observation.state list | action list | skill.type large_stringclasses 3
values | skill.progress float32 0 1 | skill.goal_position.joint list | skill.goal_position.world_xyzrpy list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 110
values | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | timestamp float32 0 72.3 | frame_index int64 0 723 | episode_index int64 0 299 | index int64 0 153k | task_index int64 0 2 |
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] | move_to_position | 0.973146 | [
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] | move_to_position | 0.982174 | [
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] | move_to_position | 0.991051 | [
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[
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] | 1 | 0.5 | 5 | 291 | 149,758 | 2 |
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] | move_to_position | 0.236548 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.7 | 7 | 291 | 149,760 | 2 |
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] | move_to_position | 0.333694 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.382518 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.9 | 9 | 291 | 149,762 | 2 |
[
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] | move_to_position | 0.430525 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1 | 10 | 291 | 149,763 | 2 |
[
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] | move_to_position | 0.480277 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.1 | 11 | 291 | 149,764 | 2 |
[
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] | move_to_position | 0.532416 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.2 | 12 | 291 | 149,765 | 2 |
[
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] | [
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] | move_to_position | 0.637408 | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.32892367243766785,
2.792879343032837,
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] | 1 | 1.3 | 13 | 291 | 149,766 | 2 |
[
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] | [
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] | move_to_position | 0.689377 | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.3353627324104309,
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] | 1 | 1.4 | 14 | 291 | 149,767 | 2 |
[
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] | [
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] | move_to_position | 0.741114 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.3385297358036041,
2.7929556369781494,
0.06086159497499466,
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] | 1 | 1.5 | 15 | 291 | 149,768 | 2 |
[
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] | [
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0
] | move_to_position | 0.794196 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.3417028784751892,
2.792863607406616,
0.060871802270412445,
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] | 1 | 1.6 | 16 | 291 | 149,769 | 2 |
[
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] | [
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0
] | move_to_position | 0.845866 | [
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] | [
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] | [
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0,
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] | 0 | move to initial position to start the task | [
0.002603377914056182,
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0.3446613550186157,
2.792781114578247,
0.060866523534059525,
3.0696911811828613
] | 1 | 1.7 | 17 | 291 | 149,770 | 2 |
[
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] | [
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0
] | move_to_position | 0.922014 | [
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] | [
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] | [
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-0.4399999976158142,
0.3529999852180481,
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0,
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] | 0 | move to initial position to start the task | [
0.001888633705675602,
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0.3468743562698364,
2.792860507965088,
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] | 1 | 1.8 | 18 | 291 | 149,771 | 2 |
[
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] | [
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2.8817527294158936,
0
] | move_to_position | 0.958808 | [
-1.9004724025726318,
-1.958324909210205,
1.9313952922821045,
-1.8954813480377197,
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] | [
0,
0.4399999976158142,
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0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.0005182198947295547,
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0.3513394594192505,
2.792834758758545,
0.06087349355220795,
3.069716691970825
] | 1 | 1.9 | 19 | 291 | 149,772 | 2 |
[
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0
] | [
-1.9004724025726318,
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0
] | move_to_position | 0.994695 | [
-1.9004724025726318,
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1.9313952922821045,
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] | [
0,
0.4399999976158142,
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0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.000022651616745861247,
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0.3529679775238037,
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0.06096114590764046,
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] | 1 | 2 | 20 | 291 | 149,773 | 2 |
[
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0
] | [
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0
] | move_to_position | 0 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
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0
] | [
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0,
0,
0
] | [
0.24250000715255737,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.00005789085116703063,
-0.44000276923179626,
0.35294976830482483,
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] | 1 | 2.1 | 21 | 291 | 149,774 | 2 |
[
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0
] | [
-1.3447566032409668,
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0
] | move_to_position | 0.003389 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
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] | [
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0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.00008147014159476385,
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0.35294342041015625,
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] | 1 | 2.2 | 22 | 291 | 149,775 | 2 |
[
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0
] | [
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0
] | move_to_position | 0.011083 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
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] | [
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0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.0029386121314018965,
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0.34978511929512024,
2.792870283126831,
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] | 1 | 2.3 | 23 | 291 | 149,776 | 2 |
[
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] | [
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-2.543025255203247,
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0
