observation.state list | action list | skill.type stringclasses 3
values | skill.progress float32 0 1 | skill.goal_position.joint list | skill.goal_position.world_xyzrpy list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 1 | skill.natural_language stringclasses 57
values | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | timestamp float32 0 28.6 | frame_index int64 0 286 | episode_index int64 0 79 | index int64 0 20.4k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-1.781826376914978,
-0.9751697182655334,
1.67039954662323,
-2.6173994541168213,
-1.5804532766342163,
2.992737054824829,
1
] | [
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1.6702674627304077,
-2.617696762084961,
-1.5805435180664062,
2.9929823875427246,
1
] | move_to_position | 0.977076 | [
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1.670246958732605,
-2.6180083751678467,
-1.580634593963623,
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1
] | [
0.02231271006166935,
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0.04899999871850014,
0,
0,
0
] | [
-0.02231271006166935,
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0,
0,
0
] | 1 | pick up the red block and place it on the blue dish: descend to blue dish | [
-0.02256288006901741,
-0.7362658977508545,
0.04921846091747284,
2.7942166328430176,
0.060937393456697464,
3.071012258529663
] | 0 | 16.200001 | 162 | 1 | 400 | 0 |
[
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1.670359492301941,
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1
] | [
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1
] | move_to_position | 0.992984 | [
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1.670246958732605,
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1
] | [
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0,
0,
0
] | [
-0.02231271006166935,
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0,
0,
0
] | 1 | pick up the red block and place it on the blue dish: descend to blue dish | [
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0.04915118217468262,
2.7939422130584717,
0.06098055839538574,
3.0709047317504883
] | 0 | 16.299999 | 163 | 1 | 401 | 0 |
[
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1.6702955961227417,
-2.6179215908050537,
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1
] | [
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1.670246958732605,
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0
] | gripper_open | 0 | [
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1.6702955961227417,
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] | [
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] | [
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] | 0 | pick up the red block and place it on the blue dish: release at blue dish | [
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0.04918884113430977,
2.7938780784606934,
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] | 0 | 16.4 | 164 | 1 | 402 | 0 |
[
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] | [
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] | gripper_open | 0.486274 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it on the blue dish: release at blue dish | [
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0.04908871278166771,
2.7939953804016113,
0.06097257882356644,
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] | 0 | 16.5 | 165 | 1 | 403 | 0 |
[
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] | [
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0
] | gripper_open | 0.505882 | [
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] | [
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] | [
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0.049156367778778076,
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] | 0 | pick up the red block and place it on the blue dish: release at blue dish | [
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0.04903629422187805,
2.7940664291381836,
0.06101200357079506,
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] | 1 | 16.6 | 166 | 1 | 404 | 0 |
[
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2.9932353496551514,
0.3803921639919281
] | [
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1.670246958732605,
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0
] | gripper_open | 0.619608 | [
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-1.5805944204330444,
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0
] | [
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0.049156367778778076,
2.7939319610595703,
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3.0709073543548584
] | [
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0.049156367778778076,
2.7939319610595703,
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3.0709073543548584
] | 0 | pick up the red block and place it on the blue dish: release at blue dish | [
-0.022310879081487656,
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0.04902847111225128,
2.794065475463867,
0.060973186045885086,
3.070976972579956
] | 1 | 16.700001 | 167 | 1 | 405 | 0 |
[
-1.7813204526901245,
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1.6702440977096558,
-2.6180222034454346,
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2.993231773376465,
0.2549019753932953
] | [
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1.670246958732605,
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0
] | gripper_open | 0.745098 | [
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1.6702955961227417,
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-1.5805944204330444,
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0
] | [
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0.7363860607147217,
0.049156367778778076,
2.7939319610595703,
0.06097811460494995,
3.0709073543548584
