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                "4_of_clubs"
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              "requested_met": true,
              "alternative_met": false,
              "ee_path_m": 2.073233567656523,
              "joint_path_rad": 10.255504498975315
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            "200": {
              "native_success": true,
              "simulation_time_s": 21.000000000002682,
              "object_displacement_m": {
                "table": 1.8342922590337879e-06,
                "card_holder0": 1.141153532627056e-05,
                "4_of_clubs": 0.08086144053681554,
                "card_holder1": 0.00016710912075742807,
                "8_of_clubs": 0.29298771597319473,
                "card_holder2": 1.8237754941941288e-06,
                "queen_of_clubs": 1.8237724309677592e-06,
                "card_holder3": 1.8000969191376832e-06,
                "2_of_hearts": 1.800093864119168e-06
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "4_of_clubs"
              ],
              "requested_met": true,
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              "ee_path_m": 2.073233567656523,
              "joint_path_rad": 10.255504498975315
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          },
          "steps": 190,
          "ik_nonconverged": 0,
          "simulator_steps": 190,
          "wall_s": 9.400409374968149,
          "total_wall_s": 23.098004763014615,
          "initial_physics_sha256": "badf044cd3b2da4d9a0fdb7abadb34aff6341966b0d6b830caa2cd89771ad665",
          "initial_rgb_sha256": "86bd5b8589206f47fe6a18928cd0b9d5a04cbb3795262d4c4f9785d2aed72c9e",
          "ee_path_m": 2.073233567656523,
          "joint_path_rad": 10.255504498975315,
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "ever_grasped_objects": [
            "4_of_clubs",
            "8_of_clubs"
          ],
          "observation_matches_upstream": true,
          "row": {
            "condition_id": "attribute__select_poker|3719e8790124|A|en",
            "template_id": "attribute__select_poker",
            "axis": "attribute",
            "family": "select_poker",
            "source": "native",
            "state_hash": "3719e87901241bcdee404617a3d2fdabacfe9373c8f22f76664a6b955d71fc1f",
            "scene_seed": 7,
            "builder_seed": null,
            "intent": "A",
            "requested_surface": "4 of clubs",
            "alternative_surface": "8 of clubs",
            "requested_entity": "4_of_clubs",
            "language": "en",
            "source_text_en": "Please pick the poker 4 of clubs",
            "source_text": "Please pick the poker 4 of clubs",
            "text_hash_en": "bd69cbd5a4d0b22bdd0d2f14b58ed2d8ba47135f6941110d07754f23423ca075"
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          "recorded_action_steps": 190,
          "requested_entity_for_grasp_measurement": "4_of_clubs",
          "first_native_completion": 190,
          "first_requested_completion": 190,
          "first_alternative_completion": 73,
          "first_requested_grasp": 175,
          "first_any_grasp": 57,
          "grasp_observation_complete": true,
          "both_predicates_ever_true": false,
          "first_goal_snapshots": {
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              "step": 60,
              "target_position_world": [
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                0.83970698595047
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              "target_euler": [
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                -0.019951164722442627
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              "ik_converged": true,
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              "ee_path_m": 0.5760152450366316,
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              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.1333543750469987e-06,
                "card_holder0": 1.1702865322998906e-06,
                "4_of_clubs": 1.171837339339871e-06,
                "card_holder1": 0.00010140037071839759,
                "8_of_clubs": 0.00913328863695447,
                "card_holder2": 1.146344656390513e-06,
                "queen_of_clubs": 1.147894755544526e-06,
                "card_holder3": 1.1346686919658051e-06,
                "2_of_hearts": 1.1362195968870872e-06
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "8_of_clubs"
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              "requested_met": false,
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              "scoring_boundary": "horizon"
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            "200": {
              "step": 73,
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                0.9356529998779297
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                0.0
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              "ik_converged": true,
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                0.922885950447299
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              "ee_path_m": 0.6670584902670922,
              "joint_path_rad": 3.5130708296864808,
              "native_success": false,
              "simulation_time_s": 9.300000000000285,
              "object_displacement_m": {
                "table": 1.7449614462986244e-06,
                "card_holder0": 1.7781272226201692e-06,
                "4_of_clubs": 1.778126425786099e-06,
                "card_holder1": 0.00016703024964162723,
                "8_of_clubs": 0.07225407956257743,
                "card_holder2": 1.735932397286481e-06,
                "queen_of_clubs": 1.7359316051973667e-06,
                "card_holder3": 1.7155158923620845e-06,
                "2_of_hearts": 1.7155151073549909e-06
