observation.state list | action list | skill.type 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 stringclasses 11
values | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | timestamp float32 0 23.5 | frame_index int64 0 235 | episode_index int64 0 2 | index int64 0 706 | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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1.6390031576156616,
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0.125490203499794
] | [
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0
] | gripper_open | 0.874509 | [
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] | 0 | pick up the red block and place it on the center of the blue dish: release at blue dish | [
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] | 1 | 16.4 | 164 | 1 | 400 | 0 |
[
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0
] | gripper_open | 0.98039 | [
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] | [
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] | 0 | pick up the red block and place it on the center of the blue dish: release at blue dish | [
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0.04196629300713539,
2.79776668548584,
0.05990506336092949,
3.070175886154175
] | 1 | 16.5 | 165 | 1 | 401 | 0 |
[
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] | [
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0
] | gripper_open | 0.988232 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it on the center of the blue dish: release at blue dish | [
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] | 1 | 16.6 | 166 | 1 | 402 | 0 |
[
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] | [
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] | gripper_open | 0.988232 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it on the center of the blue dish: release at blue dish | [
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] | 1 | 16.700001 | 167 | 1 | 403 | 0 |
[
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] | [
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1.6390117406845093,
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0
] | gripper_open | 0.988232 | [
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] | [
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] | [
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0.042209725826978683,
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3.0701770782470703
] | 0 | pick up the red block and place it on the center of the blue dish: release at blue dish | [
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-0.7438294291496277,
0.042027685791254044,
2.797686815261841,
0.05994740501046181,
3.070159912109375
] | 1 | 16.799999 | 168 | 1 | 404 | 0 |
[
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0
] | [
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1.6390117406845093,
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0
] | move_to_position | 0 | [
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1.6032559871673584,
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] | [
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0,
0
] | [
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0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
-0.07527864724397659,
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0.04200820252299309,
2.7977170944213867,
0.05996236205101013,
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] | 1 | 16.9 | 169 | 1 | 405 | 0 |
[
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0
] | [
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1.6389315128326416,
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0
] | move_to_position | 0.000092 | [
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1.6032559871673584,
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-1.5538817644119263,
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0
] | [
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0,
0,
0
] | [
-0.07525047659873962,
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0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
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-0.7438451051712036,
0.04202321916818619,
2.797687292098999,
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] | 1 | 17 | 170 | 1 | 406 | 0 |
[
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] | [
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0
] | move_to_position | 0.010213 | [
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] | [
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0,
0
] | [
-0.07525047659873962,
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0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
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2.7978291511535645,
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] | 1 | 17.1 | 171 | 1 | 407 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.046044 | [
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1.6032559871673584,
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] | [
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0,
0
] | [
-0.07525047659873962,
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0.09200000017881393,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
-0.07526343315839767,
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0.04470488801598549,
2.797868490219116,
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] | 1 | 17.200001 | 172 | 1 | 408 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.100065 | [
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] | [
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0,
0
] | [
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0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
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0.04766682907938957,
2.7977936267852783,
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3.070159912109375
] | 1 | 17.299999 | 173 | 1 | 409 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.171763 | [
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] | [
0.07525047659873962,
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0,
0
] | [
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0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
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2.797711133956909,
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] | 1 | 17.4 | 174 | 1 | 410 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.25286 | [
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1.6032559871673584,
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0
] | [
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0,
0
] | [
-0.07525047659873962,
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0.09200000017881393,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
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0.05557641759514809,
2.7977423667907715,
0.05986100062727928,
3.0701522827148438
] | 1 | 17.5 | 175 | 1 | 411 | 0 |
[
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0
] | [
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1.625478744506836,
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0
] | move_to_position | 0.360689 | [
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1.6032559871673584,
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0
] | [
0.07525047659873962,
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0,
0,
0
] | [
-0.07525047659873962,
-0.7438231706619263,
0.09200000017881393,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
-0.07531468570232391,
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0.06135408952832222,
2.7977123260498047,
0.059880807995796204,
3.0701193809509277
] | 1 | 17.6 | 176 | 1 | 412 | 0 |
[
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0
] | [
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1.6206046342849731,
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0
] | move_to_position | 0.494918 | [
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0
] | [
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0,
0,
0
] | [
-0.07525047659873962,
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0.09200000017881393,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
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2.797689199447632,
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] | 1 | 17.700001 | 177 | 1 | 413 | 0 |
[
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0
] | [
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1.6160293817520142,
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2.9215502738952637,
0
] | move_to_position | 0.62985 | [
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-1.5538817644119263,
