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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] | free state (clear view for redetect) | move_free | 0.84043 | [
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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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] | free state (clear view for redetect) | move_free | 0.95834 | [
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] | [
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0
] | pick blue block | gripper_open | 0.885938 | [
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30
] | [
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] | 30 | [
0,
0,
0
] | 66.666664 | 2,000 | 96 | 266,784 | 0 | |||
[
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] | [
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] | [
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0
] | pick blue block | gripper_open | 0.902726 | [
3.930130958557129,
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30
] | [
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] | 30 | [
0,
0,
0
] | 66.699997 | 2,001 | 96 | 266,785 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | pick blue block | gripper_open | 0.919506 | [
3.930130958557129,
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] | [
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] | 30 | [
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0
] | 66.73333 | 2,002 | 96 | 266,786 | 0 | |||
[
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] | [
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] | [
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] | [
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] | pick blue block | gripper_open | 0.936295 | [
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30
] | [
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] | 30 | [
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] | 66.76667 | 2,003 | 96 | 266,787 | 0 | |||
[
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] | [
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] | [
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] | [
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] | pick blue block | gripper_open | 0.953084 | [
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30
] | [
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] | 30 | [
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] | 66.800003 | 2,004 | 96 | 266,788 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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0
] | pick blue block | gripper_open | 0.969899 | [
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] | [
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] | 30 | [
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] | 66.833336 | 2,005 | 96 | 266,789 | 0 | |||
[
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] | [
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] | [
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] | 1 | [
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] | [
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0
] | pick blue block | gripper_open | 0.986705 | [
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30
] | [
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] | 30 | [
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] | 66.866669 | 2,006 | 96 | 266,790 | 0 | |||
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0
] | pick blue block | move | 0.000075 | [
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30
] | [
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] | 30 | [
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] | 66.900002 | 2,007 | 96 | 266,791 | 0 | |||
[
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30
] | [
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30
] | [
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] | 1 | [
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] | [
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0
] | pick blue block | move | 0.000075 | [
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30
] | [
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] | 30 | [
0,
0,
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] | 66.933334 | 2,008 | 96 | 266,792 | 0 | |||
[
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30
] | [
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30
] | [
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] | 1 | [
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0
] | [
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0
] | pick blue block | move | 0.000075 | [
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30
] | [
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] | 30 | [
0,
0,
0
] | 66.966667 | 2,009 | 96 | 266,793 | 0 | |||
[
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30
] | [
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30
] | [
0.1810273677110672,
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] | 1 | [
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0
] | [
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0
] | pick blue block | move | 0.000075 | [
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30
] | [
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] | 30 | [
0,
0,
0
] | 67 | 2,010 | 96 | 266,794 | 0 | |||
[
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30
] | [
3.4328184127807617,
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30
] | [
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0.04183248057961464,
3.085280656814575,
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] | 1 | [
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0
] | [
0.05590534210205078,
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0.9698739647865295,
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0
] | pick blue block | move | 0.000356 | [
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30
] | [
0.15117350220680237,
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] | 30 | [
0,
0,
0
] | 67.033333 | 2,011 | 96 | 266,795 | 0 | |||
[
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30
] | [
3.16194224357605,
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30
] | [
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3.085796356201172,
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] | 1 | [
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0
] | [
0.05209919065237045,
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0
] | pick blue block | move | 0.001199 | [
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30
] | [
0.15117350220680237,
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] | 30 | [
0,
0,
0
] | 67.066666 | 2,012 | 96 | 266,796 | 0 | |||
[
3.930130958557129,
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30
] | [
2.840376853942871,
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30
] | [
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3.086137533187866,
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] | 1 | [
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0
] | [
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0
] | pick blue block | move | 0.001759 | [
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30
] | [
0.15117350220680237,
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] | 30 | [
0,
0,
0
] | 67.099998 | 2,013 | 96 | 266,797 | 0 | |||
[
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30
] | [
2.4691994190216064,
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30
] | [
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3.0863075256347656,
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2.9991047382354736
] | 1 | [
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] | [
0.04236527532339096,
-1.7176264524459839,
1.5663833618164062,
0.9557835459709167,
-0.010737866163253784,
0
] | pick blue block | move | 0.0026 | [
-79.7125244140625,
-43.16232681274414,
58.19993591308594,
-9.570252418518066,
-0.3174603283405304,
30
] | [
0.15117350220680237,
0.22774390876293182,
0.21231891214847565,
0.5173978805541992,
1.4511008262634277,
1.6328918933868408
] | 30 | [
0,
0,
0
] | 67.133331 | 2,014 | 96 | 266,798 | 0 | |||
[
3.820960760116577,
-96.88158416748047,
98.54875183105469,
58.985382080078125,
-0.3174603283405304,
30
] | [
2.0335309505462646,
-95.89983367919922,
97.71484375,
57.43088150024414,
-0.3174603283405304,
30
] | [
0.1800023317337036,
-0.008632809855043888,
0.040464214980602264,
3.0866458415985107,
0.7454241514205933,
2.9993348121643066
] | 1 | [
0.061359234154224396,
-1.7303303480148315,
1.5769321918487549,
0.9771457314491272,
-0.010737866163253784,
0
] | [
0.036243584007024765,
-1.7124618291854858,
1.5628290176391602,
0.9494131803512573,
-0.010737866163253784,
0
] | pick blue block | move | 0.003158 | [
-79.7125244140625,
-43.16232681274414,
58.19993591308594,
-9.570252418518066,
-0.3174603283405304,
30
] | [
0.15117350220680237,
0.22774390876293182,
0.21231891214847565,
0.5173978805541992,
1.4511008262634277,
1.6328918933868408
] | 30 | [
0,
0,
0
] | 67.166664 | 2,015 | 96 | 266,799 | 0 |
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