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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] | [
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0,
0
] | [
0,
-0.4399999976158142,
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0,
0,
0
] | 0 | move to initial position to start the task | [
0.0000047142175390035845,
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0.3546518385410309,
3.1413848400115967,
0.00010789740190375596,
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] | 1 | 1.2 | 12 | 295 | 151,171 | 2 |
[
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] | move_to_position | 0.256026 | [
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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 | [
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0.35444340109825134,
3.141479015350342,
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] | 1 | 1.3 | 13 | 295 | 151,172 | 2 |
[
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] | [
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0
] | move_to_position | 0.337836 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
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0,
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] | 0 | move to initial position to start the task | [
0.00000450222705694614,
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0.3541589379310608,
3.1414244174957275,
0.00007968527643242851,
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] | 1 | 1.4 | 14 | 295 | 151,173 | 2 |
[
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] | [
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0
] | move_to_position | 0.424243 | [
-1.8805488348007202,
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1.647924780845642,
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] | [
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0.4399999976158142,
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0,
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] | [
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-0.4399999976158142,
0.3529999852180481,
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0,
0
] | 0 | move to initial position to start the task | [
0.000006873727215861436,
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0.3539767265319824,
3.1414783000946045,
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] | 1 | 1.5 | 15 | 295 | 151,174 | 2 |
[
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] | [
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0
] | move_to_position | 0.507089 | [
-1.8805488348007202,
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1.647924780845642,
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] | [
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0.4399999976158142,
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0,
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] | [
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-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
0.000008865739800967276,
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0.3538314998149872,
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] | 1 | 1.6 | 16 | 295 | 151,175 | 2 |
[
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] | [
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0
] | move_to_position | 0.591802 | [
-1.8805488348007202,
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] | [
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0.4399999976158142,
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0,
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] | [
0,
-0.4399999976158142,
0.3529999852180481,
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0,
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] | 0 | move to initial position to start the task | [
0.000005475890247907955,
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0.3536756634712219,
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] | 1 | 1.7 | 17 | 295 | 151,176 | 2 |
[
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] | [
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0
] | move_to_position | 0.763621 | [
-1.8805488348007202,
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] | [
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0.4399999976158142,
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0,
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] | [
0,
-0.4399999976158142,
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0,
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] | 0 | move to initial position to start the task | [
0.000002860353561118245,
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0.35352814197540283,
3.141423463821411,
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] | 1 | 1.8 | 18 | 295 | 151,177 | 2 |
[
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] | [
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0
] | move_to_position | 0.848591 | [
-1.8805488348007202,
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] | [
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0.4399999976158142,
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0,
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] | [
0,
-0.4399999976158142,
0.3529999852180481,
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0,
0
] | 0 | move to initial position to start the task | [
-0.000005440199402073631,
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0.3532259464263916,
3.1414291858673096,
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] | 1 | 1.9 | 19 | 295 | 151,178 | 2 |
[
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] | [
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0
] | move_to_position | 0.923258 | [
-1.8805488348007202,
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1.647924780845642,
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] | [
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0.4399999976158142,
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0,
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] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
6.295604748629557e-7,
-0.4400235414505005,
0.3530653715133667,
3.14141583442688,
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] | 1 | 2 | 20 | 295 | 151,179 | 2 |
[
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] | [
