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 34 | frame_index int64 0 340 | episode_index int64 0 99 | index int64 0 32.7k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.227077 | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.261277 | [
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[
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.335214 | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.374961 | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.4163 | [
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[
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[
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[
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34.92409896850586,
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.590862 | [
34.430694580078125,
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34.92409896850586,
16.44378662109375,
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] | 0 | pick box lid and place on target marker | box lid | [
0.28579002618789673,
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] | 13.7 | 137 | 9 | 3,110 | 0 |
[
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34.430694580078125,
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34.92409896850586,
16.44378662109375,
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[
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34.430694580078125,
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34.92409896850586,
16.44378662109375,
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[
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.793615 | [
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.812459 | [
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] | 14.3 | 143 | 9 | 3,116 | 0 |
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] | Lift the box lid | Is the box lid lifted? | move | 0.830796 | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.848405 | [
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] | 14.5 | 145 | 9 | 3,118 | 0 |
[
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[
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[
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] | Lift the box lid | Is the box lid lifted? | move | 0.903499 | [
34.430694580078125,
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34.92409896850586,
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[
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34.430694580078125,
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34.92409896850586,
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] | 0 | pick box lid and place on target marker | box lid | [
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] | 14.9 | 149 | 9 | 3,122 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.929404 | [
34.430694580078125,
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34.92409896850586,
16.44378662109375,
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] | [
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] | 0 | pick box lid and place on target marker | box lid | [
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] | 15 | 150 | 9 | 3,123 | 0 |
[
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] | Lift the box lid | Is the box lid lifted? | move | 0.932015 | [
34.430694580078125,
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34.92409896850586,
16.44378662109375,
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] | [
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] | 0 | pick box lid and place on target marker | box lid | [
0.28579002618789673,
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] | 15.1 | 151 | 9 | 3,124 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.005077 | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
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] | 15.2 | 152 | 9 | 3,125 | 0 |
[
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[
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[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.975688 | [
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] | 0 | pick box lid and place on target marker | target marker | [
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[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.019173 | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 18.6 | 186 | 9 | 3,159 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.027959 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 18.700001 | 187 | 9 | 3,160 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.036164 | [
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] | [
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] | 18.799999 | 188 | 9 | 3,161 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.046192 | [
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] | [
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[
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 19 | 190 | 9 | 3,163 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.076846 | [
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15.560341835021973,
34.14286804199219,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
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] | 19.1 | 191 | 9 | 3,164 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.099253 | [
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15.560341835021973,
34.14286804199219,
9.126161575317383,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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0.28320300579071045,
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] | 19.200001 | 192 | 9 | 3,165 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.125269 | [
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34.14286804199219,
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[
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] | 0 | pick box lid and place on target marker | target marker | [
