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 | move to initial position to start the task | [
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] | 1 | 0.5 | 5 | 13 | 5,453 | 0 |
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] | move_to_position | 0.201495 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.7 | 7 | 13 | 5,455 | 0 |
[
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] | move_to_position | 0 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.8 | 8 | 13 | 5,456 | 0 |
[
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] | move_to_position | 0 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.9 | 9 | 13 | 5,457 | 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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] | 1 | 1 | 10 | 13 | 5,458 | 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 | move to initial position to start the task | [
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] | 1 | 1.1 | 11 | 13 | 5,459 | 0 |
[
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] | [
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] | move_to_position | 0.0324 | [
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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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] | 1 | 1.2 | 12 | 13 | 5,460 | 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 | move to initial position to start the task | [
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] | 1 | 1.3 | 13 | 13 | 5,461 | 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 | move to initial position to start the task | [
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2.7958438396453857,
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] | 1 | 1.4 | 14 | 13 | 5,462 | 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 | move to initial position to start the task | [
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0.3530118465423584,
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] | 1 | 1.5 | 15 | 13 | 5,463 | 0 |
[
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] | [
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] | move_to_position | 0.000022 | [
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] | [
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] | [
0.28152403235435486,
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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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0.35298606753349304,
2.7958712577819824,
0.06004313379526138,
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] | 1 | 1.6 | 16 | 13 | 5,464 | 0 |
[
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] | [
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] | move_to_position | 0.000015 | [
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] | [
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] | [
0.28152403235435486,
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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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0.3529742658138275,
2.7959070205688477,
0.060022369027137756,
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] | 1 | 1.7 | 17 | 13 | 5,465 | 0 |
[
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] | [
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] | move_to_position | 0.000134 | [
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] | [
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] | [
0.28152403235435486,
-0.6333959102630615,
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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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0.3529755473136902,
2.795781135559082,
0.060162223875522614,
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] | 1 | 1.8 | 18 | 13 | 5,466 | 0 |
[
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] | [
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] | move_to_position | 0.000913 | [
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] | [
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] | [
0.28152403235435486,
-0.6333959102630615,
0.04356347769498825,
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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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0.3527132272720337,
2.795788288116455,
0.060149773955345154,
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] | 1 | 1.9 | 19 | 13 | 5,467 | 0 |
[
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] | [
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] | move_to_position | 0.002449 | [
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] | [
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] | [
0.28152403235435486,
-0.6333959102630615,
0.04356347769498825,
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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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0.3521743714809418,
2.795958995819092,
0.06017589196562767,
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] | 1 | 2 | 20 | 13 | 5,468 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.004638 | [
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] | [
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] | [
0.28152403235435486,
-0.6333959102630615,
0.04356347769498825,
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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0.3514763116836548,
2.7959036827087402,
0.06017404794692993,
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] | 1 | 2.1 | 21 | 13 | 5,469 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.00773 | [
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] | [
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0
] | [
0.28152403235435486,
-0.6333959102630615,
0.04356347769498825,
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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0.35059472918510437,
2.795844554901123,
0.06008799001574516,
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] | 1 | 2.2 | 22 | 13 | 5,470 | 0 |
[
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] | move_to_position | 0.012131 | [
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] | 1 | 2.3 | 23 | 13 | 5,471 | 0 |
[
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] | move_to_position | 0.017254 | [
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] | 1 | 2.4 | 24 | 13 | 5,472 | 0 |
[
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] | move_to_position | 0.024029 | [
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] | 1 | 2.5 | 25 | 13 | 5,473 | 0 |
[
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] | move_to_position | 0.031547 | [
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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 | 13 | 5,474 | 0 |
[
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] | move_to_position | 0.041098 | [
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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 | 0.052967 | [
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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 | 13 | 5,476 | 0 |
[
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] | move_to_position | 0.066909 | [
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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 | 13 | 5,477 | 0 |
[
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] | move_to_position | 0.081942 | [
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[
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] | move_to_position | 0.098425 | [
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] | 1 | 3.1 | 31 | 13 | 5,479 | 0 |
[
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] | move_to_position | 0.116005 | [
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[
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] | move_to_position | 0.137107 | [
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] | 1 | 3.3 | 33 | 13 | 5,481 | 0 |
[
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] | move_to_position | 0.157806 | [
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[
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] | move_to_position | 0.181782 | [
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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 | 3.5 | 35 | 13 | 5,483 | 0 |
[
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] | move_to_position | 0.205603 | [
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] | [
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] | [
0.28152403235435486,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.6 | 36 | 13 | 5,484 | 0 |
[
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] | [
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] | move_to_position | 0.232505 | [
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] | [
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] | [
0.28152403235435486,
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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 | 13 | 5,485 | 0 |
[
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] | [
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] | move_to_position | 0.258662 | [
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] | [
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] | [
0.28152403235435486,
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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 | 13 | 5,486 | 0 |
[
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] | [
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] | move_to_position | 0.286571 | [
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] | [
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] | [
0.28152403235435486,
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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 | 13 | 5,487 | 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 | 40 | 13 | 5,488 | 0 |
[
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] | move_to_position | 0.347237 | [
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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 | 13 | 5,489 | 0 |
[
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] | move_to_position | 0.378079 | [
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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 | 13 | 5,490 | 0 |
[
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] | move_to_position | 0.410271 | [
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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 | 13 | 5,491 | 0 |
[
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] | [
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] | move_to_position | 0.442182 | [
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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 | 13 | 5,492 | 0 |
[
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] | [
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] | move_to_position | 0.475132 | [
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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 | 4.5 | 45 | 13 | 5,493 | 0 |
[
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] | [
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] | move_to_position | 0.508399 | [
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] | [
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] | [
0.28152403235435486,
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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 | 13 | 5,494 | 0 |
[
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] | [
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] | move_to_position | 0.542863 | [
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] | [
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] | [
0.28152403235435486,
-0.6333959102630615,
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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 | 13 | 5,495 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.574573 | [
-1.2809978723526,
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-2.6095595359802246,
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] | [
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] | [
0.28152403235435486,
-0.6333959102630615,
0.04356347769498825,
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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 | 13 | 5,496 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.607501 | [
-1.2809978723526,
-1.0200040340423584,
1.7540546655654907,
-2.6095595359802246,
-1.7448174953460693,
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] | [
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] | [
0.28152403235435486,
-0.6333959102630615,
0.04356347769498825,
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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 | 13 | 5,497 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.640095 | [
-1.2809978723526,
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1.7540546655654907,
-2.6095595359802246,
-1.7448174953460693,
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] | [
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] | [
0.28152403235435486,
-0.6333959102630615,
0.04356347769498825,
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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 | 13 | 5,498 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.671068 | [
-1.2809978723526,
-1.0200040340423584,
1.7540546655654907,
-2.6095595359802246,
-1.7448174953460693,
3.4697346687316895,
0
] | [
-0.28152403235435486,
0.6333959102630615,
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] | [
0.28152403235435486,
-0.6333959102630615,
0.04356347769498825,
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 | [
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2.795914649963379,
0.06008865311741829,
3.0700747966766357
] | 1 | 5.1 | 51 | 13 | 5,499 | 0 |
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