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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] | Move box lid above box body | Is the box lid above the box body? | move | 0.923254 | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.959733 | [
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.96617 | [
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[
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] | Move box lid above box body | Is the box lid above the box body? | move | 0.968839 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.27002453804016113,
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] | 18.299999 | 183 | 98 | 33,030 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.04001 | [
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0.27002453804016113,
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] | 18.4 | 184 | 98 | 33,031 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.044414 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 18.5 | 185 | 98 | 33,032 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.049996 | [
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 18.6 | 186 | 98 | 33,033 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.058481 | [
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] | [
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0.27002453804016113,
0.10122247040271759,
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] | 18.700001 | 187 | 98 | 33,034 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.062618 | [
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] | 0 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 18.799999 | 188 | 98 | 33,035 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.069356 | [
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] | 0 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 18.9 | 189 | 98 | 33,036 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.084163 | [
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0.258974552154541,
59.97500991821289,
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] | 0 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 19 | 190 | 98 | 33,037 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.105781 | [
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0.258974552154541,
59.97500991821289,
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] | 0 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 19.1 | 191 | 98 | 33,038 | 0 |
[
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.132975 | [
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0.258974552154541,
59.97500991821289,
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0.10122247040271759,
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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.864596 | [
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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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] | Place box lid on box body | Is the box lid placed on the box body? | move | 0.86252 | [
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0.27002453804016113,
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] | 22 | 220 | 98 | 33,067 | 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 | 0.860234 | [
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] | [
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0.27002453804016113,
0.10122247040271759,
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] | 22.1 | 221 | 98 | 33,068 | 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 | 0.858924 | [
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] | [
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0.27002453804016113,
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] | 22.200001 | 222 | 98 | 33,069 | 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 | 0.85777 | [
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59.97500991821289,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 22.299999 | 223 | 98 | 33,070 | 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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59.02827453613281,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 22.4 | 224 | 98 | 33,071 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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59.02827453613281,
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30
] | [
0.2901720106601715,
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] | 30 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 22.5 | 225 | 98 | 33,072 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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59.02827453613281,
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30
] | [
0.2901720106601715,
0.10920301079750061,
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] | 30 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 22.6 | 226 | 98 | 33,073 | 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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59.02827453613281,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 22.700001 | 227 | 98 | 33,074 | 0 |
[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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59.02827453613281,
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2.833385944366455,
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] | [
0.2901720106601715,
0.10920301079750061,
