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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] | 16.4 | 164 | 87 | 29,308 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.5 | 165 | 87 | 29,309 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.6 | 166 | 87 | 29,310 | 0 |
[
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] | 0 | pick box lid and place on box body | box body | [
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] | 16.700001 | 167 | 87 | 29,311 | 0 |
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[
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0.8257364630699158,
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[
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0.8257364630699158,
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[
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0.8257364630699158,
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[
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0.8257364630699158,
76.27628326416016,
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0.2237871140241623,
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[
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0.8257364630699158,
76.27628326416016,
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0.8257364630699158,
76.27628326416016,
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[
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0.8257364630699158,
76.27628326416016,
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0.2237871140241623,
0.16995377838611603,
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[
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0.8257364630699158,
76.27628326416016,
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[
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0.8257364630699158,
76.27628326416016,
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0.16995377838611603,
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0.8257364630699158,
76.27628326416016,
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0.8257364630699158,
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] | [
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.919684 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
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] | 22.200001 | 222 | 87 | 29,366 | 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 | 0.918611 | [
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0.8257364630699158,
76.27628326416016,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2237871140241623,
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] | 22.299999 | 223 | 87 | 29,367 | 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 | 0.917967 | [
-49.1527214050293,
0.8257364630699158,
76.27628326416016,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2237871140241623,
0.16995377838611603,
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] | 22.4 | 224 | 87 | 29,368 | 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 | 0.917707 | [
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0.8257364630699158,
76.27628326416016,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2237871140241623,
0.16995377838611603,
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] | 22.5 | 225 | 87 | 29,369 | 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 | 0.917533 | [
-49.1527214050293,
0.8257364630699158,
76.27628326416016,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2237871140241623,
0.16995377838611603,
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] | 22.6 | 226 | 87 | 29,370 | 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 | 0.917441 | [
-49.1527214050293,
0.8257364630699158,
76.27628326416016,
-23.62119483947754,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2237871140241623,
0.16995377838611603,
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] | 22.700001 | 227 | 87 | 29,371 | 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 | 0.917399 | [
-49.1527214050293,
0.8257364630699158,
76.27628326416016,
-23.62119483947754,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.2237871140241623,
0.16995377838611603,
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] | 22.799999 | 228 | 87 | 29,372 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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75.58853912353516,
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0.43943876028060913,
30
] | [
0.23315662145614624,
0.1788868010044098,
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] | 30 | pick box lid and place on box body | box body | [
0.2237871140241623,
0.16995377838611603,
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] | 22.9 | 229 | 87 | 29,373 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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75.58853912353516,
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30
] | [
0.23315662145614624,
0.1788868010044098,
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] | 30 | pick box lid and place on box body | box body | [
0.2237871140241623,
0.16995377838611603,
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] | 23 | 230 | 87 | 29,374 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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75.58853912353516,
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30
] | [
0.23315662145614624,
0.1788868010044098,
