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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] | forward home return (initial) | move_initial | 0.969747 | [
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42.141231536865234,
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[
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] | forward home return (free/parking) | move_free | 0.000003 | [
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-100,
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] | 91.26667 | 2,738 | 95 | 264,694 | 0 | |||
[
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1.214830756187439,
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] | forward home return (free/parking) | move_free | 0.000003 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 91.300003 | 2,739 | 95 | 264,695 | 0 | |||
[
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72.29461669921875,
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3.098412275314331,
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1.21491277217865,
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1.2145850658416748,
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0
] | forward home return (free/parking) | move_free | 0.000003 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 91.333336 | 2,740 | 95 | 264,696 | 0 | |||
[
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43.104835510253906,
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0.6392570734024048,
1.2141753435134888,
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0
] | forward home return (free/parking) | move_free | 0.005333 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 91.366669 | 2,741 | 95 | 264,697 | 0 | |||
[
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0.2051728069782257,
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3.099787712097168,
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1.2136014699935913,
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] | forward home return (free/parking) | move_free | 0.007284 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 91.400002 | 2,742 | 95 | 264,698 | 0 | |||
[
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0.6439678072929382,
1.2128667831420898,
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0
] | forward home return (free/parking) | move_free | 0.009224 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
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] | 91.433334 | 2,743 | 95 | 264,699 | 0 |
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