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 | 0.460593 | [
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] | place green block | move | 0.460593 | [
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] | place green block | move | 0.460593 | [
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[
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[
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] | 49.099998 | 1,473 | 99 | 275,026 | 0 | |||
[
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[
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] | 49.166668 | 1,475 | 99 | 275,028 | 0 | |||
[
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] | place green block | move | 0.529652 | [
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[
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[
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[
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] | 49.666668 | 1,490 | 99 | 275,043 | 0 | |||
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] | place green block | move | 0.542006 | [
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] | 49.700001 | 1,491 | 99 | 275,044 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.542006 | [
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] | 49.733334 | 1,492 | 99 | 275,045 | 0 | |||
[
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] | [
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] | place green block | move | 0.542006 | [
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] | 49.766666 | 1,493 | 99 | 275,046 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.542006 | [
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] | 49.799999 | 1,494 | 99 | 275,047 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.542006 | [
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] | 49.833332 | 1,495 | 99 | 275,048 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.54605 | [
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] | 49.866665 | 1,496 | 99 | 275,049 | 0 | |||
[
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] | [
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] | place green block | move | 0.561504 | [
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] | 49.900002 | 1,497 | 99 | 275,050 | 0 | |||
[
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] | [
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] | place green block | move | 0.575711 | [
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] | 49.933334 | 1,498 | 99 | 275,051 | 0 | |||
[
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] | [
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] | place green block | move | 0.585469 | [
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] | 49.966667 | 1,499 | 99 | 275,052 | 0 | |||
[
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] | [
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] | place green block | move | 0.591517 | [
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] | 50 | 1,500 | 99 | 275,053 | 0 | |||
[
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] | [
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] | place green block | move | 0.591517 | [
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] | 50.033333 | 1,501 | 99 | 275,054 | 0 | |||
[
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] | [
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] | place green block | move | 0.591517 | [
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] | 50.066666 | 1,502 | 99 | 275,055 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.591517 | [
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] | 50.099998 | 1,503 | 99 | 275,056 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.594397 | [
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] | 50.133335 | 1,504 | 99 | 275,057 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.597178 | [
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] | place green block | move | 0.597178 | [
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] | place green block | move | 0.597178 | [
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] | place green block | move | 0.597178 | [
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] | place green block | move | 0.597178 | [
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] | place green block | move | 0.597178 | [
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[
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] | place green block | move | 0.597178 | [
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] | 50.366665 | 1,511 | 99 | 275,064 | 0 | |||
[
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] | [
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] | place green block | move | 0.597178 | [
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] | 50.400002 | 1,512 | 99 | 275,065 | 0 | |||
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] | place green block | move | 0.597178 | [
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[
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[
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] | place green block | move | 0.72773 | [
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] | place green block | move | 0.741461 | [
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[
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] | place green block | move | 0.744603 | [
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] | 50.733334 | 1,522 | 99 | 275,075 | 0 | |||
[
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] | [
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] | place green block | move | 0.744603 | [
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[
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] | place green block | move | 0.747621 | [
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[
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] | 50.833332 | 1,525 | 99 | 275,078 | 0 | |||
[
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] | place green block | move | 0.01385 | [
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[
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[
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[
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[
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[
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] | 51.033333 | 1,531 | 99 | 275,084 | 0 | |||
[
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[
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[
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[
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] | place green block | move | 0.020049 | [
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] | 51.166668 | 1,535 | 99 | 275,088 | 0 | |||
[
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] | place green block | move | 0.024419 | [
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] | 51.200001 | 1,536 | 99 | 275,089 | 0 | |||
[
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] | place green block | move | 0.028787 | [
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] | 51.233334 | 1,537 | 99 | 275,090 | 0 | |||
[
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] | place green block | move | 0.033152 | [
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] | 51.266666 | 1,538 | 99 | 275,091 | 0 | |||
[
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] | place green block | move | 0.039696 | [
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] | 51.299999 | 1,539 | 99 | 275,092 | 0 | |||
[
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] | place green block | move | 0.048413 | [
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] | 0 | [
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] | 51.333332 | 1,540 | 99 | 275,093 | 0 | |||
[
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] | place green block | move | 0.054945 | [
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] | [
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] | 51.366665 | 1,541 | 99 | 275,094 | 0 | |||
[
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] | place green block | move | 0.061472 | [
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] | [
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] | 0 | [
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] | 51.400002 | 1,542 | 99 | 275,095 | 0 | |||
[
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] | [
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] | place green block | move | 0.070166 | [
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] | [
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] | 0 | [
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] | 51.433334 | 1,543 | 99 | 275,096 | 0 | |||
[
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] | [
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] | [
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] | place green block | move | 0.07885 | [
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37.32387161254883,
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] | [
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] | 0 | [
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] | 51.466667 | 1,544 | 99 | 275,097 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.08969 | [
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37.32387161254883,
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] | [
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] | 0 | [
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] | 51.5 | 1,545 | 99 | 275,098 | 0 | |||
[
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] | [
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] | [
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] | [
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] | place green block | move | 0.097465 | [
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37.32387161254883,
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] | [
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] | 0 | [
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] | 51.533333 | 1,546 | 99 | 275,099 | 0 |
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