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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[
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[
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[
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0.4399999976158142,
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0,
0,
0
] | [
0,
-0.4399999976158142,
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0,
0,
0
] | 0 | move to initial position to start the task | [
-0.00004219488982926123,
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0.3529950678348541,
2.7988810539245605,
0.060348574072122574,
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] | 1 | 0.9 | 9 | 11 | 4,653 | 0 |
[
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0
] | [
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] | move_to_position | 0.288835 | [
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] | [
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0,
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] | [
0,
-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
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0.35299569368362427,
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] | 1 | 1 | 10 | 11 | 4,654 | 0 |
[
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] | [
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] | move_to_position | 0.372316 | [
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] | [
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0,
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] | [
0,
-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
-0.00002473263521096669,
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0.3529949486255646,
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] | 1 | 1.1 | 11 | 11 | 4,655 | 0 |
[
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0
] | [
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] | move_to_position | 0.380908 | [
-1.8998550176620483,
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] | [
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0.4399999976158142,
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0,
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] | [
0,
-0.4399999976158142,
0.3529999852180481,
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0,
0
] | 0 | move to initial position to start the task | [
-0.00003898933209711686,
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0.3529817759990692,
2.79891300201416,
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] | 1 | 1.2 | 12 | 11 | 4,656 | 0 |
[
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0
] | [
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] | move_to_position | 0 | [
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] | [
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0.4399999976158142,
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0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
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0,
0
] | 0 | move to initial position to start the task | [
-0.00003242658203816973,
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0.3530097007751465,
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] | 1 | 1.3 | 13 | 11 | 4,657 | 0 |
[
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] | [
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] | move_to_position | 0.497347 | [
-1.8998550176620483,
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] | [
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0.4399999976158142,
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0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
-0.0000328698952216655,
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0.35297736525535583,
2.7989180088043213,
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] | 1 | 1.4 | 14 | 11 | 4,658 | 0 |
[
-1.8998898267745972,
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0
] | [
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-1.8881245851516724,
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0
] | move_to_position | 0.427217 | [
-1.8998550176620483,
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] | [
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0.4399999976158142,
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0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
-0.00005927495294599794,
-0.4400056302547455,
0.35300636291503906,
2.7988617420196533,
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] | 1 | 1.5 | 15 | 11 | 4,659 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.00002 | [
-1.4327247142791748,
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-2.4085142612457275,
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] | [
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0,
0
] | [
0.20581936836242676,
-0.7446891069412231,
0.09955450892448425,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
-0.000021585385184152983,
-0.4400167465209961,
0.3529824912548065,
2.7989189624786377,
0.0603199228644371,
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] | 1 | 1.6 | 16 | 11 | 4,660 | 0 |
[
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-1.8881226778030396,
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0
] | [
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0
] | move_to_position | 0.000035 | [
-1.4327247142791748,
-0.9539240002632141,
1.4679595232009888,
-2.4085142612457275,
-1.697061538696289,
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] | [
-0.20581936836242676,
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0,
0
] | [
0.20581936836242676,
-0.7446891069412231,
0.09955450892448425,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
-0.000043143416405655444,
-0.4400203227996826,
0.3529769480228424,
2.7989087104797363,
0.0602845624089241,
3.0702390670776367
] | 1 | 1.7 | 17 | 11 | 4,661 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000144 | [
-1.4327247142791748,
-0.9539240002632141,
1.4679595232009888,
-2.4085142612457275,
-1.697061538696289,
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] | [
-0.20581936836242676,
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0,
0
] | [
0.20581936836242676,
-0.7446891069412231,
0.09955450892448425,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
-0.0000306513647956308,
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0.3529534339904785,
2.7988858222961426,
0.060280196368694305,
3.07011342048645
] | 1 | 1.8 | 18 | 11 | 4,662 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000892 | [
-1.4327247142791748,
-0.9539240002632141,
1.4679595232009888,
-2.4085142612457275,
-1.697061538696289,
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0
] | [
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0,
0
] | [
0.20581936836242676,
-0.7446891069412231,
0.09955450892448425,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.00015845611051190645,
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0.35273146629333496,
2.798910140991211,
0.06023179367184639,
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] | 1 | 1.9 | 19 | 11 | 4,663 | 0 |
[
-1.8979090452194214,
