Datasets:
observation.state list | action list | skill.type stringclasses 4
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 0.85 | skill.natural_language stringclasses 27
values | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | timestamp float32 0 48.9 | frame_index int64 0 1.47k | episode_index int64 0 34 | index int64 0 49.2k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | move_to_position | 0.000045 | [
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[
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] | move_to_position | 0.000045 | [
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[
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.011884 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.166667 | 5 | 0 | 5 | 0 |
[
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] | move_to_position | 0.011884 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.2 | 6 | 0 | 6 | 0 |
[
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] | move_to_position | 0.04221 | [
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] | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.04221 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.071646 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.071646 | [
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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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] | 1 | 0.333333 | 10 | 0 | 10 | 0 |
[
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] | move_to_position | 0.071646 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.366667 | 11 | 0 | 11 | 0 |
[
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] | [
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] | move_to_position | 0.101701 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.4 | 12 | 0 | 12 | 0 |
[
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] | move_to_position | 0.101701 | [
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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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] | 1 | 0.433333 | 13 | 0 | 13 | 0 |
[
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] | move_to_position | 0.139114 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.466667 | 14 | 0 | 14 | 0 |
[
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] | move_to_position | 0.139114 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.139114 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.188702 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.236619 | [
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] | move_to_position | 0.236619 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.285443 | [
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] | move_to_position | 0.285443 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.333731 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.333731 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.333731 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.382585 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.9 | 27 | 0 | 27 | 0 |
[
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] | move_to_position | 0.382585 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.430539 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.430539 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1 | 30 | 0 | 30 | 0 |
[
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] | move_to_position | 0.430539 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.033333 | 31 | 0 | 31 | 0 |
[
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] | move_to_position | 0.480455 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.066667 | 32 | 0 | 32 | 0 |
[
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] | [
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] | move_to_position | 0.480455 | [
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] | 0 | move to initial position to start the task | [
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0.32238203287124634,
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] | 1 | 1.1 | 33 | 0 | 33 | 0 |
[
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] | move_to_position | 0.532382 | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.32238203287124634,
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0.060887277126312256,
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] | 1 | 1.133333 | 34 | 0 | 34 | 0 |
[
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] | [
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] | move_to_position | 0.532382 | [
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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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] | 1 | 1.166667 | 35 | 0 | 35 | 0 |
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] | move_to_position | 0.585462 | [
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] | move_to_position | 0.585462 | [
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] | move_to_position | 0.637404 | [
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] | 0 | move to initial position to start the task | [
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] | move_to_position | 0.637404 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.333333 | 40 | 0 | 40 | 0 |
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] | move_to_position | 0.637404 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.366667 | 41 | 0 | 41 | 0 |
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] | move_to_position | 0.689475 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.4 | 42 | 0 | 42 | 0 |
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] | move_to_position | 0.689475 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.433333 | 43 | 0 | 43 | 0 |
[
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] | move_to_position | 0.742282 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.466667 | 44 | 0 | 44 | 0 |
[
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] | move_to_position | 0.742282 | [
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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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] | 1 | 1.5 | 45 | 0 | 45 | 0 |
[
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] | move_to_position | 0.742282 | [
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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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] | 1 | 1.533333 | 46 | 0 | 46 | 0 |
[
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] | move_to_position | 0.79419 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.566667 | 47 | 0 | 47 | 0 |
[
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] | move_to_position | 0.79419 | [
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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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0.3417096436023712,
2.79282546043396,
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] | 1 | 1.6 | 48 | 0 | 48 | 0 |
[
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] | move_to_position | 0.845749 | [
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] | [
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] | [
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0.3529999852180481,
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0,
0
] | 0 | move to initial position to start the task | [
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0.3417096436023712,
2.79282546043396,
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] | 1 | 1.633333 | 49 | 0 | 49 | 0 |
[
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] | [
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0
] | move_to_position | 0.845749 | [
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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 | [
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0.34467166662216187,
2.7927470207214355,
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] | 1 | 1.666667 | 50 | 0 | 50 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.845749 | [
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] | [
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] | [
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-0.4399999976158142,
0.3529999852180481,
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0,
0
] | 0 | move to initial position to start the task | [
0.002595582976937294,
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0.34467166662216187,
2.7927470207214355,
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] | 1 | 1.7 | 51 | 0 | 51 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.885147 | [
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] | [
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] | [
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-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
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0.3468758165836334,
2.792851209640503,
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] | 1 | 1.733333 | 52 | 0 | 52 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.885147 | [
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] | [
