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 | 0.429808 | [
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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 | 0.691601 | [
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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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] | free state (clear view for redetect) | move_free | 0.962233 | [
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[
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21.59381103515625
] | [
0.18180638551712036,
-0.009184002876281738,
0.04321199283003807,
3.08388352394104,
0.7698856592178345,
2.994368314743042
] | 1 | [
0.0644271969795227,
-1.7548739910125732,
1.5769321918487549,
0.9771457314491272,
-0.010737866163253784,
0
] | [
0.0644271969795227,
-1.7548739910125732,
1.5769321918487549,
0.9771457314491272,
-0.010737866163253784,
0
] | pick blue block | gripper_open | 0.717928 | [
4.03930139541626,
-98.23008728027344,
98.54875183105469,
58.985382080078125,
-0.3174603283405304,
30
] | [
0.18180638551712036,
-0.009184002876281738,
0.04321199283003807,
3.08388352394104,
0.7698856592178345,
2.994368314743042
] | 30 | [
0,
0,
0
] | 69.26667 | 2,078 | 97 | 269,699 | 0 |
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