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[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.30481 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.349962 | [
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] | 0 | pick box lid and place on target marker | target marker | [
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[
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34.14286804199219,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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[
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34.14286804199219,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.493949 | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 20.200001 | 202 | 9 | 3,175 | 0 |
[
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 20.299999 | 203 | 9 | 3,176 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.590886 | [
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15.560341835021973,
34.14286804199219,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 20.4 | 204 | 9 | 3,177 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.638554 | [
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15.560341835021973,
34.14286804199219,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 20.5 | 205 | 9 | 3,178 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.685121 | [
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15.560341835021973,
34.14286804199219,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
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] | 20.6 | 206 | 9 | 3,179 | 0 |
[
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] | [
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.727384 | [
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
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] | 20.700001 | 207 | 9 | 3,180 | 0 |
[
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] | [
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] | [
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] | [
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.764603 | [
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34.14286804199219,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
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] | 20.799999 | 208 | 9 | 3,181 | 0 |
[
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] | [
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] | [
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.795201 | [
-78.93226623535156,
15.560341835021973,
34.14286804199219,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
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] | 20.9 | 209 | 9 | 3,182 | 0 |
[
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] | [
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] | [
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.824488 | [
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15.560341835021973,
34.14286804199219,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
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] | 21 | 210 | 9 | 3,183 | 0 |
[
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] | [
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] | [
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] | [
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.848576 | [
-78.93226623535156,
15.560341835021973,
34.14286804199219,
9.126161575317383,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
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] | 21.1 | 211 | 9 | 3,184 | 0 |
[
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] | [
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] | [
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] | [
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.870515 | [
-78.93226623535156,
15.560341835021973,
34.14286804199219,
9.126161575317383,
-0.3300067186355591,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
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] | 21.200001 | 212 | 9 | 3,185 | 0 |
[
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] | [
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] | [
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] | [
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.892451 | [
-78.93226623535156,
15.560341835021973,
34.14286804199219,
9.126161575317383,
-0.3300067186355591,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
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] | 21.299999 | 213 | 9 | 3,186 | 0 |
[
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] | [
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] | [
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] | [
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.914528 | [
-78.93226623535156,
15.560341835021973,
34.14286804199219,
9.126161575317383,
-0.3300067186355591,
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] | [
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3.078627109527588,
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] | 0 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
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] | 21.4 | 214 | 9 | 3,187 | 0 |
[
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] | [
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] | [
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] | [
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0.07200831174850464,
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.938845 | [
-78.93226623535156,
15.560341835021973,
34.14286804199219,
9.126161575317383,
-0.3300067186355591,
0
] | [
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0.2804146111011505,
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3.078627109527588,
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] | 0 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
