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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] | move_to_position | 0.174117 | [
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] | [
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] | 0 | pick second pie and place it on the second plate: retract after place | [
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] | 1 | 33.700001 | 337 | 21 | 9,200 | 0 |
[
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] | move_to_position | 0.259746 | [
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] | [
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] | [
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] | 0 | pick second pie and place it on the second plate: retract after place | [
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] | 1 | 33.799999 | 338 | 21 | 9,201 | 0 |
[
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] | [
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] | move_to_position | 0.367995 | [
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] | [
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] | [
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] | 0 | pick second pie and place it on the second plate: retract after place | [
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] | 1 | 33.900002 | 339 | 21 | 9,202 | 0 |
[
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] | [
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] | move_to_position | 0.504208 | [
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] | [
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] | [
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] | 0 | pick second pie and place it on the second plate: retract after place | [
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] | 1 | 34 | 340 | 21 | 9,203 | 0 |
[
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] | [
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] | move_to_position | 0.638566 | [
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] | [
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] | [
-0.09519022703170776,
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0,
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] | 0 | pick second pie and place it on the second plate: retract after place | [
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] | 1 | 34.099998 | 341 | 21 | 9,204 | 0 |
[
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] | [
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] | move_to_position | 0.748874 | [
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1.4675188064575195,
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] | [
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0
] | [
-0.09519022703170776,
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0.09200000017881393,
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0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
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] | 1 | 34.200001 | 342 | 21 | 9,205 | 0 |
[
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] | [
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] | move_to_position | 0.835339 | [
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1.4675188064575195,
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] | [
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0
] | [
-0.09519022703170776,
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0.09200000017881393,
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0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.0952221006155014,
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] | 1 | 34.299999 | 343 | 21 | 9,206 | 0 |
[
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] | [
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] | move_to_position | 0.898202 | [
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] | [
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0
] | [
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0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09519439935684204,
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0.08758465200662613,
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] | 1 | 34.400002 | 344 | 21 | 9,207 | 0 |
[
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] | [
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0
] | move_to_position | 0.948187 | [
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] | [
0.09519022703170776,
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0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.09200000017881393,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09517888724803925,
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0.08987367153167725,
-3.141209602355957,
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] | 1 | 34.5 | 345 | 21 | 9,208 | 0 |
[
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1.46855628490448,
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2.8100714683532715,
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] | [
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1.4681291580200195,
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2.8100523948669434,
0
] | move_to_position | 0.982353 | [
-1.9061806201934814,
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1.4675188064575195,
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2.810051918029785,
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] | [
0.09519022703170776,
0.6818943023681641,
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0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.09200000017881393,
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0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.09520970284938812,
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0.09130137413740158,
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] | 1 | 34.599998 | 346 | 21 | 9,209 | 0 |
[
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2.810059070587158,
0
] | [
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1.467520833015442,
-2.0142407417297363,
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2.810051918029785,
0
] | move_to_position | 0.997392 | [
-1.9061806201934814,
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1.4675188064575195,
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2.810051918029785,
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] | [
0.09519022703170776,
0.6818943023681641,
0.09200000017881393,
0,
0,
0
] | [
-0.09519022703170776,
-0.6818943023681641,
0.09200000017881393,
0,
0,
0
] | 0 | pick second pie and place it on the second plate: retract after place | [
-0.0951654464006424,
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0.0918240025639534,
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] | 1 | 34.700001 | 347 | 21 | 9,210 | 0 |
[
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1.467668890953064,
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2.810023546218872,
0
] | [
-1.9061806201934814,
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1.4675188064575195,
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2.810051918029785,
0
] | move_to_position | 0 | [
-1.8806581497192383,
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1.6472620964050293,
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] | [
0,
0.4399999976158142,
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0,
0,
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] | [
0,
-0.4399999976158142,
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0,
0,
0
] | 0 | return to home after task completion | [
-0.09518539160490036,
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0.09184782207012177,
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] | 1 | 34.799999 | 348 | 21 | 9,211 | 0 |
[
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0
] | [
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1.467697262763977,
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0
] | move_to_position | 0.000017 | [
-1.8806581497192383,
-1.7386845350265503,
1.6472620964050293,
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2.8346850872039795,
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] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
-0.09519850462675095,
-0.6818068027496338,
0.09178172796964645,
-3.1408157348632812,
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3.1415536403656006
] | 1 | 34.900002 | 349 | 21 | 9,212 | 0 |
[
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1.4678081274032593,
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2.8100714683532715,
0
] | [
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1.4681041240692139,
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2.8101143836975098,
0
] | move_to_position | 0.000369 | [
-1.8806581497192383,
-1.7386845350265503,
1.6472620964050293,
