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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] | grasp box lid | Is the object grasped? | gripper_close | 0.37333 | [
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0.22972267866134644,
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] | 11.3 | 113 | 13 | 4,401 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.439997 | [
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] | 0 | pick box lid and place on target marker | box lid | [
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] | 11.4 | 114 | 13 | 4,402 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.506664 | [
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] | [
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] | 0 | pick box lid and place on target marker | box lid | [
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] | 11.5 | 115 | 13 | 4,403 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.573331 | [
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] | [
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] | 0 | pick box lid and place on target marker | box lid | [
0.22972267866134644,
0.1512286216020584,
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] | 11.6 | 116 | 13 | 4,404 | 0 |
[
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.639998 | [
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] | [
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] | 0 | pick box lid and place on target marker | box lid | [
0.22972267866134644,
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] | 11.7 | 117 | 13 | 4,405 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.706665 | [
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] | [
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] | 0 | pick box lid and place on target marker | box lid | [
0.22972267866134644,
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] | 11.8 | 118 | 13 | 4,406 | 0 |
[
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.773332 | [
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] | [
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] | 0 | pick box lid and place on target marker | box lid | [
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] | 11.9 | 119 | 13 | 4,407 | 0 |
[
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] | grasp box lid | Is the object grasped? | gripper_close | 0.839999 | [
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] | [
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] | 0 | pick box lid and place on target marker | box lid | [
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] | 12 | 120 | 13 | 4,408 | 0 |
[
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] | [
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] | [
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0.6185353994369507,
0.4994574785232544,
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] | grasp box lid | Is the object grasped? | gripper_close | 0.906666 | [
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46.741058349609375,
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] | [
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] | 0 | pick box lid and place on target marker | box lid | [
0.22972267866134644,
0.1512286216020584,
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] | 12.1 | 121 | 13 | 4,409 | 0 |
[
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] | [
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] | [
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] | 0 | [
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] | [
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] | grasp box lid | Is the object grasped? | gripper_close | 0.973333 | [
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] | [
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] | 0 | pick box lid and place on target marker | box lid | [
0.22972267866134644,
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] | 12.2 | 122 | 13 | 4,410 | 0 |
[
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0
] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.061276 | [
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] | [
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] | 0 | pick box lid and place on target marker | box lid | [
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] | 12.3 | 123 | 13 | 4,411 | 0 |
[
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0
] | [
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] | [
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] | Lift the box lid | Is the box lid lifted? | move | 0.063291 | [
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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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[
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] | [
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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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[
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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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[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.799334 | [
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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 | 0.922027 | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 18.299999 | 183 | 13 | 4,471 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.94668 | [
28.330286026000977,
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40.26629638671875,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 18.4 | 184 | 13 | 4,472 | 0 |
[
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] | Move box lid above target marker | Is the box lid above the target marker? | move | 0.966344 | [
28.330286026000977,
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40.26629638671875,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.20673727989196777,
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] | 18.5 | 185 | 13 | 4,473 | 0 |
[
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 18.6 | 186 | 13 | 4,474 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.028019 | [
28.142314910888672,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.20673727989196777,
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] | 18.700001 | 187 | 13 | 4,475 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.030012 | [
28.142314910888672,
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80.69995880126953,
28.527700424194336,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.20673727989196777,
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] | 18.799999 | 188 | 13 | 4,476 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.035798 | [
28.142314910888672,
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80.69995880126953,
28.527700424194336,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.20673727989196777,
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] | 18.9 | 189 | 13 | 4,477 | 0 |
[
26.863147735595703,
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.046001 | [
28.142314910888672,
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80.69995880126953,
28.527700424194336,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.20673727989196777,
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] | 19 | 190 | 13 | 4,478 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.063649 | [
28.142314910888672,
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80.69995880126953,
28.527700424194336,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.20673727989196777,
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] | 19.1 | 191 | 13 | 4,479 | 0 |
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[
