observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 10
values | skill.verification_question stringclasses 11
values | skill.type stringclasses 7
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 3
values | subtask.target_position list | timestamp float32 0 35.5 | frame_index int64 0 355 | episode_index int64 0 99 | index int64 0 33.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | 0 | pick box lid and place on box body | box body | [
0.18379798531532288,
0.22618849575519562,
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] | 15.8 | 158 | 79 | 26,637 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
0.18379798531532288,
0.22618849575519562,
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] | 15.9 | 159 | 79 | 26,638 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.157806 | [
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70.01893615722656,
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] | [
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0.2261151373386383,
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] | 0 | pick box lid and place on box body | box body | [
0.18379798531532288,
0.22618849575519562,
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] | 16 | 160 | 79 | 26,639 | 0 |
[
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[
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[
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] | 16.6 | 166 | 79 | 26,645 | 0 |
[
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] | 16.700001 | 167 | 79 | 26,646 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.799999 | 168 | 79 | 26,647 | 0 |
[
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[
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] | 0 | pick box lid and place on box body | box body | [
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] | 17 | 170 | 79 | 26,649 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
0.18379798531532288,
0.22618849575519562,
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] | 17.1 | 171 | 79 | 26,650 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.704057 | [
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] | 0 | pick box lid and place on box body | box body | [
0.18379798531532288,
0.22618849575519562,
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] | 17.200001 | 172 | 79 | 26,651 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.741565 | [
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70.01893615722656,
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0.2261151373386383,
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] | 0 | pick box lid and place on box body | box body | [
0.18379798531532288,
0.22618849575519562,
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] | 17.299999 | 173 | 79 | 26,652 | 0 |
[
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[
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[
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[
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] | 0 | pick box lid and place on box body | box body | [
0.18379798531532288,
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[
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[
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] | 0 | pick box lid and place on box body | box body | [
0.18379798531532288,
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] | 18.299999 | 183 | 79 | 26,662 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
0.18379798531532288,
0.22618849575519562,
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] | 18.4 | 184 | 79 | 26,663 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.978546 | [
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70.01893615722656,
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] | 0 | pick box lid and place on box body | box body | [
0.18379798531532288,
0.22618849575519562,
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] | 18.5 | 185 | 79 | 26,664 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.04142 | [
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0.18379798531532288,
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] | 18.6 | 186 | 79 | 26,665 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.051836 | [
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0.18379798531532288,
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] | 21.4 | 214 | 79 | 26,693 | 0 |
[
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0.18379798531532288,
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] | 21.5 | 215 | 79 | 26,694 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.883183 | [
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] | 0 | pick box lid and place on box body | box body | [
0.18379798531532288,
0.22618849575519562,
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] | 21.6 | 216 | 79 | 26,695 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.883314 | [
-65.14087677001953,
6.657145977020264,
51.97687530517578,
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] | 0 | pick box lid and place on box body | box body | [
0.18379798531532288,
0.22618849575519562,
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] | 21.700001 | 217 | 79 | 26,696 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.87892 | [
-65.14087677001953,
6.657145977020264,
51.97687530517578,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.18379798531532288,
0.22618849575519562,
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] | 21.799999 | 218 | 79 | 26,697 | 0 |
[
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] | [
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0.001217992277815938,
0.009976939298212528,
-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.874452 | [
-65.14087677001953,
6.657145977020264,
51.97687530517578,
4.7317795753479,
0.3420734107494354,
0
] | [
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0.21575511991977692,
0.007555095478892326,
3.105648994445801,
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-2.1915993690490723
] | 0 | pick box lid and place on box body | box body | [
0.18379798531532288,
0.22618849575519562,
0.013000024482607841
] | 21.9 | 219 | 79 | 26,698 | 0 |
[
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0
] | [
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0.001217992277815938,
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-0.0015339808305725455
] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.874026 | [
-65.14087677001953,
6.657145977020264,
51.97687530517578,
4.7317795753479,
0.3420734107494354,
0
] | [
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0.21575511991977692,
0.007555095478892326,
3.105648994445801,
0.7480218410491943,
-2.1915993690490723
] | 0 | pick box lid and place on box body | box body | [
0.18379798531532288,
0.22618849575519562,
0.013000024482607841
] | 22 | 220 | 79 | 26,699 | 0 |
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