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] | 21.5 | 215 | 9 | 3,188 | 0 |
[
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0
] | [
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] | [
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] | [
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0.2397521287202835,
0.4004197418689728,
0.07927758246660233,
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.95782 | [
-78.93226623535156,
15.560341835021973,
34.14286804199219,
9.126161575317383,
-0.3300067186355591,
0
] | [
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0.2804146111011505,
0.020472850650548935,
3.078627109527588,
0.8101176619529724,
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] | 0 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
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] | 21.6 | 216 | 9 | 3,189 | 0 |
[
-78.90003204345703,
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0
] | [
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13.632393836975098,
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] | [
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] | [
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0.2397521287202835,
0.4004197418689728,
0.07927758246660233,
-0.01113192643970251,
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.9682 | [
-78.93226623535156,
15.560341835021973,
34.14286804199219,
9.126161575317383,
-0.3300067186355591,
0
] | [
0.16136258840560913,
0.2804146111011505,
0.020472850650548935,
3.078627109527588,
0.8101176619529724,
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] | 0 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
0.004500024486333132
] | 21.700001 | 217 | 9 | 3,190 | 0 |
[
-78.91275787353516,
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0
] | [
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13.494192123413086,
34.758155822753906,
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] | [
0.14291058480739594,
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0.027964122593402863,
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] | 1 | [
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] | [
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0.23725159466266632,
0.4153274595737457,
0.09180673211812973,
-0.016615793108940125,
0.018139304593205452
] | release object on target marker | Is the object released? | gripper_open | 0 | [
-78.91275787353516,
13.494192123413086,
34.758155822753906,
9.83149242401123,
-0.5046062469482422,
30
] | [
0.14291058480739594,
0.2879412770271301,
0.027964122593402863,
3.070871353149414,
0.8241113424301147,
-2.01423978805542
] | 30 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
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] | 21.799999 | 218 | 9 | 3,191 | 0 |
[
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] | [
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13.494192123413086,
34.758155822753906,
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2.3999977111816406
] | [
0.14291058480739594,
0.2879412770271301,
0.027964122593402863,
3.070871353149414,
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] | 1 | [
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0.23725159466266632,
0.4153274595737457,
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] | [
-1.2235618829727173,
0.23725159466266632,
0.4153274595737457,
0.09180673211812973,
-0.016615793108940125,
0.050928112119436264
] | release object on target marker | Is the object released? | gripper_open | 0 | [
-78.91275787353516,
13.494192123413086,
34.758155822753906,
9.83149242401123,
-0.5046062469482422,
30
] | [
0.14291058480739594,
0.2879412770271301,
0.027964122593402863,
3.070871353149414,
0.8241113424301147,
-2.01423978805542
] | 30 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
0.004500024486333132
] | 21.9 | 219 | 9 | 3,192 | 0 |
[
-78.91275787353516,
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34.758155822753906,
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] | [
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34.758155822753906,
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] | [
0.14291058480739594,
0.2879412770271301,
0.027964122593402863,
3.070871353149414,
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] | 1 | [
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0.23725159466266632,
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] | [
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0.0837169960141182
] | release object on target marker | Is the object released? | gripper_open | 0 | [
-78.91275787353516,
13.494192123413086,
34.758155822753906,
9.83149242401123,
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30
] | [
0.14291058480739594,
0.2879412770271301,
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3.070871353149414,
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] | 30 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
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] | 22 | 220 | 9 | 3,193 | 0 |
[
-78.91275787353516,
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] | [
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13.494192123413086,
34.758155822753906,
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0.14291058480739594,
0.2879412770271301,
0.027964122593402863,
3.070871353149414,
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] | 1 | [
-1.2235618829727173,
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0.4153274595737457,
0.09180673211812973,
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] | [
-1.2235618829727173,
0.23725159466266632,
0.4153274595737457,
0.09180673211812973,
-0.016615793108940125,
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] | release object on target marker | Is the object released? | gripper_open | 0 | [
-78.91275787353516,
13.494192123413086,
34.758155822753906,
9.83149242401123,