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0
] | [
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0,
0,
0
] | [
-0.07525047659873962,
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0.09200000017881393,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
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] | 1 | 17.799999 | 178 | 1 | 414 | 0 |
[
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0
] | [
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2.9215548038482666,
0
] | move_to_position | 0.746842 | [
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1.6032559871673584,
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0
] | [
0.07525047659873962,
0.7438231706619263,
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0,
0,
0
] | [
-0.07525047659873962,
-0.7438231706619263,
0.09200000017881393,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: retract after place | [
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2.797760486602783,
0.059855345636606216,
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] | 1 | 17.9 | 179 | 1 | 415 | 0 |
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[
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] | move_to_position | 0.009538 | [
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[
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[
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] | move_to_position | 0.022737 | [
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[
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[
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] | move_to_position | 0.043163 | [
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[
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[
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[
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] | [
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0,
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] | 0 | return to home after task completion | [
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0.3528957962989807,
2.7981059551239014,
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] | 1 | 23.4 | 234 | 1 | 470 | 0 |
[
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] | move_to_position | 0 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0 | 0 | 2 | 471 | 0 |
[
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] | [
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] | move_to_position | 0.000183 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.1 | 1 | 2 | 472 | 0 |
[
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] | [
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] | move_to_position | 0.011212 | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.291612833738327,
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] | 1 | 0.2 | 2 | 2 | 473 | 0 |
[
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] | [
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] | move_to_position | 0.038963 | [
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] | [
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] | [
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-0.4399999976158142,
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] | 0 | move to initial position to start the task | [
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0.2937420904636383,
2.792680263519287,
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] | 1 | 0.3 | 3 | 2 | 474 | 0 |
[
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] | [
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] | move_to_position | 0.086459 | [
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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 | [
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0.2970290184020996,
2.7928214073181152,
0.060873545706272125,
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] | 1 | 0.4 | 4 | 2 | 475 | 0 |
[
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] | [
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] | move_to_position | 0.162376 | [
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] | [
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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 | [
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0.30218246579170227,
2.792896032333374,
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] | 1 | 0.5 | 5 | 2 | 476 | 0 |
[
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] | [
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] | move_to_position | 0.263539 | [
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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 | [
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0.30889779329299927,
2.7927722930908203,
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] | 1 | 0.6 | 6 | 2 | 477 | 0 |
[
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0
] | [
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] | move_to_position | 0.383638 | [
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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 | [
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0.31662049889564514,
2.7927334308624268,
0.06081904470920563,
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] | 1 | 0.7 | 7 | 2 | 478 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.495929 | [
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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,
0,
0,
0
] | 0 | move to initial position to start the task | [
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0.3236076533794403,
2.7927098274230957,
0.06084147468209267,
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] | 1 | 0.8 | 8 | 2 | 479 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.618647 | [
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1.931422472000122,
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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 | [
0.006688679568469524,
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0.3312813937664032,
2.79286527633667,
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] | 1 | 0.9 | 9 | 2 | 480 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.734157 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
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0.33812594413757324,
2.79282546043396,
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] | 1 | 1 | 10 | 2 | 481 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.838659 | [
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] | [
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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 | [
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0.34423303604125977,
2.7927472591400146,
0.0608518123626709,
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] | 1 | 1.1 | 11 | 2 | 482 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.910848 | [
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1.931422472000122,
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] | [
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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 | [
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0.3483014404773712,
2.792821168899536,
0.06087471544742584,
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] | 1 | 1.2 | 12 | 2 | 483 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.96186 | [
-1.9005067348480225,
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1.931422472000122,
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] | [
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0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
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0.3511122763156891,
2.792748212814331,
0.06081388145685196,
3.0696184635162354
] | 1 | 1.3 | 13 | 2 | 484 | 0 |
[
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2.882791042327881,
0
] | [
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-1.896132469177246,
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2.8820745944976807,
0
] | move_to_position | 0.989972 | [
-1.9005067348480225,
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1.931422472000122,
-1.8955117464065552,
-1.5379570722579956,
2.8817875385284424,
0
] | [
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0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.00011495090438984334,
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0.35260868072509766,
2.7927865982055664,
0.060905735939741135,
3.0696403980255127
] | 1 | 1.4 | 14 | 2 | 485 | 0 |
[
-1.9003390073776245,
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1.9316123723983765,
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2.881906509399414,
