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 | 0.711008 | [
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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 | 35.599998 | 356 | 11 | 5,000 | 0 |
[
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] | move_to_position | 0.815032 | [
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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 | 35.700001 | 357 | 11 | 5,001 | 0 |
[
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] | [
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] | move_to_position | 0.911366 | [
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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 | 35.799999 | 358 | 11 | 5,002 | 0 |
[
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] | [
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] | move_to_position | 0.969018 | [
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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 | 35.900002 | 359 | 11 | 5,003 | 0 |
[
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] | [
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] | move_to_position | 0.993371 | [
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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 | 36 | 360 | 11 | 5,004 | 0 |
[
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] | [
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] | move_to_position | 0.99692 | [
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] | [
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0,
0
] | [
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0,
0
] | 1 | pick up the right chocolate pie and place it on the right red plate: descend to red plate_2 | [
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] | 0 | 36.099998 | 361 | 11 | 5,005 | 0 |
[
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] | [
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0
] | gripper_open | 0 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 0 | 36.200001 | 362 | 11 | 5,006 | 0 |
[
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] | [
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0
] | gripper_open | 0.141176 | [
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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 | 36.299999 | 363 | 11 | 5,007 | 0 |
[
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] | [
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0
] | gripper_open | 0.164706 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: release at red plate_2 | [
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] | 0 | 36.400002 | 364 | 11 | 5,008 | 0 |
[
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] | [
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0
] | gripper_open | 0.407843 | [
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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 | 36.5 | 365 | 11 | 5,009 | 0 |
[
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] | [
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0
] | gripper_open | 0.533333 | [
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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 | 11 | 5,010 | 0 |
[
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] | [
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0
] | gripper_open | 0.654902 | [
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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 | 11 | 5,011 | 0 |
[
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] | [
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] | gripper_open | 0.77647 | [
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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 | 11 | 5,012 | 0 |
[
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] | [
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] | gripper_open | 0.90196 | [
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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 | 36.900002 | 369 | 11 | 5,013 | 0 |
[
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] | [
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0
] | gripper_open | 0.988231 | [
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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 | 37 | 370 | 11 | 5,014 | 0 |
[
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] | [
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0
] | gripper_open | 0.988231 | [
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] | [
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] | move_to_position | 0 | [
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] | 1 | 37.299999 | 373 | 11 | 5,017 | 0 |
[
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] | move_to_position | 0.000124 | [
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] | 1 | 37.400002 | 374 | 11 | 5,018 | 0 |
[
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] | move_to_position | 0.010938 | [
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[
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] | move_to_position | 0.041694 | [
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[
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] | move_to_position | 0.092699 | [
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] | 1 | 37.700001 | 377 | 11 | 5,021 | 0 |
[
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] | move_to_position | 0.165021 | [
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] | 1 | 37.799999 | 378 | 11 | 5,022 | 0 |
[
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] | move_to_position | 0.264345 | [
