observation.state listlengths 7 7 | action listlengths 7 7 | skill.type large_stringclasses 4
values | skill.progress float32 0 1 | skill.goal_position.joint listlengths 7 7 | skill.goal_position.world_xyzrpy listlengths 6 6 | skill.goal_position.robot_xyzrpy listlengths 6 6 | skill.goal_position.gripper float32 0 1 | skill.natural_language large_stringclasses 61
values | observation.ee_pos.robot_xyzrpy listlengths 6 6 | observation.gripper_binary float32 0 1 | timestamp float32 0 46.1 | frame_index int64 0 461 | episode_index int64 0 24 | index int64 0 10.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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] | move_to_position | 0.637797 | [
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] | [
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0,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 33.5 | 335 | 2 | 1,200 | 0 |
[
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] | move_to_position | 0.741268 | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 33.599998 | 336 | 2 | 1,201 | 0 |
[
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] | [
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] | move_to_position | 0.827494 | [
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] | [
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] | [
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0,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 33.700001 | 337 | 2 | 1,202 | 0 |
[
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] | [
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] | move_to_position | 0.9061 | [
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] | [
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] | [
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 33.799999 | 338 | 2 | 1,203 | 0 |
[
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] | [
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] | move_to_position | 0.962599 | [
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] | [
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] | [
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0,
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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 33.900002 | 339 | 2 | 1,204 | 0 |
[
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] | [
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] | move_to_position | 0.992144 | [
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] | [
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0,
0
] | [
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 34 | 340 | 2 | 1,205 | 0 |
[
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] | [
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1
] | move_to_position | 0.997761 | [
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] | [
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0,
0
] | [
-0.09543830901384354,
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0,
0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 34.099998 | 341 | 2 | 1,206 | 0 |
[
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] | [
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] | gripper_open | 0 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 0 | 34.200001 | 342 | 2 | 1,207 | 0 |
[
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] | gripper_open | 0.14902 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 0 | 34.299999 | 343 | 2 | 1,208 | 0 |
[
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] | [
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] | gripper_open | 0.172549 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 0 | 34.400002 | 344 | 2 | 1,209 | 0 |
[
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] | [
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] | gripper_open | 0.286274 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 0 | 34.5 | 345 | 2 | 1,210 | 0 |
[
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] | [
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] | gripper_open | 0.415686 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 0 | 34.599998 | 346 | 2 | 1,211 | 0 |
[
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] | [
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] | gripper_open | 0.541176 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 1 | 34.700001 | 347 | 2 | 1,212 | 0 |
[
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] | [
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] | gripper_open | 0.662745 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 1 | 34.799999 | 348 | 2 | 1,213 | 0 |
[
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] | [
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] | gripper_open | 0.784314 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 1 | 34.900002 | 349 | 2 | 1,214 | 0 |
[
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] | [
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0
] | gripper_open | 0.909803 | [
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[
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] | gripper_open | 0.988231 | [
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] | 1 | 35.099998 | 351 | 2 | 1,216 | 0 |
[
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] | gripper_open | 0.988232 | [
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] | 1 | 35.200001 | 352 | 2 | 1,217 | 0 |
[
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] | gripper_open | 0.988232 | [
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] | 1 | 35.299999 | 353 | 2 | 1,218 | 0 |
[
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] | move_to_position | 0 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 35.400002 | 354 | 2 | 1,219 | 0 |
[
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] | [
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] | move_to_position | 0.00017 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 35.5 | 355 | 2 | 1,220 | 0 |
[
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] | [
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] | move_to_position | 0.013376 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 35.599998 | 356 | 2 | 1,221 | 0 |
[
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] | [
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] | move_to_position | 0.049943 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 35.700001 | 357 | 2 | 1,222 | 0 |
[
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] | move_to_position | 0.10695 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 35.799999 | 358 | 2 | 1,223 | 0 |
[
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] | move_to_position | 0.178194 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 35.900002 | 359 | 2 | 1,224 | 0 |
[
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] | [
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] | move_to_position | 0.258317 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 36 | 360 | 2 | 1,225 | 0 |
[
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] | [
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] | move_to_position | 0.369343 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 36.099998 | 361 | 2 | 1,226 | 0 |
[
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] | [
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] | move_to_position | 0.50298 | [
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] | [
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] | [
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 36.200001 | 362 | 2 | 1,227 | 0 |
[
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] | [
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] | move_to_position | 0.637362 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 36.299999 | 363 | 2 | 1,228 | 0 |
[
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] | [
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] | move_to_position | 0.750517 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 36.400002 | 364 | 2 | 1,229 | 0 |
