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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] | gripper_open | 0.819608 | [
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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 | 35.200001 | 352 | 13 | 5,800 | 0 |
[
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] | gripper_open | 0.941175 | [
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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 | 35.299999 | 353 | 13 | 5,801 | 0 |
[
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] | gripper_open | 0.988231 | [
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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 | 35.400002 | 354 | 13 | 5,802 | 0 |
[
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] | gripper_open | 0.988231 | [
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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 | 35.5 | 355 | 13 | 5,803 | 0 |
[
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] | [
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] | gripper_open | 0.98823 | [
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] | [
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] | [
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0.04001407325267792,
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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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0.03998950868844986,
2.7961196899414062,
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] | 1 | 35.599998 | 356 | 13 | 5,804 | 0 |
[
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] | [
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0
] | move_to_position | 0.000173 | [
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] | [
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] | [
-0.05309892073273659,
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0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09543105959892273,
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2.796117067337036,
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] | 1 | 35.700001 | 357 | 13 | 5,805 | 0 |
[
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] | [
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0
] | move_to_position | 0.000148 | [
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] | [
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0
] | [
-0.05309892073273659,
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0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 35.799999 | 358 | 13 | 5,806 | 0 |
[
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] | [
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0
] | move_to_position | 0.013711 | [
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] | [
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0
] | [
-0.05309892073273659,
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0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 35.900002 | 359 | 13 | 5,807 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.050099 | [
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1.923041820526123,
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] | [
0.05309892073273659,
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0,
0
] | [
-0.05309892073273659,
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0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09297684580087662,
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0.04216168075799942,
2.7960195541381836,
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] | 1 | 36 | 360 | 13 | 5,808 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.106397 | [
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] | [
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] | [
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0,
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] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 36.099998 | 361 | 13 | 5,809 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.1735 | [
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] | [
0.05309892073273659,
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0
] | [
-0.05309892073273659,
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0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 36.200001 | 362 | 13 | 5,810 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.259982 | [
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] | [
0.05309892073273659,
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0,
0
] | [
-0.05309892073273659,
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0.07549124211072922,
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0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.0836220309138298,
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0.0499613881111145,
2.796009063720703,
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3.0702786445617676
] | 1 | 36.299999 | 363 | 13 | 5,811 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.371077 | [
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1.923041820526123,
-2.6637492179870605,
-1.5497198104858398,
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] | [
0.05309892073273659,
0.6483154296875,
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0,
0,
0
] | [
-0.05309892073273659,
-0.6483154296875,
0.07549124211072922,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.0785592645406723,
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0.05420529469847679,
2.796112537384033,
0.059987831860780716,
3.0703022480010986
] | 1 | 36.400002 | 364 | 13 | 5,812 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.507733 | [
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1.923041820526123,
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] | [
0.05309892073273659,
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0,
0
] | [
-0.05309892073273659,
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0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.07336767762899399,
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2.796107053756714,
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] | 1 | 36.5 | 365 | 13 | 5,813 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.63653 | [
-1.8694137334823608,
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1.923041820526123,
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-1.5497198104858398,
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0
] | [
0.05309892073273659,
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0,
0
] | [
-0.05309892073273659,
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0.07549124211072922,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.06739853322505951,
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2.796205520629883,
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] | 1 | 36.599998 | 366 | 13 | 5,814 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.752595 | [
