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 8
values | skill.verification_question stringclasses 3
values | skill.type stringclasses 8
values | skill.progress float32 0 0.98 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 30.3 | frame_index int64 0 303 | episode_index int64 0 19 | index int64 0 5.82k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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58,
67.00395965576172,
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0
] | 27.1 | 271 | 19 | 5,800 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.215779 | [
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] | 0.494001 | [
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0,
0
] | 27.200001 | 272 | 19 | 5,801 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.261263 | [
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] | 27.299999 | 273 | 19 | 5,802 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.313483 | [
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] | 0.494001 | [
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] | 27.4 | 274 | 19 | 5,803 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.358967 | [
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99.27371978759766,
67.29175567626953,
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] | 27.5 | 275 | 19 | 5,804 | 0 | ||
[
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] | [
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] | Move to safe position | Is the robot at safe position? | move_free | 0.408654 | [
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] | 27.6 | 276 | 19 | 5,805 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.457503 | [
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] | 27.700001 | 277 | 19 | 5,806 | 0 | ||
[
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67.00395965576172,
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] | Move to safe position | Is the robot at safe position? | move_free | 0.512233 | [
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] | 0.494001 | [
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] | 27.799999 | 278 | 19 | 5,807 | 0 | ||
[
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] | [
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] | Move to safe position | Is the robot at safe position? | move_free | 0.572049 | [
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67.29175567626953,
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] | 27.9 | 279 | 19 | 5,808 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.620042 | [
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67.29175567626953,
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] | 0.494001 | [
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] | 28 | 280 | 19 | 5,809 | 0 | ||
[
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] | [
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] | [
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] | 0 | [
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] | [
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] | Move to safe position | Is the robot at safe position? | move_free | 0.678149 | [
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99.27371978759766,
67.29175567626953,
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] | [
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] | 0.494001 | [
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] | 28.1 | 281 | 19 | 5,810 | 0 | ||
[
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] | [
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] | Move to safe position | Is the robot at safe position? | move_free | 0.727014 | [
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99.27371978759766,
67.29175567626953,
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] | 0.494001 | [
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] | 28.200001 | 282 | 19 | 5,811 | 0 | ||
[
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] | [
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] | Move to safe position | Is the robot at safe position? | move_free | 0.771629 | [
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99.27371978759766,
67.29175567626953,
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] | 28.299999 | 283 | 19 | 5,812 | 0 | ||
[
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-0.6344460248947144,
0.4940014183521271
] | [
0.16377276182174683,
0.0014860265655443072,
0.05157329887151718,
3.0890324115753174,
0.6116353273391724,
3.0609819889068604
] | 0 | [
-0.01073786336928606,
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1.3913205862045288,
1.1903691291809082,
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] | [
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1.4346518516540527,
1.194771409034729,
-0.020693834871053696,
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] | Move to safe position | Is the robot at safe position? | move_free | 0.817042 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
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] | [
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] | 0.494001 | [
0,
0,
0
] | 28.4 | 284 | 19 | 5,813 | 0 | ||
[
-5.2321295738220215,
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67.00395965576172,
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] | [
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] | [
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0.001482471707277,
