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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] | place green block | move | 0.2744 | [
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] | 49.366665 | 1,481 | 98 | 272,034 | 0 | |||
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] | 49.400002 | 1,482 | 98 | 272,035 | 0 | |||
[
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] | 49.466667 | 1,484 | 98 | 272,037 | 0 | |||
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] | 49.566666 | 1,487 | 98 | 272,040 | 0 | |||
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[
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] | 51.066666 | 1,532 | 98 | 272,085 | 0 | |||
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0.17980539798736572,
0.1088278740644455,
-0.010737866163253784,
0
] | place green block | move | 0.608177 | [
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18.582643508911133,
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] | [
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] | 0 | [
0,
0,
0
] | 51.166668 | 1,535 | 98 | 272,088 | 0 | |||
[
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0
] | [
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] | [
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] | 0 | [
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0
] | [
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-0.2654392421245575,
0.17980539798736572,
0.1088278740644455,
-0.010737866163253784,
0
] | place green block | move | 0.608177 | [
-50.32754898071289,
-14.831881523132324,
18.582643508911133,
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] | [
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] | 0 | [
0,
0,
0
] | 51.200001 | 1,536 | 98 | 272,089 | 0 | |||
[
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0
] | [
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] | [
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] | 0 | [
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0.2761165201663971,
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0
] | [
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-0.2654392421245575,
0.17980539798736572,
0.1088278740644455,
-0.010737866163253784,
0
] | place green block | move | 0.608177 | [
-50.32754898071289,
-14.831881523132324,
18.582643508911133,
10.31339168548584,
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] | [
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] | 0 | [
0,
0,
0
] | 51.233334 | 1,537 | 98 | 272,090 | 0 | |||
[
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12.553740501403809,
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0
] | [
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] | [
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] | 0 | [
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0.2761165201663971,
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-0.010737866163253784,
0
] | [
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-0.2654392421245575,
0.17980539798736572,
0.1088278740644455,
-0.010737866163253784,
0
] | place green block | move | 0.608177 | [
-50.32754898071289,
-14.831881523132324,
18.582643508911133,
10.31339168548584,
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] | [
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] | 0 | [
0,
0,
0
] | 51.266666 | 1,538 | 98 | 272,091 | 0 | |||
[
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0
] | [
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0
] | [
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] | 0 | [
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0.2761165201663971,
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-0.010737866163253784,
0
] | [
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-0.2654392421245575,
0.17980539798736572,
0.1088278740644455,
-0.010737866163253784,
0
] | place green block | move | 0.608177 | [
-50.32754898071289,
-14.831881523132324,
18.582643508911133,
10.31339168548584,
-0.3174603283405304,
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] | [
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] | 0 | [
0,
0,
0
] | 51.299999 | 1,539 | 98 | 272,092 | 0 | |||
[
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21.632652282714844,
12.553740501403809,
-0.3174603283405304,
0
] | [
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15.937858581542969,
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-0.3174603283405304,
0
] | [
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0.2017650604248047,
0.1785622537136078,
2.9212992191314697,
1.3049910068511963,
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] | 0 | [
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-0.16566993296146393,
0.2761165201663971,
0.14879614114761353,
-0.010737866163253784,
0
] | [
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-0.2654392421245575,
0.17980539798736572,
0.1088278740644455,
-0.010737866163253784,
0
] | place green block | move | 0.608177 | [
-50.32754898071289,
-14.831881523132324,
18.582643508911133,
10.31339168548584,
-0.3174603283405304,
0
] | [
0.27641987800598145,
0.19996307790279388,
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2.590773105621338,
1.4576187133789062,
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] | 0 | [
0,
0,
0
] | 51.333332 | 1,540 | 98 | 272,093 | 0 | |||
[
-50.327510833740234,
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21.632652282714844,
12.553740501403809,
-0.3174603283405304,
0
] | [
-50.32754898071289,
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15.937858581542969,
