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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] | free state (clear view for redetect) | move_free | 0.067242 | [
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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 | 0.219553 | [
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[
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] | free state (clear view for redetect) | move_free | 0.234512 | [
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[
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] | free state (clear view for redetect) | move_free | 0.249005 | [
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] | 65.73333 | 1,972 | 99 | 275,525 | 0 | |||
[
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] | free state (clear view for redetect) | move_free | 0.26371 | [
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] | 65.76667 | 1,973 | 99 | 275,526 | 0 | |||
[
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] | free state (clear view for redetect) | move_free | 0.279525 | [
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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 | 0.482264 | [
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[
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[
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] | free state (clear view for redetect) | move_free | 0.517743 | [
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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 | 0.733111 | [
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[
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] | free state (clear view for redetect) | move_free | 0.750083 | [
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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 | 0.904592 | [
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[
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] | free state (clear view for redetect) | move_free | 0.914601 | [
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[
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] | free state (clear view for redetect) | move_free | 0.92302 | [
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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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3.083528995513916,
0.7729430794715881,
2.992587089538574
] | 30 | [
0,
0,
0
] | 68.166664 | 2,045 | 99 | 275,598 | 0 | |||
[
4.148471832275391,
-98.23008728027344,
98.54875183105469,
58.813411712646484,
-0.3174603283405304,
8.574882507324219
] | [
4.148471832275391,
-98.23008728027344,
98.54875183105469,
58.813411712646484,
-0.3174603283405304,
8.574882507324219
] | [
0.18212629854679108,
-0.00942537933588028,
0.04350952059030533,
3.083528995513916,
0.7729430794715881,
2.992587089538574
] | 1 | [
0.06596117466688156,
-1.7548739910125732,
1.5769321918487549,
0.9740777611732483,
-0.010737866163253784,
0
] | [
0.06596117466688156,
-1.7548739910125732,
1.5769321918487549,
0.9740777611732483,
-0.010737866163253784,
0
] | pick blue block | gripper_open | 0.281075 | [
4.148471832275391,
-98.23008728027344,
98.54875183105469,
58.813411712646484,
-0.3174603283405304,
30
] | [
0.18212629854679108,
-0.00942537933588028,
0.04350952059030533,
3.083528995513916,
0.7729430794715881,
2.992587089538574
] | 30 | [
0,
0,
0
] | 68.199997 | 2,046 | 99 | 275,599 | 0 |
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