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[
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[
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28.142314910888672,
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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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] | 19.799999 | 198 | 13 | 4,486 | 0 |
[
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28.142314910888672,
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] | 0 | pick box lid and place on target marker | target marker | [
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] | 19.9 | 199 | 13 | 4,487 | 0 |
[
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28.142314910888672,
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[
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28.142314910888672,
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80.69995880126953,
28.527700424194336,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.20673727989196777,
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] | 20.1 | 201 | 13 | 4,489 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.473426 | [
28.142314910888672,
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80.69995880126953,
28.527700424194336,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.20673727989196777,
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] | 20.200001 | 202 | 13 | 4,490 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.520588 | [
28.142314910888672,
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80.69995880126953,
28.527700424194336,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.20673727989196777,
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] | 20.299999 | 203 | 13 | 4,491 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.567949 | [
28.142314910888672,
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80.69995880126953,
28.527700424194336,
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] | [
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] | 0 | pick box lid and place on target marker | target marker | [
0.20673727989196777,
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] | 20.4 | 204 | 13 | 4,492 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.615138 | [
28.142314910888672,
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80.69995880126953,
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] | 0 | pick box lid and place on target marker | target marker | [
0.20673727989196777,
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] | 20.5 | 205 | 13 | 4,493 | 0 |
[
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.659652 | [
28.142314910888672,
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80.69995880126953,
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] | 0 | pick box lid and place on target marker | target marker | [
0.20673727989196777,
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] | 20.6 | 206 | 13 | 4,494 | 0 |
[
27.73303985595703,
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1.0525236129760742,
0.5504603385925293,
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.703493 | [
28.142314910888672,
-35.4663200378418,
80.69995880126953,
28.527700424194336,
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] | [
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0.021082501858472824,
3.0947790145874023,
0.599476158618927,
2.5662243366241455
] | 0 | pick box lid and place on target marker | target marker | [
0.20673727989196777,
-0.09069252014160156,
0.004500023555010557
] | 20.700001 | 207 | 13 | 4,495 | 0 |
[
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] | [
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1.0677419900894165,
0.5370665192604065,
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.735559 | [
28.142314910888672,
-35.4663200378418,
80.69995880126953,
28.527700424194336,
-0.6022865772247314,
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] | [
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0.021082501858472824,
3.0947790145874023,
0.599476158618927,
2.5662243366241455
] | 0 | pick box lid and place on target marker | target marker | [
0.20673727989196777,
-0.09069252014160156,
0.004500023555010557
] | 20.799999 | 208 | 13 | 4,496 | 0 |
[
27.830869674682617,
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37.823516845703125,
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0
] | [
27.933984756469727,
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34.123470306396484,
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] | [
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3.0764756202697754,
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] | [
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1.0833641290664673,
0.5233172178268433,
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] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.763682 | [
28.142314910888672,
-35.4663200378418,
80.69995880126953,
28.527700424194336,
-0.6022865772247314,
0
] | [
0.19258444011211395,
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0.021082501858472824,
3.0947790145874023,
0.599476158618927,
2.5662243366241455
] | 0 | pick box lid and place on target marker | target marker | [
0.20673727989196777,
-0.09069252014160156,
0.004500023555010557
] | 20.9 | 209 | 13 | 4,497 | 0 |
[
27.86869239807129,
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73.67974090576172,
36.78826904296875,
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0
] | [
27.963590621948242,
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33.328250885009766,
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] | [
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0.05404898151755333,
3.077854633331299,
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] | [
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1.099414348602295,
0.5091913342475891,
-0.01968376152217388,
-0.0015339808305725455
] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.789135 | [
28.142314910888672,
-35.4663200378418,
80.69995880126953,
28.527700424194336,
-0.6022865772247314,
0
] | [
0.19258444011211395,
-0.10499018430709839,
0.021082501858472824,
3.0947790145874023,
0.599476158618927,
2.5662243366241455
] | 0 | pick box lid and place on target marker | target marker | [
0.20673727989196777,
-0.09069252014160156,
0.004500023555010557
] | 21 | 210 | 13 | 4,498 | 0 |
[
27.903217315673828,
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74.56422424316406,
35.847686767578125,
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0
] | [
27.99407196044922,
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76.07228088378906,
32.509521484375,
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] | [
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0.05024039000272751,
3.0792553424835205,
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] | 0 | [
0.48870882391929626,
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1.0903650522232056,
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] | [
0.49016523361206055,
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1.1159389019012451,
0.4946478307247162,
-0.01968376152217388,
-0.0015339808305725455
] | Place box lid on target marker | Is the box lid on the target marker? | move | 0.813033 | [
28.142314910888672,
-35.4663200378418,
80.69995880126953,
28.527700424194336,
-0.6022865772247314,
0
] | [
0.19258444011211395,
-0.10499018430709839,
0.021082501858472824,
3.0947790145874023,
0.599476158618927,
2.5662243366241455
] | 0 | pick box lid and place on target marker | target marker | [
0.20673727989196777,
-0.09069252014160156,
0.004500023555010557
] | 21.1 | 211 | 13 | 4,499 | 0 |
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