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30
] | [
0.14291058480739594,
0.2879412770271301,
0.027964122593402863,
3.070871353149414,
0.8241113424301147,
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] | 30 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
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] | 22.1 | 221 | 9 | 3,194 | 0 |
[
-78.91275787353516,
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] | [
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] | [
0.14291058480739594,
0.2879412770271301,
0.027964122593402863,
3.070871353149414,
0.8241113424301147,
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] | 1 | [
-1.2235618829727173,
0.23725159466266632,
0.4153274595737457,
0.09180673211812973,
-0.016615793108940125,
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] | [
-1.2235618829727173,
0.23725159466266632,
0.4153274595737457,
0.09180673211812973,
-0.016615793108940125,
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] | release object on target marker | Is the object released? | gripper_open | 0 | [
-78.91275787353516,
13.494192123413086,
34.758155822753906,
9.83149242401123,
-0.5046062469482422,
30
] | [
0.14291058480739594,
0.2879412770271301,
0.027964122593402863,
3.070871353149414,
0.8241113424301147,
-2.01423978805542
] | 30 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
0.004500024486333132
] | 22.200001 | 222 | 9 | 3,195 | 0 |
[
-78.91275787353516,
13.494192123413086,
34.758155822753906,
9.83149242401123,
-0.5046062469482422,
7.5
] | [
-78.91275787353516,
13.494192123413086,
34.758155822753906,
9.83149242401123,
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] | [
0.14291058480739594,
0.2879412770271301,
0.027964122593402863,
3.070871353149414,
0.8241113424301147,
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] | 1 | [
-1.2235618829727173,
0.23725159466266632,
0.4153274595737457,
0.09180673211812973,
-0.016615793108940125,
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] | [
-1.2235618829727173,
0.23725159466266632,
0.4153274595737457,
0.09180673211812973,
-0.016615793108940125,
0.18208351731300354
] | release object on target marker | Is the object released? | gripper_open | 0 | [
-78.91275787353516,
13.494192123413086,
34.758155822753906,
9.83149242401123,
-0.5046062469482422,
30
] | [
0.14291058480739594,
0.2879412770271301,
0.027964122593402863,
3.070871353149414,
0.8241113424301147,
-2.01423978805542
] | 30 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
0.004500024486333132
] | 22.299999 | 223 | 9 | 3,196 | 0 |
[
-78.91275787353516,
13.494192123413086,
34.758155822753906,
9.83149242401123,
-0.5046062469482422,
8.999998092651367
] | [
-78.91275787353516,
13.494192123413086,
34.758155822753906,
9.83149242401123,
-0.5046062469482422,
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] | [
0.14291058480739594,
0.2879412770271301,
0.027964122593402863,
3.070871353149414,
0.8241113424301147,
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] | 1 | [
-1.2235618829727173,
0.23725159466266632,
0.4153274595737457,
0.09180673211812973,
-0.016615793108940125,
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] | [
-1.2235618829727173,
0.23725159466266632,
0.4153274595737457,
0.09180673211812973,
-0.016615793108940125,
0.2148723155260086
] | release object on target marker | Is the object released? | gripper_open | 0 | [
-78.91275787353516,
13.494192123413086,
34.758155822753906,
9.83149242401123,
-0.5046062469482422,
30
] | [
0.14291058480739594,
0.2879412770271301,
0.027964122593402863,
3.070871353149414,
0.8241113424301147,
-2.01423978805542
] | 30 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
0.004500024486333132
] | 22.4 | 224 | 9 | 3,197 | 0 |
[
-78.91275787353516,
13.494192123413086,
34.758155822753906,
9.83149242401123,
-0.5046062469482422,
10.500000953674316
] | [
-78.91275787353516,
13.494192123413086,
34.758155822753906,
9.83149242401123,
-0.5046062469482422,
11.399999618530273
] | [
0.14291058480739594,
0.2879412770271301,
0.027964122593402863,
3.070871353149414,
0.8241113424301147,
-2.01423978805542
] | 1 | [
-1.2235618829727173,
0.23725159466266632,
0.4153274595737457,
0.09180673211812973,
-0.016615793108940125,
0.22798791527748108
] | [
-1.2235618829727173,
0.23725159466266632,
0.4153274595737457,
0.09180673211812973,
-0.016615793108940125,
0.24766118824481964
] | release object on target marker | Is the object released? | gripper_open | 0 | [
-78.91275787353516,
13.494192123413086,
34.758155822753906,
9.83149242401123,
-0.5046062469482422,
30
] | [
0.14291058480739594,
0.2879412770271301,
0.027964122593402863,
3.070871353149414,
0.8241113424301147,
-2.01423978805542
] | 30 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
0.004500024486333132
] | 22.5 | 225 | 9 | 3,198 | 0 |
[
-78.91275787353516,
13.494192123413086,
34.758155822753906,
9.83149242401123,
-0.5046062469482422,
11.999999046325684
] | [
-78.91275787353516,
13.494192123413086,
34.758155822753906,
9.83149242401123,
-0.5046062469482422,
12.899998664855957
] | [
0.14291058480739594,
0.2879412770271301,
0.027964122593402863,
3.070871353149414,
0.8241113424301147,
-2.01423978805542
] | 1 | [
-1.2235618829727173,
0.23725159466266632,
0.4153274595737457,
0.09180673211812973,
-0.016615793108940125,
0.26077669858932495
] | [
-1.2235618829727173,
0.23725159466266632,
0.4153274595737457,
0.09180673211812973,
-0.016615793108940125,
0.2804500162601471
] | release object on target marker | Is the object released? | gripper_open | 0 | [
-78.91275787353516,
13.494192123413086,
34.758155822753906,
9.83149242401123,
-0.5046062469482422,
30
] | [
0.14291058480739594,
0.2879412770271301,
0.027964122593402863,
3.070871353149414,
0.8241113424301147,
-2.01423978805542
] | 30 | pick box lid and place on target marker | target marker | [
0.14180542528629303,
0.28320300579071045,
0.004500024486333132
] | 22.6 | 226 | 9 | 3,199 | 0 |
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