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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0
] | [
0,
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0,
0
] | 0 | move to initial position to start the task | [
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0.35299378633499146,
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] | 1 | 0.8 | 8 | 1 | 454 | 0 |
[
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] | [
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] | move_to_position | 0.164852 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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0.3530175983905792,
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] | 1 | 0.9 | 9 | 1 | 455 | 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 | move to initial position to start the task | [
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0.3530150353908539,
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] | 1 | 1 | 10 | 1 | 456 | 0 |
[
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] | [
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] | move_to_position | 0.520536 | [
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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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0.35302212834358215,
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] | 1 | 1.1 | 11 | 1 | 457 | 0 |
[
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] | [
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] | move_to_position | 0.387759 | [
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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 | 1.2 | 12 | 1 | 458 | 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,
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] | 0 | move to initial position to start the task | [
0.0000291967826342443,
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0.3530016243457794,
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] | 1 | 1.3 | 13 | 1 | 459 | 0 |
[
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] | [
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] | move_to_position | 0.331729 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
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0,
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] | 0 | move to initial position to start the task | [
0.00003235270924051292,
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0.3530012369155884,
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] | 1 | 1.4 | 14 | 1 | 460 | 0 |
[
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] | [
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] | move_to_position | 0.470758 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
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0,
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] | 0 | move to initial position to start the task | [
0.000010859278518182691,
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0.3529997766017914,
-3.140373468399048,
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] | 1 | 1.5 | 15 | 1 | 461 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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0,
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] | [
0.301981657743454,
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0.0684404969215393,
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0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.000036346733395475894,
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0.3530023694038391,
-3.140413999557495,
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] | 1 | 1.6 | 16 | 1 | 462 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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0,
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] | [
0.301981657743454,
-0.5915629863739014,
0.0684404969215393,
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0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.00002955658419523388,
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0.3529880940914154,
-3.1403520107269287,
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] | 1 | 1.7 | 17 | 1 | 463 | 0 |
[
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] | [
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] | move_to_position | 0.000033 | [
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] | [
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] | [
0.301981657743454,
-0.5915629863739014,
0.0684404969215393,
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0,
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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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0.3529825806617737,
-3.140467882156372,
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] | 1 | 1.8 | 18 | 1 | 464 | 0 |
[
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] | [
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] | move_to_position | 0.000905 | [
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] | [
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0
] | [
0.301981657743454,
-0.5915629863739014,
0.0684404969215393,
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0,
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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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0.35273343324661255,
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] | 1 | 1.9 | 19 | 1 | 465 | 0 |
[
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] | [
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] | move_to_position | 0.002446 | [
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] | [
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0,
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] | [
0.301981657743454,
-0.5915629863739014,
0.0684404969215393,
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0,
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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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0.3521933853626251,
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] | 1 | 2 | 20 | 1 | 466 | 0 |
[
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] | [
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] | move_to_position | 0.005182 | [
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] | [
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0,
0
] | [
0.301981657743454,
-0.5915629863739014,
0.0684404969215393,
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0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0018208433175459504,
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0.35137075185775757,
-3.140449047088623,
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] | 1 | 2.1 | 21 | 1 | 467 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.008811 | [
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-1.5699087381362915,
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] | [
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0,
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] | [
0.301981657743454,
-0.5915629863739014,
0.0684404969215393,
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0,
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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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0.35033202171325684,
-3.1404945850372314,
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] | 1 | 2.2 | 22 | 1 | 468 | 0 |
[
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] | [
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0
] | move_to_position | 0.013198 | [
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-2.0974018573760986,
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] | [
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] | [
0.301981657743454,
-0.5915629863739014,
0.0684404969215393,
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0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.004315611440688372,
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0.34899041056632996,
-3.1403229236602783,
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] | 1 | 2.3 | 23 | 1 | 469 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.019455 | [
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1.5767006874084473,
-2.0974018573760986,
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] | [
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] | [
0.301981657743454,
-0.5915629863739014,
0.0684404969215393,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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0.34722086787223816,
-3.140352249145508,
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] | 1 | 2.4 | 24 | 1 | 470 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.027058 | [
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] | [
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] | [
0.301981657743454,
-0.5915629863739014,
0.0684404969215393,
