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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48.07024383544922,
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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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48.07024383544922,
48.16355514526367,
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] | [
0.23367369174957275,
0.08002068847417831,
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] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
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[
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.200001 | 162 | 44 | 14,911 | 0 |
[
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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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] | 16.4 | 164 | 44 | 14,913 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.463208 | [
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] | 16.5 | 165 | 44 | 14,914 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.511863 | [
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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 | 0.560428 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.700001 | 167 | 44 | 14,916 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.799999 | 168 | 44 | 14,917 | 0 |
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.65512 | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.9 | 169 | 44 | 14,918 | 0 |
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 17 | 170 | 44 | 14,919 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
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] | 17.1 | 171 | 44 | 14,920 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.770741 | [
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] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
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] | 17.200001 | 172 | 44 | 14,921 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.798521 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
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] | 17.299999 | 173 | 44 | 14,922 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.824161 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
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] | 17.4 | 174 | 44 | 14,923 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.848755 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
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] | 17.5 | 175 | 44 | 14,924 | 0 |
[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.872946 | [
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48.07024383544922,
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0.17321647703647614,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
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] | 17.6 | 176 | 44 | 14,925 | 0 |
[
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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 | 0.040583 | [
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.045443 | [
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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 | 0.064722 | [
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] | 18.6 | 186 | 44 | 14,935 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.068465 | [
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51.99238967895508,
40.6347541809082,
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] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
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] | 18.700001 | 187 | 44 | 14,936 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.080828 | [
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51.99238967895508,
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] | 0 | pick box lid and place on box body | box body | [
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0.07997824251651764,
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] | 18.799999 | 188 | 44 | 14,937 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.100281 | [
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51.99238967895508,
40.6347541809082,
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] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
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] | 18.9 | 189 | 44 | 14,938 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.125393 | [
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51.99238967895508,
40.6347541809082,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.858165 | [
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] | 0 | pick box lid and place on box body | box body | [
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[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.858262 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
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] | 21.799999 | 218 | 44 | 14,967 | 0 |
[
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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 | 0.858458 | [
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51.99238967895508,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
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] | 21.9 | 219 | 44 | 14,968 | 0 |
[
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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 | 0.858567 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
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] | 22 | 220 | 44 | 14,969 | 0 |