] | move_to_position | 0.018386 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
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] | [
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0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.004514602944254875,
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0.34804201126098633,
2.7929036617279053,
0.06079855561256409,
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] | 1 | 2.4 | 24 | 291 | 149,777 | 2 |
[
-1.8802894353866577,
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0
] | [
-1.3447566032409668,
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-2.543025255203247,
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0
] | move_to_position | 0.025693 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
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0
] | [
-0.24250000715255737,
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0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.0060693067498505116,
-0.4449703097343445,
0.3463570475578308,
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0.06085821986198425,
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] | 1 | 2.5 | 25 | 291 | 149,778 | 2 |
[
-1.8740061521530151,
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0
] | [
-1.3447566032409668,
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1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
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0
] | move_to_position | 0.033816 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
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] | [
-0.24250000715255737,
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0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.007928661070764065,
-0.44658637046813965,
0.34429672360420227,
2.7928736209869385,
0.06087879091501236,
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] | 1 | 2.6 | 26 | 291 | 149,779 | 2 |
[
-1.859953761100769,
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0
] | [
-1.3447566032409668,
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1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
3.4077508449554443,
0
] | move_to_position | 0.052444 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
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0
] | [
-0.24250000715255737,
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0,
0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.009850041009485722,
-0.44831469655036926,
0.34216421842575073,
2.7928519248962402,
0.06088940426707268,
3.069772720336914
] | 1 | 2.7 | 27 | 291 | 149,780 | 2 |
[
-1.8528636693954468,
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0
] | [
-1.3447566032409668,
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1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
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0
] | move_to_position | 0.061922 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
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0
] | [
-0.24250000715255737,
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0,
0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.01374685950577259,
-0.4517570436000824,
0.33772900700569153,
2.7930047512054443,
0.06086894869804382,
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] | 1 | 2.8 | 28 | 291 | 149,781 | 2 |
[
-1.8459800481796265,
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0
] | [
-1.3447566032409668,
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1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
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0
] | move_to_position | 0.071127 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
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0
] | [
-0.24250000715255737,
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0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.01576407067477703,
-0.45341095328330994,
0.3354879915714264,
2.793098211288452,
0.06080679967999458,
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] | 1 | 2.9 | 29 | 291 | 149,782 | 2 |
[
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0
] | [
-1.3447566032409668,
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-2.543025255203247,
-1.7266592979431152,
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0
] | move_to_position | 0.080351 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
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0
] | [
-0.24250000715255737,
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0,
0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.01778440922498703,
-0.45504483580589294,
0.3333001136779785,
2.79307222366333,
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] | 1 | 3 | 30 | 291 | 149,783 | 2 |
[
-1.8318270444869995,
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0
] | [
-1.3447566032409668,
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1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
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0
] | move_to_position | 0.089716 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
3.4077508449554443,
0
] | [
-0.24250000715255737,
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0,
0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.01986057497560978,
-0.45668694376945496,
0.3310776352882385,
2.793003797531128,
0.0609041303396225,
3.0697243213653564
] | 1 | 3.1 | 31 | 291 | 149,784 | 2 |
[
-1.8179272413253784,
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-1.9845973253250122,
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2.9593565464019775,
0
] | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
3.4077508449554443,
0
] | move_to_position | 0.108009 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
3.4077508449554443,
0
] | [
-0.24250000715255737,
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0,
0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.021973824128508568,
-0.4582463502883911,
0.32883238792419434,
2.792999029159546,
0.0608707033097744,
3.0697927474975586
] | 1 | 3.2 | 32 | 291 | 149,785 | 2 |
[
-1.8108261823654175,
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-1.9923392534255981,
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2.9660861492156982,
0
] | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
3.4077508449554443,
0
] | move_to_position | 0.117334 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
3.4077508449554443,
0
] | [
-0.24250000715255737,
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0,
0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.02623612806200981,
-0.4613937735557556,
0.3243098258972168,
2.7929203510284424,
0.06088311970233917,
3.069756507873535
] | 1 | 3.3 | 33 | 291 | 149,786 | 2 |
[
-1.8040202856063843,
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-1.9999381303787231,
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2.97238826751709,
0
] | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
3.4077508449554443,
0
] | move_to_position | 0.126676 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
3.4077508449554443,
0
] | [
-0.24250000715255737,
0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.028217151761054993,
-0.46331390738487244,
0.3220503628253937,
2.792982339859009,
0.06082656607031822,
3.0697319507598877
] | 1 | 3.4 | 34 | 291 | 149,787 | 2 |
[
-1.797338843345642,
-1.88143789768219,
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-2.007805109024048,
-1.5737417936325073,
2.978647470474243,
0
] | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
3.4077508449554443,
0
] | move_to_position | 0.136402 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
3.4077508449554443,