-1.4776742458343506,
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2.8346850872039795,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
-0.09512988477945328,
-0.6817339658737183,
0.09204457700252533,
-3.141014337539673,
-0.00030351837631314993,
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] | 1 | 35 | 350 | 21 | 9,213 | 0 |
[
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-2.0138466358184814,
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2.8101189136505127,
0
] | [
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1.46929931640625,
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0
] | move_to_position | 0.001961 | [
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1.6472620964050293,
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2.8346850872039795,
0
] | [
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0.4399999976158142,
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0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
-0.094964399933815,
-0.6812769770622253,
0.092506043612957,
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] | 1 | 35.099998 | 351 | 21 | 9,214 | 0 |
[
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2.8102028369903564,
0
] | [
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0
] | move_to_position | 0.004303 | [
-1.8806581497192383,
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1.6472620964050293,
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2.8346850872039795,
0
] | [
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0.4399999976158142,
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0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
-0.09467174112796783,
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0.09304776787757874,
-3.1407642364501953,
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3.141558885574341
] | 1 | 35.200001 | 352 | 21 | 9,215 | 0 |
[
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0
] | [
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1.4740548133850098,
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2.8102564811706543,
0
] | move_to_position | 0.0084 | [
-1.8806581497192383,
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1.6472620964050293,
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2.8346850872039795,
0
] | [
0,
0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | return to home after task completion | [
-0.094277024269104,
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0.09421287477016449,
-3.1408748626708984,
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3.1415250301361084
] | 1 | 35.299999 | 353 | 21 | 9,216 | 0 |
[
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[
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[
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[
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[
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[
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] | move_to_position | 0.152408 | [
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] | 1 | 1.1 | 11 | 22 | 9,285 | 0 |
[
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] | move_to_position | 0.177141 | [
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] | 1 | 1.2 | 12 | 22 | 9,286 | 0 |
[
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] | move_to_position | 0.233745 | [
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] | 1 | 1.3 | 13 | 22 | 9,287 | 0 |
[
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] | move_to_position | 0.641053 | [
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] | 1 | 1.4 | 14 | 22 | 9,288 | 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 | [
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] | 1 | 1.5 | 15 | 22 | 9,289 | 0 |
[
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] | 1 | 1.6 | 16 | 22 | 9,290 | 0 |
[
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] | move_to_joint_state | 0 | [
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] | [
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] | 0 | level TCP before picking first pie | [
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] | 1 | 1.7 | 17 | 22 | 9,291 | 0 |
[
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] | [
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] | move_to_joint_state | 0.004404 | [
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] | [
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] | [
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] | 0 | level TCP before picking first pie | [
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] | 1 | 1.8 | 18 | 22 | 9,292 | 0 |
[
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] | [
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] | move_to_joint_state | 0.054745 | [
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] | [
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] | 0 | level TCP before picking first pie | [
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] | 1 | 1.9 | 19 | 22 | 9,293 | 0 |
[
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] | [
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] | move_to_joint_state | 0.119386 | [
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] | [
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] | [
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] | 0 | level TCP before picking first pie | [
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] | 1 | 2 | 20 | 22 | 9,294 | 0 |
[
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0
] | [
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] | move_to_joint_state | 0.204643 | [
-1.8800746202468872,
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0
] | [
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] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first pie | [
0.00007404066127492115,
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0.35296475887298584,
-3.139488458633423,
0.000024065682737273164,
3.141505479812622
] | 1 | 2.1 | 21 | 22 | 9,295 | 0 |
[
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0
] | [
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0
] | move_to_joint_state | 0.296266 | [
-1.8800746202468872,
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] | [
0,
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] | [
0,
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] | 0 | level TCP before picking first pie | [
0.00008604601316619664,
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0.35298585891723633,
-3.1397767066955566,
0.0000037787888231832767,
3.141552686691284
] | 1 | 2.2 | 22 | 22 | 9,296 | 0 |
[
-1.8799551725387573,
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] | [
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0
] | move_to_joint_state | 0.393475 | [
-1.8800746202468872,
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1.6469733715057373,
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-1.5697942972183228,
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0
] | [
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] | [
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] | 0 | level TCP before picking first pie | [
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] | 1 | 2.3 | 23 | 22 | 9,297 | 0 |
[
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2.835386037826538,
0
] | [
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2.835376024246216,
0
] | move_to_joint_state | 0.493891 | [
-1.8800746202468872,
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1.6469733715057373,
-1.4787557125091553,
-1.5697942972183228,
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0
] | [
0,
0,
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] | [
0,
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0,
0
] | 0 | level TCP before picking first pie | [
0.00009024595783557743,
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0.3529522716999054,
-3.140228509902954,
0.000008663168955536094,
3.1415889263153076
] | 1 | 2.4 | 24 | 22 | 9,298 | 0 |
[
-1.8799632787704468,
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1.646461844444275,
-1.4775234460830688,
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2.835374116897583,
0
] | [
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1.646541714668274,
-1.477676510810852,
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2.8353464603424072,
0
] | move_to_joint_state | 0.59595 | [
-1.8800746202468872,
-1.738072395324707,
1.6469733715057373,
-1.4787557125091553,
-1.5697942972183228,
2.8352439403533936,
0
] | [
0,
0,
0,
0,
0,
0
] | [
0,
0,
0,
0,
0,
0
] | 0 | level TCP before picking first pie | [
0.00007612165063619614,
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0.3529779613018036,
-3.14056658744812,
0.000011267765330558177,
-3.141590118408203
] | 1 | 2.5 | 25 | 22 | 9,299 | 0 |
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