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 | 0.537255 | [
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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 | 1 | 800 | 0 |
[
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] | gripper_open | 0.658823 | [
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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 | 1 | 801 | 0 |
[
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] | gripper_open | 0.784313 | [
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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 | 35.599998 | 356 | 1 | 802 | 0 |
[
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] | gripper_open | 0.905882 | [
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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 | 35.700001 | 357 | 1 | 803 | 0 |
[
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] | gripper_open | 0.988229 | [
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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 | 35.799999 | 358 | 1 | 804 | 0 |
[
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] | gripper_open | 0.988229 | [
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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 | 35.900002 | 359 | 1 | 805 | 0 |
[
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] | [
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] | gripper_open | 0.988229 | [
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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 | [
-0.09518121927976608,
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] | 1 | 36 | 360 | 1 | 806 | 0 |
[
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] | [
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] | move_to_position | 0.000203 | [
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] | [
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0,
0,
0
] | [
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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 | [
-0.09519462287425995,
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0.04102342575788498,
-3.1402225494384766,
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] | 1 | 36.099998 | 361 | 1 | 807 | 0 |
[
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] | [
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0
] | move_to_position | 0.000268 | [
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] | [
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0
] | [
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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 | 1 | 808 | 0 |
[
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] | [
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] | move_to_position | 0.010196 | [
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] | [
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] | [
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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 | 36.299999 | 363 | 1 | 809 | 0 |
[
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] | [
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0
] | move_to_position | 0.041719 | [
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] | [
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] | [
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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 | 36.400002 | 364 | 1 | 810 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.095876 | [
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] | [
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0
] | [
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0.11431390792131424,
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0,
0
] | 0 | pick up the right chocolate pie and place it on the right red plate: retract after place | [
-0.09477946162223816,
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] | 1 | 36.5 | 365 | 1 | 811 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.165073 | [
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] | [
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0
] | [
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0.11431390792131424,
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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 | 36.599998 | 366 | 1 | 812 | 0 |
[
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] | [
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0
] | move_to_position | 0.262155 | [
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] | [
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0
] | [
-0.09149271249771118,
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0.11431390792131424,
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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 | 36.700001 | 367 | 1 | 813 | 0 |
[
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] | [
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0
] | move_to_position | 0.376853 | [
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] | [
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0
] | [
-0.09149271249771118,
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0.11431390792131424,
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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 | 36.799999 | 368 | 1 | 814 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.508009 | [
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[
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[
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[
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[
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[
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[
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[
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] | 1 | 0.3 | 3 | 2 | 868 | 0 |
[
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] | move_to_position | 0.22844 | [
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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 | 2 | 869 | 0 |
[
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] | [
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] | move_to_position | 0.467991 | [
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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 | 2 | 870 | 0 |
[
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] | [
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] | move_to_position | 0.569091 | [
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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 | 0.6 | 6 | 2 | 871 | 0 |
[
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] | [
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] | move_to_position | 0.256539 | [
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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 | 0.7 | 7 | 2 | 872 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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] | [
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] | [
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-0.4399999976158142,
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.8 | 8 | 2 | 873 | 0 |
[
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] | [
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] | move_to_position | 0.502728 | [
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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 | 0.9 | 9 | 2 | 874 | 0 |
[
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] | [
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] | move_to_position | 0.019315 | [
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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 | 10 | 2 | 875 | 0 |
[
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] | [
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] | move_to_position | 0.159626 | [
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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 | [
-0.000020674433471867815,
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0.353002667427063,
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] | 1 | 1.1 | 11 | 2 | 876 | 0 |
[
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] | [
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] | move_to_position | 0.15854 | [
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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 | [
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] | 1 | 1.2 | 12 | 2 | 877 | 0 |
[
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] | [
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] | move_to_position | 0.042205 | [
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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 | [
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] | 1 | 1.3 | 13 | 2 | 878 | 0 |
[
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] | [
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] | move_to_position | 0 | [