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1.923041820526123,
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0
] | [
0.05309892073273659,
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0,
0
] | [
-0.05309892073273659,
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0.07549124211072922,
0,
0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
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] | 1 | 36.700001 | 367 | 13 | 5,815 | 0 |
[
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[
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] | 1 | 0.4 | 4 | 14 | 5,869 | 0 |
[
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] | move_to_position | 0.091733 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.5 | 5 | 14 | 5,870 | 0 |
[
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] | move_to_position | 0.363983 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.6 | 6 | 14 | 5,871 | 0 |
[
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] | move_to_position | 0.113543 | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.7 | 7 | 14 | 5,872 | 0 |
[
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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 | 0.8 | 8 | 14 | 5,873 | 0 |
[
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] | [
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] | move_to_position | 0.286199 | [
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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 | 0.9 | 9 | 14 | 5,874 | 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 | 14 | 5,875 | 0 |
[
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] | [
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] | move_to_position | 0.384146 | [
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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 | 1.1 | 11 | 14 | 5,876 | 0 |
[
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] | [
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] | move_to_position | 0.19259 | [
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] | [
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] | [
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-0.4399999976158142,
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0,
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.2 | 12 | 14 | 5,877 | 0 |
[
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] | [
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] | move_to_position | 0.309697 | [
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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 | [
0.00002083685831166804,
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0.35295370221138,
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] | 1 | 1.3 | 13 | 14 | 5,878 | 0 |
[
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0
] | [
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] | move_to_position | 0.083613 | [
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] | [
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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 | [
0.000011487099072837736,
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0.35298001766204834,
2.797349214553833,
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] | 1 | 1.4 | 14 | 14 | 5,879 | 0 |
[
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0
] | [
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] | move_to_position | 0.231353 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
0.3529999852180481,
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0,
0
] | 0 | move to initial position to start the task | [
0.000015471579899895005,
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0.352980375289917,
2.797363758087158,
0.059984125196933746,
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] | 1 | 1.5 | 15 | 14 | 5,880 | 0 |
[
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0
] | [
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] | move_to_position | 0.000005 | [
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0
] | [
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0,
0
] | [
0.2938075363636017,
-0.6653085350990295,
0.04477984458208084,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.000006317800853139488,
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0.35296839475631714,
2.79740309715271,
0.059993717819452286,
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] | 1 | 1.6 | 16 | 14 | 5,881 | 0 |
[
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] | [
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0
] | move_to_position | 0.000004 | [
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0
] | [
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0,
0
] | [
0.2938075363636017,
-0.6653085350990295,
0.04477984458208084,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.000010140052836504765,
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0.35296061635017395,
2.7974133491516113,
0.05995550751686096,
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] | 1 | 1.7 | 17 | 14 | 5,882 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000076 | [
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1.6409944295883179,
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0
] | [
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0,
0
] | [
0.2938075363636017,
-0.6653085350990295,
0.04477984458208084,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.00007316895062103868,
-0.43999171257019043,
0.35297691822052,
2.797349452972412,
0.060012999922037125,
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] | 1 | 1.8 | 18 | 14 | 5,883 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.0007 | [
-1.2771432399749756,
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1.6409944295883179,
-2.554830312728882,
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3.4739890098571777,
0
] | [
-0.2938075363636017,
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0,
0
] | [
0.2938075363636017,
-0.6653085350990295,
0.04477984458208084,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.00032681215088814497,
-0.4401290714740753,
0.3528471887111664,
2.797210216522217,
0.06009409576654434,
3.069979667663574
] | 1 | 1.9 | 19 | 14 | 5,884 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.001951 | [
-1.2771432399749756,
-0.9594689607620239,
1.6409944295883179,
-2.554830312728882,
-1.7455005645751953,
3.4739890098571777,
0
] | [
-0.2938075363636017,
0.6653085350990295,
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0,
0
] | [
0.2938075363636017,
-0.6653085350990295,
0.04477984458208084,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0007393521373160183,
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0.35234302282333374,
2.7974328994750977,
0.060063641518354416,
3.070019245147705
] | 1 | 2 | 20 | 14 | 5,885 | 0 |
[
-1.896065592765808,
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2.88576602935791,
0
] | [
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0
] | move_to_position | 0.004006 | [
