observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | skill.natural_language stringclasses 18
values | skill.verification_question stringclasses 9
values | skill.type stringclasses 7
values | skill.progress float32 0 0.98 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 35 | subtask.natural_language stringclasses 3
values | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 34.6 | frame_index int64 0 346 | episode_index int64 0 59 | index int64 0 20.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
3.0213706493377686,
-52.13530731201172,
48.181819915771484,
75.53893280029297,
-0.8547008633613586,
0.4940014183521271
] | [
2.1665523052215576,
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51.00831604003906,
73.97628021240234,
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0.4940014183521271
] | [
0.18501974642276764,
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0.11844315379858017,
3.0967235565185547,
0.5305871367454529,
2.89204740524292
] | 0 | move to free state | move_free | 0.142928 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 31.799999 | 318 | 59 | 20,500 | 0 | |||
[
2.6529109477996826,
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50.181819915771484,
75.53893280029297,
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0.4940014183521271
] | [
1.7491806745529175,
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53.681304931640625,
73.6060791015625,
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0.4940014183521271
] | [
0.18237246572971344,
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0.1161220520734787,
3.0964086055755615,
0.5336431264877319,
2.899557590484619
] | 0 | move to free state | move_free | 0.177986 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 31.9 | 319 | 59 | 20,501 | 0 | |||
[
2.2844510078430176,
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52.818180084228516,
75.53893280029297,
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0.4940014183521271
] | [
1.3057756423950195,
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56.521018981933594,
73.2127914428711,
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0.4940014183521271
] | [
0.17893105745315552,
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0.11176013946533203,
3.0970373153686523,
0.5275312066078186,
2.907545566558838
] | 0 | move to free state | move_free | 0.219457 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 32 | 320 | 59 | 20,502 | 0 | |||
[
1.768607258796692,
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55.54545593261719,
74.92301177978516,
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0.4940014183521271
] | [
0.8412715196609497,
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59.4958610534668,
72.80079650878906,
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] | [
0.17694631218910217,
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0.10837823152542114,
3.0951809883117676,
0.5366285443305969,
2.9160211086273193
] | 0 | move to free state | move_free | 0.265665 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 32.099998 | 321 | 59 | 20,503 | 0 | |||
[
1.4001474380493164,
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58.3636360168457,
74.48306274414062,
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0.4940014183521271
] | [
0.3604717254638672,
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62.57506561279297,
72.37433624267578,
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0.4940014183521271
] | [
0.17453229427337646,
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0.10433909296989441,
3.0946953296661377,
0.5412116050720215,
2.9234416484832764
] | 0 | move to free state | move_free | 0.312198 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 32.200001 | 322 | 59 | 20,504 | 0 | |||
[
0.8106116652488708,
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61.3636360168457,
74.131103515625,
-0.9035409092903137,
0.4940014183521271
] | [
-0.13088814914226532,
-69.05422973632812,
65.7219009399414,
71.93851470947266,
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0.4940014183521271
] | [
0.17192457616329193,
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0.09960467368364334,
3.0945327281951904,
0.5427393317222595,
2.9356296062469482
] | 0 | move to free state | move_free | 0.361239 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 32.299999 | 323 | 59 | 20,505 | 0 | |||
[
0.442151814699173,
-66.42706298828125,
64.54545593261719,
73.77914428710938,
-0.9035409092903137,
0.4940014183521271
] | [
-0.6274789571762085,
-71.78705596923828,
68.90223693847656,
71.49805450439453,
-0.7324477434158325,
0.4940014183521271
] | [
0.16922800242900848,
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0.09442772716283798,
3.094369888305664,
0.5442669987678528,
2.9432153701782227
] | 0 | move to free state | move_free | 0.41295 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 32.400002 | 324 | 59 | 20,506 | 0 | |||
[
0,
-69.13319396972656,
67.7272720336914,
73.07523345947266,
-0.9035409092903137,
0.4940014183521271
] | [
-1.1244831085205078,
-74.52215576171875,
72.08522033691406,
71.0572280883789,
-0.7196674942970276,
0.4940014183521271
] | [
0.16754931211471558,
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0.08953048288822174,
3.0935513973236084,
0.5519049763679504,
2.9519927501678467
] | 0 | move to free state | move_free | 0.465345 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 32.5 | 325 | 59 | 20,507 | 0 | |||
[
-0.5158437490463257,
-72.09302520751953,
70.81818389892578,
72.72327423095703,
-0.9035409092903137,
0.4940014183521271
] | [
-1.6160166263580322,
-77.22715759277344,
75.23316955566406,
70.62125396728516,
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0.4940014183521271
] | [
0.1656067818403244,
-0.010946955531835556,
0.08481201529502869,
3.0927250385284424,
0.559542715549469,
2.962294578552246
] | 0 | move to free state | move_free | 0.518514 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 32.599998 | 326 | 59 | 20,508 | 0 | |||
[
-1.0316874980926514,
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74,
72.10734558105469,
-0.9035409092903137,
0.4940014183521271
] | [
-2.0965609550476074,
-79.87167358398438,
78.31073760986328,
70.19502258300781,
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0.4940014183521271
] | [
0.16410662233829498,
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0.07924442738294601,
3.0923924446105957,
0.5625977516174316,
2.97285532951355