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3.0885181427001953,
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] | 0 | [
-0.01073786336928606,
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1.1903691291809082,
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] | [
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1.462410807609558,
1.194933295249939,
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] | Move to safe position | Is the robot at safe position? | move_free | 0.854891 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
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] | [
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] | 0.494001 | [
0,
0,
0
] | 28.5 | 285 | 19 | 5,814 | 0 | ||
[
-5.2321295738220215,
-91.71247100830078,
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67.00395965576172,
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] | [
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96.08343505859375,
67.27375030517578,
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] | [
0.16341137886047363,
0.001482159597799182,
0.04555419087409973,
3.08782696723938,
0.6223279237747192,
3.0602846145629883
] | 0 | [
-0.01073786336928606,
-1.6965826749801636,
1.4526798725128174,
1.1903691291809082,
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] | [
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1.486301302909851,
1.1950725317001343,
-0.020325573161244392,
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] | Move to safe position | Is the robot at safe position? | move_free | 0.890239 | [
-5.369807720184326,
-97.88494110107422,
99.27371978759766,
67.29175567626953,
-0.6105006337165833,
0.4940014183521271
] | [
0.16400936245918274,
0.0018055536784231663,
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3.09017014503479,
0.6420670747756958,
3.0694785118103027
] | 0.494001 | [
0,
0,
0
] | 28.6 | 286 | 19 | 5,815 | 0 | ||
[
-5.2321295738220215,
-93.3192367553711,
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67.00395965576172,
-0.8058608174324036,
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] | [
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-95.78866577148438,
97.25413513183594,
67.28035736083984,
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] | [
0.16332124173641205,
0.001481198356486857,
0.04283427074551582,
3.0874791145324707,
0.6253829598426819,
3.0600812435150146
] | 0 | [
-0.01073786336928606,
-1.7257283926010132,
1.478757381439209,
1.1903691291809082,
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] | [
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-1.770522117614746,
1.5060553550720215,
1.1951876878738403,
-0.020184725522994995,
-0.0054614911787211895
] | Move to safe position | Is the robot at safe position? | move_free | 0.920426 | [
-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
] | 28.700001 | 287 | 19 | 5,816 | 0 | ||
[
-5.2321295738220215,
-94.84143829345703,
96.81818389892578,
67.00395965576172,
-0.8058608174324036,
0.4940014183521271
] | [
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-96.73487854003906,
98.16573333740234,
67.2854995727539,
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0.4940014183521271
] | [
0.16371962428092957,
0.001485483138822019,
0.04125078022480011,
3.0866026878356934,
0.6330200433731079,
3.059565544128418
] | 0 | [
-0.01073786336928606,
-1.7533400058746338,
1.4986993074417114,
1.1903691291809082,
-0.026077672839164734,
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] | [
-0.013541522435843945,
-1.787685751914978,
1.5214375257492065,
1.1952773332595825,
-0.020075052976608276,
-0.0054614911787211895
] | Move to safe position | Is the robot at safe position? | move_free | 0.946559 | [
-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
] | 28.799999 | 288 | 19 | 5,817 | 0 | ||
[
-5.2321295738220215,
-95.5179672241211,
97.7272720336914,
67.00395965576172,
-0.8058608174324036,
0.4940014183521271
] | [
-5.368555068969727,
-97.40328216552734,
98.80967712402344,
67.28913879394531,
-0.612278163433075,
0.4940014183521271
] | [
0.16338731348514557,
0.0014819179195910692,
0.03918468579649925,
3.086954355239868,
0.6299651861190796,
3.0597732067108154
] | 0 | [
-0.01073786336928606,
-1.7656118869781494,
1.5140390396118164,
1.1903691291809082,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.013577712699770927,
-1.7998101711273193,
1.5323033332824707,
1.195340871810913,
-0.019997579976916313,
-0.0054614911787211895
] | Move to safe position | Is the robot at safe position? | move_free | 0.961202 | [
-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
] | 28.9 | 289 | 19 | 5,818 | 0 | ||
[
-5.2321295738220215,
-96.0253677368164,
98,
67.00395965576172,
-0.8058608174324036,
0.4940014183521271
] | [
-5.369551658630371,
-97.78651428222656,
99,
67.29122161865234,
-0.6108638644218445,
0.4940014183521271
] | [
0.16372010111808777,
0.001485493965446949,
0.03908547759056091,
3.086426258087158,
0.6345474123954773,
3.0594611167907715
] | 0 | [
-0.01073786336928606,
-1.7748156785964966,
1.5186409950256348,
1.1903691291809082,
-0.026077672839164734,
-0.0054614911787211895
] | [
-0.013598456978797913,
-1.8067617416381836,
1.5355147123336792,
1.1953771114349365,
-0.019953159615397453,
-0.0054614911787211895
] | Move to safe position | Is the robot at safe position? | move_free | 0.968918 | [
-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
] | 29 | 290 | 19 | 5,819 | 0 |
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