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 | 1.1 | 11 | 18 | 7,553 | 0 |
[
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0
] | [
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] | move_to_position | 0.154774 | [
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] | [
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] | [
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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 | 18 | 7,554 | 0 |
[
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] | [
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] | move_to_position | 0.550185 | [
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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 | [
0.000060014815971953794,
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] | 1 | 1.3 | 13 | 18 | 7,555 | 0 |
[
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] | [
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] | move_to_position | 0.299568 | [
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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 | [
0.00005665038770530373,
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0.35299232602119446,
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] | 1 | 1.4 | 14 | 18 | 7,556 | 0 |
[
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] | [
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] | move_to_position | 0 | [
-1.8999103307724,
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] | [
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0,
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] | [
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-0.4399999976158142,
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0,
0
] | 0 | move to initial position to start the task | [
0.00004670697671826929,
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0.35299065709114075,
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] | 1 | 1.5 | 15 | 18 | 7,557 | 0 |
[
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] | [
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] | move_to_position | 0.000015 | [
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] | [
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0,
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] | [
0.18028627336025238,
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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 | [
0.000048122576117748395,
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0.3530104160308838,
2.7944512367248535,
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] | 1 | 1.6 | 16 | 18 | 7,558 | 0 |
[
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] | [
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] | move_to_position | 0.000014 | [
-1.4568504095077515,
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] | [
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0,
0
] | [
0.18028627336025238,
-0.670346200466156,
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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 | [
0.00003939406087738462,
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2.7944698333740234,
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] | 1 | 1.7 | 17 | 18 | 7,559 | 0 |
[
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] | [
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] | move_to_position | 0.00015 | [
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] | [
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] | [
0.18028627336025238,
-0.670346200466156,
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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 | [
0.00012683238310273737,
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] | 1 | 1.8 | 18 | 18 | 7,560 | 0 |
[
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] | [
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] | move_to_position | 0.001228 | [
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] | [
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0,
0
] | [
0.18028627336025238,
-0.670346200466156,
0.061185434460639954,
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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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] | 1 | 1.9 | 19 | 18 | 7,561 | 0 |
[
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] | [
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] | move_to_position | 0.003034 | [
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] | [
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0,
0
] | [
0.18028627336025238,
-0.670346200466156,
0.061185434460639954,
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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 | 20 | 18 | 7,562 | 0 |
[
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] | [
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] | move_to_position | 0.006139 | [
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1.7666170597076416,
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] | [
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0,
0
] | [
0.18028627336025238,
-0.670346200466156,
0.061185434460639954,
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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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2.794691562652588,
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] | 1 | 2.1 | 21 | 18 | 7,563 | 0 |
[
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] | [
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] | move_to_position | 0.010455 | [
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] | [
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0,
0
] | [
0.18028627336025238,
-0.670346200466156,
0.061185434460639954,
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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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] | 1 | 2.2 | 22 | 18 | 7,564 | 0 |
[
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] | [
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] | move_to_position | 0.016052 | [
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] | [
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] | [
0.18028627336025238,
-0.670346200466156,
0.061185434460639954,
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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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] | 1 | 2.3 | 23 | 18 | 7,565 | 0 |
[
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] | [
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0
] | move_to_position | 0.023221 | [
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] | [
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] | [
0.18028627336025238,
-0.670346200466156,
0.061185434460639954,
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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 | 2.4 | 24 | 18 | 7,566 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.032016 | [
-1.4568504095077515,
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-2.6114206314086914,
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] | [
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0,
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] | [
0.18028627336025238,
-0.670346200466156,
0.061185434460639954,
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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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] | 1 | 2.5 | 25 | 18 | 7,567 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.043407 | [
-1.4568504095077515,
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1.7666170597076416,
-2.6114206314086914,
-1.6907662153244019,
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] | [
-0.18028627336025238,
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0,
0
] | [
0.18028627336025238,
-0.670346200466156,
0.061185434460639954,
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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] | 1 | 2.6 | 26 | 18 | 7,568 | 0 |
[
-1.861784815788269,
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0
] | [
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0
] | move_to_position | 0.056932 | [
-1.4568504095077515,
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1.7666170597076416,
-2.6114206314086914,
-1.6907662153244019,
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] | [
-0.18028627336025238,
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0,
0
] | [
0.18028627336025238,
-0.670346200466156,
0.061185434460639954,
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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0.3372495472431183,
2.7944271564483643,
0.06098412349820137,
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] | 1 | 2.7 | 27 | 18 | 7,569 | 0 |
[
-1.851828932762146,
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0
] | [
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-1.9682310819625854,
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0
] | move_to_position | 0.072185 | [
-1.4568504095077515,
-1.0566949844360352,
1.7666170597076416,
-2.6114206314086914,
-1.6907662153244019,
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] | [
-0.18028627336025238,
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0,
0
] | [
0.18028627336025238,
-0.670346200466156,
0.061185434460639954,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.01265870500355959,
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0.3326284885406494,
2.794466733932495,
0.060959894210100174,
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] | 1 | 2.8 | 28 | 18 | 7,570 | 0 |
[
-1.8405369520187378,
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] | [
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0
] | move_to_position | 0.090097 | [
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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 | 2.9 | 29 | 18 | 7,571 | 0 |
[
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] | move_to_position | 0.108626 | [
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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 | 30 | 18 | 7,572 | 0 |
[
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] | [
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] | move_to_position | 0.13149 | [
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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 | 3.1 | 31 | 18 | 7,573 | 0 |
