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 16
values | skill.verification_question stringclasses 1
value | skill.type stringclasses 5
values | skill.progress float32 0 1 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 1
value | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 104 | frame_index int64 0 3.11k | episode_index int64 0 99 | index int64 0 276k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
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[
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[
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[
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[
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[
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[
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] | free state (clear view for redetect) | move_free | 0.518679 | [
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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] | free state (clear view for redetect) | move_free | 0.766636 | [
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[
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] | free state (clear view for redetect) | move_free | 0.786026 | [
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[
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] | free state (clear view for redetect) | move_free | 0.801812 | [
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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0.9710098505020142,
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0
] | [
0.06289321184158325,
-1.7548739910125732,
1.5769321918487549,
0.9710098505020142,
-0.010737866163253784,
0
] | pick blue block | gripper_open | 0.80124 | [
3.930130958557129,
-98.23008728027344,
98.54875183105469,
58.64144515991211,
-0.3174603283405304,
30
] | [
0.1824878454208374,
-0.009006713517010212,
0.043808065354824066,
3.083172559738159,
0.776000440120697,
2.995405673980713
] | 30 | [
0,
0,
0
] | 64.166664 | 1,925 | 94 | 261,099 | 0 |
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