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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 | [
-0.00002170713742088992,
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0.3529953360557556,
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] | 1 | 1.4 | 14 | 2 | 879 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.464485 | [
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] | [
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0.4399999976158142,
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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 | [
-0.00002765598583209794,
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0.3530083894729614,
-3.138699531555176,
-0.0007205083966255188,
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] | 1 | 1.5 | 15 | 2 | 880 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000021 | [
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] | [
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0,
0
] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
-0.000016656362276989967,
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0.3530021607875824,
-3.1386775970458984,
-0.0007310044602490962,
3.1415793895721436
] | 1 | 1.6 | 16 | 2 | 881 | 0 |
[
-1.880480170249939,
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0
] | [
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0
] | move_to_position | 0.000006 | [
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] | [
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0,
0
] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
-0.00003069021840929054,
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0.35299748182296753,
-3.1386559009552,
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] | 1 | 1.7 | 17 | 2 | 882 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000115 | [
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-2.005591869354248,
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] | [
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0.6380871534347534,
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0,
0
] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.000042539955757092685,
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0.3530097007751465,
-3.1388351917266846,
-0.0007286929758265615,
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] | 1 | 1.8 | 18 | 2 | 883 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000841 | [
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1.413257122039795,
-2.005591869354248,
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0
] | [
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0.6380871534347534,
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0,
0,
0
] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.00034449290251359344,
-0.4402194023132324,
0.35290202498435974,
-3.139153003692627,
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] | 1 | 1.9 | 19 | 2 | 884 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.002433 | [
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1.413257122039795,
-2.005591869354248,
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0
] | [
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0.6380871534347534,
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0,
0
] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.000919563986826688,
-0.44049400091171265,
0.352323055267334,
-3.1389191150665283,
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] | 1 | 2 | 20 | 2 | 885 | 0 |
[
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2.838764190673828,
0
] | [
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0
] | move_to_position | 0.004666 | [
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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 | 2.1 | 21 | 2 | 886 | 0 |
[
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] | move_to_position | 0.008003 | [
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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 | 2 | 887 | 0 |
[
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] | move_to_position | 0.01264 | [
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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 | 2.3 | 23 | 2 | 888 | 0 |
[
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] | [
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] | move_to_position | 0.018129 | [
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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 | 2.4 | 24 | 2 | 889 | 0 |
[
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] | [
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] | move_to_position | 0.025261 | [
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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 | 2 | 890 | 0 |
[
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] | [
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] | move_to_position | 0.033217 | [
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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 | 2 | 891 | 0 |
[
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] | [
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] | move_to_position | 0.043731 | [
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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 | 2 | 892 | 0 |
[
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] | [
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] | move_to_position | 0.055444 | [
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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 | 2.8 | 28 | 2 | 893 | 0 |
[
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] | [
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] | move_to_position | 0.070558 | [
-1.3213531970977783,
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] | [
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] | [
0.3017856776714325,
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0.08311756700277328,
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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 | 2 | 894 | 0 |
[
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] | [
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] | move_to_position | 0.085978 | [
-1.3213531970977783,
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1.413257122039795,
-2.005591869354248,
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] | [
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] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
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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 | 3 | 30 | 2 | 895 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.103615 | [
-1.3213531970977783,
-0.9748773574829102,
1.413257122039795,
-2.005591869354248,
-1.5692839622497559,
3.3949010372161865,
0
] | [
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] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
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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 | 3.1 | 31 | 2 | 896 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.122797 | [
-1.3213531970977783,
-0.9748773574829102,
1.413257122039795,
-2.005591869354248,
-1.5692839622497559,
3.3949010372161865,
0
] | [
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] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
0,
0,
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] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
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] | 1 | 3.2 | 32 | 2 | 897 | 0 |
[
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2.945085287094116,
0
] | [
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0
] | move_to_position | 0.142354 | [
-1.3213531970977783,
-0.9748773574829102,
1.413257122039795,
-2.005591869354248,
-1.5692839622497559,
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0
] | [
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0,
0
] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
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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-3.138681650161743,
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] | 1 | 3.3 | 33 | 2 | 898 | 0 |
[
-1.7537111043930054,
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2.9618053436279297,
0
] | [
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2.967771530151367,
0
] | move_to_position | 0.165208 | [
-1.3213531970977783,
-0.9748773574829102,
1.413257122039795,
-2.005591869354248,
-1.5692839622497559,
3.3949010372161865,
0
] | [
-0.3017856776714325,
0.6380871534347534,
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0,
0,
0
] | [
0.3017856776714325,
-0.6380871534347534,
0.08311756700277328,
0,
0,
0
] | 0 | pick up the left chocolate pie and place it on the left red plate: approach above chocolate pie_1 | [
0.05051251873373985,
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0.3076915740966797,
-3.1387100219726562,
-0.0007527726702392101,
3.1415364742279053
] | 1 | 3.4 | 34 | 2 | 899 | 0 |
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