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] | 30 | pick box lid and place on box body | box body | [
0.2237871140241623,
0.16995377838611603,
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] | 23.1 | 231 | 87 | 29,375 | 0 |
[
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1.107735514640808,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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-2.757791519165039,
75.58853912353516,
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0.43943876028060913,
30
] | [
0.23315662145614624,
0.1788868010044098,
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3.0661873817443848,
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] | 30 | pick box lid and place on box body | box body | [
0.2237871140241623,
0.16995377838611603,
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] | 23.200001 | 232 | 87 | 29,376 | 0 |
[
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] | 1 | [
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1.107735514640808,
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0.01303501520305872,
0.1755257397890091
] | release object on box body | Is the object released? | gripper_open | 0 | [
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-2.757791519165039,
75.58853912353516,
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0.43943876028060913,
30
] | [
0.23315662145614624,
0.1788868010044098,
0.04099888354539871,
3.0661873817443848,
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] | 30 | pick box lid and place on box body | box body | [
0.2237871140241623,
0.16995377838611603,
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] | 23.299999 | 233 | 87 | 29,377 | 0 |
[
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0.23315662145614624,
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1.107735514640808,
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1.107735514640808,
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0.01303501520305872,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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75.58853912353516,
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] | [
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0.1788868010044098,
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] | 30 | pick box lid and place on box body | box body | [
0.2237871140241623,
0.16995377838611603,
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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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] | release object on box body | Is the object released? | gripper_open | 0.884749 | [
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] | [
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0.16995377838611603,
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[
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] | [
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] | 1 | [
-0.7444905638694763,
-0.0568004734814167,
1.107735514640808,
-0.6101230382919312,
0.01303501520305872,
0.6476850509643555
] | [
-0.7444958090782166,
-0.06179076433181763,
1.1059478521347046,
-0.6101172566413879,
0.013029650785028934,
0.6542428135871887
] | release object on box body | Is the object released? | gripper_open | 0.980792 | [
-49.02702331542969,
-2.757791519165039,
75.58853912353516,
-29.68379783630371,
0.43943876028060913,
30
] | [
0.23315662145614624,
0.1788868010044098,
0.04099888354539871,
3.0661873817443848,
1.128650426864624,
-2.4804837703704834
] | 30 | pick box lid and place on box body | box body | [
0.2237871140241623,
0.16995377838611603,
0.013000024482607841
] | 24.799999 | 248 | 87 | 29,392 | 0 |
[
-49.027191162109375,
-2.8424012660980225,
75.55875396728516,
-29.669151306152344,
0.4379964768886566,
30
] | [
-49.027034759521484,
-3.2752439975738525,
75.51358032226562,
-29.685546875,
0.43926796317100525,
30
] | [
0.23329678177833557,
0.17901739478111267,
0.041427481919527054,
3.065744400024414,
1.1304166316986084,
-2.480900764465332
] | 1 | [
-0.7444932460784912,
-0.05833134055137634,
1.1072304248809814,
-0.6098628640174866,
0.012989715673029423,
0.6542428135871887
] | [
-0.7444907426834106,
-0.06616289913654327,
1.1064643859863281,
-0.6101540923118591,
0.013029650785028934,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-48.972251892089844,
-44.92355728149414,
80.66151428222656,
-30.043458938598633,
0.43926796317100525,
0
] | [
0.2237742692232132,
0.1699419766664505,
0.19999726116657257,
0.14311936497688293,
1.3257631063461304,
0.8910855054855347
] | 0 | pick box lid and place on box body | box body | [
0.2237871140241623,
0.16995377838611603,
0.20000000298023224
] | 24.9 | 249 | 87 | 29,393 | 0 |
[
-49.027191162109375,
-2.9921398162841797,
75.5396957397461,
-29.671113967895508,
0.4381103515625,
30
] | [
-49.026390075683594,
-3.7662553787231445,
75.57546997070312,
-29.689760208129883,
0.43926796317100525,
30
] | [
0.2334926724433899,
0.17919784784317017,
0.04213527590036392,
3.06514573097229,
1.1334733963012695,
-2.481441020965576
] | 1 | [
-0.7444932460784912,
-0.06104060634970665,
1.1069072484970093,
-0.6098977327346802,
0.012993291951715946,
0.6542428135871887
] | [
-0.7444804310798645,
-0.07504691183567047,
1.1075139045715332,
-0.610228955745697,
0.013029650785028934,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-48.972251892089844,
-44.92355728149414,
80.66151428222656,
-30.043458938598633,
0.43926796317100525,
0
] | [
0.2237742692232132,
0.1699419766664505,
0.19999726116657257,
0.14311936497688293,