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
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              "scoring_boundary": "first_either_goal"
            }
          },
          "symmetric_stopping_validated": true
        },
        {
          "id": "attribute__select_poker_3719e8790124_B",
          "policy_seed": 17,
          "instruction": "Please pick the poker 8 of clubs",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "4_of_clubs": 0.0,
              "card_holder1": 0.0,
              "8_of_clubs": 0.0,
              "card_holder2": 0.0,
              "queen_of_clubs": 0.0,
              "card_holder3": 0.0,
              "2_of_hearts": 0.0
            },
            "task_progress": 0.0,
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          },
          "final": {
            "native_success": true,
            "simulation_time_s": 21.100000000002805,
            "object_displacement_m": {
              "table": 2.9013180032062303e-06,
              "card_holder0": 7.994099619517413e-05,
              "4_of_clubs": 0.07831591433864961,
              "card_holder1": 0.00018058979821428654,
              "8_of_clubs": 0.3317554294618805,
              "card_holder2": 2.8701141493039754e-06,
              "queen_of_clubs": 2.8701118449314068e-06,
              "card_holder3": 2.7996486483933254e-06,
              "2_of_hearts": 2.79964635922007e-06
            },
            "task_progress": 1.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "4_of_clubs"
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            "alternative_met": true
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          "snapshots": {
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              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.20980873039581e-06,
                "card_holder0": 1.2510267777409518e-06,
                "4_of_clubs": 1.25265854007188e-06,
                "card_holder1": 0.00011261204975878102,
                "8_of_clubs": 0.009507995588126483,
                "card_holder2": 1.2228844985286236e-06,
                "queen_of_clubs": 1.2245155247570116e-06,
                "card_holder3": 1.2092518817711454e-06,
                "2_of_hearts": 1.2108837681000923e-06
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
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              "ee_path_m": 0.5705207498657737,
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            "191": {
              "native_success": true,
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              "object_displacement_m": {
                "table": 2.9013180032062303e-06,
                "card_holder0": 7.994099619517413e-05,
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                "card_holder1": 0.00018058979821428654,
                "8_of_clubs": 0.3317554294618805,
                "card_holder2": 2.8701141493039754e-06,
                "queen_of_clubs": 2.8701118449314068e-06,
                "card_holder3": 2.7996486483933254e-06,
                "2_of_hearts": 2.79964635922007e-06
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              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
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              "requested_met": false,
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              "ee_path_m": 2.062117291943019,
              "joint_path_rad": 10.683641403605904
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            "200": {
              "native_success": true,
              "simulation_time_s": 21.100000000002805,
              "object_displacement_m": {
                "table": 2.9013180032062303e-06,
                "card_holder0": 7.994099619517413e-05,
                "4_of_clubs": 0.07831591433864961,
                "card_holder1": 0.00018058979821428654,
                "8_of_clubs": 0.3317554294618805,
                "card_holder2": 2.8701141493039754e-06,
                "queen_of_clubs": 2.8701118449314068e-06,
                "card_holder3": 2.7996486483933254e-06,
                "2_of_hearts": 2.79964635922007e-06
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              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "4_of_clubs"
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              "requested_met": false,
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              "ee_path_m": 2.062117291943019,
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          },
          "steps": 191,
          "ik_nonconverged": 0,
          "simulator_steps": 191,
          "wall_s": 9.480093599064276,
          "total_wall_s": 27.045104949967936,
          "initial_physics_sha256": "badf044cd3b2da4d9a0fdb7abadb34aff6341966b0d6b830caa2cd89771ad665",
          "initial_rgb_sha256": "86bd5b8589206f47fe6a18928cd0b9d5a04cbb3795262d4c4f9785d2aed72c9e",
          "ee_path_m": 2.062117291943019,
          "joint_path_rad": 10.683641403605904,
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "ever_grasped_objects": [
            "4_of_clubs",
            "8_of_clubs"
          ],
          "observation_matches_upstream": true,
          "row": {
            "condition_id": "attribute__select_poker|3719e8790124|B|en",
            "template_id": "attribute__select_poker",
            "axis": "attribute",
            "family": "select_poker",
            "source": "native",
            "state_hash": "3719e87901241bcdee404617a3d2fdabacfe9373c8f22f76664a6b955d71fc1f",
            "scene_seed": 7,
            "builder_seed": null,
            "intent": "B",
            "requested_surface": "8 of clubs",
            "alternative_surface": "4 of clubs",
            "requested_entity": "8_of_clubs",
            "language": "en",
            "source_text_en": "Please pick the poker 8 of clubs",
            "source_text": "Please pick the poker 8 of clubs",