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0
] | [
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0
] | move_to_position | 0.002469 | [
-1.4327247142791748,
-0.9539240002632141,
1.4679595232009888,
-2.4085142612457275,
-1.697061538696289,
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] | [
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0,
0
] | [
0.20581936836242676,
-0.7446891069412231,
0.09955450892448425,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0005101421265862882,
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0.3523123562335968,
2.798924207687378,
0.060264892876148224,
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] | 1 | 2 | 20 | 11 | 4,664 | 0 |
[
-1.8958467245101929,
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0
] | [
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0
] | move_to_position | 0.004929 | [
-1.4327247142791748,
-0.9539240002632141,
1.4679595232009888,
-2.4085142612457275,
-1.697061538696289,
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] | [
-0.20581936836242676,
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0,
0
] | [
0.20581936836242676,
-0.7446891069412231,
0.09955450892448425,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0010016512824222445,
-0.441448837518692,
0.3516790568828583,
2.798964262008667,
0.06026041880249977,
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] | 1 | 2.1 | 21 | 11 | 4,665 | 0 |
[
-1.893187403678894,
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0
] | [
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0
] | move_to_position | 0.00817 | [
-1.4327247142791748,
-0.9539240002632141,
1.4679595232009888,
-2.4085142612457275,
-1.697061538696289,
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] | [
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0,
0
] | [
0.20581936836242676,
-0.7446891069412231,
0.09955450892448425,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0017117063980549574,
-0.4424150884151459,
0.3508833944797516,
2.798903226852417,
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] | 1 | 2.2 | 22 | 11 | 4,666 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.012489 | [
-1.4327247142791748,
-0.9539240002632141,
1.4679595232009888,
-2.4085142612457275,
-1.697061538696289,
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] | [
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0,
0
] | [
0.20581936836242676,
-0.7446891069412231,
0.09955450892448425,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0025471861008554697,
-0.4436575174331665,
0.34984317421913147,
2.798910617828369,
0.06025918200612068,
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] | 1 | 2.3 | 23 | 11 | 4,667 | 0 |
[
-1.885074496269226,
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-1.9050198793411255,
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0
] | [
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0
] | move_to_position | 0.018446 | [
-1.4327247142791748,
-0.9539240002632141,
1.4679595232009888,
-2.4085142612457275,
-1.697061538696289,
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0
] | [
-0.20581936836242676,
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0,
0
] | [
0.20581936836242676,
-0.7446891069412231,
0.09955450892448425,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0036851810291409492,
-0.4453769624233246,
0.3484416902065277,
2.7988851070404053,
0.060260575264692307,
3.070230484008789
] | 1 | 2.4 | 24 | 11 | 4,668 | 0 |
[
-1.879862666130066,
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-1.91108238697052,
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2.9007341861724854,
0
] | [
-1.877105712890625,
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1.9299308061599731,
-1.9143985509872437,
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2.9033360481262207,
0
] | move_to_position | 0.025199 | [
-1.4327247142791748,
-0.9539240002632141,
1.4679595232009888,
-2.4085142612457275,
-1.697061538696289,
3.3238863945007324,
0
] | [
-0.20581936836242676,
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0,
0
] | [
0.20581936836242676,
-0.7446891069412231,
0.09955450892448425,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.004885383881628513,
-0.44736814498901367,
0.3468923270702362,
2.7988176345825195,
0.060329850763082504,
3.0700948238372803
] | 1 | 2.5 | 25 | 11 | 4,669 | 0 |
[
-1.8731855154037476,
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-1.919148564338684,
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2.907059669494629,
0
] | [
-1.8706485033035278,
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-1.922011375427246,
-1.5490453243255615,
2.909421682357788,
0
] | move_to_position | 0.034063 | [
-1.4327247142791748,
-0.9539240002632141,
1.4679595232009888,
-2.4085142612457275,
-1.697061538696289,
3.3238863945007324,
0
] | [
-0.20581936836242676,
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0,
0
] | [
0.20581936836242676,
-0.7446891069412231,
0.09955450892448425,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.006602978799492121,
-0.44998273253440857,
0.3447127938270569,
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] | 1 | 2.6 | 26 | 11 | 4,670 | 0 |
[
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[
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] | move_to_position | 0.057473 | [
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[
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] | move_to_position | 0.072375 | [
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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 | 0.088306 | [
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[
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] | move_to_position | 0.105384 | [
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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 | 0.123895 | [
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[
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] | move_to_position | 0.145767 | [
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[
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] | move_to_position | 0.168677 | [
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] | [
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[
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] | move_to_position | 0.192572 | [
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[
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] | move_to_position | 0.218222 | [
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[
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] | move_to_position | 0.246445 | [
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[
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] | move_to_position | 0.274349 | [
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[
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] | [
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] | move_to_position | 0.306191 | [
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] | [
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[
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] | [
