observation.state listlengths 7 7 | action listlengths 7 7 | skill.type large_stringclasses 4
values | skill.progress float32 0 1 | skill.goal_position.joint listlengths 7 7 | skill.goal_position.world_xyzrpy listlengths 6 6 | skill.goal_position.robot_xyzrpy listlengths 6 6 | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 61
values | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | timestamp float32 0 46.1 | frame_index int64 0 461 | episode_index int64 0 24 | index int64 0 10.6k | task_index int64 0 0 |
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] | 0 | return to home after task completion | [
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[
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] | move_to_position | 0.000008 | [
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] | 0 | return to home after task completion | [
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[
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] | move_to_position | 0.000065 | [
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] | 0 | return to home after task completion | [
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[
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] | 0 | return to home after task completion | [
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[
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] | move_to_position | 0.00401 | [
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] | 0 | return to home after task completion | [
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] | 1 | 38.799999 | 388 | 24 | 10,505 | 0 |
[
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] | move_to_position | 0.007823 | [
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] | 0 | return to home after task completion | [
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] | 1 | 38.900002 | 389 | 24 | 10,506 | 0 |
[
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] | move_to_position | 0.013975 | [
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] | 0 | return to home after task completion | [
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[
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] | move_to_position | 0.021441 | [
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] | 0 | return to home after task completion | [
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[
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] | move_to_position | 0.031173 | [
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] | 0 | return to home after task completion | [
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[
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] | move_to_position | 0.043496 | [
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] | 0 | return to home after task completion | [
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[
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] | 0 | return to home after task completion | [
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[
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[
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] | move_to_position | 0.099178 | [
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] | 0 | return to home after task completion | [
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] | 1 | 39.599998 | 396 | 24 | 10,513 | 0 |
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] | move_to_position | 0.121917 | [
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[
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] | move_to_joint_state | 0.048487 | [
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] | [
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] | 0 | restore TCP orientation after returning home | [
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[
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] | move_to_joint_state | 0.121718 | [
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] | [
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] | 0 | restore TCP orientation after returning home | [
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[
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] | move_to_joint_state | 0.191259 | [
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[
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] | move_to_joint_state | 0.295525 | [
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[
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[
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] | 1 | 43.900002 | 439 | 24 | 10,556 | 0 |
[
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[
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] | 1 | 44.099998 | 441 | 24 | 10,558 | 0 |
[
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] | move_to_joint_state | 0.838643 | [
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] | 0 | restore TCP orientation after returning home | [
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] | 1 | 44.200001 | 442 | 24 | 10,559 | 0 |
[
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] | move_to_joint_state | 0.894047 | [
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] | [
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] | 0 | restore TCP orientation after returning home | [
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] | 1 | 44.299999 | 443 | 24 | 10,560 | 0 |
[
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] | move_to_joint_state | 0.970671 | [
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] | 0 | restore TCP orientation after returning home | [
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] | 1 | 44.400002 | 444 | 24 | 10,561 | 0 |
[
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] | [
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] | move_to_joint_state | 0.972995 | [
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] | [
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] | 0 | restore TCP orientation after returning home | [
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] | 1 | 44.5 | 445 | 24 | 10,562 | 0 |
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