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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] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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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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[
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] | move_to_position | 0.368496 | [
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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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[
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] | move_to_position | 0.494984 | [
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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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[
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] | move_to_position | 0.626902 | [
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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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[
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] | move_to_position | 0.749437 | [
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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 | 35.200001 | 352 | 6 | 2,905 | 0 |
[
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] | [
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] | move_to_position | 0.837638 | [
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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 | 35.299999 | 353 | 6 | 2,906 | 0 |
[
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] | [
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] | move_to_position | 0.901279 | [
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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 | 35.400002 | 354 | 6 | 2,907 | 0 |
[
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] | [
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] | move_to_position | 0.951152 | [
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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 | 35.5 | 355 | 6 | 2,908 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.983473 | [
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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 | 35.599998 | 356 | 6 | 2,909 | 0 |
[
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] | [
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] | move_to_position | 0.997825 | [
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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 | 35.700001 | 357 | 6 | 2,910 | 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 | 35.799999 | 358 | 6 | 2,911 | 0 |
[
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] | [
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] | gripper_open | 0.188235 | [
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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 | 35.900002 | 359 | 6 | 2,912 | 0 |
[
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] | [
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] | gripper_open | 0.219608 | [
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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 | 36 | 360 | 6 | 2,913 | 0 |
[
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] | [
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] | gripper_open | 0.333333 | [
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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 | 36.099998 | 361 | 6 | 2,914 | 0 |
[
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] | gripper_open | 0.454902 | [
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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 | 36.200001 | 362 | 6 | 2,915 | 0 |
[
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] | [
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] | gripper_open | 0.57647 | [
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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 | 36.299999 | 363 | 6 | 2,916 | 0 |
[
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] | gripper_open | 0.698039 | [
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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 | 36.400002 | 364 | 6 | 2,917 | 0 |
[
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] | [
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] | gripper_open | 0.823529 | [
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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 | 36.5 | 365 | 6 | 2,918 | 0 |
[
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] | [
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] | gripper_open | 0.949019 | [
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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 | 36.599998 | 366 | 6 | 2,919 | 0 |
[
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] | [
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] | gripper_open | 0.988231 | [
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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 | 36.700001 | 367 | 6 | 2,920 | 0 |
[
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] | [
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] | gripper_open | 0.988231 | [
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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 | 36.799999 | 368 | 6 | 2,921 | 0 |
[
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] | [
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] | gripper_open | 0.988231 | [
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] | [
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] | [
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2.7937633991241455,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
-0.09521061927080154,
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0.045003242790699005,
2.7938857078552246,
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] | 1 | 36.900002 | 369 | 6 | 2,922 | 0 |
[
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] | [
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0
] | move_to_position | 0.000045 | [
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] | [
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0,
0
] | [
-0.13159815967082977,
-0.6656524538993835,
0.12186884880065918,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09520410746335983,
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0.04502970725297928,
2.793851137161255,
0.061071280390024185,
3.0703964233398438
] | 1 | 37 | 370 | 6 | 2,923 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000227 | [
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-1.5086230039596558,
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0
] | [
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0,
0
] | [
-0.13159815967082977,
-0.6656524538993835,
0.12186884880065918,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09519828110933304,
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0.045090578496456146,
2.7938437461853027,
0.060966216027736664,
3.0704314708709717
] | 1 | 37.099998 | 371 | 6 | 2,924 | 0 |
[
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0
] | [
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2.8602845668792725,
0
] | move_to_position | 0.011808 | [
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] | [
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0,
0
] | [
-0.13159815967082977,
-0.6656524538993835,
0.12186884880065918,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09580440819263458,
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] | 1 | 37.200001 | 372 | 6 | 2,925 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.042965 | [
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] | [
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0,
0
] | [
-0.13159815967082977,
-0.6656524538993835,
0.12186884880065918,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09699788689613342,
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0.048913273960351944,
2.7939066886901855,
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] | 1 | 37.299999 | 373 | 6 | 2,926 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.093915 | [
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] | [
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0,
0,
0
] | [
-0.13159815967082977,
-0.6656524538993835,
0.12186884880065918,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.0990433618426323,
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0.05320266634225845,
2.7937850952148438,
0.06099655479192734,
3.0704143047332764
] | 1 | 37.400002 | 374 | 6 | 2,927 | 0 |
[
-1.9330066442489624,
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0
] | [
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-2.663367748260498,
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2.849004030227661,
0
] | move_to_position | 0.159169 | [
-1.9901702404022217,
-1.1983213424682617,
1.8009605407714844,
-2.5202269554138184,
-1.5086230039596558,
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] | [
0.13159815967082977,
