observation.state list | action list | skill.type large_stringclasses 3
values | skill.progress float32 0 1 | skill.goal_position.joint list | skill.goal_position.world_xyzrpy list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 110
values | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | timestamp float32 0 72.3 | frame_index int64 0 723 | episode_index int64 0 299 | index int64 0 153k | task_index int64 0 2 |
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] | move_to_position | 0.999924 | [
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] | 0 | return to home after task completion | [
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] | move_to_position | 0.000102 | [
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] | move_to_position | 0 | [
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] | move_to_position | 0.01167 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.071227 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.101196 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.4 | 4 | 293 | 150,477 | 2 |
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] | move_to_position | 0.138139 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.5 | 5 | 293 | 150,478 | 2 |
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] | move_to_position | 0.187891 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.235886 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.332002 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.8 | 8 | 293 | 150,481 | 2 |
[
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] | move_to_position | 0.380962 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.9 | 9 | 293 | 150,482 | 2 |
[
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] | [
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] | move_to_position | 0.428983 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1 | 10 | 293 | 150,483 | 2 |
[
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] | [
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] | move_to_position | 0.478827 | [
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] | [
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] | 0 | move to initial position to start the task | [
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2.7927563190460205,
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] | 1 | 1.1 | 11 | 293 | 150,484 | 2 |
[
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] | [
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0
] | move_to_position | 0.530568 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.3254936635494232,
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] | 1 | 1.2 | 12 | 293 | 150,485 | 2 |
[
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] | [
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0
] | move_to_position | 0.635693 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.328782320022583,
2.7929255962371826,
0.06084040552377701,
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] | 1 | 1.3 | 13 | 293 | 150,486 | 2 |
[
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] | [
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1.9314627647399902,
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2.8817944526672363,
0
] | move_to_position | 0.687697 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.3352091312408447,
2.7928643226623535,
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] | 1 | 1.4 | 14 | 293 | 150,487 | 2 |
[
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] | [
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0
] | move_to_position | 0.73948 | [
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] | [
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] | [
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0,
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] | 0 | move to initial position to start the task | [
0.004420367535203695,
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0.33842748403549194,
2.792900323867798,
0.060846034437417984,
3.06972074508667
] | 1 | 1.5 | 15 | 293 | 150,488 | 2 |
[
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0
] | [
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1.9314627647399902,
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0
] | move_to_position | 0.79243 | [
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1.9314627647399902,
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2.8817944526672363,
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] | [
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0.4399999976158142,
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0,
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] | [
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-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.003525602398440242,
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0.34159666299819946,
2.792832612991333,
0.06087172403931618,
3.0697696208953857
] | 1 | 1.6 | 16 | 293 | 150,489 | 2 |
[
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0
] | [
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0
] | move_to_position | 0.843294 | [
-1.9004485607147217,
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] | [
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] | [
0,
-0.4399999976158142,
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0,
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.7 | 17 | 293 | 150,490 | 2 |
[
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] | [
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] | move_to_position | 0.920759 | [
-1.9004485607147217,
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] | [
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] | 0 | move to initial position to start the task | [
0.001918844529427588,
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] | 1 | 1.8 | 18 | 293 | 150,491 | 2 |
[
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] | [
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] | move_to_position | 0.95745 | [
-1.9004485607147217,
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] | [
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] | [
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-0.4399999976158142,
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] | 0 | move to initial position to start the task | [
0.0005417535430751741,
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] | 1 | 1.9 | 19 | 293 | 150,492 | 2 |
[
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] | [
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] | move_to_position | 0.99419 | [
-1.9004485607147217,
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] | [
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] | [
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-0.4399999976158142,
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0,
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] | 0 | move to initial position to start the task | [
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0.35293135046958923,
2.792841911315918,
0.06092935800552368,
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] | 1 | 2 | 20 | 293 | 150,493 | 2 |
[
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] | [
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] | move_to_position | 0.000012 | [
-1.8129469156265259,
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] | [
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] | [
-0.016899999231100082,
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0,
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] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.0000756720473873429,
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2.792961359024048,
0.06081002578139305,
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] | 1 | 2.1 | 21 | 293 | 150,494 | 2 |
[
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0
] | [
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0
] | move_to_position | 0.004436 | [
-1.8129469156265259,
-1.2301609516143799,
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-2.6672987937927246,
-1.5694386959075928,
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0
] | [
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] | [
-0.016899999231100082,
-0.6302000284194946,
0.08399999886751175,
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0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.00007718687993474305,
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0.3528684973716736,
2.7930257320404053,
0.06082773208618164,
3.0698177814483643
] | 1 | 2.2 | 22 | 293 | 150,495 | 2 |
[
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0
] | [
-1.8129469156265259,
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-2.6672987937927246,
-1.5694386959075928,
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0
] | move_to_position | 0.012825 | [
-1.8129469156265259,
-1.2301609516143799,
1.9739434719085693,
-2.6672987937927246,
-1.5694386959075928,
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] | [
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0,
0
] | [
-0.016899999231100082,
-0.6302000284194946,
0.08399999886751175,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0002393448376096785,
-0.4431373178958893,
0.34845343232154846,
2.7930243015289307,
0.06079378351569176,
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] | 1 | 2.3 | 23 | 293 | 150,496 | 2 |
[
-1.897368311882019,
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0
] | [
-1.8129469156265259,
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-2.6672987937927246,
-1.5694386959075928,
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0
] | move_to_position | 0.020915 | [
-1.8129469156265259,
-1.2301609516143799,
1.9739434719085693,
-2.6672987937927246,
-1.5694386959075928,
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0
] | [
0.016899999231100082,
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0,
0
] | [
-0.016899999231100082,
-0.6302000284194946,
0.08399999886751175,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.00036437995731830597,
-0.44473540782928467,
0.3462180495262146,
2.7929725646972656,
0.06080276891589165,
3.0697569847106934
] | 1 | 2.4 | 24 | 293 | 150,497 | 2 |
[
-1.8961542844772339,
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2.8858485221862793,
0
] | [
-1.8129469156265259,
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-2.6672987937927246,
-1.5694386959075928,
2.9647774696350098,
0
] | move_to_position | 0.029462 | [
-1.8129469156265259,
-1.2301609516143799,
1.9739434719085693,
-2.6672987937927246,
-1.5694386959075928,
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0
] | [
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0,
0,
0
] | [
-0.016899999231100082,
-0.6302000284194946,
0.08399999886751175,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0005413781036622822,
-0.4466361105442047,
0.34364649653434753,
2.792935609817505,
0.06081119179725647,
3.069798231124878
] | 1 | 2.5 | 25 | 293 | 150,498 | 2 |
[
-1.8947561979293823,
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1.9469074010849,
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2.8870909214019775,
0
] | [
-1.8129469156265259,
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1.9739434719085693,
-2.6672987937927246,
-1.5694386959075928,
2.9647774696350098,
0
] | move_to_position | 0.039792 | [
-1.8129469156265259,
-1.2301609516143799,
1.9739434719085693,
-2.6672987937927246,
-1.5694386959075928,
2.9647774696350098,
0
] | [
0.016899999231100082,
0.6302000284194946,
0.08399999886751175,
0,
0,
0
] | [
-0.016899999231100082,
-0.6302000284194946,
0.08399999886751175,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0007708032499067485,
-0.44876205921173096,
0.34075501561164856,
2.792959690093994,
0.06075850874185562,
3.0697171688079834
] | 1 | 2.6 | 26 | 293 | 150,499 | 2 |
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