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] | [
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-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.001868290128186345,
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0.3468758165836334,
2.792851209640503,
0.060880083590745926,
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] | 1 | 1.766667 | 53 | 0 | 53 | 0 |
[
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] | [
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0
] | move_to_position | 0.921905 | [
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] | [
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] | [
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-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
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] | 1 | 1.8 | 54 | 0 | 54 | 0 |
[
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] | [
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] | move_to_position | 0.921905 | [
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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 | [
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] | 1 | 1.833333 | 55 | 0 | 55 | 0 |
[
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] | [
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] | move_to_position | 0.921905 | [
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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 | [
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] | 1 | 1.866667 | 56 | 0 | 56 | 0 |
[
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] | [
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] | move_to_position | 0.959477 | [
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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 | [
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] | 1 | 1.9 | 57 | 0 | 57 | 0 |
[
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] | [
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] | move_to_position | 0.959477 | [
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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 | [
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] | 1 | 1.933333 | 58 | 0 | 58 | 0 |
[
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] | [
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] | move_to_position | 0.995069 | [
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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 | [
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] | 1 | 1.966667 | 59 | 0 | 59 | 0 |
[
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] | [
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] | move_to_position | 0.995069 | [
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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 | [
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] | 1 | 2 | 60 | 0 | 60 | 0 |
[
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] | [
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] | move_to_position | 0.995069 | [
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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 | [
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] | 1 | 2.033333 | 61 | 0 | 61 | 0 |
[
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] | [
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] | move_to_joint_state | 0 | [
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] | [
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] | [
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] | 0 | level TCP before picking marker | [
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] | 1 | 2.066667 | 62 | 0 | 62 | 0 |
[
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] | [
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] | move_to_joint_state | 0 | [
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] | [
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] | [
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] | 0 | level TCP before picking marker | [
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] | 1 | 2.1 | 63 | 0 | 63 | 0 |
[
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] | [
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] | move_to_joint_state | 0.00006 | [
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] | [
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] | [
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] | 0 | level TCP before picking marker | [
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] | 1 | 2.133333 | 64 | 0 | 64 | 0 |
[
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] | [
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] | move_to_joint_state | 0.00006 | [
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] | [
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] | [
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] | 0 | level TCP before picking marker | [
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] | 1 | 2.166667 | 65 | 0 | 65 | 0 |
[
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] | [
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] | move_to_joint_state | 0.00006 | [
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] | [
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] | [
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] | 0 | level TCP before picking marker | [
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] | 1 | 2.2 | 66 | 0 | 66 | 0 |
[
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] | [
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] | move_to_joint_state | 0.006177 | [
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] | [
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] | [
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] | 0 | level TCP before picking marker | [
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] | 1 | 2.233333 | 67 | 0 | 67 | 0 |
[
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] | [
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] | move_to_joint_state | 0.006177 | [
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] | [
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] | [
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] | 0 | level TCP before picking marker | [
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] | 1 | 2.266667 | 68 | 0 | 68 | 0 |
[
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0
] | [
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-1.5696816444396973,
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] | move_to_joint_state | 0.018855 | [
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] | [
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] | [
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] | 0 | level TCP before picking marker | [
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] | 1 | 2.3 | 69 | 0 | 69 | 0 |
[
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] | [
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] | move_to_joint_state | 0.018855 | [
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] | [
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] | [
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] | 0 | level TCP before picking marker | [
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[
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0
] | [
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] | move_to_joint_state | 0.018855 | [
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] | [
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] | [
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] | 0 | level TCP before picking marker | [
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[
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] | [
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0
] | move_to_joint_state | 0.037677 | [
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] | [
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] | [
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] | 0 | level TCP before picking marker | [
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[
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
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"robot_type": "ur7e",
"total_episodes": 35,
"total_frames": 49176,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
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},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
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],
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"wrist_3.pos",
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]
},
"action": {
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],
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]
},
"observation.images.realsense_topview": {
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640,
3
],
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},
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},
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"index": {
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}
}
}
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