unlocked_waist: pick the pear from the tray and place it in the cardboard box"}
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+ {"task_index": 143, "task": "unlocked_waist: pick the lemon from the tray and place it in the cardboard box"}
145
+ {"task_index": 144, "task": "unlocked_waist: pick the cupcake from the tray and place it in the cardboard box"}
146
+ {"task_index": 145, "task": "unlocked_waist: pick the tomato from the tray and place it in the cardboard box"}
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+ {"task_index": 146, "task": "unlocked_waist: pick the lemon from the tray and place it in the plate"}
148
+ {"task_index": 147, "task": "unlocked_waist: pick the croissant from the tray and place it in the plate"}
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+ {"task_index": 148, "task": "unlocked_waist: pick the bell pepper from the tray and place it in the plate"}
150
+ {"task_index": 149, "task": "unlocked_waist: pick the eggplant from the tray and place it in the plate"}
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+ {"task_index": 150, "task": "unlocked_waist: pick the pear from the tray and place it in the plate"}
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+ {"task_index": 151, "task": "unlocked_waist: pick the squash from the tray and place it in the plate"}
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+ {"task_index": 152, "task": "unlocked_waist: pick the tomato from the tray and place it in the plate"}
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+ {"task_index": 154, "task": "unlocked_waist: pick the cupcake from the tray and place it in the plate"}
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+ {"task_index": 155, "task": "unlocked_waist: pick the sweet potato from the tray and place it in the plate"}
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+ {"task_index": 156, "task": "unlocked_waist: pick the tomato from the tray and place it in the pot"}
158
+ {"task_index": 157, "task": "unlocked_waist: pick the sweet potato from the tray and place it in the pot"}
159
+ {"task_index": 158, "task": "unlocked_waist: pick the croissant from the tray and place it in the pot"}
160
+ {"task_index": 159, "task": "unlocked_waist: pick the squash from the tray and place it in the pot"}
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+ {"task_index": 160, "task": "unlocked_waist: pick the eggplant from the tray and place it in the pot"}
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+ {"task_index": 161, "task": "unlocked_waist: pick the can from the tray and place it in the pot"}
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+ {"task_index": 162, "task": "unlocked_waist: pick the lemon from the tray and place it in the pot"}
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+ {"task_index": 163, "task": "unlocked_waist: pick the cupcake from the tray and place it in the pot"}
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166
+ {"task_index": 165, "task": "unlocked_waist: pick the pear from the tray and place it in the pot"}
167
+ {"task_index": 166, "task": "unlocked_waist: pick the croissant from the tray and place it in the tiered basket"}
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169
+ {"task_index": 168, "task": "unlocked_waist: pick the cupcake from the tray and place it in the tiered basket"}
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