0
] | [
-0.24250000715255737,
0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.030162500217556953,
-0.46522560715675354,
0.31975552439689636,
2.7931435108184814,
0.06080586835741997,
3.069788932800293
] | 1 | 3.5 | 35 | 291 | 149,788 | 2 |
[
-1.790770411491394,
-1.875099778175354,
1.9673861265182495,
-2.015530824661255,
-1.576029658317566,
2.984814405441284,
0
] | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
3.4077508449554443,
0
] | move_to_position | 0.145922 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
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0
] | [
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0,
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] | [
0.24250000715255737,
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0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
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] | 1 | 3.6 | 36 | 291 | 149,789 | 2 |
[
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] | [
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0
] | move_to_position | 0.16512 | [
-1.3447566032409668,
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] | [
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] | [
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0,
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] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
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] | 1 | 3.7 | 37 | 291 | 149,790 | 2 |
[
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] | [
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] | move_to_position | 0.174534 | [
-1.3447566032409668,
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] | [
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] | [
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0,
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] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
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0.31054720282554626,
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] | 1 | 3.8 | 38 | 291 | 149,791 | 2 |
[
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] | [
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0
] | move_to_position | 0.184049 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
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] | [
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] | [
0.24250000715255737,
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0,
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] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.040409620851278305,
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2.793365716934204,
0.060866087675094604,
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] | 1 | 3.9 | 39 | 291 | 149,792 | 2 |
[
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] | [
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0
] | move_to_position | 0.193627 | [
-1.3447566032409668,
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1.7674849033355713,
-2.543025255203247,
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] | [
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] | [
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0,
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] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.042552657425403595,
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0.3059452772140503,
2.793327808380127,
0.06079369783401489,
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] | 1 | 4 | 40 | 291 | 149,793 | 2 |
[
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0
] | [
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0
] | move_to_position | 0.203038 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
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] | [
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0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
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0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.04473136365413666,
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0.060821689665317535,
3.0696940422058105
] | 1 | 4.1 | 41 | 291 | 149,794 | 2 |
[
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0
] | [
-1.3447566032409668,
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1.7674849033355713,
-2.543025255203247,
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3.4077508449554443,
0
] | move_to_position | 0.221987 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
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0
] | [
-0.24250000715255737,
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0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.0469348318874836,
-0.47964292764663696,
0.30120763182640076,
2.7932519912719727,
0.06081029027700424,
3.0697574615478516
] | 1 | 4.2 | 42 | 291 | 149,795 | 2 |
[
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1.9806627035140991,
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3.040719985961914,
0
] | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
3.4077508449554443,
0
] | move_to_position | 0.231355 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
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0
] | [
-0.24250000715255737,
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0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.0514085553586483,
-0.4829353392124176,
0.2964942455291748,
2.7931160926818848,
0.060804519802331924,
3.0698130130767822
] | 1 | 4.3 | 43 | 291 | 149,796 | 2 |
[
-1.7247947454452515,
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1.982153296470642,
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3.0469071865081787,
0
] | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
3.4077508449554443,
0
] | move_to_position | 0.240618 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
3.4077508449554443,
0
] | [
-0.24250000715255737,
0.6377000212669373,
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0,
0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.053669143468141556,
-0.4845539629459381,
0.29407089948654175,
2.793036937713623,
0.060856230556964874,
3.0697009563446045
] | 1 | 4.4 | 44 | 291 | 149,797 | 2 |
[
-1.7181018590927124,
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1.9836739301681519,
-2.100804090499878,
-1.601261019706726,
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0
] | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
3.4077508449554443,
0
] | move_to_position | 0.250118 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
3.4077508449554443,
0
] | [
-0.24250000715255737,
0.6377000212669373,
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0,
0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.05596970021724701,
-0.4861469566822052,
0.2916378676891327,
2.7930405139923096,
0.060844819992780685,
3.069739580154419
] | 1 | 4.5 | 45 | 291 | 149,798 | 2 |
[
-1.7115172147750854,
-1.798514485359192,
1.9851454496383667,
-2.10856556892395,
-1.6035236120224,
3.0593690872192383,
0
] | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
3.4077508449554443,
0
] | move_to_position | 0.25938 | [
-1.3447566032409668,
-1.112700343132019,
1.7674849033355713,
-2.543025255203247,
-1.7266592979431152,
3.4077508449554443,
0
] | [
-0.24250000715255737,
0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | [
0.24250000715255737,
-0.6377000212669373,
0.08799999952316284,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.05838583782315254,
-0.48771926760673523,
0.28920620679855347,
2.792921304702759,
0.060792699456214905,
3.069798231124878
] | 1 | 4.6 | 46 | 291 | 149,799 | 2 |
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