            "text_hash_en": "47745a6a185adcc42481fae936b2ad885aaa643b1d1013f856a4a361f9fa0762"
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          "recorded_action_steps": 191,
          "requested_entity_for_grasp_measurement": "8_of_clubs",
          "first_native_completion": 191,
          "first_requested_completion": 73,
          "first_alternative_completion": 191,
          "first_requested_grasp": 57,
          "first_any_grasp": 57,
          "grasp_observation_complete": true,
          "both_predicates_ever_true": false,
          "first_goal_snapshots": {
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              "step": 60,
              "target_position_world": [
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                0.8393545883893967
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              "target_euler": [
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                -0.02394866943359375
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              "ik_converged": true,
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              "ee_position": [
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                0.18395576073359515,
                0.8392059897944637
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              "ee_path_m": 0.5705207498657737,
              "joint_path_rad": 3.1416547780696327,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.20980873039581e-06,
                "card_holder0": 1.2510267777409518e-06,
                "4_of_clubs": 1.25265854007188e-06,
                "card_holder1": 0.00011261204975878102,
                "8_of_clubs": 0.009507995588126483,
                "card_holder2": 1.2228844985286236e-06,
                "queen_of_clubs": 1.2245155247570116e-06,
                "card_holder3": 1.2092518817711454e-06,
                "2_of_hearts": 1.2108837681000923e-06
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
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              "scoring_boundary": "horizon"
            },
            "200": {
              "step": 73,
              "target_position_world": [
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              "target_euler": [
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              "gripper": [
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              "ik_converged": true,
              "substeps": 1,
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                0.9217572819511706
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              "ee_path_m": 0.660350696916796,
              "joint_path_rad": 3.4913837622385677,
              "native_success": false,
              "simulation_time_s": 9.300000000000285,
              "object_displacement_m": {
                "table": 1.8200383252068477e-06,
                "card_holder0": 1.8565829670730857e-06,
                "4_of_clubs": 1.8565822372836362e-06,
                "card_holder1": 0.000179495904780853,
                "8_of_clubs": 0.07119554018266712,
                "card_holder2": 1.8101523783600982e-06,
                "queen_of_clubs": 1.8101516537824246e-06,
                "card_holder3": 1.7877767326528072e-06,
                "2_of_hearts": 1.7877760151509868e-06
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              "task_progress": 0.0,
              "intention_score": 1.0,
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              "requested_met": true,
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              "scoring_boundary": "first_either_goal"
            }
          },
          "symmetric_stopping_validated": true
        },
        {
          "id": "attribute__select_poker_6bdfe1b8febd_A",
          "policy_seed": 17,
          "instruction": "Please pick the poker jack of spades",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "jack_of_spades": 0.0,
              "card_holder1": 0.0,
              "ace_of_hearts": 0.0,
              "card_holder2": 0.0,
              "ace_of_spades": 0.0
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            "task_progress": 0.0,
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          "final": {
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 7.978390436402373e-07,
              "card_holder0": 8.241227063182542e-07,
              "jack_of_spades": 8.241543886200329e-07,
              "card_holder1": 0.019441009895942028,
              "ace_of_hearts": 0.11021413946592504,
              "card_holder2": 7.894844609823551e-07,
              "ace_of_spades": 7.895160677158807e-07
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            "task_progress": 0.0,
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          },
          "snapshots": {
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              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 7.350545679178707e-07,
                "card_holder0": 7.36284308039125e-07,
                "jack_of_spades": 7.362832835038246e-07,
                "card_holder1": 6.346215557117713e-05,
                "ace_of_hearts": 0.053591462749719515,
                "card_holder2": 7.341833089187836e-07,
                "ace_of_spades": 7.341822659415019e-07
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              "task_progress": 0.0,
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              "ee_path_m": 0.5582807947807785,
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            "200": {
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 7.978390436402373e-07,
                "card_holder0": 8.241227063182542e-07,
                "jack_of_spades": 8.241543886200329e-07,
                "card_holder1": 0.019441009895942028,
                "ace_of_hearts": 0.11021413946592504,
                "card_holder2": 7.894844609823551e-07,
