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 | 0.009935 | [
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[
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] | move_to_position | 0.014919 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.021894 | [
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[
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[
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] | move_to_position | 0.039824 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 2.6 | 26 | 3 | 1,305 | 0 |
[
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] | move_to_position | 0.052501 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 2.7 | 27 | 3 | 1,306 | 0 |
[
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] | move_to_position | 0.066685 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 2.8 | 28 | 3 | 1,307 | 0 |
[
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] | move_to_position | 0.083811 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 2.9 | 29 | 3 | 1,308 | 0 |
[
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] | move_to_position | 0.102434 | [
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[
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] | move_to_position | 0.122371 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.1 | 31 | 3 | 1,310 | 0 |
[
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] | move_to_position | 0.144112 | [
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] | 1 | 3.2 | 32 | 3 | 1,311 | 0 |
[
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] | move_to_position | 0.167718 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.3 | 33 | 3 | 1,312 | 0 |
[
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] | [
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] | move_to_position | 0.19423 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.4 | 34 | 3 | 1,313 | 0 |
[
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] | [
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] | move_to_position | 0.221678 | [
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] | [
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0.24625612795352936,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.5 | 35 | 3 | 1,314 | 0 |
[
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] | [
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] | move_to_position | 0.250076 | [
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0.24625612795352936,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.6 | 36 | 3 | 1,315 | 0 |
[
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] | [
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] | move_to_position | 0.280598 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.7 | 37 | 3 | 1,316 | 0 |
[
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] | move_to_position | 0.31204 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.8 | 38 | 3 | 1,317 | 0 |
[
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] | move_to_position | 0.345903 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.9 | 39 | 3 | 1,318 | 0 |
[
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] | move_to_position | 0.379348 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4 | 40 | 3 | 1,319 | 0 |
[
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] | move_to_position | 0.413876 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.449573 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.485349 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.520701 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | move_to_position | 0.557611 | [
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[
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] | move_to_position | 0.592741 | [
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[
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] | move_to_position | 0.629404 | [
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] | [
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[
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] | [
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] | move_to_position | 0.662262 | [
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[
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] | [
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] | move_to_position | 0.694833 | [
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] | [
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] | [
0.24625612795352936,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.9 | 49 | 3 | 1,328 | 0 |
[
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] | [
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] | move_to_position | 0.728875 | [
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] | [
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] | [
0.24625612795352936,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5 | 50 | 3 | 1,329 | 0 |
[
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] | [
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] | move_to_position | 0.760324 | [
-1.3597524166107178,
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] | [
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] | [
0.24625612795352936,
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0.1215563416481018,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.1 | 51 | 3 | 1,330 | 0 |
[
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] | [
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] | move_to_position | 0.789851 | [
-1.3597524166107178,
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1.5535964965820312,
-2.3977787494659424,
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] | [
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] | [
0.24625612795352936,
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0.1215563416481018,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.2 | 52 | 3 | 1,331 | 0 |
[
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] | [
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] | move_to_position | 0.817783 | [
-1.3597524166107178,
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1.5535964965820312,
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] | [
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] | [
0.24625612795352936,
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0.1215563416481018,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.3 | 53 | 3 | 1,332 | 0 |
[
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] | [
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0
] | move_to_position | 0.843795 | [
-1.3597524166107178,
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] | [
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] | [
0.24625612795352936,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.4 | 54 | 3 | 1,333 | 0 |
[
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] | [
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] | move_to_position | 0.867597 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.5 | 55 | 3 | 1,334 | 0 |
[
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] | move_to_position | 0.891268 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.6 | 56 | 3 | 1,335 | 0 |
[
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] | move_to_position | 0.911074 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.7 | 57 | 3 | 1,336 | 0 |
[
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] | move_to_position | 0.928074 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.943512 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.9 | 59 | 3 | 1,338 | 0 |
[
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] | move_to_position | 0.957524 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.969086 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.1 | 61 | 3 | 1,340 | 0 |
[
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] | [
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] | move_to_position | 0.978468 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.2 | 62 | 3 | 1,341 | 0 |
[
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] | [
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] | move_to_position | 0.985648 | [
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] | 1 | 6.3 | 63 | 3 | 1,342 | 0 |
[
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] | move_to_position | 0.991154 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.995142 | [
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0.24625612795352936,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.5 | 65 | 3 | 1,344 | 0 |
[
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] | [
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] | move_to_position | 0.997651 | [
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] | [
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] | [
0.24625612795352936,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.6 | 66 | 3 | 1,345 | 0 |
[
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] | [
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] | move_to_position | 0.999056 | [
-1.3597524166107178,
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] | [
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] | [
0.24625612795352936,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.7 | 67 | 3 | 1,346 | 0 |
[
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] | [
