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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] | Move to safe position | Is the robot at safe position? | move_free | 0.1266 | [
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100,
72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.161874 | [
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100,
72.29020690917969,
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] | 32.099998 | 321 | 99 | 33,501 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.200811 | [
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100,
72.29020690917969,
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] | 32.200001 | 322 | 99 | 33,502 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.243 | [
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100,
72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.28799 | [
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100,
72.29020690917969,
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] | 32.400002 | 324 | 99 | 33,504 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.335294 | [
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100,
72.29020690917969,
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] | 32.5 | 325 | 99 | 33,505 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.384395 | [
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100,
72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.434759 | [
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100,
72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.485835 | [
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72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.537063 | [
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72.29020690917969,
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[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.587883 | [
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100,
72.29020690917969,
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] | 33 | 330 | 99 | 33,510 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.637738 | [
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100,
72.29020690917969,
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] | 33.099998 | 331 | 99 | 33,511 | 0 | ||
[
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] | Move to safe position | Is the robot at safe position? | move_free | 0.686082 | [
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100,
72.29020690917969,
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[
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1.261576771736145,
1.1939717531204224,
0.001145438407547772,
0.0032817735336720943
] | [
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-1.6516331434249878,
1.375732183456421,
1.1971099376678467,
0.002676958218216896,
0.003416460705921054
] | Move to safe position | Is the robot at safe position? | move_free | 0.732385 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
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] | 0.266487 | [
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0,
0
] | 33.299999 | 333 | 99 | 33,513 | 0 | ||
[
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] | [
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0.05517243593931198,
3.104897975921631,
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] | 1 | [
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1.1980963945388794,
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0.0036228178068995476
] | Move to safe position | Is the robot at safe position? | move_free | 0.776141 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
0.168815478682518,
0.005001669749617577,
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] | 0.266487 | [
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0,
0
] | 33.400002 | 334 | 99 | 33,514 | 0 | ||
[
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] | [
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72.15923309326172,
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] | [
0.1742708683013916,
0.0018056040862575173,
0.0498654730618,
3.1058835983276367,
0.6547792553901672,
3.0965487957000732
] | 1 | [
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1.1963603496551514,
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] | [
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1.1989654302597046,
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0.0038045872934162617
] | Move to safe position | Is the robot at safe position? | move_free | 0.816869 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
0.168815478682518,
0.005001669749617577,
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0.6202637553215027,
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] | 0.266487 | [
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0,
0
] | 33.5 | 335 | 99 | 33,515 | 0 | ||
[
-3.749058961868286,
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72.07172393798828,
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0.24721534550189972
] | [
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72.20100402832031,
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] | [
0.17297017574310303,
0.002474537119269371,
0.044995442032814026,
3.1067681312561035,
0.6476603150367737,
3.1026082038879395
] | 1 | [
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] | [
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1.1997073888778687,
0.003872572910040617,
0.003959777764976025
] | Move to safe position | Is the robot at safe position? | move_free | 0.854126 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
0.168815478682518,
0.005001669749617577,
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0.6202637553215027,
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] | 0.266487 | [
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0,
0
] | 33.599998 | 336 | 99 | 33,516 | 0 | ||
[
-4.036591053009033,
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72.12459564208984,
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] | [
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72.23516082763672,
0.15660978853702545,
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] | [
0.17188282310962677,
0.0030643674544990063,
0.04062311723828316,
3.107546329498291,
0.6412848234176636,
3.108025312423706
] | 1 | [
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1.1983500719070435,
0.0031238356605172157,
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] | [
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1.487577199935913,
1.2003141641616821,
0.0041518500074744225,
0.004086688626557589
] | Move to safe position | Is the robot at safe position? | move_free | 0.887502 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
0.168815478682518,
0.005001669749617577,
0.02590331807732582,
3.1100752353668213,
0.6202637553215027,
3.1262388229370117
] | 0.266487 | [
0,
0,
0
] | 33.700001 | 337 | 99 | 33,517 | 0 | ||
[
-4.287548065185547,
-93.88433837890625,
95.22549438476562,
72.17070770263672,
0.1357475370168686,
0.2590756118297577
] | [
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98.9441909790039,
72.2613296508789,
0.1634228378534317,
0.261578768491745
] | [
0.1709940880537033,
0.0035727182403206825,
0.03680119290947914,
3.108215808868408,
0.6357205510139465,
3.112746238708496
] | 1 | [
-0.02731234021484852,
-1.705580711364746,
1.4407421350479126,
1.1991692781448364,
0.0034966031089425087,
0.004129211418330669
] | [
-0.03627493977546692,
-1.758249044418335,
1.503804326057434,
1.2007789611816406,
0.004365835804492235,
0.004183928482234478
] | Move to safe position | Is the robot at safe position? | move_free | 0.916633 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
0.168815478682518,
0.005001669749617577,
0.02590331807732582,
3.1100752353668213,
0.6202637553215027,
3.1262388229370117
] | 0.266487 | [
0,
0,
0
] | 33.799999 | 338 | 99 | 33,518 | 0 | ||
[
-4.499179840087891,
-94.98145294189453,
96.62574005126953,
72.21078491210938,
0.1456006020307541,
0.26296669244766235
] | [
-4.945006847381592,
-97.3058853149414,
99,
72.27922821044922,
0.16808241605758667,
0.26462116837501526
] | [
0.17029742896556854,
0.003997598309069872,
0.033602386713027954,
3.108762264251709,
0.6311309337615967,
3.116711378097534
] | 1 | [
-0.030704818665981293,
-1.725431203842163,
1.4644876718521118,
1.1998811960220337,
0.0038060706574469805,
0.004214267712086439
] | [
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-1.7674877643585205,
1.5047507286071777,
1.2010968923568726,
0.004512185230851173,
0.004250433295965195
] | Move to safe position | Is the robot at safe position? | move_free | 0.9411 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
0.168815478682518,
0.005001669749617577,
0.02590331807732582,
3.1100752353668213,
0.6202637553215027,
3.1262388229370117
] | 0.266487 | [
0,
0,
0
] | 33.900002 | 339 | 99 | 33,519 | 0 | ||
[
-4.669162273406982,
-95.86051940917969,
97.56690216064453,
72.24592590332031,
0.1531611829996109,
0.26543644070625305
] | [
-4.996825695037842,
-97.57492065429688,
99,
72.28865814208984,
0.17053748667240143,
0.266224205493927
] | [
0.1700482815504074,
0.004345970693975687,
0.03169681504368782,
3.1089820861816406,
0.6304603815078735,
3.119757652282715
] | 1 | [
-0.03342965245246887,
-1.7413363456726074,
1.4804481267929077,
1.2005053758621216,
0.004043535329401493,
0.004268254619091749
] | [
-0.038682129234075546,
-1.772355556488037,
1.5047507286071777,
1.2012643814086914,
0.004589294549077749,
0.004285474307835102
] | Move to safe position | Is the robot at safe position? | move_free | 0.958746 | [
-5.005324840545654,
-97.61904907226562,
100,
72.29020690917969,
0.17094017565250397,
0.26648712158203125
] | [
0.168815478682518,
0.005001669749617577,
0.02590331807732582,
3.1100752353668213,
0.6202637553215027,
3.1262388229370117
] | 0.266487 | [
0,
0,
0
] | 34 | 340 | 99 | 33,520 | 0 |
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