[
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] | [
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] | move_to_position | 0.83762 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 36.5 | 365 | 2 | 1,230 | 0 |
[
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] | [
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] | move_to_position | 0.899206 | [
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] | [
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] | move_to_position | 0.080069 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
0.000008988181434688158,
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] | 1 | 0.6 | 6 | 3 | 1,285 | 0 |
[
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] | [
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] | move_to_position | 0.532916 | [
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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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] | 1 | 0.7 | 7 | 3 | 1,286 | 0 |
[
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] | [
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] | move_to_position | 0.077671 | [
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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 | [
-0.000001552535422888468,
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] | 1 | 0.8 | 8 | 3 | 1,287 | 0 |
[
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] | [
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] | move_to_position | 0.263594 | [
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] | [
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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 | [
-0.0000034450984003342455,
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] | 1 | 0.9 | 9 | 3 | 1,288 | 0 |
[
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] | [
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] | move_to_position | 0.150068 | [
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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 | [
-0.0000019755636913032504,
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] | 1 | 1 | 10 | 3 | 1,289 | 0 |
[
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] | [
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] | move_to_position | 0.438413 | [
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] | [
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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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] | 1 | 1.1 | 11 | 3 | 1,290 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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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 | [
0.000007758584615658037,
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] | 1 | 1.2 | 12 | 3 | 1,291 | 0 |
[
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] | [
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0
] | move_to_position | 0.344218 | [
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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 | [
0.00001328735743300058,
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0.3529759645462036,
2.795104742050171,
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] | 1 | 1.3 | 13 | 3 | 1,292 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.238568 | [
-1.8998621702194214,
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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 | [
-9.132459126703907e-7,
-0.4400012493133545,
0.352973997592926,
2.7951149940490723,
0.060950618237257004,
3.0693724155426025
] | 1 | 1.4 | 14 | 3 | 1,293 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.320153 | [
-1.8998621702194214,
-1.9569259881973267,
1.9296058416366577,
-1.892914891242981,
-1.5389870405197144,
2.8825507164001465,
0
] | [
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 | [
-0.000012183097169327084,
-0.4399886429309845,
0.35297921299934387,
2.7950897216796875,
0.06098772957921028,
3.0693182945251465
] | 1 | 1.5 | 15 | 3 | 1,294 | 0 |
[
-1.899865984916687,
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0
] | [
-1.8998621702194214,
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1.9296058416366577,
-1.892914891242981,
-1.5389870405197144,
2.8825507164001465,
0
] | move_to_position | 0.000018 | [
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-2.3977787494659424,
-1.7216581106185913,
3.393946647644043,
0
] | [
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0,
0,
0
] | [
0.24625612795352936,
-0.6968010067939758,
0.1215563416481018,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
-0.0000015317134511860786,
-0.43999820947647095,
0.3529811501502991,
2.795098304748535,
0.060962457209825516,
3.0693602561950684
] | 1 | 1.6 | 16 | 3 | 1,295 | 0 |
[
-1.8998464345932007,
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-1.539014220237732,
2.8825669288635254,
0
] | [
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-1.8929409980773926,
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2.882554769515991,
0
] | move_to_position | 0.000024 | [
-1.3597524166107178,
-1.044048547744751,
1.5535964965820312,
-2.3977787494659424,
-1.7216581106185913,
3.393946647644043,
0
] | [
-0.24625612795352936,
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0.1215563416481018,
0,
0,
0
] | [
0.24625612795352936,
-0.6968010067939758,
0.1215563416481018,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0000036003475543111563,
-0.44000664353370667,
0.35298535227775574,
2.79508638381958,
0.06095924973487854,
3.0693695545196533
] | 1 | 1.7 | 17 | 3 | 1,296 | 0 |
[
-1.8997262716293335,
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-1.5390108823776245,
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0
] | [
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-1.8934205770492554,
-1.5391558408737183,
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0
] | move_to_position | 0.000172 | [
-1.3597524166107178,
-1.044048547744751,
1.5535964965820312,
-2.3977787494659424,
-1.7216581106185913,
3.393946647644043,
0
] | [
-0.24625612795352936,
0.6968010067939758,
0.1215563416481018,
0,
0,
0
] | [
0.24625612795352936,
-0.6968010067939758,
0.1215563416481018,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.00006685075641144067,
-0.44006335735321045,
0.35297998785972595,
2.7949094772338867,
0.06097644567489624,
3.0693678855895996
] | 1 | 1.8 | 18 | 3 | 1,297 | 0 |
[
-1.8988536596298218,
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2.8834421634674072,
0
] | [
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2.8840625286102295,
0
] | move_to_position | 0.001082 | [
-1.3597524166107178,
-1.044048547744751,
1.5535964965820312,
-2.3977787494659424,
-1.7216581106185913,
3.393946647644043,
0
] | [
-0.24625612795352936,
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0.1215563416481018,
0,
0,
0
] | [
0.24625612795352936,
-0.6968010067939758,
0.1215563416481018,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0003424242604523897,
-0.44027477502822876,
0.3527604341506958,
2.7949132919311523,
0.061029985547065735,
3.0694692134857178
] | 1 | 1.9 | 19 | 3 | 1,298 | 0 |
[
-1.8972548246383667,
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1.9302834272384644,
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2.884993076324463,
0
] | [
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-1.8961403369903564,
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2.885751485824585,
0
] | move_to_position | 0.002942 | [
-1.3597524166107178,
-1.044048547744751,
1.5535964965820312,
-2.3977787494659424,
-1.7216581106185913,
3.393946647644043,
0
] | [
-0.24625612795352936,
0.6968010067939758,
0.1215563416481018,
0,
0,
0
] | [
0.24625612795352936,
-0.6968010067939758,
0.1215563416481018,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0007967589190229774,
-0.44067659974098206,
0.3522237539291382,
2.7951009273529053,
0.06096212565898895,
3.0693840980529785
] | 1 | 2 | 20 | 3 | 1,299 | 0 |
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