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] | move_to_position | 0 | [
-1.6992106437683105,
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1.4817819595336914,
-2.038036823272705,
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] | [
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0,
0
] | [
0.04699999839067459,
-0.6862999796867371,
0.0820000022649765,
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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 | [
0.000013057099749858025,
-0.44000518321990967,
0.3530043661594391,
3.1414384841918945,
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] | 1 | 2.1 | 21 | 295 | 151,180 | 2 |
[
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] | [
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0
] | move_to_position | 0.00171 | [
-1.6992106437683105,
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1.4817819595336914,
-2.038036823272705,
-1.5707550048828125,
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] | [
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0,
0
] | [
0.04699999839067459,
-0.6862999796867371,
0.0820000022649765,
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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 | [
0.000002331348923689802,
-0.44001176953315735,
0.3530164659023285,
3.141408920288086,
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] | 1 | 2.2 | 22 | 295 | 151,181 | 2 |
[
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0
] | [
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0
] | move_to_position | 0.00796 | [
-1.6992106437683105,
-1.013748049736023,
1.4817819595336914,
-2.038036823272705,
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] | [
-0.04699999839067459,
0.6862999796867371,
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0,
0
] | [
0.04699999839067459,
-0.6862999796867371,
0.0820000022649765,
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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 | [
0.0004310256626922637,
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3.14137864112854,
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] | 1 | 2.3 | 23 | 295 | 151,182 | 2 |
[
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] | [
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-2.038036823272705,
-1.5707550048828125,
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0
] | move_to_position | 0.014242 | [
-1.6992106437683105,
-1.013748049736023,
1.4817819595336914,
-2.038036823272705,
-1.5707550048828125,
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] | [
-0.04699999839067459,
0.6862999796867371,
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0,
0
] | [
0.04699999839067459,
-0.6862999796867371,
0.0820000022649765,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.0007396726869046688,
-0.4442500174045563,
0.34838083386421204,
3.141434669494629,
0.00015256312326528132,
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] | 1 | 2.4 | 24 | 295 | 151,183 | 2 |
[
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] | [
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-2.038036823272705,
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0
] | move_to_position | 0.020483 | [
-1.6992106437683105,
-1.013748049736023,
1.4817819595336914,
-2.038036823272705,
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] | [
-0.04699999839067459,
0.6862999796867371,
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0,
0
] | [
0.04699999839067459,
-0.6862999796867371,
0.0820000022649765,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.0010402256157249212,
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0.3466266095638275,
3.141529083251953,
0.00011185832408955321,
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] | 1 | 2.5 | 25 | 295 | 151,184 | 2 |
[
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0
] | [
-1.6992106437683105,
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-2.038036823272705,
-1.5707550048828125,
3.0171849727630615,
0
] | move_to_position | 0.026574 | [
-1.6992106437683105,
-1.013748049736023,
1.4817819595336914,
-2.038036823272705,
-1.5707550048828125,
3.0171849727630615,
0
] | [
-0.04699999839067459,
0.6862999796867371,
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0,
0
] | [
0.04699999839067459,
-0.6862999796867371,
0.0820000022649765,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.0013788285432383418,
-0.44736796617507935,
0.34489303827285767,
3.1415038108825684,
0.0001005802332656458,
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] | 1 | 2.6 | 26 | 295 | 151,185 | 2 |
[
-1.8687790632247925,
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0
] | [
-1.6992106437683105,
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1.4817819595336914,
-2.038036823272705,
-1.5707550048828125,
3.0171849727630615,
0
] | move_to_position | 0.041789 | [
-1.6992106437683105,
-1.013748049736023,
1.4817819595336914,
-2.038036823272705,
-1.5707550048828125,
3.0171849727630615,
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] | [
-0.04699999839067459,
0.6862999796867371,
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0,
0,
0
] | [
0.04699999839067459,
-0.6862999796867371,
0.0820000022649765,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.001701993984170258,
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0.3428722620010376,
3.141387939453125,
0.000129304185975343,
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] | 1 | 2.7 | 27 | 295 | 151,186 | 2 |
[
-1.8665236234664917,
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-1.5189083814620972,
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0
] | [
-1.6992106437683105,
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-2.038036823272705,
-1.5707550048828125,
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0
] | move_to_position | 0.050051 | [
-1.6992106437683105,
-1.013748049736023,
1.4817819595336914,
-2.038036823272705,
-1.5707550048828125,
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0
] | [
-0.04699999839067459,
0.6862999796867371,
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0,
0,
0
] | [
0.04699999839067459,
-0.6862999796867371,
0.0820000022649765,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.002383211860433221,
-0.45359668135643005,
0.3383851945400238,
3.1413893699645996,
0.0001853307185228914,
