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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1
] | [
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1
] | move_to_position | 0.840045 | [
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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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2.797700881958008,
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] | 0 | 33.5 | 335 | 14 | 6,200 | 0 |
[
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] | [
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] | move_to_position | 0.905986 | [
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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 | 33.599998 | 336 | 14 | 6,201 | 0 |
[
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] | [
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] | move_to_position | 0.952196 | [
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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 | 33.700001 | 337 | 14 | 6,202 | 0 |
[
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] | [
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] | move_to_position | 0.984277 | [
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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 | 33.799999 | 338 | 14 | 6,203 | 0 |
[
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] | [
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] | move_to_position | 0.997938 | [
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] | [
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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 | 33.900002 | 339 | 14 | 6,204 | 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 | 34 | 340 | 14 | 6,205 | 0 |
[
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] | [
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] | gripper_open | 0.180392 | [
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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 | 34.099998 | 341 | 14 | 6,206 | 0 |
[
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] | [
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] | gripper_open | 0.207843 | [
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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 | 34.200001 | 342 | 14 | 6,207 | 0 |
[
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] | [
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0
] | gripper_open | 0.447059 | [
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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 | 34.299999 | 343 | 14 | 6,208 | 0 |
[
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] | [
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] | gripper_open | 0.572549 | [
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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 | 34.400002 | 344 | 14 | 6,209 | 0 |
[
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] | [
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0
] | gripper_open | 0.694118 | [
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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 | 34.5 | 345 | 14 | 6,210 | 0 |
[
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] | [
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0
] | gripper_open | 0.815686 | [
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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 | 34.599998 | 346 | 14 | 6,211 | 0 |
[
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] | [
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0
] | gripper_open | 0.941176 | [
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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 | 34.700001 | 347 | 14 | 6,212 | 0 |
[
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] | [
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0
] | gripper_open | 0.988234 | [
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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 | 34.799999 | 348 | 14 | 6,213 | 0 |
[
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] | [
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0
] | gripper_open | 0.988234 | [
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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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2.797654628753662,
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3.070059299468994
] | 1 | 34.900002 | 349 | 14 | 6,214 | 0 |
[
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] | [
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] | gripper_open | 0.988234 | [
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] | 1 | 35 | 350 | 14 | 6,215 | 0 |
[
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] | move_to_position | 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 | 35.099998 | 351 | 14 | 6,216 | 0 |
[
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] | move_to_position | 0.000015 | [
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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 | 35.200001 | 352 | 14 | 6,217 | 0 |
[
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] | move_to_position | 0.010845 | [
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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 | 35.299999 | 353 | 14 | 6,218 | 0 |
[
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] | [
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] | move_to_position | 0.047847 | [
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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 | 35.400002 | 354 | 14 | 6,219 | 0 |
[
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] | [
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] | move_to_position | 0.102577 | [
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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 | 35.5 | 355 | 14 | 6,220 | 0 |
[
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] | [
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] | move_to_position | 0.173843 | [
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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 | 35.599998 | 356 | 14 | 6,221 | 0 |
[
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] | move_to_position | 0.256751 | [
