true\pred,Pick up kettle,Position kettle to pour,Move kettle,Hold coffee carafe,Grasp coffee scoop,Transfer coffee to dripper,Hold gooseneck kettle,Grasp gooseneck kettle,Lift gooseneck kettle,Move kettle away,Place kettle on table,Pick up white bottle,Pour liquid from white bottle,Close bottle cap,Place item on table,Wait/Prepare for pouring,Pour coffee,Pour milk into coffee
Pick up kettle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
Position kettle to pour,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
Move kettle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
Hold coffee carafe,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
Grasp coffee scoop,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
Transfer coffee to dripper,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
Hold gooseneck kettle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
Grasp gooseneck kettle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
Lift gooseneck kettle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
Move kettle away,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
Place kettle on table,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
Pick up white bottle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
Pour liquid from white bottle,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
Close bottle cap,27,2,0,2,0,0,0,4,0,6,0,1,6,12,0,0,0,0
Place item on table,0,0,0,0,0,0,0,2,10,0,10,2,0,0,0,0,0,0
Wait/Prepare for pouring,4,3,7,0,0,1,63,5,0,1,7,1,1,0,0,0,3,0
Pour coffee,2,30,5,0,14,14,0,0,0,8,15,7,56,9,0,0,0,0
Pour milk into coffee,0,3,0,0,3,0,0,0,0,0,0,0,2,0,0,0,0,0