-1.2771432399749756,
-0.9594689607620239,
1.6409944295883179,
-2.554830312728882,
-1.7455005645751953,
3.4739890098571777,
0
] | [
-0.2938075363636017,
0.6653085350990295,
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0,
0,
0
] | [
0.2938075363636017,
-0.6653085350990295,
0.04477984458208084,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0012698995415121317,
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0.35175439715385437,
2.7974655628204346,
0.060044605284929276,
3.0699832439422607
] | 1 | 2.1 | 21 | 14 | 5,886 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.006795 | [
-1.2771432399749756,
-0.9594689607620239,
1.6409944295883179,
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0
] | [
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] | [
0.2938075363636017,
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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 | 2.2 | 22 | 14 | 5,887 | 0 |
[
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] | move_to_position | 0.010445 | [
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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 | 2.3 | 23 | 14 | 5,888 | 0 |
[
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] | [
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] | move_to_position | 0.015292 | [
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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 | 2.4 | 24 | 14 | 5,889 | 0 |
[
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] | [
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] | move_to_position | 0.021052 | [
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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 | 2.5 | 25 | 14 | 5,890 | 0 |
[
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] | [
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] | move_to_position | 0.027988 | [
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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 | 2.6 | 26 | 14 | 5,891 | 0 |
[
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] | [
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] | move_to_position | 0.036128 | [
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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 | 2.7 | 27 | 14 | 5,892 | 0 |
[
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] | [
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] | move_to_position | 0.04702 | [
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] | [
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] | [
0.2938075363636017,
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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 | 14 | 5,893 | 0 |
[
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] | [
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] | move_to_position | 0.058845 | [
-1.2771432399749756,
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1.6409944295883179,
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] | [
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] | [
0.2938075363636017,
-0.6653085350990295,
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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 | 2.9 | 29 | 14 | 5,894 | 0 |
[
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] | [
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] | move_to_position | 0.072252 | [
-1.2771432399749756,
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1.6409944295883179,
-2.554830312728882,
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0
] | [
-0.2938075363636017,
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] | [
0.2938075363636017,
-0.6653085350990295,
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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 | [
0.020029373466968536,
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2.7974720001220703,
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] | 1 | 3 | 30 | 14 | 5,895 | 0 |
[
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2.9582836627960205,
0
] | [
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0
] | move_to_position | 0.086951 | [
-1.2771432399749756,
-0.9594689607620239,
1.6409944295883179,
-2.554830312728882,
-1.7455005645751953,
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0
] | [
-0.2938075363636017,
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] | [
0.2938075363636017,
-0.6653085350990295,
0.04477984458208084,
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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 | [
0.023941660299897194,
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] | 1 | 3.1 | 31 | 14 | 5,896 | 0 |
[
-1.805726408958435,
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2.97098445892334,
0
] | [
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0
] | move_to_position | 0.102305 | [
-1.2771432399749756,
-0.9594689607620239,
1.6409944295883179,
-2.554830312728882,
-1.7455005645751953,
3.4739890098571777,
0
] | [
-0.2938075363636017,
0.6653085350990295,
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] | [
0.2938075363636017,
-0.6653085350990295,
0.04477984458208084,
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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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2.797391414642334,
0.059924088418483734,
3.0697762966156006
] | 1 | 3.2 | 32 | 14 | 5,897 | 0 |
[
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2.986173629760742,
0
] | [
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0
] | move_to_position | 0.120871 | [
-1.2771432399749756,
-0.9594689607620239,
1.6409944295883179,
-2.554830312728882,
-1.7455005645751953,
3.4739890098571777,
0
] | [
-0.2938075363636017,
0.6653085350990295,
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0,
0
] | [
0.2938075363636017,
-0.6653085350990295,
0.04477984458208084,
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 | [
0.03282201290130615,
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2.7978591918945312,
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3.069838047027588
] | 1 | 3.3 | 33 | 14 | 5,898 | 0 |
[
-1.7729567289352417,
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-2.0250937938690186,
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3.001939058303833,
0
] | [
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3.008626699447632,
0
] | move_to_position | 0.140029 | [
-1.2771432399749756,
-0.9594689607620239,
1.6409944295883179,
-2.554830312728882,
-1.7455005645751953,
3.4739890098571777,
0
] | [
-0.2938075363636017,
0.6653085350990295,
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0,
0,
0
] | [
0.2938075363636017,
-0.6653085350990295,
0.04477984458208084,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.03865315392613411,
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0.3117676079273224,
2.7985339164733887,
0.05982900410890579,
3.0698626041412354
] | 1 | 3.4 | 34 | 14 | 5,899 | 0 |
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