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 10
values | skill.verification_question stringclasses 11
values | skill.type stringclasses 7
values | skill.progress float32 0 0.99 | 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 3
values | subtask.target_position list | timestamp float32 0 35.5 | frame_index int64 0 355 | episode_index int64 0 99 | index int64 0 33.5k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | 17.700001 | 177 | 36 | 12,224 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.738598 | [
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71.57408142089844,
20.748706817626953,
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] | 17.799999 | 178 | 36 | 12,225 | 0 |
[
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[
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.892299 | [
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.915098 | [
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.937225 | [
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | 0 | pick box lid and place on box body | box body | [
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] | 18.700001 | 187 | 36 | 12,234 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.958943 | [
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71.57408142089844,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2375333607196808,
0.08997552841901779,
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] | 18.799999 | 188 | 36 | 12,235 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.027579 | [
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] | 18.9 | 189 | 36 | 12,236 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.027911 | [
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] | 19 | 190 | 36 | 12,237 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.030771 | [
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0.2375333607196808,
0.08997552841901779,
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] | 19.1 | 191 | 36 | 12,238 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.037614 | [
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[
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[
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[
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] | 0 | pick box lid and place on box body | box body | [
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[
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0.08997552841901779,
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[
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[
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0.2375333607196808,
0.08997552841901779,
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] | 20.1 | 201 | 36 | 12,248 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.302238 | [
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0.08997552841901779,
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] | 20.200001 | 202 | 36 | 12,249 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.34615 | [
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0.9146221280097961,
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] | 0 | pick box lid and place on box body | box body | [
0.2375333607196808,
0.08997552841901779,
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] | 20.299999 | 203 | 36 | 12,250 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.391617 | [
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79.04460906982422,
0.9146221280097961,
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] | 0 | pick box lid and place on box body | box body | [
0.2375333607196808,
0.08997552841901779,
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] | 20.4 | 204 | 36 | 12,251 | 0 |
[
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1.116170883178711,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.438468 | [
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79.04460906982422,
0.9146221280097961,
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0.08997552841901779,
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[
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0.08997552841901779,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.891821 | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.888918 | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.886072 | [
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[
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.881112 | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.879617 | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.87843 | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.877715 | [
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[
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | [
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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78.15601348876953,
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] | [
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0.08997552841901779,
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[
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] | release object on box body | Is the object released? | gripper_open | 0.595446 | [
-29.238067626953125,
-18.440053939819336,
78.15601348876953,
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30
] | [
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3.0551235675811768,
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] | 30 | pick box lid and place on box body | box body | [
0.2375333607196808,
0.08997552841901779,
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] | 24.5 | 245 | 36 | 12,292 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.691768 | [
-29.238067626953125,
-18.440053939819336,
78.15601348876953,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.2375333607196808,
0.08997552841901779,
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] | 24.6 | 246 | 36 | 12,293 | 0 |
[
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] | [
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.788091 | [
-29.238067626953125,
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78.15601348876953,
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30
] | [
0.25731319189071655,
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] | 30 | pick box lid and place on box body | box body | [
0.2375333607196808,
0.08997552841901779,
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] | 24.700001 | 247 | 36 | 12,294 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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1.1512751579284668,
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] | release object on box body | Is the object released? | gripper_open | 0.884413 | [
-29.238067626953125,
-18.440053939819336,
78.15601348876953,
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30
] | [
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0.09959175437688828,
0.037919532507658005,
3.0551235675811768,
0.9400362968444824,
-2.8212387561798096
] | 30 | pick box lid and place on box body | box body | [
0.2375333607196808,
0.08997552841901779,
0.013000024482607841
] | 24.799999 | 248 | 36 | 12,295 | 0 |
[
-29.238067626953125,
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] | [
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30
] | [
0.25731319189071655,
0.09959175437688828,
0.037919532507658005,
3.0551235675811768,
0.9400362968444824,
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] | 1 | [
-0.42727163434028625,
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1.1512751579284668,
-0.1826862245798111,
-0.01429955568164587,
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] | [
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1.1514590978622437,
-0.18320663273334503,
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0.6542428135871887
] | release object on box body | Is the object released? | gripper_open | 0.980736 | [
-29.238067626953125,
-18.440053939819336,
78.15601348876953,
-5.621148586273193,
-0.43086013197898865,
30
] | [
0.25731319189071655,
0.09959175437688828,
0.037919532507658005,
3.0551235675811768,
0.9400362968444824,
-2.8212387561798096
] | 30 | pick box lid and place on box body | box body | [
0.2375333607196808,
0.08997552841901779,
0.013000024482607841
] | 24.9 | 249 | 36 | 12,296 | 0 |
[
-29.240596771240234,
-18.508852005004883,
78.16302490234375,
-5.618319988250732,
-0.4296303987503052,
30
] | [
-29.239307403564453,
-18.968982696533203,
78.26637268066406,
-5.7262187004089355,
-0.4318924844264984,
30
] | [
0.2573727071285248,
0.0996292233467102,
0.03814808279275894,
3.054981231689453,
0.9411091208457947,
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] | 1 | [
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] | [
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-0.35011446475982666,
1.1531466245651245,
-0.1845526397228241,
-0.014331980608403683,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-29.07935905456543,
-71.99253845214844,
94.7232894897461,
-18.806297302246094,
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0
] | [
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0.08996026962995529,
0.19998416304588318,
0.2049347460269928,
1.270143747329712,
0.6390102505683899
] | 0 | pick box lid and place on box body | box body | [
0.2375333607196808,
0.08997552841901779,
0.20000000298023224
] | 25 | 250 | 36 | 12,297 | 0 |
[
-29.240102767944336,
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78.19847869873047,
-5.648064613342285,
-0.4311106204986572,
30
] | [
-29.237424850463867,
-19.592498779296875,
78.46856689453125,
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30
] | [
0.25751498341560364,
0.09969232231378555,
0.03866953402757645,
3.054419994354248,
0.9438222050666809,
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] | 1 | [
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1.151995301246643,
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] | [
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-0.361395925283432,
1.1565755605697632,
-0.18728767335414886,
-0.014331980608403683,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-29.07935905456543,
-71.99253845214844,
94.7232894897461,
-18.806297302246094,
-0.4318924844264984,
0
] | [
0.2374996840953827,
0.08996026962995529,
0.19998416304588318,
0.2049347460269928,
1.270143747329712,
0.6390102505683899
] | 0 | pick box lid and place on box body | box body | [
0.2375333607196808,
0.08997552841901779,
0.20000000298023224
] | 25.1 | 251 | 36 | 12,298 | 0 |
[
-29.239171981811523,
-18.98377227783203,
78.29546356201172,
-5.717584609985352,
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30
] | [
-29.234590530395508,
-21.87252426147461,
78.77301025390625,
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30
] | [
0.25774699449539185,
0.09979437291622162,
0.03967415541410446,
3.0533719062805176,
0.9491647481918335,
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] | 1 | [
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1.1536400318145752,
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0.6542428135871887
] | [
-0.42721590399742126,
-0.4026491343975067,
1.1617382764816284,
-0.19140560925006866,
-0.014331980608403683,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.003329 | [
-29.07935905456543,
-71.99253845214844,
94.7232894897461,
-18.806297302246094,
-0.4318924844264984,
0
] | [
0.2374996840953827,
0.08996026962995529,
0.19998416304588318,
0.2049347460269928,
1.270143747329712,
0.6390102505683899
] | 0 | pick box lid and place on box body | box body | [
0.2375333607196808,
0.08997552841901779,
0.20000000298023224
] | 25.200001 | 252 | 36 | 12,299 | 0 |
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