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] | 30 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 22.799999 | 228 | 98 | 33,075 | 0 |
[
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] | [
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0.08822472393512726,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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59.02827453613281,
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] | [
0.2901720106601715,
0.10920301079750061,
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] | 30 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 22.9 | 229 | 98 | 33,076 | 0 |
[
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] | [
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0.2901720106601715,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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59.02827453613281,
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] | [
0.2901720106601715,
0.10920301079750061,
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] | 30 | pick box lid and place on box body | box body | [
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0.10122247040271759,
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] | 23 | 230 | 98 | 33,077 | 0 |
[
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0.2901720106601715,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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-3.386309862136841,
59.02827453613281,
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] | [
0.2901720106601715,
0.10920301079750061,
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] | 30 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 23.1 | 231 | 98 | 33,078 | 0 |
[
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] | [
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0.2901720106601715,
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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59.02827453613281,
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2.833385944366455,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.27002453804016113,
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[
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] | release object on box body | Is the object released? | gripper_open | 0 | [
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.27002453804016113,
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] | 23.299999 | 233 | 98 | 33,080 | 0 |
[
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] | [
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] | [
0.2901720106601715,
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.028539 | [
-28.313875198364258,
-3.386309862136841,
59.02827453613281,
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] | [
0.2901720106601715,
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] | 30 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 23.4 | 234 | 98 | 33,081 | 0 |
[
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] | [
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] | [
0.2901720106601715,
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] | release object on box body | Is the object released? | gripper_open | 0.125685 | [
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59.02827453613281,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.27002453804016113,
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] | 23.5 | 235 | 98 | 33,082 | 0 |
[
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.222832 | [
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59.02827453613281,
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] | [
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] | 30 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 23.6 | 236 | 98 | 33,083 | 0 |
[
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] | [
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.319978 | [
-28.313875198364258,
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59.02827453613281,
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30
] | [
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] | 30 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 23.700001 | 237 | 98 | 33,084 | 0 |
[
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] | [
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] | [
0.2901720106601715,
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.417124 | [
-28.313875198364258,
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59.02827453613281,
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] | [
0.2901720106601715,
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] | 30 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 23.799999 | 238 | 98 | 33,085 | 0 |
[
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] | [
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0.2901720106601715,
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] | release object on box body | Is the object released? | gripper_open | 0.51427 | [
-28.313875198364258,
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59.02827453613281,
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30
] | [
0.2901720106601715,
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] | 30 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 23.9 | 239 | 98 | 33,086 | 0 |
[
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] | [
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] | [
0.2901720106601715,
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] | 1 | [
