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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[
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0
] | move_to_position | 0.999779 | [
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] | 0 | return to home after task completion | [
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] | 1 | 41.099998 | 411 | 18 | 7,953 | 0 |
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] | move_to_position | 1 | [
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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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] | move_to_position | 0.1379 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.2 | 2 | 19 | 7,956 | 0 |
[
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] | [
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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 | 0.3 | 3 | 19 | 7,957 | 0 |
[
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] | [
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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 | 0.4 | 4 | 19 | 7,958 | 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 | 0.5 | 5 | 19 | 7,959 | 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 | 0.6 | 6 | 19 | 7,960 | 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 | 0.7 | 7 | 19 | 7,961 | 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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0.3529896140098572,
2.7959959506988525,
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] | 1 | 0.8 | 8 | 19 | 7,962 | 0 |
[
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] | [
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] | move_to_position | 0.148908 | [
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] | [
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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 | [
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0.3530058264732361,
2.795947551727295,
0.060452383011579514,
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] | 1 | 0.9 | 9 | 19 | 7,963 | 0 |
[
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0
] | [
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] | move_to_position | 0 | [
-1.9000471830368042,
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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 | [
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0.3530067205429077,
2.7959556579589844,
0.060468778014183044,
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] | 1 | 1 | 10 | 19 | 7,964 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.37245 | [
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] | [
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0,
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] | [
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-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.0000019187691577826627,
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0.3530101180076599,
2.7959399223327637,
0.060459304600954056,
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] | 1 | 1.1 | 11 | 19 | 7,965 | 0 |
[
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0
] | [
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2.882319927215576,
0
] | move_to_position | 0.081589 | [
-1.9000471830368042,
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1.9287861585617065,
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-1.5386122465133667,
2.882319927215576,
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] | [
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0.4399999976158142,
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0,
0,
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] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
2.865216686132044e-7,
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0.35303154587745667,
2.7959189414978027,
0.0604817196726799,
3.0695455074310303
] | 1 | 1.2 | 12 | 19 | 7,966 | 0 |
[
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0
] | [
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2.882319927215576,
0
] | move_to_position | 0.54248 | [
-1.9000471830368042,
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1.9287861585617065,
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-1.5386122465133667,
2.882319927215576,
0
] | [
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0.4399999976158142,
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0,
0,
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] | [
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-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
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0.35300910472869873,
2.7959532737731934,
0.060475584119558334,
3.069582223892212
] | 1 | 1.3 | 13 | 19 | 7,967 | 0 |
[
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2.882326602935791,
0
] | [
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-1.8916292190551758,
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2.882319927215576,
0
] | move_to_position | 0.04518 | [
-1.9000471830368042,
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1.9287861585617065,
-1.8916288614273071,
-1.5386122465133667,
2.882319927215576,
0
] | [
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0.4399999976158142,
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0,
0,
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] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.000014372919395100325,
-0.4400203824043274,
0.353010356426239,
2.7959578037261963,
0.0604294016957283,
3.069567918777466
] | 1 | 1.4 | 14 | 19 | 7,968 | 0 |
[
-1.9000319242477417,
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-1.8916479349136353,
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2.8823232650756836,
0
] | [
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1.9287861585617065,
-1.8916288614273071,
-1.5386122465133667,
2.882319927215576,
0
] | move_to_position | 0 | [
-1.9000471830368042,
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1.9287861585617065,
-1.8916288614273071,
-1.5386122465133667,
2.882319927215576,
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] | [
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0.4399999976158142,
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0,
0,
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] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.00001763734508131165,
-0.44002121686935425,
0.35300374031066895,
2.7959704399108887,
0.06041768565773964,
3.0695459842681885
] | 1 | 1.5 | 15 | 19 | 7,969 | 0 |
[
-1.9000509977340698,
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-1.8916512727737427,
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2.882326602935791,
0
] | [
-1.9000471830368042,
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1.9287861585617065,
-1.8916288614273071,
-1.5386122465133667,
2.882319927215576,
0
] | move_to_joint_state | 0 | [
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0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first pie | [
0.00001711383811198175,
-0.4400216042995453,
0.35301074385643005,
2.7959647178649902,
0.060427580028772354,
3.069575548171997
] | 1 | 1.6 | 16 | 19 | 7,970 | 0 |
[
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2.8821520805358887,
0
] | [
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] | move_to_position | 0.003551 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 3.6 | 36 | 19 | 7,990 | 0 |
[
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] | [
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] | move_to_position | 0.00718 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 3.7 | 37 | 19 | 7,991 | 0 |
[
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] | [
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] | move_to_position | 0.012049 | [
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] | [
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] | [
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 3.8 | 38 | 19 | 7,992 | 0 |
[
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] | [
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] | move_to_position | 0.018449 | [
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] | [
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] | [
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0,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 3.9 | 39 | 19 | 7,993 | 0 |
[
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] | [
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] | move_to_position | 0.026863 | [
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] | [
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] | [
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0,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4 | 40 | 19 | 7,994 | 0 |
[
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] | [
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] | move_to_position | 0.036741 | [
-1.5365681648254395,
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] | [
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0,
0
] | [
0.15485583245754242,
-0.5943240523338318,
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0,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4.1 | 41 | 19 | 7,995 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.049438 | [
-1.5365681648254395,
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] | [
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0,
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] | [
0.15485583245754242,
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0,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4.2 | 42 | 19 | 7,996 | 0 |
[
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] | [
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] | move_to_position | 0.065526 | [
-1.5365681648254395,
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1.762304425239563,
-2.2140958309173584,
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] | [
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0,
0
] | [
0.15485583245754242,
-0.5943240523338318,
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0,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4.3 | 43 | 19 | 7,997 | 0 |
[
-1.8483375310897827,
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0
] | [
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0
] | move_to_position | 0.083384 | [
-1.5365681648254395,
-1.118052363395691,
1.762304425239563,
-2.2140958309173584,
-1.5705316066741943,
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] | [
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0,
0
] | [
0.15485583245754242,
-0.5943240523338318,
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0,
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] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
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] | 1 | 4.4 | 44 | 19 | 7,998 | 0 |
[
-1.838145136833191,
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0
] | [
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0
] | move_to_position | 0.104207 | [
-1.5365681648254395,
-1.118052363395691,
1.762304425239563,
-2.2140958309173584,
-1.5705316066741943,
3.1798717975616455,
0
] | [
-0.15485583245754242,
0.5943240523338318,
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0,
0
] | [
0.15485583245754242,
-0.5943240523338318,
0.04466724395751953,
0,
0,
0
] | 0 | pick first pie and place it on the first plate: approach above chocolate pie_1 | [
0.028152594342827797,
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0.3118439316749573,
3.141568422317505,
0.000017895874407258816,
3.141451835632324
] | 1 | 4.5 | 45 | 19 | 7,999 | 0 |
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