10.31339168548584,
-0.3174603283405304,
0
] | [
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0.2017650604248047,
0.1785622537136078,
2.9212992191314697,
1.3049910068511963,
-2.6701278686523438
] | 0 | [
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-0.16566993296146393,
0.2761165201663971,
0.14879614114761353,
-0.010737866163253784,
0
] | [
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-0.2654392421245575,
0.17980539798736572,
0.1088278740644455,
-0.010737866163253784,
0
] | place green block | move | 0.608177 | [
-50.32754898071289,
-14.831881523132324,
18.582643508911133,
10.31339168548584,
-0.3174603283405304,
0
] | [
0.27641987800598145,
0.19996307790279388,
0.21864674985408783,
2.590773105621338,
1.4576187133789062,
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] | 0 | [
0,
0,
0
] | 51.366665 | 1,541 | 98 | 272,094 | 0 | |||
[
-50.327510833740234,
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21.632652282714844,
12.553740501403809,
-0.3174603283405304,
0
] | [
-50.32754898071289,
-16.396080017089844,
15.937858581542969,
10.31339168548584,
-0.3174603283405304,
0
] | [
0.2785615622997284,
0.2017650604248047,
0.1785622537136078,
2.9212992191314697,
1.3049910068511963,
-2.6701278686523438
] | 0 | [
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-0.16566993296146393,
0.2761165201663971,
0.14879614114761353,
-0.010737866163253784,
0
] | [
-0.699495792388916,
-0.2654392421245575,
0.17980539798736572,
0.1088278740644455,
-0.010737866163253784,
0
] | place green block | move | 0.608177 | [
-50.32754898071289,
-14.831881523132324,
18.582643508911133,
10.31339168548584,
-0.3174603283405304,
0
] | [
0.27641987800598145,
0.19996307790279388,
0.21864674985408783,
2.590773105621338,
1.4576187133789062,
-2.9957728385925293
] | 0 | [
0,
0,
0
] | 51.400002 | 1,542 | 98 | 272,095 | 0 | |||
[
-50.327510833740234,
-10.914454460144043,
21.632652282714844,
12.553740501403809,
-0.3174603283405304,
0
] | [
-50.32754898071289,
-16.396080017089844,
15.937858581542969,
10.31339168548584,
-0.3174603283405304,
0
] | [
0.2785615622997284,
0.2017650604248047,
0.1785622537136078,
2.9212992191314697,
1.3049910068511963,
-2.6701278686523438
] | 0 | [
-0.699495255947113,
-0.16566993296146393,
0.2761165201663971,
0.14879614114761353,
-0.010737866163253784,
0
] | [
-0.699495792388916,
-0.2654392421245575,
0.17980539798736572,
0.1088278740644455,
-0.010737866163253784,
0
] | place green block | move | 0.608177 | [
-50.32754898071289,
-14.831881523132324,
18.582643508911133,
10.31339168548584,
-0.3174603283405304,
0
] | [
0.27641987800598145,
0.19996307790279388,
0.21864674985408783,
2.590773105621338,
1.4576187133789062,
-2.9957728385925293
] | 0 | [
0,
0,
0
] | 51.433334 | 1,543 | 98 | 272,096 | 0 | |||
[
-50.327510833740234,
-10.914454460144043,
21.632652282714844,
12.553740501403809,
-0.3174603283405304,
0
] | [
-50.32754898071289,
-16.396080017089844,
15.937858581542969,
10.31339168548584,
-0.3174603283405304,
0
] | [
0.2785615622997284,
0.2017650604248047,
0.1785622537136078,
2.9212992191314697,
1.3049910068511963,
-2.6701278686523438
] | 0 | [
-0.699495255947113,
-0.16566993296146393,
0.2761165201663971,
0.14879614114761353,
-0.010737866163253784,
0
] | [
-0.699495792388916,
-0.2654392421245575,
0.17980539798736572,
0.1088278740644455,
-0.010737866163253784,
0
] | place green block | move | 0.608177 | [
-50.32754898071289,
-14.831881523132324,
18.582643508911133,
10.31339168548584,
-0.3174603283405304,
0
] | [
0.27641987800598145,
0.19996307790279388,
0.21864674985408783,
2.590773105621338,
1.4576187133789062,
-2.9957728385925293
] | 0 | [
0,
0,
0
] | 51.466667 | 1,544 | 98 | 272,097 | 0 | |||
[
-50.327510833740234,
-10.914454460144043,
21.632652282714844,
12.553740501403809,
-0.3174603283405304,
0
] | [
-50.32754898071289,
-16.396080017089844,
15.937858581542969,
10.31339168548584,
-0.3174603283405304,
0
] | [
0.2785615622997284,
0.2017650604248047,
0.1785622537136078,
2.9212992191314697,
1.3049910068511963,
-2.6701278686523438
] | 0 | [
-0.699495255947113,
-0.16566993296146393,
0.2761165201663971,
0.14879614114761353,
-0.010737866163253784,
0
] | [
-0.699495792388916,
-0.2654392421245575,
0.17980539798736572,
0.1088278740644455,
-0.010737866163253784,
0
] | place green block | move | 0.608177 | [
-50.32754898071289,
-14.831881523132324,
18.582643508911133,
10.31339168548584,
-0.3174603283405304,
0
] | [
0.27641987800598145,
0.19996307790279388,
0.21864674985408783,
2.590773105621338,
1.4576187133789062,
-2.9957728385925293
] | 0 | [
0,
0,
0
] | 51.5 | 1,545 | 98 | 272,098 | 0 | |||
[
-50.327510833740234,
-10.914454460144043,
21.632652282714844,
12.553740501403809,
-0.3174603283405304,
0
] | [
-50.32754898071289,
-16.396080017089844,
15.937858581542969,
10.31339168548584,
-0.3174603283405304,
0
] | [
0.2785615622997284,
0.2017650604248047,
0.1785622537136078,
2.9212992191314697,
1.3049910068511963,
-2.6701278686523438
] | 0 | [
-0.699495255947113,
-0.16566993296146393,
0.2761165201663971,
0.14879614114761353,
-0.010737866163253784,
0
] | [
-0.699495792388916,
-0.2654392421245575,
0.17980539798736572,
0.1088278740644455,
-0.010737866163253784,
0
] | place green block | move | 0.608177 | [
-50.32754898071289,
-14.831881523132324,
18.582643508911133,
10.31339168548584,
-0.3174603283405304,
0
] | [
0.27641987800598145,
0.19996307790279388,
0.21864674985408783,
2.590773105621338,
1.4576187133789062,
-2.9957728385925293
] | 0 | [
0,
0,
0
] | 51.533333 | 1,546 | 98 | 272,099 | 0 |
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