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.611416 | [
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59.02827453613281,
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30
] | [
0.2901720106601715,
0.10920301079750061,
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] | 30 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 24 | 240 | 98 | 33,087 | 0 |
[
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] | [
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] | [
0.2901720106601715,
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] | 1 | [
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] | [
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] | release object on box body | Is the object released? | gripper_open | 0.708562 | [
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59.02827453613281,
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30
] | [
0.2901720106601715,
0.10920301079750061,
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] | 30 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 24.1 | 241 | 98 | 33,088 | 0 |
[
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27
] | [
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] | [
0.2901720106601715,
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] | 1 | [
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] | [
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0.08822472393512726,
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] | release object on box body | Is the object released? | gripper_open | 0.805708 | [
-28.313875198364258,
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59.02827453613281,
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2.833385944366455,
30
] | [
0.2901720106601715,
0.10920301079750061,
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] | 30 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 24.200001 | 242 | 98 | 33,089 | 0 |
[
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] | [
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] | [
0.2901720106601715,
0.10920301079750061,
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] | 1 | [
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] | [
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0.08822472393512726,
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] | release object on box body | Is the object released? | gripper_open | 0.902854 | [
-28.313875198364258,
-3.386309862136841,
59.02827453613281,
-1.4065468311309814,
2.833385944366455,
30
] | [
0.2901720106601715,
0.10920301079750061,
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] | 30 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
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] | 24.299999 | 243 | 98 | 33,090 | 0 |
[
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30
] | [
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30
] | [
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] | [
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] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-28.501508712768555,
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] | [
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] | 0 | pick box lid and place on box body | box body | [
0.27002453804016113,
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] | 24.4 | 244 | 98 | 33,091 | 0 |
[
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30
] | [
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] | [
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] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-28.501508712768555,
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5.61410665512085,
2.7873847484588623,
0
] | [
0.2700130045413971,
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0.10122247040271759,
0.20000000298023224
] | 24.5 | 245 | 98 | 33,092 | 0 |
[
-28.330904006958008,
-3.688380241394043,
58.84121322631836,
-1.3114497661590576,
2.7877187728881836,
30
] | [
-28.33386993408203,
-4.636665344238281,
58.7935676574707,
-1.218550205230713,
2.7873847484588623,
30
] | [
0.2909174859523773,
0.10962343215942383,
0.04086622968316078,
-3.0908894538879395,
0.9258772730827332,
-2.6654343605041504
] | 1 | [
-0.4127297103404999,
-0.07363789528608322,
0.8237317204475403,
-0.10613089799880981,
0.08679039776325226,
0.6542428135871887
] | [
-0.41277727484703064,
-0.09079550951719284,
0.8229237794876099,
-0.10448067635297775,
0.08677990734577179,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0 | [
-28.501508712768555,
-50.074501037597656,
64.5447769165039,
5.61410665512085,
2.7873847484588623,
0
] | [
0.2700130045413971,
0.10122273117303848,
0.1999969631433487,
-2.140979766845703,
1.525547742843628,
-1.7250398397445679
] | 0 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
0.20000000298023224
] | 24.6 | 246 | 98 | 33,093 | 0 |
[
-28.331876754760742,
-4.017181873321533,
58.82229232788086,
-1.2716712951660156,
2.786766290664673,
30
] | [
-28.337026596069336,
-5.4929399490356445,
58.89318084716797,
-1.0899101495742798,
2.7873847484588623,
30
] | [
0.29131439328193665,
0.10980217903852463,
0.04230748489499092,
-3.090338706970215,
0.9314308762550354,
-2.6649956703186035
] | 1 | [
-0.41274532675743103,
-0.07958700507879257,
0.8234108686447144,
-0.10542429238557816,
0.08676048368215561,
0.6542428135871887
] | [
-0.41282787919044495,
-0.10628834366798401,
0.8246130347251892,
-0.10219557583332062,
0.08677990734577179,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.003152 | [
-28.501508712768555,
-50.074501037597656,