1.3257631063461304,
0.8910855054855347
] | 0 | pick box lid and place on box body | box body | [
0.2237871140241623,
0.16995377838611603,
0.20000000298023224
] | 25 | 250 | 87 | 29,394 | 0 |
[
-49.026832580566406,
-3.259582996368408,
75.55262756347656,
-29.667118072509766,
0.43754103779792786,
30
] | [
-49.025421142578125,
-4.505537986755371,
75.66865539550781,
-29.696104049682617,
0.43926796317100525,
30
] | [
0.2337224930524826,
0.17940771579742432,
0.04321237653493881,
3.0641934871673584,
1.1380043029785156,
-2.4823179244995117
] | 1 | [
-0.7444875240325928,
-0.06587953865528107,
1.1071265935897827,
-0.6098267436027527,
0.012975410558283329,
0.6542428135871887
] | [
-0.7444648742675781,
-0.0884229764342308,
1.1090941429138184,
-0.6103416085243225,
0.013029650785028934,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.000966 | [
-48.972251892089844,
-44.92355728149414,
80.66151428222656,
-30.043458938598633,
0.43926796317100525,
0
] | [
0.2237742692232132,
0.1699419766664505,
0.19999726116657257,
0.14311936497688293,
1.3257631063461304,
0.8910855054855347
] | 0 | pick box lid and place on box body | box body | [
0.2237871140241623,
0.16995377838611603,
0.20000000298023224
] | 25.1 | 251 | 87 | 29,395 | 0 |
[
-49.02623748779297,
-3.69411563873291,
75.59600830078125,
-29.66352081298828,
0.4368882179260254,
30
] | [
-49.02417755126953,
-6.824254035949707,
75.78770446777344,
-29.704208374023438,
0.43926796317100525,
30
] | [
0.2340390831232071,
0.179696187376976,
0.04489074647426605,
3.062692880630493,
1.1450392007827759,
-2.4837005138397217
] | 1 | [
-0.7444779872894287,
-0.07374166697263718,
1.1078622341156006,
-0.6097628474235535,
0.012954906560480595,
0.6542428135871887
] | [
-0.7444449663162231,
-0.1303762048482895,
1.1111130714416504,
-0.6104856133460999,
0.013029650785028934,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.007831 | [
-48.972251892089844,
-44.92355728149414,
80.66151428222656,
-30.043458938598633,
0.43926796317100525,
0
] | [
0.2237742692232132,
0.1699419766664505,
0.19999726116657257,
0.14311936497688293,
1.3257631063461304,
0.8910855054855347
] | 0 | pick box lid and place on box body | box body | [
0.2237871140241623,
0.16995377838611603,
0.20000000298023224
] | 25.200001 | 252 | 87 | 29,396 | 0 |
[
-49.02556610107422,
-4.643514156341553,
75.68413543701172,
-29.608562469482422,
0.4313695728778839,
30
] | [
-49.022674560546875,
-7.970437049865723,
75.93218231201172,
-29.71404266357422,
0.43926796317100525,
30
] | [
0.23466923832893372,
0.18027473986148834,
0.04847075045108795,
3.0591139793395996,
1.1596750020980835,
-2.4870517253875732
] | 1 | [
-0.7444671988487244,
-0.09091942757368088,
1.1093566417694092,
-0.6087865829467773,
0.012781576253473759,
0.6542428135871887
] | [
-0.7444208860397339,
-0.15111444890499115,
1.113563060760498,
-0.6106603145599365,
0.013029650785028934,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.022722 | [
-48.972251892089844,
-44.92355728149414,
80.66151428222656,
-30.043458938598633,
0.43926796317100525,
0
] | [
0.2237742692232132,
0.1699419766664505,
0.19999726116657257,
0.14311936497688293,
1.3257631063461304,
0.8910855054855347
] | 0 | pick box lid and place on box body | box body | [
0.2237871140241623,
0.16995377838611603,
0.20000000298023224
] | 25.299999 | 253 | 87 | 29,397 | 0 |
[
-49.024417877197266,
-5.777689456939697,
75.77375030517578,
-29.64310073852539,
0.4338783919811249,
30
] | [
-49.02092742919922,
-9.298705101013184,
76.09961700439453,
-29.725440979003906,
0.43926796317100525,
29.499998092651367
] | [
0.23549583554267883,
0.18102875351905823,
0.05307473614811897,
3.0546886920928955,
1.1792136430740356,
-2.4911134243011475
] | 1 | [
-0.7444487810134888,
-0.11144040524959564,
1.1108763217926025,
-0.6094000935554504,
0.012860373593866825,
0.6542428135871887
] | [
-0.7443928718566895,
-0.17514720559120178,
1.116402506828308,
-0.6108627319335938,
0.013029650785028934,
0.6433131694793701
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.040335 | [
-48.972251892089844,
-44.92355728149414,
80.66151428222656,
-30.043458938598633,
0.43926796317100525,
0
] | [
0.2237742692232132,
0.1699419766664505,
0.19999726116657257,
0.14311936497688293,
1.3257631063461304,
0.8910855054855347
] | 0 | pick box lid and place on box body | box body | [
0.2237871140241623,
0.16995377838611603,
0.20000000298023224
] | 25.4 | 254 | 87 | 29,398 | 0 |
[
-49.022979736328125,
-7.075506687164307,
75.89026641845703,
-29.675731658935547,
0.43609875440597534,
29
] | [
-49.01898193359375,
-10.779650688171387,
76.28630065917969,
-29.738149642944336,
0.43926796317100525,
28.25
] | [
0.23632481694221497,
0.18178331851959229,
0.058293282985687256,
3.049131393432617,
1.2012027502059937,
-2.4962706565856934
] | 1 | [
-0.7444257736206055,
-0.13492220640182495,
1.1128523349761963,
-0.6099797487258911,
0.012930111028254032,
0.6323835849761963
] | [
-0.7443616390228271,
-0.20194239914417267,
1.1195683479309082,
-0.6110885143280029,
0.013029650785028934,
0.6159891486167908
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.07213 | [
-48.972251892089844,
-44.92355728149414,
80.66151428222656,
-30.043458938598633,
0.43926796317100525,
0
] | [
0.2237742692232132,
0.1699419766664505,
0.19999726116657257,
0.14311936497688293,
1.3257631063461304,
0.8910855054855347
] | 0 | pick box lid and place on box body | box body | [
0.2237871140241623,
0.16995377838611603,
0.20000000298023224
] | 25.5 | 255 | 87 | 29,399 | 0 |
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