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] | move_to_position | 0.999668 | [
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] | [
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] | [
0.24625612795352936,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.8 | 68 | 3 | 1,347 | 0 |
[
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] | [
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] | move_to_position | 0.999799 | [
-1.3597524166107178,
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] | [
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] | [
0.24625612795352936,
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0.1215563416481018,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 6.9 | 69 | 3 | 1,348 | 0 |
[
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] | [
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] | gripper_open | 1 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: open gripper | [
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] | 1 | 7 | 70 | 3 | 1,349 | 0 |
[
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] | gripper_open | 1 | [
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[
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] | gripper_open | 1 | [
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] | 1 | 7.2 | 72 | 3 | 1,351 | 0 |
[
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] | gripper_open | 1 | [
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] | [
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] | 1 | 7.3 | 73 | 3 | 1,352 | 0 |
[
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] | move_to_position | 0 | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.000174 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.011602 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.038422 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.090661 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.161714 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | [
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] | move_to_position | 0.255807 | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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[
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] | move_to_position | 0.383775 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 8.1 | 81 | 3 | 1,360 | 0 |
[
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] | [
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] | move_to_position | 0.507379 | [
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] | [
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] | [
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 8.2 | 82 | 3 | 1,361 | 0 |
[
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] | [
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] | move_to_position | 0.621015 | [
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] | [
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] | [
0.2422521561384201,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 8.3 | 83 | 3 | 1,362 | 0 |
[
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] | [
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] | move_to_position | 0.731871 | [
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] | [
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] | [
0.2422521561384201,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 8.4 | 84 | 3 | 1,363 | 0 |
[
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] | [
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] | move_to_position | 0.839972 | [
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] | [
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] | [
0.2422521561384201,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 8.5 | 85 | 3 | 1,364 | 0 |
[
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] | [
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] | move_to_position | 0.913581 | [
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] | [
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] | [
0.2422521561384201,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 8.6 | 86 | 3 | 1,365 | 0 |
[
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] | [
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] | move_to_position | 0.962197 | [
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] | [
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] | [
0.2422521561384201,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: descend to chocolate pie_1 | [
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] | 1 | 8.7 | 87 | 3 | 1,366 | 0 |
[
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] | gripper_close | 0.815686 | [
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] | gripper_close | 0.815686 | [
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[
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] | gripper_close | 0.815686 | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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[
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] | gripper_close | 0.815686 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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[
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] | gripper_close | 0.815686 | [
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] | gripper_close | 0.815686 | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | gripper_close | 0.815686 | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | gripper_close | 0.815686 | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | gripper_close | 0.815686 | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | gripper_close | 0.815686 | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | gripper_close | 0.815686 | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | gripper_close | 0.815686 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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[
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] | gripper_close | 0.815686 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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[
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] | gripper_close | 0.815686 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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[
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] | gripper_close | 0.815686 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 0 | 11.5 | 115 | 3 | 1,394 | 0 |
[
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] | gripper_close | 0.815686 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 0 | 11.6 | 116 | 3 | 1,395 | 0 |
[
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] | gripper_close | 0.815686 | [
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] | [
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] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
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] | 0 | 11.7 | 117 | 3 | 1,396 | 0 |
[
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1
] | gripper_close | 0.815686 | [
-1.376804232597351,
-0.8575729131698608,
1.5132430791854858,
-2.546116590499878,
-1.716668963432312,
3.3775370121002197,
1
] | [
-0.24225576221942902,
0.7334858179092407,
0.02793855592608452,
2.7952516078948975,
0.0610676072537899,
3.0694429874420166
] | [
0.24225576221942902,
-0.7334858179092407,
0.02793855592608452,
2.7952516078948975,
0.0610676072537899,
3.0694429874420166
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
0.2422741800546646,
-0.7335783839225769,
0.0280025452375412,
2.7950994968414307,
0.06098980829119682,
3.069424867630005
] | 0 | 11.8 | 118 | 3 | 1,397 | 0 |
[
-1.3768194913864136,
-0.8575026392936707,
1.5130451917648315,
-2.5461766719818115,
-1.716610312461853,
3.3775441646575928,
0.8156862854957581
] | [
-1.3768311738967896,
-0.8575443029403687,
1.5130215883255005,
-2.5461807250976562,
-1.716654658317566,
3.3775484561920166,
1
] | gripper_close | 0.815686 | [
-1.376804232597351,
-0.8575729131698608,
1.5132430791854858,
-2.546116590499878,
-1.716668963432312,
3.3775370121002197,
1
] | [
-0.24225576221942902,
0.7334858179092407,
0.02793855592608452,
2.7952516078948975,
0.0610676072537899,
3.0694429874420166
] | [
0.24225576221942902,
-0.7334858179092407,
0.02793855592608452,
2.7952516078948975,
0.0610676072537899,
3.0694429874420166
] | 1 | pick up the left chocolate pie and place it on the left red plate: grasp chocolate pie_1 | [
0.24227528274059296,
-0.7335824370384216,
0.028014812618494034,
2.7950754165649414,
0.060964882373809814,
3.0694055557250977
] | 0 | 11.9 | 119 | 3 | 1,398 | 0 |
[
-1.3768543004989624,
-0.8574990630149841,
1.5130451917648315,
-2.546173334121704,
-1.7166723012924194,
3.3775525093078613,
1
] | [
-1.3768311738967896,
-0.8575443029403687,
1.5130215883255005,
-2.5461807250976562,
-1.716654658317566,
3.3775484561920166,
1
] | move_to_position | 0 | [
-1.3343156576156616,
-0.9286511540412903,
1.5282210111618042,
-2.48398494720459,
-1.729838252067566,
3.4184277057647705,
1
] | [
-0.26692724227905273,
0.7115969061851501,
0.06412462145090103,
0,
0,
0
] | [
0.26692724227905273,
-0.7115969061851501,
0.06412462145090103,
0,
0,
0
] | 1 | pick up the left chocolate pie and place it on the left red plate: retract with chocolate pie_1 | [
0.2422552853822708,
-0.7335878014564514,
0.028005709871649742,
2.7950668334960938,
0.060995109379291534,
3.06937575340271
] | 0 | 12 | 120 | 3 | 1,399 | 0 |
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