[
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] | [
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] | move_to_position | 0.154239 | [
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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 | 3.2 | 32 | 18 | 7,574 | 0 |
[
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] | [
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] | move_to_position | 0.182025 | [
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] | [
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] | [
0.18028627336025238,
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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 | 3.3 | 33 | 18 | 7,575 | 0 |
[
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] | [
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] | move_to_position | 0.20829 | [
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] | [
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] | [
0.18028627336025238,
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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 | 3.4 | 34 | 18 | 7,576 | 0 |
[
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] | [
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] | move_to_position | 0.238668 | [
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] | [
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] | [
0.18028627336025238,
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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 | 18 | 7,577 | 0 |
[
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] | [
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] | move_to_position | 0.269214 | [
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] | [
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] | [
0.18028627336025238,
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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 | 18 | 7,578 | 0 |
[
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] | move_to_position | 0.302357 | [
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] | [
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] | [
0.18028627336025238,
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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 | 18 | 7,579 | 0 |
[
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] | [
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] | move_to_position | 0.335552 | [
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] | [
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] | [
0.18028627336025238,
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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 | 18 | 7,580 | 0 |
[
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] | [
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] | move_to_position | 0.369367 | [
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] | [
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] | [
0.18028627336025238,
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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 | 18 | 7,581 | 0 |
[
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] | [
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] | move_to_position | 0.406035 | [
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] | [
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] | [
0.18028627336025238,
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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 | 18 | 7,582 | 0 |
[
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] | [
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] | move_to_position | 0.441521 | [
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] | [
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] | [
0.18028627336025238,
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0.061185434460639954,
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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 | 18 | 7,583 | 0 |
[
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] | [
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] | move_to_position | 0.477188 | [
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1.7666170597076416,
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] | [
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] | [
0.18028627336025238,
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0.061185434460639954,
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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 | 18 | 7,584 | 0 |
[
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] | [
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] | move_to_position | 0.51366 | [
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1.7666170597076416,
-2.6114206314086914,
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] | [
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] | [
0.18028627336025238,
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0.061185434460639954,
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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 | 18 | 7,585 | 0 |
[
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] | [
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0
] | move_to_position | 0.552327 | [
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1.7666170597076416,
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] | [
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] | [
0.18028627336025238,
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0.061185434460639954,
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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 | 18 | 7,586 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.588704 | [
-1.4568504095077515,
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1.7666170597076416,
-2.6114206314086914,
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] | [
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] | [
0.18028627336025238,
-0.670346200466156,
0.061185434460639954,
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0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 4.5 | 45 | 18 | 7,587 | 0 |
[
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] | move_to_position | 0.623012 | [
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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 | 18 | 7,588 | 0 |
[
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] | move_to_position | 0.657926 | [
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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 | 18 | 7,589 | 0 |
[
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] | move_to_position | 0.693913 | [
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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 | 0.72673 | [
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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 | 0.760507 | [
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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 | 18 | 7,592 | 0 |
[
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] | [
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] | move_to_position | 0.790177 | [
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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 | 5.1 | 51 | 18 | 7,593 | 0 |
[
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] | [
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] | move_to_position | 0.818979 | [
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] | [
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] | [
0.18028627336025238,
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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 | 5.2 | 52 | 18 | 7,594 | 0 |
[
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] | [
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] | move_to_position | 0.845167 | [
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] | [
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] | [
0.18028627336025238,
-0.670346200466156,
0.061185434460639954,
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0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.3 | 53 | 18 | 7,595 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.869476 | [
-1.4568504095077515,
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-2.6114206314086914,
-1.6907662153244019,
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] | [
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] | [
0.18028627336025238,
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0.061185434460639954,
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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 | 5.4 | 54 | 18 | 7,596 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.893683 | [
-1.4568504095077515,
-1.0566949844360352,
1.7666170597076416,
-2.6114206314086914,
-1.6907662153244019,
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] | [
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] | [
0.18028627336025238,
-0.670346200466156,
0.061185434460639954,
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0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.5 | 55 | 18 | 7,597 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.913058 | [
-1.4568504095077515,
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1.7666170597076416,
-2.6114206314086914,
-1.6907662153244019,
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] | [
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] | [
0.18028627336025238,
-0.670346200466156,
0.061185434460639954,
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0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 5.6 | 56 | 18 | 7,598 | 0 |
[
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3.282740592956543,
0
] | [
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0
] | move_to_position | 0.930445 | [
-1.4568504095077515,
-1.0566949844360352,
1.7666170597076416,
-2.6114206314086914,
-1.6907662153244019,
3.300962209701538,
0
] | [
-0.18028627336025238,
0.670346200466156,
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0
] | [
0.18028627336025238,
-0.670346200466156,
0.061185434460639954,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.16775786876678467,
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2.7944283485412598,
0.06099209189414978,
3.0694785118103027
] | 1 | 5.7 | 57 | 18 | 7,599 | 0 |
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