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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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.880751 | [
52.15070724487305,
-35.160926818847656,
88.9871597290039,
17.14982032775879,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.16005443036556244,
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] | 21.700001 | 217 | 73 | 24,666 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.901291 | [
52.15070724487305,
-35.160926818847656,
88.9871597290039,
17.14982032775879,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 21.799999 | 218 | 73 | 24,667 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.917426 | [
52.15070724487305,
-35.160926818847656,
88.9871597290039,
17.14982032775879,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.16005443036556244,
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] | 21.9 | 219 | 73 | 24,668 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.924936 | [
52.15070724487305,
-35.160926818847656,
88.9871597290039,
17.14982032775879,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.16005443036556244,
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] | 22 | 220 | 73 | 24,669 | 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 | 0.921402 | [
52.15070724487305,
-35.160926818847656,
88.9871597290039,
17.14982032775879,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.16005443036556244,
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] | 22.1 | 221 | 73 | 24,670 | 0 |
[
52.02461242675781,
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] | [
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1.3863517045974731,
0.22180582582950592,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.915636 | [
52.15070724487305,
-35.160926818847656,
88.9871597290039,
17.14982032775879,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.16005443036556244,
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] | 22.200001 | 222 | 73 | 24,671 | 0 |
[
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] | [
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1.3863517045974731,
0.22180582582950592,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.911266 | [
52.15070724487305,
-35.160926818847656,
88.9871597290039,
17.14982032775879,
-0.3180243968963623,
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] | [
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0.009795894846320152,
3.0957913398742676,
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] | 0 | pick box lid and place on box body | box body | [
0.16005443036556244,
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] | 22.299999 | 223 | 73 | 24,672 | 0 |
[
52.01840591430664,
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] | [
52.15070724487305,
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1.3863517045974731,
0.22180582582950592,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.910198 | [
52.15070724487305,
-35.160926818847656,
88.9871597290039,
17.14982032775879,
-0.3180243968963623,
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] | [
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3.0957913398742676,
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] | 0 | pick box lid and place on box body | box body | [
0.16005443036556244,
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] | 22.4 | 224 | 73 | 24,673 | 0 |
[
52.01841735839844,
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] | [
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1.3863517045974731,
0.22180582582950592,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.909364 | [
52.15070724487305,
-35.160926818847656,
88.9871597290039,
17.14982032775879,
-0.3180243968963623,
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] | [
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0.009795894846320152,
3.0957913398742676,
0.6557644009590149,
2.1891837120056152
] | 0 | pick box lid and place on box body | box body | [
0.16005443036556244,
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] | 22.5 | 225 | 73 | 24,674 | 0 |
[
52.0168571472168,
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] | [
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] | [
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1.3863517045974731,
0.22180582582950592,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.90862 | [
52.15070724487305,
-35.160926818847656,
88.9871597290039,
17.14982032775879,
-0.3180243968963623,
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] | [
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0.009795894846320152,
3.0957913398742676,
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] | 0 | pick box lid and place on box body | box body | [
0.16005443036556244,
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0.013000025413930416
] | 22.6 | 226 | 73 | 24,675 | 0 |
[
52.01176071166992,
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] | [
52.15070724487305,
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] | [
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] | [
0.8773984909057617,
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1.3863517045974731,
0.22180582582950592,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.907644 | [
52.15070724487305,
-35.160926818847656,
88.9871597290039,
17.14982032775879,