[
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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 | 0.85859 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
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] | 22.1 | 221 | 44 | 14,970 | 0 |
[
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] | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.859037 | [
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51.99238967895508,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
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] | 22.200001 | 222 | 44 | 14,971 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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49.2252197265625,
41.740535736083984,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
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] | 22.299999 | 223 | 44 | 14,972 | 0 |
[
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] | [
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0.6606622338294983,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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49.2252197265625,
41.740535736083984,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
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] | 22.4 | 224 | 44 | 14,973 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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49.2252197265625,
41.740535736083984,
2.6189112663269043,
30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
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] | 22.5 | 225 | 44 | 14,974 | 0 |
[
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0.6586229205131531,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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49.2252197265625,
41.740535736083984,
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30
] | [
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0.23378439247608185,
0.07997824251651764,
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] | 22.6 | 226 | 44 | 14,975 | 0 |
[
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0.6606622338294983,
0.6586229205131531,
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0.1755257397890091
] | release object on box body | Is the object released? | gripper_open | 0 | [
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-13.009645462036133,
49.2252197265625,
41.740535736083984,
2.6189112663269043,
30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
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] | 22.700001 | 227 | 44 | 14,976 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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49.2252197265625,
41.740535736083984,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
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] | 22.799999 | 228 | 44 | 14,977 | 0 |
[
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0.6586229205131531,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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49.2252197265625,
41.740535736083984,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
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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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] | [
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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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-2.7131712436676025
] | 1 | [
-0.39236077666282654,
-0.2448747158050537,
0.658524215221405,
0.661037027835846,
0.08039112389087677,
0.6542428135871887
] | [
-0.3923606872558594,
-0.2523350715637207,
0.6548861265182495,
0.6620616912841797,
0.0804191380739212,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-27.06173324584961,
-56.70769119262695,
42.83028030395508,
52.700706481933594,
2.5848658084869385,
0
] | [
0.23377281427383423,
0.07997564226388931,
0.1999952644109726,
-3.0605862140655518,
1.1969228982925415,
-2.662208080291748
] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
0.20000000298023224
] | 24.299999 | 243 | 44 | 14,992 | 0 |
[
-27.06022834777832,
-13.2935209274292,
49.01935958862305,
41.894874572753906,
2.584216833114624,
30
] | [
-27.06024742126465,
-14.072783470153809,
48.81076431274414,
42.060855865478516,
2.5848658084869385,
30
] | [
0.24712391197681427,
0.08549575507640839,
0.04008946940302849,
-3.1242880821228027,
0.49942299723625183,
-2.713092565536499
] | 1 | [
-0.392360657453537,
-0.2474266141653061,
0.6571711897850037,
0.6613645553588867,
0.08039875328540802,
0.6542428135871887
] | [
-0.39236095547676086,
-0.26152604818344116,
0.6536338329315186,
0.6643129587173462,
0.0804191380739212,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-27.06173324584961,
-56.70769119262695,
42.83028030395508,
52.700706481933594,
2.5848658084869385,
0
] | [
0.23377281427383423,
0.07997564226388931,
0.1999952644109726,
-3.0605862140655518,
1.1969228982925415,
-2.662208080291748
] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
0.20000000298023224
] | 24.4 | 244 | 44 | 14,993 | 0 |
[
-27.06022834777832,
-13.562041282653809,
48.948062896728516,
41.955810546875,
2.583848714828491,
30
] | [
-27.060274124145508,
-14.837606430053711,
48.6995735168457,
42.25167465209961,
2.5848658084869385,
30
] | [
0.24753591418266296,
0.08566634356975555,
0.04119785875082016,
-3.124088764190674,
0.5044049620628357,
-2.7130069732666016
] | 1 | [
-0.392360657453537,
-0.25228503346443176,
0.6559621691703796,
0.6624469757080078,
0.0803871899843216,
0.6542428135871887
] | [
-0.3923614025115967,