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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 | 35.700001 | 357 | 14 | 6,222 | 0 |
[
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] | [
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] | move_to_position | 0.37771 | [
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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 | 35.799999 | 358 | 14 | 6,223 | 0 |
[
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] | [
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] | move_to_position | 0.512527 | [
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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 | 35.900002 | 359 | 14 | 6,224 | 0 |
[
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] | [
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] | move_to_position | 0.643615 | [
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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 | 36 | 360 | 14 | 6,225 | 0 |
[
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] | [
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] | move_to_position | 0.74949 | [
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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 | 36.099998 | 361 | 14 | 6,226 | 0 |
[
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] | [
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] | move_to_position | 0.828483 | [
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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 | 36.200001 | 362 | 14 | 6,227 | 0 |
[
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] | [
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] | move_to_position | 0.900951 | [
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] | [
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] | [
-0.09534529596567154,
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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 | 36.299999 | 363 | 14 | 6,228 | 0 |
[
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] | [
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] | move_to_position | 0.957266 | [
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] | [
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] | [
-0.09534529596567154,
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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 | 36.400002 | 364 | 14 | 6,229 | 0 |
[
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] | [
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] | move_to_position | 0.990296 | [
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] | [
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] | [
-0.09534529596567154,
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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 | 36.5 | 365 | 14 | 6,230 | 0 |
[
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] | [
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0
] | move_to_position | 0.998338 | [
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] | [
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] | [
-0.09534529596567154,
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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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0
] | move_to_position | 0.340092 | [
-1.9001024961471558,
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] | [
0,
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0,
0
] | [
0,
-0.4399999976158142,
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0,
0,
0
] | 0 | move to initial position to start the task | [
-0.000006730770564900013,
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0.352995365858078,
2.794428825378418,
0.060936879366636276,
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] | 1 | 0.8 | 8 | 15 | 6,286 | 0 |
[
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0
] | [
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] | move_to_position | 0.395428 | [
-1.9001024961471558,
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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 | [
-0.0000196721466636518,
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] | 1 | 0.9 | 9 | 15 | 6,287 | 0 |
[
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0
] | [
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] | move_to_position | 0.078006 | [
-1.9001024961471558,
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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 | [
-0.00001682416768744588,
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0.35300567746162415,
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] | 1 | 1 | 10 | 15 | 6,288 | 0 |
[
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0
] | [
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] | move_to_position | 0.445046 | [
-1.9001024961471558,
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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 | [
-0.000026024654289358296,
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0.35297051072120667,
2.7944984436035156,
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] | 1 | 1.1 | 11 | 15 | 6,289 | 0 |
[
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] | [
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] | move_to_position | 0.241861 | [
-1.9001024961471558,
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] | [
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0,
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] | [
0,
-0.4399999976158142,
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0,
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] | 0 | move to initial position to start the task | [
-0.000025107852707151324,
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] | 1 | 1.2 | 12 | 15 | 6,290 | 0 |
[
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] | [
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] | move_to_position | 0.42569 | [
-1.9001024961471558,
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] | [
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0,
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] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
-0.000007595686383865541,
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0.35298630595207214,