-0.3180243968963623,
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] | [
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0.009795894846320152,
3.0957913398742676,
0.6557644009590149,
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] | 0 | pick box lid and place on box body | box body | [
0.16005443036556244,
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] | 22.700001 | 227 | 73 | 24,676 | 0 |
[
52.01008987426758,
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] | [
52.15070724487305,
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17.14982032775879,
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] | [
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0.8773984909057617,
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1.3363250494003296,
0.22180582582950592,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.907327 | [
52.15070724487305,
-35.160926818847656,
88.9871597290039,
17.14982032775879,
-0.3180243968963623,
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] | [
0.14022764563560486,
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0.009795894846320152,
3.0957913398742676,
0.6557644009590149,
2.1891837120056152
] | 0 | pick box lid and place on box body | box body | [
0.16005443036556244,
-0.14621025323867798,
0.013000025413930416
] | 22.799999 | 228 | 73 | 24,677 | 0 |
[
52.01153564453125,
-39.76151657104492,
87.9652099609375,
10.80727767944336,
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] | [
52.15070724487305,
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92.0181655883789,
17.14982032775879,
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] | [
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] | [
0.8773984909057617,
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1.3863517045974731,
0.22180582582950592,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.907234 | [
52.15070724487305,
-35.160926818847656,
88.9871597290039,
17.14982032775879,
-0.3180243968963623,
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] | [
0.14022764563560486,
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0.009795894846320152,
3.0957913398742676,
0.6557644009590149,
2.1891837120056152
] | 0 | pick box lid and place on box body | box body | [
0.16005443036556244,
-0.14621025323867798,
0.013000025413930416
] | 22.9 | 229 | 73 | 24,678 | 0 |
[
52.01442337036133,
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52.01442337036133,
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88.03948974609375,
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0.03981676697731018,
3.0309555530548096,
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1.3188806772232056,
0.10572715103626251,
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0.8752138614654541,
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1.3188806772232056,
0.10572715103626251,
-0.044806282967329025,
0.024697143584489822
] | release object on box body | Is the object released? | gripper_open | 0 | [
52.01442337036133,
-39.72930145263672,
88.03948974609375,
10.615145683288574,
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30
] | [
0.17253530025482178,
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0.03981676697731018,
3.0309555530548096,
0.8667519688606262,
2.1216659545898438
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[
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0.10572715103626251,
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] | release object on box body | Is the object released? | gripper_open | 0.442718 | [
52.01442337036133,
-39.72930145263672,
88.03948974609375,
10.615145683288574,
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30
] | [
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0.03981676697731018,
3.0309555530548096,
0.8667519688606262,
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] | 30 | pick box lid and place on box body | box body | [
0.16005443036556244,
-0.14621025323867798,
0.013000025413930416
] | 24.4 | 244 | 73 | 24,693 | 0 |
[
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] | 1 | [
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0.10572715103626251,
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0.8752138614654541,
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0.10572715103626251,
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] | release object on box body | Is the object released? | gripper_open | 0.538801 | [
52.01442337036133,
-39.72930145263672,
88.03948974609375,
10.615145683288574,
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30
] | [
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0.03981676697731018,
3.0309555530548096,
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] | 30 | pick box lid and place on box body | box body | [
0.16005443036556244,
-0.14621025323867798,
0.013000025413930416
] | 24.5 | 245 | 73 | 24,694 | 0 |
[
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] | [
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] | [
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3.0309555530548096,
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] | 1 | [
0.8752138614654541,
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0.10572715103626251,
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] | [
0.8752138614654541,
