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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] | release object on blue block | gripper_open | 0.944873 | [
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] | release object on blue block | gripper_open | 0.989731 | [
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] | place blue block | move | 0.002218 | [
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] | place blue block | move | 0.002218 | [
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] | place blue block | move | 0.002218 | [
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] | 83.466667 | 2,504 | 94 | 261,678 | 0 | |||
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] | 83.566666 | 2,507 | 94 | 261,681 | 0 | |||
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] | 83.699997 | 2,511 | 94 | 261,685 | 0 | |||
[
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] | [
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] | [
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] | place blue block | move | 0 | [
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] | [
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] | 30 | [
0,
0,
0
] | 83.73333 | 2,512 | 94 | 261,686 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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0
] | place blue block | move | 0 | [
1.8504341840744019,
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24.93841552734375,
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] | [
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] | 30 | [
0,
0,
0
] | 83.76667 | 2,513 | 94 | 261,687 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | place blue block | move | 0 | [
1.8504341840744019,
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25.549236297607422,
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] | [
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] | 30 | [
0,
0,
0
] | 83.800003 | 2,514 | 94 | 261,688 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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0
] | place blue block | move | 0 | [
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24.93841552734375,
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] | [
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] | 30 | [
0,
0,
0
] | 83.833336 | 2,515 | 94 | 261,689 | 0 | |||
[
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] | [
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30
] | [
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] | 1 | [
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] | [
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] | place blue block | move | 0 | [
1.8504341840744019,
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25.549236297607422,
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] | [
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] | 30 | [
0,
0,
0
] | 83.866669 | 2,516 | 94 | 261,690 | 0 | |||
[
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] | [
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30
] | [
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3.065640926361084,
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] | 1 | [
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] | [
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] | place blue block | move | 0 | [
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24.93841552734375,
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] | [
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] | 30 | [
0,
0,
0
] | 83.900002 | 2,517 | 94 | 261,691 | 0 | |||
[
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] | [
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] | [
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3.065640926361084,
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] | 1 | [
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] | [
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] | place blue block | move | 0 | [
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30
] | [
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] | 30 | [
0,
0,
0
] | 83.933334 | 2,518 | 94 | 261,692 | 0 | |||
[
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25.96732521057129,
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30
] | [
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30
] | [
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3.065640926361084,
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] | 1 | [
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] | [
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0
] | place blue block | move | 0 | [
1.8504341840744019,
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25.549236297607422,
24.93841552734375,
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30
] | [
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] | 30 | [
0,
0,
0
] | 83.966667 | 2,519 | 94 | 261,693 | 0 | |||
[
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33.06122589111328,
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] | [
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] | [
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] | 1 | [
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] | [
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0.3991888463497162,
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0
] | place blue block | move | 0 | [
1.8504341840744019,
-25.105119705200195,
25.549236297607422,
24.93841552734375,
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] | [
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] | 30 | [
0,
0,
0
] | 84 | 2,520 | 94 | 261,694 | 0 | |||
[
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33.06122589111328,
25.96732521057129,
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30
] | [
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25.843372344970703,
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30
] | [
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] | 1 | [
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] | [
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0
] | place blue block | move | 0 | [
1.8504341840744019,
-25.105119705200195,
25.549236297607422,
24.93841552734375,
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30
] | [
0.32022011280059814,
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2.933929443359375,
1.2761456966400146,
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] | 30 | [
0,
0,
0
] | 84.033333 | 2,521 | 94 | 261,695 | 0 | |||
[
1.4192140102386475,
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33.06122589111328,
25.96732521057129,
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0.396621972322464,
0.3856750428676605,
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0
] | place blue block | move | 0 | [
1.8504341840744019,
-25.105119705200195,
25.549236297607422,
24.93841552734375,
-0.41514042019844055,
30
] | [
0.32022011280059814,
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0.19891157746315002,
2.933929443359375,
1.2761456966400146,
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] | 30 | [
0,
0,
0
] | 84.066666 | 2,522 | 94 | 261,696 | 0 | |||
[
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33.06122589111328,
25.96732521057129,
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30
] | [
1.4813003540039062,
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25.819185256958008,
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30
] | [
0.31656163930892944,
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0.10045970231294632,
3.0651657581329346,
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] | 1 | [
0.02761165425181389,
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0
] | [
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0.3952656090259552,
0.3854542672634125,
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0
] | place blue block | move | 0 | [
1.8504341840744019,
-25.105119705200195,
25.549236297607422,
24.93841552734375,
-0.41514042019844055,
30
] | [
0.32022011280059814,
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0.19891157746315002,
2.933929443359375,
1.2761456966400146,
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] | 30 | [
0,
0,
0
] | 84.099998 | 2,523 | 94 | 261,697 | 0 | |||
[
1.4192140102386475,
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33.06122589111328,
25.96732521057129,
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30
] | [
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25.806501388549805,
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30
] | [
0.31656163930892944,
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0.10045970231294632,
3.0651657581329346,
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] | 1 | [
0.02761165425181389,
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0.3880971372127533,
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0
] | [
0.02855873666703701,
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0.3938755393028259,
0.3852280080318451,
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0
] | place blue block | move | 0 | [
1.8504341840744019,
-25.105119705200195,
25.549236297607422,
24.93841552734375,
-0.41514042019844055,
30
] | [
0.32022011280059814,
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0.19891157746315002,
2.933929443359375,
1.2761456966400146,
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] | 30 | [
0,
0,
0
] | 84.133331 | 2,524 | 94 | 261,698 | 0 | |||
[
1.4192140102386475,
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33.06122589111328,
25.96732521057129,
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30
] | [
1.4920918941497803,
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28.51096534729004,
25.79343605041504,
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30
] | [
0.31656163930892944,
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0.10045970231294632,
3.0651657581329346,
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] | 1 | [
0.02761165425181389,
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0.4693981409072876,
0.3880971372127533,
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0
] | [
0.028635680675506592,
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0.3924435079097748,
0.3849949240684509,
-0.013805827125906944,
0
] | place blue block | move | 0 | [
1.8504341840744019,
-25.105119705200195,
25.549236297607422,
24.93841552734375,
-0.41514042019844055,
30
] | [
0.32022011280059814,
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0.19891157746315002,
2.933929443359375,
1.2761456966400146,
2.8912010192871094
] | 30 | [
0,
0,
0
] | 84.166664 | 2,525 | 94 | 261,699 | 0 |
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