] | 0 | move to free state | move_free | 0.569491 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 32.700001 | 327 | 59 | 20,509 | 0 | |||
[
-1.4738394021987915,
-77.58985137939453,
77.18181610107422,
72.10734558105469,
-0.9035409092903137,
0.4940014183521271
] | [
-2.5609865188598633,
-82.427490234375,
81.28507995605469,
69.78309631347656,
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0.4940014183521271
] | [
0.16176310181617737,
-0.008144021034240723,
0.07351125776767731,
3.0923924446105957,
0.5625978112220764,
2.9820592403411865
] | 0 | move to free state | move_free | 0.622686 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 32.799999 | 328 | 59 | 20,510 | 0 | |||
[
-2.0633749961853027,
-80.21141815185547,
80.2727279663086,
71.40343475341797,
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0.4940014183521271
] | [
-3.004117012023926,
-84.86611938476562,
84.12303161621094,
69.39005279541016,
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0.4940014183521271
] | [
0.16112057864665985,
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0.06829670816659927,
3.0925374031066895,
0.5703110098838806,
2.995701789855957
] | 0 | move to free state | move_free | 0.67382 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 32.900002 | 329 | 59 | 20,511 | 0 | |||
[
-2.6529109477996826,
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83.2727279663086,
70.78750610351562,
-0.8547008633613586,
0.4940014183521271
] | [
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86.79271697998047,
69.02031707763672,
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0.4940014183521271
] | [
0.1606391817331314,
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0.06320250034332275,
3.0917084217071533,
0.5779492259025574,
3.00752329826355
] | 0 | move to free state | move_free | 0.72396 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 33 | 330 | 59 | 20,512 | 0 | |||
[
-2.947678804397583,
-85.28541564941406,
86,
70.435546875,
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0.4940014183521271
] | [
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89.26513671875,
68.67789459228516,
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0.4940014183521271
] | [
0.1599975973367691,
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0.05835705250501633,
3.0912067890167236,
0.5825322270393372,
3.0133843421936035
] | 0 | move to free state | move_free | 0.769321 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 33.099998 | 331 | 59 | 20,513 | 0 | |||
[
-3.463522434234619,
-87.48414611816406,
88.63636016845703,
69.99559783935547,
-0.8547008633613586,
0.4940014183521271
] | [
-4.158196926116943,
-91.21723175048828,
91.51415252685547,
68.36641693115234,
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0.4940014183521271
] | [
0.15961970388889313,
-0.002995603485032916,
0.0534735731780529,
3.0908708572387695,
0.5855874419212341,
3.0239369869232178
] | 0 | move to free state | move_free | 0.812256 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 33.200001 | 332 | 59 | 20,514 | 0 | |||
[
-3.684598445892334,
-89.68287658691406,
91,
69.99559783935547,
-0.8547008633613586,
0.4940014183521271
] | [
-4.470410346984863,
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93.513671875,
68.08949279785156,
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] | [
0.15882804989814758,
-0.002422451274469495,
0.04891784116625786,
3.0908708572387695,
0.5855873823165894,
3.028538942337036
] | 0 | move to free state | move_free | 0.851203 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 33.299999 | 333 | 59 | 20,515 | 0 | |||
[
-4.1267499923706055,
-91.54334259033203,
93.09091186523438,
69.99559783935547,
-0.8547008633613586,
0.4940014183521271
] | [
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95.24263000488281,
67.85004425048828,
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] | [
0.15817555785179138,
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0.044727299362421036,
3.091038942337036,
0.5840598344802856,
3.0378355979919434
] | 0 | move to free state | move_free | 0.884877 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 33.400002 | 334 | 59 | 20,516 | 0 | |||
[
-4.1267499923706055,
-93.40380859375,
94.90908813476562,
69.37967681884766,
-0.8547008633613586,
0.4940014183521271
] | [
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96.6815414428711,
67.6507568359375,
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0.4940014183521271
] | [
0.15936937928199768,
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0.0422770157456398,
3.089513063430786,
0.5978074073791504,
3.036985397338867
] | 0 | move to free state | move_free | 0.917287 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 33.5 | 335 | 59 | 20,517 | 0 | |||
[
-4.568902015686035,
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96.36363983154297,
68.93972778320312,
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] | [
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97.81472778320312,
67.49382019042969,
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0.4940014183521271
] | [
0.16034860908985138,
-0.0002074659278150648,
0.040309421718120575,
3.0872392654418945,
0.6084164977073669,
3.043637990951538
] | 0 | move to free state | move_free | 0.944005 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 33.599998 | 336 | 59 | 20,518 | 0 | |||
[
-4.568902015686035,
-95.5179672241211,
97.54545593261719,
68.93972778320312,
-0.8547008633613586,
0.4940014183521271
] | [
-5.269199371337891,
-97.3312759399414,
98.62938690185547,
67.38098907470703,
-0.6130877137184143,
0.4940014183521271
] | [
0.15950588881969452,
-0.0002153366367565468,
0.037164583802223206,
3.089341640472412,
0.599334716796875,
3.0460927486419678
] | 0 | move to free state | move_free | 0.957321 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 33.700001 | 337 | 59 | 20,519 | 0 | |||
[
-4.8636698722839355,
-96.36363983154297,
97.7272720336914,
68.93972778320312,
-0.9035409092903137,
0.4940014183521271
] | [
-5.345439910888672,
-97.75083923339844,
99,
67.31336975097656,
-0.6111272573471069,
0.4940014183521271
] | [
0.16046081483364105,
0.0005384840187616646,
0.037922993302345276,
3.0868842601776123,
0.6114708185195923,
3.0495705604553223
] | 0 | move to free state | move_free | 0.96568 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
0.03734050318598747,
3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 33.799999 | 338 | 59 | 20,520 | 0 |
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