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1.3188806772232056,
0.10572715103626251,
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] | release object on box body | Is the object released? | gripper_open | 0.634884 | [
52.01442337036133,
-39.72930145263672,
88.03948974609375,
10.615145683288574,
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30
] | [
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0.03981676697731018,
3.0309555530548096,
0.8667519688606262,
2.1216659545898438
] | 30 | pick box lid and place on box body | box body | [
0.16005443036556244,
-0.14621025323867798,
0.013000025413930416
] | 24.6 | 246 | 73 | 24,695 | 0 |
[
52.01442337036133,
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10.615145683288574,
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] | [
52.01442337036133,
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88.03948974609375,
10.615145683288574,
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] | [
0.17253530025482178,
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0.03981676697731018,
3.0309555530548096,
0.8667519688606262,
2.1216659545898438
] | 1 | [
0.8752138614654541,
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1.3188806772232056,
0.10572715103626251,
-0.044806282967329025,
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] | [
0.8752138614654541,
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1.3188806772232056,
0.10572715103626251,
-0.044806282967329025,
0.582107424736023
] | release object on box body | Is the object released? | gripper_open | 0.730968 | [
52.01442337036133,
-39.72930145263672,
88.03948974609375,
10.615145683288574,
-1.4021565914154053,
30
] | [
0.17253530025482178,
-0.15962794423103333,
0.03981676697731018,
3.0309555530548096,
0.8667519688606262,
2.1216659545898438
] | 30 | pick box lid and place on box body | box body | [
0.16005443036556244,
-0.14621025323867798,
0.013000025413930416
] | 24.700001 | 247 | 73 | 24,696 | 0 |
[
52.01442337036133,
-39.72930145263672,
88.03948974609375,
10.615145683288574,
-1.4021565914154053,
27.300003051757812
] | [
52.01442337036133,
-39.72930145263672,
88.03948974609375,
10.615145683288574,
-1.4021565914154053,
28.200000762939453
] | [
0.17253530025482178,
-0.15962794423103333,
0.03981676697731018,
3.0309555530548096,
0.8667519688606262,
2.1216659545898438
] | 1 | [
0.8752138614654541,
-0.7257372140884399,
1.3188806772232056,
0.10572715103626251,
-0.044806282967329025,
0.5952229499816895
] | [
0.8752138614654541,
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1.3188806772232056,
0.10572715103626251,
-0.044806282967329025,
0.6148962378501892
] | release object on box body | Is the object released? | gripper_open | 0.827051 | [
52.01442337036133,
-39.72930145263672,
88.03948974609375,
10.615145683288574,
-1.4021565914154053,
30
] | [
0.17253530025482178,
-0.15962794423103333,
0.03981676697731018,
3.0309555530548096,
0.8667519688606262,
2.1216659545898438
] | 30 | pick box lid and place on box body | box body | [
0.16005443036556244,
-0.14621025323867798,
0.013000025413930416
] | 24.799999 | 248 | 73 | 24,697 | 0 |
[
52.01442337036133,
-39.72930145263672,
88.03948974609375,
10.615145683288574,
-1.4021565914154053,
28.80000114440918
] | [
52.01442337036133,
-39.72930145263672,
88.03948974609375,
10.615145683288574,
-1.4021565914154053,
29.700000762939453
] | [
0.17253530025482178,
-0.15962794423103333,
0.03981676697731018,
3.0309555530548096,
0.8667519688606262,
2.1216659545898438
] | 1 | [
0.8752138614654541,
-0.7257372140884399,
1.3188806772232056,
0.10572715103626251,
-0.044806282967329025,
0.6280117630958557
] | [
0.8752138614654541,
-0.7257372140884399,
1.3188806772232056,
0.10572715103626251,
-0.044806282967329025,
0.6476850509643555
] | release object on box body | Is the object released? | gripper_open | 0.923134 | [
52.01442337036133,
-39.72930145263672,
88.03948974609375,
10.615145683288574,
-1.4021565914154053,
30
] | [
0.17253530025482178,
-0.15962794423103333,
0.03981676697731018,
3.0309555530548096,
0.8667519688606262,
2.1216659545898438
] | 30 | pick box lid and place on box body | box body | [
0.16005443036556244,
-0.14621025323867798,
0.013000025413930416
] | 24.9 | 249 | 73 | 24,698 | 0 |
[
51.986881256103516,
-39.74605941772461,
88.03448486328125,
10.619196891784668,
-1.404893159866333,
30
] | [
51.98841857910156,
-39.769771575927734,
88.0661849975586,
10.699854850769043,
-1.4035001993179321,
30
] | [
0.17262598872184753,
-0.15959204733371735,
0.03988197073340416,
3.0307846069335938,
0.8670552968978882,
2.1219215393066406
] | 1 | [
0.8747723698616028,
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1.3187958002090454,
0.1057991161942482,
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0.6542428135871887
] | [
0.874796986579895,
-0.7264694571495056,
1.3193334341049194,
0.10723188519477844,
-0.04484848305583,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
52.33620071411133,
-84.08016967773438,
68.54866790771484,
40.48435974121094,
-1.4035001993179321,
0
] | [
0.16003789007663727,
-0.14618530869483948,
0.19998201727867126,
2.373913526535034,
1.4365359544754028,
1.489033579826355
] | 0 | pick box lid and place on box body | box body | [
0.16005443036556244,
-0.14621025323867798,
0.20000000298023224
] | 25 | 250 | 73 | 24,699 | 0 |
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