observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language string | skill.verification_question string | skill.type string | skill.progress float32 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 | subtask.natural_language string | subtask.object_name string | subtask.target_position list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | 0 | pick pot lid and place on pot | [
0,
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0
] | 31.6 | 316 | 98 | 37,182 | 1 | ||
[
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] | pull lid -0cm on pot | move_linear | 0.464358 | [
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] | [
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] | 0 | pick pot lid and place on pot | [
0,
0,
0
] | 31.700001 | 317 | 98 | 37,183 | 1 | ||
[
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] | release lid on pot | gripper_open | 0 | [
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] | [
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] | 30 | pick pot lid and place on pot | [
0,
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] | 31.799999 | 318 | 98 | 37,184 | 1 | ||
[
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] | release lid on pot | gripper_open | 0 | [
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47.181819915771484,
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] | [
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] | 30 | pick pot lid and place on pot | [
0,
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] | 31.9 | 319 | 98 | 37,185 | 1 | ||
[
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] | 1 | [
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] | release lid on pot | gripper_open | 0 | [
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47.181819915771484,
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] | [
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] | 30 | pick pot lid and place on pot | [
0,
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] | 32 | 320 | 98 | 37,186 | 1 | ||
[
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] | 1 | [
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] | release lid on pot | gripper_open | 0.03243 | [
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47.181819915771484,
23.09722900390625,
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] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 32.099998 | 321 | 98 | 37,187 | 1 | ||
[
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] | 1 | [
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] | release lid on pot | gripper_open | 0.089456 | [
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47.181819915771484,
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] | [
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] | 30 | pick pot lid and place on pot | [
0,
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0
] | 32.200001 | 322 | 98 | 37,188 | 1 | ||
[
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] | 1 | [
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] | release lid on pot | gripper_open | 0.14647 | [
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47.181819915771484,
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] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 32.299999 | 323 | 98 | 37,189 | 1 | ||
[
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] | release lid on pot | gripper_open | 0.20348 | [
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47.181819915771484,
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] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 32.400002 | 324 | 98 | 37,190 | 1 | ||
[
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] | release lid on pot | gripper_open | 0.260495 | [
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47.181819915771484,
23.09722900390625,
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] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 32.5 | 325 | 98 | 37,191 | 1 | ||
[
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] | [
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] | 1 | [
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] | release lid on pot | gripper_open | 0.317516 | [
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47.181819915771484,
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] | [
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 32.599998 | 326 | 98 | 37,192 | 1 | ||
[
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] | [
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] | [
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] | 1 | [
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] | release lid on pot | gripper_open | 0.374525 | [
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47.181819915771484,
23.09722900390625,
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] | [
0.2886081635951996,
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 32.700001 | 327 | 98 | 37,193 | 1 | ||
[
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] | 1 | [
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] | [
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] | release lid on pot | gripper_open | 0.431534 | [
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47.181819915771484,
23.09722900390625,
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30
] | [
0.2886081635951996,
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3.0686135292053223,
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 32.799999 | 328 | 98 | 37,194 | 1 | ||
[
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23.09722900390625,
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] | [
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] | [
0.2886081635951996,
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] | 1 | [
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0.6611457467079163,
0.424912691116333,
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] | release lid on pot | gripper_open | 0.488491 | [
-4.05305814743042,
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47.181819915771484,
23.09722900390625,
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30
] | [
0.2886081635951996,
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] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 32.900002 | 329 | 98 | 37,195 | 1 | ||
[
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23.09722900390625,
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47.181819915771484,
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0.2886081635951996,
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0.0793815404176712,
3.0686135292053223,
0.7719387412071228,
3.0233700275421143
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0.6611457467079163,
0.424912691116333,
-0.026077672839164734,
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0.013805828988552094,
-0.2899223566055298,
0.6611457467079163,
0.424912691116333,
-0.026077672839164734,
0.39951080083847046
] | release lid on pot | gripper_open | 0.545465 | [
-4.05305814743042,
-14.164904594421387,
47.181819915771484,
23.09722900390625,
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30
] | [
0.2886081635951996,
-0.0033034051302820444,
0.0793815404176712,
3.0686135292053223,
0.7719387412071228,
3.0233700275421143
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 33 | 330 | 98 | 37,196 | 1 | ||
[
-4.05305814743042,
-14.164904594421387,
47.181819915771484,
23.09722900390625,
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-14.164904594421387,
47.181819915771484,
23.09722900390625,
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19.525205612182617
] | [
0.2886081635951996,
-0.0033034051302820444,
0.0793815404176712,
3.0686135292053223,
0.7719387412071228,
3.0233700275421143
] | 1 | [
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0.6611457467079163,
0.424912691116333,
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0.6611457467079163,
0.424912691116333,
-0.026077672839164734,
0.4341926574707031
] | release lid on pot | gripper_open | 0.602444 | [
-4.05305814743042,
-14.164904594421387,
47.181819915771484,
23.09722900390625,
-0.8058608174324036,
30
] | [
0.2886081635951996,
-0.0033034051302820444,
0.0793815404176712,
3.0686135292053223,
0.7719387412071228,
3.0233700275421143
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 33.099998 | 331 | 98 | 37,197 | 1 | ||
[
-4.05305814743042,
-14.164904594421387,
47.181819915771484,
23.09722900390625,
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21.0264949798584
] | [
-4.05305814743042,
-14.164904594421387,
47.181819915771484,
23.09722900390625,
-0.8058608174324036,
21.0264949798584
] | [
0.2886081635951996,
-0.0033034051302820444,
0.0793815404176712,
3.0686135292053223,
0.7719387412071228,
3.0233700275421143
] | 1 | [
0.013805828988552094,
-0.2899223566055298,
0.6611457467079163,
0.424912691116333,
-0.026077672839164734,
0.46887505054473877
] | [
0.013805828988552094,
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0.6611457467079163,
0.424912691116333,
-0.026077672839164734,
0.46887505054473877
] | release lid on pot | gripper_open | 0.659423 | [
-4.05305814743042,
-14.164904594421387,
47.181819915771484,
23.09722900390625,
-0.8058608174324036,
30
] | [
0.2886081635951996,
-0.0033034051302820444,
0.0793815404176712,
3.0686135292053223,
0.7719387412071228,
3.0233700275421143
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 33.200001 | 332 | 98 | 37,198 | 1 | ||
[
-4.05305814743042,
-14.164904594421387,
47.181819915771484,
23.09722900390625,
-0.8058608174324036,
22.528152465820312
] | [
-4.05305814743042,
-14.164904594421387,
47.181819915771484,
23.09722900390625,
-0.8058608174324036,
22.528152465820312
] | [
0.2886081635951996,
-0.0033034051302820444,
0.0793815404176712,
3.0686135292053223,
0.7719387412071228,
3.0233700275421143
] | 1 | [
0.013805828988552094,
-0.2899223566055298,
0.6611457467079163,
0.424912691116333,
-0.026077672839164734,
0.5035659670829773
] | [
0.013805828988552094,
-0.2899223566055298,
0.6611457467079163,
0.424912691116333,
-0.026077672839164734,
0.5035659670829773
] | release lid on pot | gripper_open | 0.716416 | [
-4.05305814743042,
-14.164904594421387,
47.181819915771484,
23.09722900390625,
-0.8058608174324036,
30
] | [
0.2886081635951996,
-0.0033034051302820444,
0.0793815404176712,
3.0686135292053223,
0.7719387412071228,
3.0233700275421143
] | 30 | pick pot lid and place on pot | [
0,
0,
0
] | 33.299999 | 333 | 98 | 37,199 | 1 |
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