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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[
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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 | 0.233134 | [
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[
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] | free state (clear view for redetect) | move_free | 0.248339 | [
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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 | 0.464452 | [
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[
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] | free state (clear view for redetect) | move_free | 0.480974 | [
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[
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] | free state (clear view for redetect) | move_free | 0.499066 | [
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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 | 0.706029 | [
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[
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] | free state (clear view for redetect) | move_free | 0.720914 | [
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[
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] | free state (clear view for redetect) | move_free | 0.737609 | [
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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 | 0.912244 | [
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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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] | pick blue block | gripper_open | 0.247437 | [
3.930130958557129,
-98.23008728027344,
98.54875183105469,
58.813411712646484,
-0.3174603283405304,
30
] | [
0.18215453624725342,
-0.008985724300146103,
0.04350952059030533,
3.083528995513916,
0.7729431390762329,
2.995655059814453
] | 30 | [
0,
0,
0
] | 64.73333 | 1,942 | 95 | 263,898 | 0 | |||
[
3.930130958557129,
-98.23008728027344,
98.54875183105469,
58.813411712646484,
-0.3174603283405304,
8.073567390441895
] | [
3.930130958557129,
-98.23008728027344,
98.54875183105469,
58.813411712646484,
-0.3174603283405304,
8.073567390441895
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0.18215453624725342,
-0.008985724300146103,
0.04350952059030533,
3.083528995513916,
0.7729431390762329,
2.995655059814453
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0.06289321184158325,
-1.7548739910125732,
1.5769321918487549,
0.9740777611732483,
-0.010737866163253784,
0
] | [
0.06289321184158325,
-1.7548739910125732,
1.5769321918487549,
0.9740777611732483,
-0.010737866163253784,
0
] | pick blue block | gripper_open | 0.264253 | [
3.930130958557129,
-98.23008728027344,
98.54875183105469,
58.813411712646484,
-0.3174603283405304,
30
] | [
0.18215453624725342,
-0.008985724300146103,
0.04350952059030533,
3.083528995513916,
0.7729431390762329,
2.995655059814453
] | 30 | [
0,
0,
0
] | 64.76667 | 1,943 | 95 | 263,899 | 0 |
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