64.5447769165039,
5.61410665512085,
2.7873847484588623,
0
] | [
0.2700130045413971,
0.10122273117303848,
0.1999969631433487,
-2.140979766845703,
1.525547742843628,
-1.7250398397445679
] | 0 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
0.20000000298023224
] | 24.700001 | 247 | 98 | 33,094 | 0 |
[
-28.333662033081055,
-4.6520915031433105,
58.87876892089844,
-1.138611912727356,
2.781198263168335,
30
] | [
-28.34108543395996,
-7.968276500701904,
59.02128601074219,
-0.9244723320007324,
2.7873847484588623,
30
] | [
0.29169756174087524,
0.10998008400201797,
0.04461408779025078,
-3.0896947383880615,
0.9395894408226013,
-2.6645522117614746
] | 1 | [
-0.4127739369869232,
-0.0910746157169342,
0.8243685960769653,
-0.10306069254875183,
0.08658559620380402,
0.6542428135871887
] | [
-0.4128929376602173,
-0.1510753631591797,
0.8267854452133179,
-0.09925682097673416,
0.08677990734577179,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.012929 | [
-28.501508712768555,
-50.074501037597656,
64.5447769165039,
5.61410665512085,
2.7873847484588623,
0
] | [
0.2700130045413971,
0.10122273117303848,
0.1999969631433487,
-2.140979766845703,
1.525547742843628,
-1.7250398397445679
] | 0 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
0.20000000298023224
] | 24.799999 | 248 | 98 | 33,095 | 0 |
[
-28.336305618286133,
-5.782057285308838,
58.936309814453125,
-1.045046329498291,
2.781691551208496,
30
] | [
-28.345895767211914,
-9.273292541503906,
59.17311096191406,
-0.7284014821052551,
2.7873847484588623,
30
] | [
0.2926822602748871,
0.1104239895939827,
0.04920988529920578,
-3.087686538696289,
0.9573578834533691,
-2.6628692150115967
] | 1 | [
-0.4128163158893585,
-0.11151943355798721,
0.8253443837165833,
-0.10139863938093185,
0.08660109341144562,
0.6542428135871887
] | [
-0.41297003626823425,
-0.17468741536140442,
0.8293601274490356,
-0.09577392041683197,
0.08677990734577179,
0.6542428135871887
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.029836 | [
-28.501508712768555,
-50.074501037597656,
64.5447769165039,
5.61410665512085,
2.7873847484588623,
0
] | [
0.2700130045413971,
0.10122273117303848,
0.1999969631433487,
-2.140979766845703,
1.525547742843628,
-1.7250398397445679
] | 0 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
0.20000000298023224
] | 24.9 | 249 | 98 | 33,096 | 0 |
[
-28.339750289916992,
-7.070766448974609,
59.01682662963867,
-0.9382110238075256,
2.7843523025512695,
30
] | [
-28.3514461517334,
-10.779213905334473,
59.34830856323242,
-0.5021457672119141,
2.7873847484588623,
29.249998092651367
] | [
0.2936670780181885,
0.1108713448047638,
0.054409950971603394,
-3.0852015018463135,
0.9773622155189514,
-2.6607203483581543
] | 1 | [
-0.4128715395927429,
-0.13483643531799316,
0.8267098069190979,
-0.099500872194767,
0.08668465912342072,
0.6542428135871887
] | [
-0.4130590260028839,
-0.20193450152873993,
0.8323311805725098,
-0.09175482392311096,
0.08677990734577179,
0.6378483176231384
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.048983 | [
-28.501508712768555,
-50.074501037597656,
64.5447769165039,
5.61410665512085,
2.7873847484588623,
0
] | [
0.2700130045413971,
0.10122273117303848,
0.1999969631433487,
-2.140979766845703,
1.525547742843628,
-1.7250398397445679
] | 0 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
0.20000000298023224
] | 25 | 250 | 98 | 33,097 | 0 |
[
-28.343830108642578,
-8.430399894714355,
59.136051177978516,
-0.780501663684845,
2.785464286804199,
28.75
] | [
-28.357637405395508,
-12.458715438842773,
59.543704986572266,
-0.24981071054935455,
2.7873847484588623,
28
] | [
0.2944362163543701,
0.11122786998748779,
0.05967031791806221,
-3.082671880722046,
0.9970900416374207,
-2.658524751663208
] | 1 | [
-0.4129369258880615,
-0.15943670272827148,
0.8287316560745239,
-0.09669940173625946,
0.0867195874452591,
0.6269187927246094
] | [
-0.41315826773643494,
-0.23232223093509674,
0.8356447219848633,
-0.08727247267961502,
0.08677990734577179,
0.6105243563652039
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.081873 | [
-28.501508712768555,
-50.074501037597656,
64.5447769165039,
5.61410665512085,
2.7873847484588623,
0
] | [
0.2700130045413971,
0.10122273117303848,
0.1999969631433487,
-2.140979766845703,
1.525547742843628,
-1.7250398397445679
] | 0 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
0.20000000298023224
] | 25.1 | 251 | 98 | 33,098 | 0 |
[
-28.34882164001465,
-9.903663635253906,
59.28607177734375,
-0.5829290151596069,
2.785722494125366,
27.5
] | [
-28.36436653137207,
-14.283963203430176,
59.75605392456055,
0.024421993643045425,
2.7873847484588623,
26.749998092651367
] | [
0.29505932331085205,
0.11152519285678864,
0.06523014605045319,
-3.079911470413208,
1.0176397562026978,
-2.656106472015381
] | 1 | [
-0.4130169451236725,
-0.18609289824962616,
0.8312757015228271,
-0.09318982064723969,
0.08672769367694855,
0.5995947122573853
] | [
-0.413266122341156,
-0.2653470039367676,
0.8392457365989685,
-0.08240114152431488,
0.08677990734577179,
0.5832002758979797
] | Retreat from box body and close gripper | Is the gripper clear of the box body and closed? | move_and_close | 0.116541 | [
-28.501508712768555,
-50.074501037597656,
64.5447769165039,
5.61410665512085,
2.7873847484588623,
0
] | [
0.2700130045413971,
0.10122273117303848,
0.1999969631433487,
-2.140979766845703,
1.525547742843628,
-1.7250398397445679
] | 0 | pick box lid and place on box body | box body | [
0.27002453804016113,
0.10122247040271759,
0.20000000298023224
] | 25.200001 | 252 | 98 | 33,099 | 0 |
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