                "ace_of_spades": 7.895160677158807e-07
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              "task_progress": 0.0,
              "intention_score": 1.0,
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              "ee_path_m": 2.3366178864542504,
              "joint_path_rad": 10.940724484367482
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          },
          "steps": 200,
          "ik_nonconverged": 0,
          "simulator_steps": 200,
          "wall_s": 12.204194046906196,
          "total_wall_s": 28.074322733911686,
          "initial_physics_sha256": "aeb626650c6ae0e9389c69ef42e101ab1a7eb684f2069031073e3b7417130837",
          "initial_rgb_sha256": "b2d9e89fc449d3742c395b9ebae8485661863474b741d7047cd7c12e8a93ca15",
          "ee_path_m": 2.3366178864542504,
          "joint_path_rad": 10.940724484367482,
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "ever_grasped_objects": [
            "card_holder1"
          ],
          "observation_matches_upstream": true,
          "row": {
            "condition_id": "attribute__select_poker|6bdfe1b8febd|A|en",
            "template_id": "attribute__select_poker",
            "axis": "attribute",
            "family": "select_poker",
            "source": "native",
            "state_hash": "6bdfe1b8febd245316e9659129369402bc48a01bc98537dc897c3d796c3351b1",
            "scene_seed": 1,
            "builder_seed": null,
            "intent": "A",
            "requested_surface": "jack of spades",
            "alternative_surface": "ace of spades",
            "requested_entity": "jack_of_spades",
            "language": "en",
            "source_text_en": "Please pick the poker jack of spades",
            "source_text": "Please pick the poker jack of spades",
            "text_hash_en": "2e5a1b80ed121299632982c2ed5d1b4fd07516e8b1ed264faa65dcb0e47f9a29"
          },
          "recorded_action_steps": 200,
          "requested_entity_for_grasp_measurement": "jack_of_spades",
          "first_native_completion": null,
          "first_requested_completion": null,
          "first_alternative_completion": null,
          "first_requested_grasp": null,
          "first_any_grasp": 136,
          "grasp_observation_complete": true,
          "both_predicates_ever_true": false,
          "first_goal_snapshots": {
            "60": {
              "step": 60,
              "target_position_world": [
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                0.12067089080810545,
                0.8376318204402924
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              "target_euler": [
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              "gripper": [
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            "source_text": "Please pick the poker ace of clubs",
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        {
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        {
          "id": "attribute__select_poker_a6ec83058b4f_A",
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            "source_text": "Please pick the poker jack of hearts",
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            "source_text_en": "Please pick the poker 4 of clubs",
            "source_text": "Please pick the poker 4 of clubs",
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        {
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          "instruction": "Please pick the poker 8 of clubs",
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        {
          "id": "attribute__select_poker_892ea674cb6b_A",
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          "instruction": "Please pick the poker 6 of spades",
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          "observation_matches_upstream": true,
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            "source": "native",
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            "requested_surface": "6 of spades",
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            "requested_entity": "6_of_spades",
            "language": "en",
            "source_text_en": "Please pick the poker 6 of spades",
            "source_text": "Please pick the poker 6 of spades",
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        {
          "id": "attribute__select_poker_892ea674cb6b_B",
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          "instruction": "Please pick the poker ace of spades",
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          "steps": 88,
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          "observation_matches_upstream": true,
          "row": {
            "condition_id": "attribute__select_poker|892ea674cb6b|B|en",
            "template_id": "attribute__select_poker",
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            "requested_surface": "ace of spades",
            "alternative_surface": "6 of spades",
            "requested_entity": "ace_of_spades",
            "language": "en",
            "source_text_en": "Please pick the poker ace of spades",
            "source_text": "Please pick the poker ace of spades",
            "text_hash_en": "5cf0a15fe0ff0dd96a390dc4e40cf0436196394d8a1f7857f04b5d0fa0f72ad9"
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          "recorded_action_steps": 88,
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            "200": {
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          "symmetric_stopping_validated": true
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        {
          "id": "attribute__select_poker_8bc086dc6b6e_A",
          "policy_seed": 17,
          "instruction": "Please pick the poker king of hearts",
          "initial": {
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              "king_of_spades": 0.0
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          "final": {