-0.2753642201423645,
0.6517482399940491,
0.6677025556564331,
0.0804191380739212,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.001768 | [
-27.06173324584961,
-56.70769119262695,
42.83028030395508,
52.700706481933594,
2.5848658084869385,
0
] | [
0.23377281427383423,
0.07997564226388931,
0.1999952644109726,
-3.0605862140655518,
1.1969228982925415,
-2.662208080291748
] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
0.20000000298023224
] | 24.5 | 245 | 44 | 14,994 | 0 |
[
-27.06022834777832,
-14.006770133972168,
48.86567687988281,
42.0651741027832,
2.5834083557128906,
30
] | [
-27.0603084564209,
-17.18885040283203,
48.55751419067383,
42.49546432495117,
2.5848658084869385,
30
] | [
0.2480795532464981,
0.08589142560958862,
0.04290888085961342,
-3.1237847805023193,
0.511901319026947,
-2.7128713130950928
] | 1 | [
-0.392360657453537,
-0.2603316605091095,
0.6545650362968445,
0.6643896698951721,
0.0803733617067337,
0.6542428135871887
] | [
-0.39236193895339966,
-0.317905992269516,
0.6493391394615173,
0.6720331311225891,
0.0804191380739212,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.008904 | [
-27.06173324584961,
-56.70769119262695,
42.83028030395508,
52.700706481933594,
2.5848658084869385,
0
] | [
0.23377281427383423,
0.07997564226388931,
0.1999952644109726,
-3.0605862140655518,
1.1969228982925415,
-2.662208080291748
] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
0.20000000298023224
] | 24.6 | 246 | 44 | 14,995 | 0 |
[
-27.0601806640625,
-15.07962417602539,
48.78160095214844,
42.241092681884766,
2.580641508102417,
30
] | [
-27.06035041809082,
-18.37472152709961,
48.385108947753906,
42.79133224487305,
2.5848658084869385,
30
] | [
0.2492036074399948,
0.08635713160037994,
0.04677937179803848,
-3.1230897903442383,
0.5296034216880798,
-2.712601661682129
] | 1 | [
-0.3923599123954773,
-0.27974313497543335,
0.6531392335891724,
0.6675145626068115,
0.08028645813465118,
0.6542428135871887
] | [
-0.3923626244068146,
-0.33936232328414917,
0.6464154720306396,
0.6772887706756592,
0.0804191380739212,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.025462 | [
-27.06173324584961,
-56.70769119262695,
42.83028030395508,
52.700706481933594,
2.5848658084869385,
0
] | [
0.23377281427383423,
0.07997564226388931,
0.1999952644109726,
-3.0605862140655518,
1.1969228982925415,
-2.662208080291748
] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
0.20000000298023224
] | 24.700001 | 247 | 44 | 14,996 | 0 |
[
-27.0601863861084,
-16.198200225830078,
48.64067077636719,
42.440284729003906,
2.58198881149292,
30
] | [
-27.06039810180664,
-19.74898910522461,
48.1853141784668,
43.13420104980469,
2.5848658084869385,
29.499998092651367
] | [
0.25041553378105164,
0.08685830980539322,
0.05099964886903763,
-3.1222445964813232,
0.5486800074577332,
-2.7121312618255615
] | 1 | [
-0.39236000180244446,
-0.29998186230659485,
0.6507493257522583,
0.6710529327392578,
0.08032877743244171,
0.6542428135871887
] | [
-0.39236339926719666,
-0.3642273545265198,
0.6430273056030273,
0.6833792924880981,
0.0804191380739212,
0.6433131694793701
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.042747 | [
-27.06173324584961,
-56.70769119262695,
42.83028030395508,
52.700706481933594,
2.5848658084869385,
0
] | [
0.23377281427383423,
0.07997564226388931,
0.1999952644109726,
-3.0605862140655518,
1.1969228982925415,
-2.662208080291748
] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
0.20000000298023224
] | 24.799999 | 248 | 44 | 14,997 | 0 |
[
-27.060083389282227,
-17.503446578979492,
48.47564697265625,
42.69071960449219,
2.5831236839294434,
29
] | [
-27.06045150756836,
-21.260169982910156,
47.962554931640625,
43.5164794921875,
2.5848658084869385,
28.25
] | [
0.251684308052063,
0.08738262206315994,
0.05593205988407135,
-3.1212539672851562,
0.5706300735473633,
-2.7115767002105713
] | 1 | [
-0.39235833287239075,
-0.32359808683395386,
0.6479508280754089,
0.6755015254020691,
0.0803644210100174,
0.6323835849761963
] | [
-0.3923642337322235,
-0.3915696144104004,
0.6392497420310974,
0.6901699304580688,
0.0804191380739212,
0.6159891486167908
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.073607 | [
-27.06173324584961,
-56.70769119262695,
42.83028030395508,
52.700706481933594,
2.5848658084869385,
0
] | [
0.23377281427383423,
0.07997564226388931,
0.1999952644109726,
-3.0605862140655518,
1.1969228982925415,
-2.662208080291748
] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
0.20000000298023224
] | 24.9 | 249 | 44 | 14,998 | 0 |
[
-27.060205459594727,
-18.88207244873047,
48.29039764404297,
42.99168395996094,
2.5836551189422607,
27.75
] | [
-27.060510635375977,
-22.91554069519043,
47.717254638671875,
43.937442779541016,
2.5848658084869385,
27.000001907348633
] | [
0.2528477609157562,
0.08786442130804062,
0.06115904077887535,
-3.1202104091644287,
0.5933525562286377,
-2.7109873294830322
] | 1 | [
-0.39236029982566833,
-0.3485419750213623,
0.644809365272522,
0.680847704410553,
0.0803811103105545,
0.6050595641136169
] | [
-0.3923651874065399,
-0.42152073979377747,
0.6350899338722229,
0.6976476907730103,
0.0804191380739212,
0.5886651873588562
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.108424 | [
-27.06173324584961,
-56.70769119262695,
42.83028030395508,
52.700706481933594,
2.5848658084869385,
0
] | [
0.23377281427383423,
0.07997564226388931,
0.1999952644109726,
-3.0605862140655518,
1.1969228982925415,
-2.662208080291748
] | 0 | pick box lid and place on box body | box body | [
0.23378439247608185,
0.07997824251651764,
0.20000000298023224
] | 25 | 250 | 44 | 14,999 | 0 |
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