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] | 1 | 37.900002 | 379 | 11 | 5,023 | 0 |
[
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] | move_to_position | 0.386753 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 38 | 380 | 11 | 5,024 | 0 |
[
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] | [
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] | move_to_position | 0.506479 | [
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] | [
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] | 1 | 38.099998 | 381 | 11 | 5,025 | 0 |
[
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] | move_to_position | 0.625029 | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 38.200001 | 382 | 11 | 5,026 | 0 |
[
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] | move_to_position | 0.74185 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 38.299999 | 383 | 11 | 5,027 | 0 |
[
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] | [
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] | move_to_position | 0.845463 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 38.400002 | 384 | 11 | 5,028 | 0 |
[
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] | [
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] | move_to_position | 0.915325 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 38.5 | 385 | 11 | 5,029 | 0 |
[
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] | [
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] | move_to_position | 0.959698 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 38.599998 | 386 | 11 | 5,030 | 0 |
[
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] | [
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] | move_to_position | 0.986482 | [
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] | [
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] | [
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 38.700001 | 387 | 11 | 5,031 | 0 |
[
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] | [
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2.7944931983947754,
0.060521069914102554,
3.0697851181030273
] | 1 | 1.3 | 13 | 12 | 5,086 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.403799 | [
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] | [
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0,
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] | [
0,
-0.4399999976158142,
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0,
0,
0
] | 0 | move to initial position to start the task | [
-0.000008835712833388243,
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0.35299068689346313,
2.7945282459259033,
0.06051633507013321,
3.0697927474975586
] | 1 | 1.4 | 14 | 12 | 5,087 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.011165 | [
-1.9004229307174683,
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] | [
0,
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0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
-0.000011521284250193276,
-0.4400167763233185,
0.35299500823020935,
2.794494152069092,
0.06049489974975586,
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] | 1 | 1.5 | 15 | 12 | 5,088 | 0 |
[
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0
] | [
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0
] | move_to_position | 0 | [
-1.570334792137146,
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2.0227513313293457,
-2.558495283126831,
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0
] | [
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0,
0
] | [
0.11299899220466614,
-0.5776988863945007,
0.12870340049266815,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
-0.000011301592167001218,
-0.440035879611969,
0.3530223071575165,
2.7944438457489014,
0.06052011996507645,
3.069810628890991
] | 1 | 1.6 | 16 | 12 | 5,089 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000028 | [
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-2.558495283126831,
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] | [
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] | [
0.11299899220466614,
-0.5776988863945007,
0.12870340049266815,
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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 | [
-0.000009211218639393337,
-0.44002676010131836,
0.3530164957046509,
2.794456958770752,
0.060538437217473984,
3.0698156356811523
] | 1 | 1.7 | 17 | 12 | 5,090 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000684 | [
-1.570334792137146,
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-2.558495283126831,
-1.6520777940750122,
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0
] | [
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] | [
0.11299899220466614,
-0.5776988863945007,
0.12870340049266815,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.00005376836270443164,
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0.3527700901031494,
2.7946269512176514,
0.0606430359184742,
3.0697593688964844
] | 1 | 1.8 | 18 | 12 | 5,091 | 0 |
[
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2.883229970932007,
0
] | [
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0
] | move_to_position | 0.00349 | [
-1.570334792137146,
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2.0227513313293457,
-2.558495283126831,
-1.6520777940750122,
3.193028211593628,
0
] | [
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0,
0
] | [
0.11299899220466614,
-0.5776988863945007,
0.12870340049266815,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0005059473332948983,
-0.44049274921417236,
0.35194727778434753,
2.7948312759399414,
0.06063881143927574,
3.069899082183838
] | 1 | 1.9 | 19 | 12 | 5,092 | 0 |
[
-1.8965481519699097,
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-1.8992997407913208,