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] | 1 | 2.8 | 28 | 295 | 151,187 | 2 |
[
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0
] | [
-1.6992106437683105,
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-2.038036823272705,
-1.5707550048828125,
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0
] | move_to_position | 0.058333 | [
-1.6992106437683105,
-1.013748049736023,
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-2.038036823272705,
-1.5707550048828125,
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0
] | [
-0.04699999839067459,
0.6862999796867371,
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0,
0,
0
] | [
0.04699999839067459,
-0.6862999796867371,
0.0820000022649765,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.002727240789681673,
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0.33606579899787903,
3.1414055824279785,
0.0001312456006417051,
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] | 1 | 2.9 | 29 | 295 | 151,188 | 2 |
[
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] | move_to_position | 0.066686 | [
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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 | 30 | 295 | 151,189 | 2 |
[
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] | move_to_position | 0.074975 | [
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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 | 3.1 | 31 | 295 | 151,190 | 2 |
[
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] | [
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] | move_to_position | 0.091418 | [
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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 | 3.2 | 32 | 295 | 151,191 | 2 |
[
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] | [
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] | move_to_position | 0.099601 | [
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] | [
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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 | 3.3 | 33 | 295 | 151,192 | 2 |
[
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] | move_to_position | 0.107744 | [
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] | [
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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 | 3.4 | 34 | 295 | 151,193 | 2 |
[
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] | [
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] | move_to_position | 0.115953 | [
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] | [
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] | [
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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 | 3.5 | 35 | 295 | 151,194 | 2 |
[
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] | [
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0
] | move_to_position | 0.124117 | [
-1.6992106437683105,
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] | [
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] | [
0.04699999839067459,
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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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3.1413612365722656,
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] | 1 | 3.6 | 36 | 295 | 151,195 | 2 |
[
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0
] | [
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0
] | move_to_position | 0.142774 | [
-1.6992106437683105,
-1.013748049736023,
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] | [
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] | [
0.04699999839067459,
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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 | 295 | 151,196 | 2 |
[
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0
] | [
-1.6992106437683105,
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-1.5707550048828125,
3.0171849727630615,
0
] | move_to_position | 0.152077 | [
-1.6992106437683105,
-1.013748049736023,
1.4817819595336914,
-2.038036823272705,
-1.5707550048828125,
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0
] | [
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] | [
0.04699999839067459,
-0.6862999796867371,
0.0820000022649765,
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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 | [
0.0071735079400241375,
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0.3100619614124298,
3.1413462162017822,
0.0001560743257869035,
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] | 1 | 3.8 | 38 | 295 | 151,197 | 2 |
[
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0
] | [
-1.6992106437683105,
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-1.5707550048828125,
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0
] | move_to_position | 0.161434 | [
-1.6992106437683105,
-1.013748049736023,
1.4817819595336914,
-2.038036823272705,
-1.5707550048828125,
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0
] | [
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0,
0
] | [
0.04699999839067459,
-0.6862999796867371,
0.0820000022649765,
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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 | [
0.007539213169366121,
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0.3075058162212372,
3.1413657665252686,
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] | 1 | 3.9 | 39 | 295 | 151,198 | 2 |
[
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2.8799874782562256,
0
] | [
-1.6992106437683105,
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-2.038036823272705,
-1.5707550048828125,
3.0171849727630615,
0
] | move_to_position | 0.170892 | [
-1.6992106437683105,
-1.013748049736023,
1.4817819595336914,
-2.038036823272705,
-1.5707550048828125,
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0
] | [
-0.04699999839067459,
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0,
0
] | [
0.04699999839067459,
-0.6862999796867371,
0.0820000022649765,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.007936540991067886,
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0.30497249960899353,
3.1414551734924316,
0.00011808556882897392,
3.1414542198181152
] | 1 | 4 | 40 | 295 | 151,199 | 2 |
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