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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] | place green block | move | 0.878616 | [
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[
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[
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[
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] | initial state (pre-redetect) | move_initial | 0 | [
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[
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] | initial state (pre-redetect) | move_initial | 0 | [
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[
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] | initial state (pre-redetect) | move_initial | 0 | [
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[
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] | initial state (pre-redetect) | move_initial | 0 | [
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[
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] | initial state (pre-redetect) | move_initial | 0.00009 | [
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[
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] | initial state (pre-redetect) | move_initial | 0.001389 | [
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[
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] | initial state (pre-redetect) | move_initial | 0.002461 | [
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] | 61.900002 | 1,857 | 99 | 275,410 | 0 | |||
[
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] | initial state (pre-redetect) | move_initial | 0.004248 | [
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[
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] | initial state (pre-redetect) | move_initial | 0.007979 | [
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[
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] | initial state (pre-redetect) | move_initial | 0.012727 | [
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] | 62 | 1,860 | 99 | 275,413 | 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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[
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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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[
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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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[
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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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] | initial state (pre-redetect) | move_initial | 0.960879 | [
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[
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] | initial state (pre-redetect) | move_initial | 0.962867 | [
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[
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] | initial state (pre-redetect) | move_initial | 0.964242 | [
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[
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] | initial state (pre-redetect) | move_initial | 0.965451 | [
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[
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] | initial state (pre-redetect) | move_initial | 0.966384 | [
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[
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] | initial state (pre-redetect) | move_initial | 0.967492 | [
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] | 64.599998 | 1,938 | 99 | 275,491 | 0 | |||
[
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] | free state (clear view for redetect) | move_free | 0.000003 | [
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[
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] | free state (clear view for redetect) | move_free | 0.000003 | [
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] | 64.666664 | 1,940 | 99 | 275,493 | 0 | |||
[
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] | free state (clear view for redetect) | move_free | 0.000003 | [
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] | 64.699997 | 1,941 | 99 | 275,494 | 0 | |||
[
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] | free state (clear view for redetect) | move_free | 0.004409 | [
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] | 64.73333 | 1,942 | 99 | 275,495 | 0 | |||
[
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] | free state (clear view for redetect) | move_free | 0.007328 | [
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] | 64.76667 | 1,943 | 99 | 275,496 | 0 | |||
[
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] | free state (clear view for redetect) | move_free | 0.009077 | [
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] | 64.800003 | 1,944 | 99 | 275,497 | 0 | |||
[
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] | free state (clear view for redetect) | move_free | 0.01 | [
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] | 0.065361 | [
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] | 64.833336 | 1,945 | 99 | 275,498 | 0 | |||
[
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] | free state (clear view for redetect) | move_free | 0.010713 | [
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0.06536102294921875
] | [
0.18546296656131744,
-0.010716192424297333,
0.044546499848365784,
3.0888450145721436,
0.8092837333679199,
2.9959921836853027
] | 0.065361 | [
0,
0,
0
] | 64.866669 | 1,946 | 99 | 275,499 | 0 |
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