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2.885352849960327,
0
] | [
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0
] | move_to_position | 0.008419 | [
-1.570334792137146,
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2.0227513313293457,
-2.558495283126831,
-1.6520777940750122,
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0
] | [
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0,
0
] | [
0.11299899220466614,
-0.5776988863945007,
0.12870340049266815,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0010688892798498273,
-0.44116324186325073,
0.35084253549575806,
2.7946715354919434,
0.06063186377286911,
3.069765329360962
] | 1 | 2 | 20 | 12 | 5,093 | 0 |
[
-1.8929847478866577,
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1.9357136487960815,
-1.905112862586975,
-1.5407150983810425,
2.8887276649475098,
0
] | [
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1.9372652769088745,
-1.9084798097610474,
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2.890697717666626,
0
] | move_to_position | 0.016533 | [
-1.570334792137146,
-1.3767399787902832,
2.0227513313293457,
-2.558495283126831,
-1.6520777940750122,
3.193028211593628,
0
] | [
-0.11299899220466614,
0.5776988863945007,
0.12870340049266815,
0,
0,
0
] | [
0.11299899220466614,
-0.5776988863945007,
0.12870340049266815,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0020556626841425896,
-0.4423635005950928,
0.34895384311676025,
2.794630289077759,
0.06052863597869873,
3.0698258876800537
] | 1 | 2.1 | 21 | 12 | 5,094 | 0 |
[
-1.8880780935287476,
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1.9392989873886108,
-1.9131790399551392,
-1.5423635244369507,
2.8933818340301514,
0
] | [
-1.886086344718933,
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1.940771460533142,
-1.9165064096450806,
-1.5430216789245605,
2.8952651023864746,
0
] | move_to_position | 0.027925 | [
-1.570334792137146,
-1.3767399787902832,
2.0227513313293457,
-2.558495283126831,
-1.6520777940750122,
3.193028211593628,
0
] | [
-0.11299899220466614,
0.5776988863945007,
0.12870340049266815,
0,
0,
0
] | [
0.11299899220466614,
-0.5776988863945007,
0.12870340049266815,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0033143912442028522,
-0.44403955340385437,
0.34643101692199707,
2.7945029735565186,
0.06049814075231552,
3.069805860519409
] | 1 | 2.2 | 22 | 12 | 5,095 | 0 |
[
-1.8814176321029663,
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1.9441717863082886,
-1.9243108034133911,
-1.5445822477340698,
2.8997244834899902,
0
] | [
-1.8779499530792236,
-1.937952995300293,
1.9467287063598633,
-1.9299801588058472,
-1.5458292961120605,
2.902924060821533,
0
] | move_to_position | 0.043583 | [
-1.570334792137146,
-1.3767399787902832,
2.0227513313293457,
-2.558495283126831,
-1.6520777940750122,
3.193028211593628,
0
] | [
-0.11299899220466614,
0.5776988863945007,
0.12870340049266815,
0,
0,
0
] | [
0.11299899220466614,
-0.5776988863945007,
0.12870340049266815,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.004860916640609503,
-0.4460275173187256,
0.3432442545890808,
2.794572591781616,
0.060508184134960175,
3.0697643756866455
] | 1 | 2.3 | 23 | 12 | 5,096 | 0 |
[
-1.872475504875183,
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1.9506815671920776,
-1.9390689134597778,
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2.908066987991333,
0
] | [
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1.9535503387451172,
-1.9452581405639648,
-1.5490244626998901,
2.911634683609009,
0
] | move_to_position | 0.064218 | [
-1.570334792137146,
-1.3767399787902832,
2.0227513313293457,
-2.558495283126831,
-1.6520777940750122,
3.193028211593628,
0
] | [
-0.11299899220466614,
0.5776988863945007,
0.12870340049266815,
0,
0,
0
] | [
0.11299899220466614,
-0.5776988863945007,
0.12870340049266815,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.007261593826115131,
-0.4488673210144043,
0.3385770618915558,
2.794527053833008,
0.06052384898066521,
3.0698189735412598
] | 1 | 2.4 | 24 | 12 | 5,097 | 0 |
[
-1.8618558645248413,
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1.9585274457931519,
-1.9565855264663696,
-1.5513790845870972,
2.9180076122283936,
0
] | [
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1.9617273807525635,
-1.9643296003341675,
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2.9223246574401855,
0
] | move_to_position | 0.088843 | [
-1.570334792137146,
-1.3767399787902832,
2.0227513313293457,
-2.558495283126831,
-1.6520777940750122,
3.193028211593628,
0
] | [
-0.11299899220466614,
0.5776988863945007,
0.12870340049266815,
0,
0,
0
] | [
0.11299899220466614,
-0.5776988863945007,
0.12870340049266815,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.010280266404151917,
-0.45231977105140686,
0.3326725363731384,
2.7946529388427734,
0.06052509695291519,
3.0699241161346436
] | 1 | 2.5 | 25 | 12 | 5,098 | 0 |
[
-1.8494571447372437,
-1.9109898805618286,
1.9671934843063354,
-1.9779249429702759,
-1.5557535886764526,
2.929760456085205,
0
] | [
-1.8447107076644897,
-1.905993103981018,
1.9704134464263916,
-1.986185908317566,
-1.557314157485962,
2.934211015701294,
0
] | move_to_position | 0.118713 | [
-1.570334792137146,
-1.3767399787902832,
2.0227513313293457,
-2.558495283126831,
-1.6520777940750122,
3.193028211593628,
0
] | [
-0.11299899220466614,
0.5776988863945007,
0.12870340049266815,
0,
0,
0
] | [
0.11299899220466614,
-0.5776988863945007,
0.12870340049266815,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.013425072655081749,
-0.4562455415725708,
0.32635512948036194,
2.7945563793182373,
0.060518234968185425,
3.0697364807128906
] | 1 | 2.6 | 26 | 12 | 5,099 | 0 |
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