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0,
0,
0
] | [
-0.13159815967082977,
-0.6656524538993835,
0.12186884880065918,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.10166236013174057,
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0.058692265301942825,
2.793888568878174,
0.060972973704338074,
3.0704681873321533
] | 1 | 37.5 | 375 | 6 | 2,928 | 0 |
[
-1.9403222799301147,
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0
] | [
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2.8416261672973633,
0
] | move_to_position | 0.26693 | [
-1.9901702404022217,
-1.1983213424682617,
1.8009605407714844,
-2.5202269554138184,
-1.5086230039596558,
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0
] | [
0.13159815967082977,
0.6656524538993835,
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0,
0,
0
] | [
-0.13159815967082977,
-0.6656524538993835,
0.12186884880065918,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.10546817630529404,
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0.06660620868206024,
2.7938363552093506,
0.06103053316473961,
3.0703988075256348
] | 1 | 37.599998 | 376 | 6 | 2,929 | 0 |
[
-1.9484251737594604,
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2.836721897125244,
0
] | [
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1.8267861604690552,
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2.8334672451019287,
0
] | move_to_position | 0.386768 | [
-1.9901702404022217,
-1.1983213424682617,
1.8009605407714844,
-2.5202269554138184,
-1.5086230039596558,
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0
] | [
0.13159815967082977,
0.6656524538993835,
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0,
0,
0
] | [
-0.13159815967082977,
-0.6656524538993835,
0.12186884880065918,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.11023819446563721,
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0.07667327672243118,
2.7938756942749023,
0.06100435182452202,
3.070430040359497
] | 1 | 37.700001 | 377 | 6 | 2,930 | 0 |
[
-1.9567803144454956,
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0
] | [
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1.8226237297058105,
-2.5998001098632812,
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2.8257012367248535,
0
] | move_to_position | 0.507642 | [
-1.9901702404022217,
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1.8009605407714844,
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2.7974441051483154,
0
] | [
0.13159815967082977,
0.6656524538993835,
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0,
0,
0
] | [
-0.13159815967082977,
-0.6656524538993835,
0.12186884880065918,
0,
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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] | [
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0,
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] | [
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0,
0
] | 0 | move to initial position to start the task | [
0.01926703192293644,
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2.7926220893859863,
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] | 1 | 0.2 | 2 | 7 | 2,985 | 0 |
[
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] | move_to_position | 0.038413 | [
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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 | 0.3 | 3 | 7 | 2,986 | 0 |
[
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] | move_to_position | 0.087355 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
0.017511092126369476,
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] | 1 | 0.4 | 4 | 7 | 2,987 | 0 |
[
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] | [
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0
] | move_to_position | 0.162521 | [
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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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] | 1 | 0.5 | 5 | 7 | 2,988 | 0 |
[
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] | [
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] | move_to_position | 0.268197 | [
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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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] | 1 | 0.6 | 6 | 7 | 2,989 | 0 |
[
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] | [
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] | move_to_position | 0.388411 | [
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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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] | 1 | 0.7 | 7 | 7 | 2,990 | 0 |
[
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0
] | [
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] | move_to_position | 0.500374 | [
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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 | 0.8 | 8 | 7 | 2,991 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.623658 | [
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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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] | 1 | 0.9 | 9 | 7 | 2,992 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.743172 | [
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] | [
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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 | [
0.0043847160413861275,
-0.45196333527565,
0.33877646923065186,
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] | 1 | 1 | 10 | 7 | 2,993 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.843613 | [
-1.9004805088043213,
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1.9314903020858765,
-1.8955687284469604,
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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 | [
0.0027040394488722086,
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0.3444961905479431,
2.7927398681640625,
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] | 1 | 1.1 | 11 | 7 | 2,994 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.915733 | [
-1.9004805088043213,
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1.9314903020858765,
-1.8955687284469604,
-1.5379488468170166,
2.8817434310913086,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.0014944059075787663,
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0.3482889235019684,
2.7927935123443604,
0.060905586928129196,
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] | 1 | 1.2 | 12 | 7 | 2,995 | 0 |
[
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2.8854799270629883,
0
] | [
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0
] | move_to_position | 0.962558 | [
-1.9004805088043213,
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1.9314903020858765,
-1.8955687284469604,
-1.5379488468170166,
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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 | [
0.0006350460462272167,
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0.35111838579177856,
2.792767286300659,
0.06084960326552391,
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] | 1 | 1.3 | 13 | 7 | 2,996 | 0 |
[
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2.8825631141662598,
0
] | [
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0
] | move_to_position | 0.99184 | [
-1.9004805088043213,
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1.9314903020858765,
-1.8955687284469604,
-1.5379488468170166,
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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 | [
0.00008544312004232779,
-0.44022315740585327,
0.35267654061317444,
2.7927887439727783,
0.06089939549565315,
3.0696330070495605
] | 1 | 1.4 | 14 | 7 | 2,997 | 0 |
[
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2.8818275928497314,
0
] | [
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1.9314903020858765,
-1.8955687284469604,
-1.5379488468170166,
2.8817434310913086,
0
] | move_to_position | 0.99902 | [
-1.9004805088043213,
-1.9583848714828491,
1.9314903020858765,
-1.8955687284469604,
-1.5379488468170166,
2.8817434310913086,
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 | [
0.00009393294749315828,
-0.43999046087265015,
0.3528652787208557,
2.7929162979125977,
0.06079067662358284,
3.069837808609009
] | 1 | 1.5 | 15 | 7 | 2,998 | 0 |
[
-1.9002994298934937,
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2.881763219833374,
0
] | [
-1.9004805088043213,
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1.9314903020858765,
-1.8955687284469604,
-1.5379488468170166,
2.8817434310913086,
0
] | move_to_position | 0 | [
-1.4033135175704956,
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1.476078987121582,
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0
] | [
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0,
0,
0
] | [
0.22626562416553497,
-0.7475001215934753,
0.05080759525299072,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.00010561026283539832,
-0.43998104333877563,
0.3528558909893036,
2.7929906845092773,
0.06079789996147156,
3.0699191093444824
] | 1 | 1.6 | 16 | 7 | 2,999 | 0 |
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