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              "card_holder1": 1.0877214857758137e-06,
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              "card_holder2": 1.1359127992281758e-06,
              "ace_of_diamonds": 1.1363879542430806e-06,
              "card_holder3": 0.00010125468479802326,
              "king_of_spades": 0.13705637611442076
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            "grasped_objects": [
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                "9_of_spades": 3.3941794499929824e-10
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        {
          "id": "attribute__select_poker_9f6f0468c41f_B",
          "policy_seed": 17,
          "instruction": "Please pick the poker 9 of clubs",
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          "initial_rgb_sha256": "8c3490473a4c69477166c8948afa6ba784456d058c46be95f8f70fdc64424c35",
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          "observation_matches_upstream": true,
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            "condition_id": "attribute__select_poker|9f6f0468c41f|B|en",
            "template_id": "attribute__select_poker",
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            "requested_surface": "9 of clubs",
            "alternative_surface": "ace of clubs",
            "requested_entity": "9_of_clubs",
            "language": "en",
            "source_text_en": "Please pick the poker 9 of clubs",
            "source_text": "Please pick the poker 9 of clubs",
            "text_hash_en": "4439ff5cd059003da0a21f9ab6c7fa9158d7baadb8bbae1f189779cfbbc86107"
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        {
          "id": "attribute__select_poker_a6ec83058b4f_A",
          "policy_seed": 17,
          "instruction": "Please pick the poker 3 of diamonds",
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                "king_of_diamonds": 1.4743473022159458e-06
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          },
          "steps": 83,
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          "initial_physics_sha256": "1dcab2ba505eda6a70a18dbf47c2daa98df3033e108b62e05c733dc15f9db7b8",
          "initial_rgb_sha256": "b68de21dd355ec9d859c5f1e6046473d21d1fe57de15b2657d132ced3c8b85a3",
          "ee_path_m": 0.6573068977502731,
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          "observation_matches_upstream": true,
          "row": {
            "condition_id": "attribute__select_poker|a6ec83058b4f|A|en",
            "template_id": "attribute__select_poker",
            "axis": "attribute",
            "family": "select_poker",
            "source": "native",
            "state_hash": "a6ec83058b4f79a1f775c7ee6f279ba2bc496e8a5b51913e4fcd46c728d6f9be",
            "scene_seed": 4,
            "builder_seed": null,
            "intent": "A",
            "requested_surface": "3 of diamonds",
            "alternative_surface": "king of diamonds",
            "requested_entity": "3_of_diamonds",
            "language": "en",
            "source_text_en": "Please pick the poker 3 of diamonds",
            "source_text": "Please pick the poker 3 of diamonds",
            "text_hash_en": "61384c04a27b98b0aa144ae42f38feaa64297752a18711a1e31c7107c33bc0bd"
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          "recorded_action_steps": 83,
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          "first_native_completion": 83,
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          "first_requested_grasp": 70,
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          "grasp_observation_complete": true,
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                "card_holder1": 3.223024719272478e-12,
                "3_of_diamonds": 4.768794688993655e-12,
                "card_holder2": 3.223024719272478e-12,
                "king_of_diamonds": 4.7625720561669586e-12
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              "step": 83,
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                "king_of_diamonds": 1.4743473022159458e-06
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          },
          "symmetric_stopping_validated": true
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        {
          "id": "attribute__select_poker_a6ec83058b4f_B",
          "policy_seed": 17,
          "instruction": "Please pick the poker king of diamonds",
          "initial": {
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              "king_of_diamonds": 0.0
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          "final": {
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              "card_holder2": 2.126853740455723e-06,
              "king_of_diamonds": 2.1268530033847497e-06
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  "between_policy_checks": {
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      "common_trials": 40,
      "physics_mismatches": [],
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      "time_mismatches": []
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          "error": "ValueError: Input physics state has shape (70,). Expected (109,)."
        },
        {
          "id": "select_chemistry_tube_1001",
          "error": "ValueError: Input physics state has shape (57,). Expected (83,)."
        },
        {
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        }
      ],
      "scoring": "native_success",
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          "error": "ValueError: Input physics state has shape (70,). Expected (109,)."
        },
        {
          "id": "select_chemistry_tube_1001",
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        },
        {
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        }
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