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] | move_to_position | 0.337361 | [
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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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[
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] | [
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] | move_to_position | 0.368482 | [
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] | [
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] | [
0.20581936836242676,
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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 | 4.1 | 41 | 11 | 4,685 | 0 |
[
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] | [
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] | move_to_position | 0.401801 | [
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] | [
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] | [
0.20581936836242676,
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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 | 11 | 4,686 | 0 |
[
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0
] | [
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] | move_to_position | 0.433955 | [
-1.4327247142791748,
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] | [
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] | [
0.20581936836242676,
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0.09955450892448425,
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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 | 11 | 4,687 | 0 |
[
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] | move_to_position | 0.46937 | [
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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 | 11 | 4,688 | 0 |
[
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] | move_to_position | 0.503896 | [
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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 | 11 | 4,689 | 0 |
[
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] | [
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] | move_to_position | 0.538237 | [
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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 | 4.6 | 46 | 11 | 4,690 | 0 |
[
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] | [
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] | move_to_position | 0.57133 | [
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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 | 4.7 | 47 | 11 | 4,691 | 0 |
[
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] | [
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] | move_to_position | 0.604112 | [
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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 | 4.8 | 48 | 11 | 4,692 | 0 |
[
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] | [
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] | move_to_position | 0.638606 | [
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] | [
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] | [
0.20581936836242676,
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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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] | 1 | 4.9 | 49 | 11 | 4,693 | 0 |
[
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0
] | [
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] | move_to_position | 0.670871 | [
-1.4327247142791748,
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] | [
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] | [
0.20581936836242676,
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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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] | 1 | 5 | 50 | 11 | 4,694 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.704329 | [
-1.4327247142791748,
-0.9539240002632141,
1.4679595232009888,
-2.4085142612457275,
-1.697061538696289,
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0
] | [
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] | [
0.20581936836242676,
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0.09955450892448425,
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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2.798941135406494,
0.06024787947535515,
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] | 1 | 5.1 | 51 | 11 | 4,695 | 0 |
[
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3.256133556365967,
0
] | [
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3.260580062866211,
0
] | move_to_position | 0.733909 | [
-1.4327247142791748,
-0.9539240002632141,
1.4679595232009888,
-2.4085142612457275,
-1.697061538696289,
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0
] | [
-0.20581936836242676,
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] | [
0.20581936836242676,
-0.7446891069412231,
0.09955450892448425,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.15341536700725555,
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0.16402503848075867,
2.7990829944610596,
0.060318637639284134,
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] | 1 | 5.2 | 52 | 11 | 4,696 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.764562 | [
-1.4327247142791748,
-0.9539240002632141,
1.4679595232009888,
-2.4085142612457275,
-1.697061538696289,
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0
] | [
-0.20581936836242676,
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] | [
0.20581936836242676,
-0.7446891069412231,
0.09955450892448425,
0,
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 | [
0.15949678421020508,
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3.0702922344207764
] | 1 | 5.3 | 53 | 11 | 4,697 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.79125 | [
-1.4327247142791748,
-0.9539240002632141,
1.4679595232009888,
-2.4085142612457275,
-1.697061538696289,
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0
] | [
-0.20581936836242676,
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0,
0
] | [
0.20581936836242676,
-0.7446891069412231,
0.09955450892448425,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.16548798978328705,
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2.798722982406616,
0.060335904359817505,
3.0702064037323
] | 1 | 5.4 | 54 | 11 | 4,698 | 0 |
[
-1.4780582189559937,
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3.280654191970825,
0
] | [
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3.2839152812957764,
0
] | move_to_position | 0.817904 | [
-1.4327247142791748,
-0.9539240002632141,
1.4679595232009888,
-2.4085142612457275,
-1.697061538696289,
3.3238863945007324,
0
] | [
-0.20581936836242676,
0.7446891069412231,
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0,
0,
0
] | [
0.20581936836242676,
-0.7446891069412231,
0.09955450892448425,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.17086492478847504,
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0.1425912231206894,
2.798722743988037,
0.06032099202275276,
3.07023286819458
] | 1 | 5.5 | 55 | 11 | 4,699 | 0 |
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