0
] | [
-1.900506615638733,
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1.931422472000122,
-1.8955118656158447,
-1.5379571914672852,
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0
] | move_to_position | 0.998955 | [
-1.9005067348480225,
-1.9583464860916138,
1.931422472000122,
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2.8817875385284424,
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] | [
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0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.0000656325210002251,
-0.44000449776649475,
0.352866530418396,
2.7929670810699463,
0.06078096479177475,
3.069735527038574
] | 1 | 1.5 | 15 | 2 | 486 | 0 |
[
-1.9003466367721558,
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1.9316014051437378,
-1.8955551385879517,
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2.8818106651306152,
0
] | [
-1.9005067348480225,
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1.931422472000122,
-1.8955117464065552,
-1.5379570722579956,
2.8817875385284424,
0
] | move_to_position | 0.000018 | [
-1.8757624626159668,
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2.1790244579315186,
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-1.5473690032958984,
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0
] | [
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0,
0,
0
] | [
-0.027867956086993217,
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0.0860000029206276,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
0.00006765215221093968,
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0.35288652777671814,
2.7929863929748535,
0.060860347002744675,
3.0698153972625732
] | 1 | 1.6 | 16 | 2 | 487 | 0 |
[
-1.9002994298934937,
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0
] | [
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2.8818328380584717,
0
] | move_to_position | 0 | [
-1.8757624626159668,
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0
] | [
0.027867956086993217,
0.5560151934623718,
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0,
0
] | [
-0.027867956086993217,
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0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
0.00008214355329982936,
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0.35284823179244995,
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0.060765720903873444,
3.069810390472412
] | 1 | 1.7 | 17 | 2 | 488 | 0 |
[
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] | [
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] | move_to_position | 0.000552 | [
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] | [
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] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
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] | 1 | 1.8 | 18 | 2 | 489 | 0 |
[
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] | [
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] | move_to_position | 0.002931 | [
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] | [
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] | [
-0.027867956086993217,
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] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
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] | 1 | 1.9 | 19 | 2 | 490 | 0 |
[
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] | [
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] | move_to_position | 0.007983 | [
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] | [
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] | [
-0.027867956086993217,
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] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
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] | 1 | 2 | 20 | 2 | 491 | 0 |
[
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] | [
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] | move_to_position | 0.015357 | [
-1.8757624626159668,
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] | [
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] | [
-0.027867956086993217,
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] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.0004373790870886296,
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] | 1 | 2.1 | 21 | 2 | 492 | 0 |
[
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] | [
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] | move_to_position | 0.025858 | [
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] | [
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] | [
-0.027867956086993217,
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] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.0008181286975741386,
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] | 1 | 2.2 | 22 | 2 | 493 | 0 |
[
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] | [
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] | move_to_position | 0.039509 | [
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] | [
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0,
0
] | [
-0.027867956086993217,
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0,
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] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.0012500849552452564,
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] | 1 | 2.3 | 23 | 2 | 494 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.059693 | [
-1.8757624626159668,
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-1.5473690032958984,
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0
] | [
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0,
0
] | [
-0.027867956086993217,
-0.5560151934623718,
0.0860000029206276,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.0018758670194074512,
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0.33380383253097534,
2.792961597442627,
0.06073819100856781,
3.069831132888794
] | 1 | 2.4 | 24 | 2 | 495 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.083648 | [
-1.8757624626159668,
-1.3826076984405518,
2.1790244579315186,
-2.719238519668579,
-1.5473690032958984,
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0
] | [
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0,
0
] | [
-0.027867956086993217,
-0.5560151934623718,
0.0860000029206276,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.0026148282922804356,
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2.792910099029541,
0.06074881553649902,
3.0698533058166504
] | 1 | 2.5 | 25 | 2 | 496 | 0 |
[
-1.896318793296814,
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0
] | [
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-1.5395162105560303,
2.8860747814178467,
0
] | move_to_position | 0.111048 | [
-1.8757624626159668,
-1.3826076984405518,
2.1790244579315186,
-2.719238519668579,
-1.5473690032958984,
2.90572452545166,
0
] | [
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0,
0,
0
] | [
-0.027867956086993217,
-0.5560151934623718,
0.0860000029206276,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.0035352029372006655,
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0.3183615505695343,
2.7930185794830322,
0.060739804059267044,
3.069805860519409
] | 1 | 2.6 | 26 | 2 | 497 | 0 |
[
-1.8952449560165405,
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0
] | [
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0
] | move_to_position | 0.142666 | [
-1.8757624626159668,
-1.3826076984405518,
2.1790244579315186,
-2.719238519668579,
-1.5473690032958984,
2.90572452545166,
0
] | [
0.027867956086993217,
0.5560151934623718,
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0,
0,
0
] | [
-0.027867956086993217,
-0.5560151934623718,
0.0860000029206276,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.004534648731350899,
-0.4591425061225891,
0.3089958727359772,
2.7930335998535156,
0.06076003238558769,
3.069812536239624
] | 1 | 2.7 | 27 | 2 | 498 | 0 |
[
-1.8941086530685425,
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2.887836456298828,
0
] | [
-1.8936421871185303,
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-1.5403465032577515,
2.8882932662963867,
0
] | move_to_position | 0.178516 | [
-1.8757624626159668,
-1.3826076984405518,
2.1790244579315186,
-2.719238519668579,
-1.5473690032958984,
2.90572452545166,
0
] | [
0.027867956086993217,
0.5560151934623718,
0.0860000029206276,
0,
0,
0
] | [
-0.027867956086993217,
-0.5560151934623718,
0.0860000029206276,
0,
0,
0
] | 0 | pick up the red block and place it on the center of the blue dish: approach above red block | [
-0.0055839791893959045,
-0.4635949432849884,
0.29849228262901306,
2.7929301261901855,
0.06071912869811058,
3.0698018074035645
] | 1 | 2.8 | 28 | 2 | 499 | 0 |
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