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0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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0.3452295958995819,
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] | 1 | 2.5 | 25 | 1 | 471 | 0 |
[
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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 | 1 | 472 | 0 |
[
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] | move_to_position | 0.046356 | [
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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 | 1 | 473 | 0 |
[
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] | move_to_position | 0.059787 | [
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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 | 1 | 474 | 0 |
[
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] | move_to_position | 0.074411 | [
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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 | 1 | 475 | 0 |
[
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] | move_to_position | 0.091148 | [
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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 | 0.109095 | [
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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 | 1 | 477 | 0 |
[
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] | [
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] | move_to_position | 0.128899 | [
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] | 1 | 3.2 | 32 | 1 | 478 | 0 |
[
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] | move_to_position | 0.151845 | [
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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 | 1 | 479 | 0 |
[
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] | move_to_position | 0.175077 | [
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] | 1 | 3.4 | 34 | 1 | 480 | 0 |
[
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] | move_to_position | 0.200511 | [
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] | 1 | 3.5 | 35 | 1 | 481 | 0 |
[
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] | move_to_position | 0.227281 | [
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] | 1 | 3.6 | 36 | 1 | 482 | 0 |
[
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] | move_to_position | 0.25582 | [
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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 | 1 | 483 | 0 |
[
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] | [
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] | move_to_position | 0.285135 | [
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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 | 3.8 | 38 | 1 | 484 | 0 |
[
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] | [
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] | move_to_position | 0.316397 | [
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] | [
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] | [
0.301981657743454,
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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 | 1 | 485 | 0 |
[
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] | [
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] | move_to_position | 0.347654 | [
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] | [
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] | [
0.301981657743454,
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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 | 1 | 486 | 0 |
[
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] | [
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] | move_to_position | 0.382073 | [
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] | [
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] | [
0.301981657743454,
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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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3.141533613204956,
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] | 1 | 4.1 | 41 | 1 | 487 | 0 |
[
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] | [
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0
] | move_to_position | 0.415178 | [
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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 | 4.2 | 42 | 1 | 488 | 0 |
[
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] | [
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] | move_to_position | 0.448914 | [
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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 | 4.3 | 43 | 1 | 489 | 0 |
[
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] | move_to_position | 0.484091 | [
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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 | 4.4 | 44 | 1 | 490 | 0 |
[
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] | move_to_position | 0.516466 | [
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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 | 4.5 | 45 | 1 | 491 | 0 |
[
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] | move_to_position | 0.551298 | [
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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 | 4.6 | 46 | 1 | 492 | 0 |
[
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] | [
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] | move_to_position | 0.584595 | [
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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 | 4.7 | 47 | 1 | 493 | 0 |
[
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] | [
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] | move_to_position | 0.621768 | [
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] | [
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] | [
0.301981657743454,
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0.0684404969215393,
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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 | 4.8 | 48 | 1 | 494 | 0 |
[
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] | [
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] | move_to_position | 0.654552 | [
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] | [
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] | [
0.301981657743454,
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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 | 1 | 495 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.685875 | [
-1.3029899597167969,
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-1.5699087381362915,
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] | [
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] | [
0.301981657743454,
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0.0684404969215393,
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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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0.15673670172691345,
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] | 1 | 5 | 50 | 1 | 496 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.716398 | [
-1.3029899597167969,
-1.0480917692184448,
1.5767006874084473,
-2.0974018573760986,
-1.5699087381362915,
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] | [
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] | [
0.301981657743454,
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0.0684404969215393,
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0,
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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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-3.1404354572296143,
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] | 1 | 5.1 | 51 | 1 | 497 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.748276 | [
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-2.0974018573760986,
-1.5699087381362915,
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] | [
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] | [
0.301981657743454,
-0.5915629863739014,
0.0684404969215393,
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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 | 1 | 498 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.777437 | [
-1.3029899597167969,
-1.0480917692184448,
1.5767006874084473,
-2.0974018573760986,
-1.5699087381362915,
3.412970781326294,
0
] | [
-0.301981657743454,
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0
] | [
0.301981657743454,
-0.5915629863739014,
0.0684404969215393,
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0,
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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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-3.140509843826294,
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] | 1 | 5.3 | 53 | 1 | 499 | 0 |
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