2.7944555282592773,
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] | 1 | 1.3 | 13 | 15 | 6,291 | 0 |
[
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-1.8936353921890259,
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0
] | [
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0
] | move_to_position | 0 | [
-1.9001024961471558,
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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 | [
-0.000036317662306828424,
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0.35295242071151733,
2.7945544719696045,
0.060977961868047714,
3.0694291591644287
] | 1 | 1.4 | 14 | 15 | 6,292 | 0 |
[
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0
] | [
-1.9001024961471558,
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-1.893616795539856,
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0
] | move_to_position | 0.036622 | [
-1.9001024961471558,
-1.957342267036438,
1.9300917387008667,
-1.893616795539856,
-1.538711428642273,
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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 | [
-0.000022834010451333597,
-0.4399912655353546,
0.35299360752105713,
2.7944605350494385,
0.060949213802814484,
3.06941819190979
] | 1 | 1.5 | 15 | 15 | 6,293 | 0 |
[
-1.900093913078308,
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-1.8936082124710083,
-1.5387266874313354,
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0
] | [
-1.9001024961471558,
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-1.893616795539856,
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0
] | move_to_position | 0 | [
-1.3131996393203735,
-0.9550454616546631,
1.4226415157318115,
-2.3493616580963135,
-1.736391305923462,
3.4385502338409424,
0
] | [
-0.2844608426094055,
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0,
0,
0
] | [
0.2844608426094055,
-0.7223147749900818,
0.11510013788938522,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
-0.000015500496374443173,
-0.43999508023262024,
0.3530014157295227,
2.79443621635437,
0.06098617613315582,
3.0694901943206787
] | 1 | 1.6 | 16 | 15 | 6,294 | 0 |
[
-1.9000624418258667,
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1.9301074743270874,
-1.893595814704895,
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2.8822667598724365,
0
] | [
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1.9300962686538696,
-1.893619179725647,
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2.882281541824341,
0
] | move_to_position | 0 | [
-1.3131996393203735,
-0.9550454616546631,
1.4226415157318115,
-2.3493616580963135,
-1.736391305923462,
3.4385502338409424,
0
] | [
-0.2844608426094055,
0.7223147749900818,
0.11510013788938522,
0,
0,
0
] | [
0.2844608426094055,
-0.7223147749900818,
0.11510013788938522,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
-0.000026654483008314855,
-0.4399905204772949,
0.35297849774360657,
2.7945070266723633,
0.06094953790307045,
3.069437265396118
] | 1 | 1.7 | 17 | 15 | 6,295 | 0 |
[
-1.8999990224838257,
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1.9300850629806519,
-1.8936749696731567,
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2.882410764694214,
0
] | [
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1.9301657676696777,
-1.8938859701156616,
-1.5389193296432495,
2.882591962814331,
0
] | move_to_position | 0.000077 | [
-1.3131996393203735,
-0.9550454616546631,
1.4226415157318115,
-2.3493616580963135,
-1.736391305923462,
3.4385502338409424,
0
] | [
-0.2844608426094055,
0.7223147749900818,
0.11510013788938522,
0,
0,
0
] | [
0.2844608426094055,
-0.7223147749900818,
0.11510013788938522,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.000011623546924965922,
-0.44000959396362305,
0.3530004918575287,
2.7943859100341797,
0.06105414032936096,
3.0693612098693848
] | 1 | 1.8 | 18 | 15 | 6,296 | 0 |
[
-1.8992522954940796,
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1.9301680326461792,
-1.8943039178848267,
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2.8830671310424805,
0
] | [
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1.9303559064865112,
-1.8947148323059082,
-1.539292573928833,
2.883519411087036,
0
] | move_to_position | 0.000741 | [
-1.3131996393203735,
-0.9550454616546631,
1.4226415157318115,
-2.3493616580963135,
-1.736391305923462,
3.4385502338409424,
0
] | [
-0.2844608426094055,
0.7223147749900818,
0.11510013788938522,
0,
0,
0
] | [
0.2844608426094055,
-0.7223147749900818,
0.11510013788938522,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.00026336577138863504,
-0.44020316004753113,
0.3528937101364136,
2.7942402362823486,
0.06111077219247818,
3.069425344467163
] | 1 | 1.9 | 19 | 15 | 6,297 | 0 |
[
-1.8977917432785034,
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1.9304431676864624,
-1.8955656290054321,
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2.8844449520111084,
0
] | [
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-1.8962116241455078,
-1.5398973226547241,
2.8851630687713623,
0
] | move_to_position | 0.002219 | [
-1.3131996393203735,
-0.9550454616546631,
1.4226415157318115,
-2.3493616580963135,
-1.736391305923462,
3.4385502338409424,
0
] | [
-0.2844608426094055,
0.7223147749900818,
0.11510013788938522,
0,
0,
0
] | [
0.2844608426094055,
-0.7223147749900818,
0.11510013788938522,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0006187847466208041,
-0.4405421018600464,
0.35253167152404785,
2.794362783432007,
0.06109509989619255,
3.0694029331207275
] | 1 | 2 | 20 | 15 | 6,298 | 0 |
[
-1.8957098722457886,
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1.9308398962020874,
-1.8973489999771118,
-1.5403560400009155,
2.8864243030548096,
0
] | [
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-1.8982937335968018,
-1.5407060384750366,
2.887418031692505,
0
] | move_to_position | 0.004274 | [
-1.3131996393203735,
-0.9550454616546631,
1.4226415157318115,
-2.3493616580963135,
-1.736391305923462,
3.4385502338409424,
0
] | [
-0.2844608426094055,
0.7223147749900818,
0.11510013788938522,
0,
0,
0
] | [
0.2844608426094055,
-0.7223147749900818,
0.11510013788938522,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.0012707611313089728,
-0.44109421968460083,
0.35194697976112366,
2.7944247722625732,
0.06109374761581421,
3.069408655166626
] | 1 | 2.1 | 21 | 15 | 6,299 | 0 |
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