] | [
-0.022396940737962723,
-0.7363860607147217,
0.049156367778778076,
2.7939319610595703,
0.06097811460494995,
3.0709073543548584
] | 0 | pick up the red block and place it on the blue dish: release at blue dish | [
-0.02233426459133625,
-0.7363978624343872,
0.049047015607357025,
2.7940402030944824,
0.061012621968984604,
3.07098388671875
] | 1 | 16.799999 | 168 | 1 | 406 | 0 |
[
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1.6702440977096558,
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0.13333334028720856
] | [
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0
] | gripper_open | 0.866666 | [
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0
] | [
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0.049156367778778076,
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] | [
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0.049156367778778076,
2.7939319610595703,
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3.0709073543548584
] | 0 | pick up the red block and place it on the blue dish: release at blue dish | [
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-0.7363983392715454,
0.049036551266908646,
2.794032096862793,
0.060937944799661636,
3.0710365772247314
] | 1 | 16.9 | 169 | 1 | 407 | 0 |
[
-1.7812689542770386,
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1.6702440977096558,
-2.6180036067962646,
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2.9932353496551514,
0.0117647061124444
] | [
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1.670246958732605,
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0
] | gripper_open | 0.988231 | [
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1.6702955961227417,
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-1.5805944204330444,
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0
] | [
0.022396940737962723,
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3.0709073543548584
] | [
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0.049156367778778076,
2.7939319610595703,
0.06097811460494995,
3.0709073543548584
] | 0 | pick up the red block and place it on the blue dish: release at blue dish | [
-0.022272462025284767,
-0.7363935708999634,
0.049035679548978806,
2.794050693511963,
0.06095828860998154,
3.071038007736206
] | 1 | 17 | 170 | 1 | 408 | 0 |
[
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1.670235514640808,
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0.0117647061124444
] | [
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0
] | gripper_open | 0.988231 | [
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1.6702955961227417,
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-1.5805944204330444,
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0
] | [
0.022396940737962723,
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] | [
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0.049156367778778076,
2.7939319610595703,
0.06097811460494995,
3.0709073543548584
] | 0 | pick up the red block and place it on the blue dish: release at blue dish | [
-0.02229466289281845,
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0.04904138669371605,
2.794036865234375,
0.06096052750945091,
3.071025848388672
] | 1 | 17.1 | 171 | 1 | 409 | 0 |
[
-1.781312346458435,
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1.670251727104187,
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2.9932234287261963,
0.0117647061124444
] | [
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1.670246958732605,
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0
] | gripper_open | 0.988232 | [
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1.6702955961227417,
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-1.5805944204330444,
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0
] | [
0.022396940737962723,
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] | [
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0.049156367778778076,
2.7939319610595703,
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3.0709073543548584
] | 0 | pick up the red block and place it on the blue dish: release at blue dish | [
-0.02230202592909336,
-0.7363865971565247,
0.04902656748890877,
2.794088125228882,
0.06093142181634903,
3.0709967613220215
] | 1 | 17.200001 | 172 | 1 | 410 | 0 |
[
-1.781305193901062,
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1.6702603101730347,
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0
] | [
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1.670246958732605,
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0
] | move_to_position | 0.000525 | [
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1.686082124710083,
-2.544832468032837,
-1.5698424577713013,
2.9643313884735107,
0
] | [
0.03873366490006447,
0.721799373626709,
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0,
0,
0
] | [
-0.03873366490006447,
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0.09164950996637344,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: retract after place | [
-0.022279109805822372,
-0.7363878488540649,
0.049022093415260315,
2.7940733432769775,
0.06100176274776459,
3.071053981781006
] | 1 | 17.299999 | 173 | 1 | 411 | 0 |
[
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1.670228362083435,
-2.6180260181427,
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2.993250846862793,
0
] | [
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1.6702884435653687,
-2.617823362350464,
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2.993093729019165,
0
] | move_to_position | 0.000245 | [
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1.686082124710083,
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0
] | [
0.03873366490006447,
0.721799373626709,
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0,
0,
0
] | [
-0.03873366490006447,
-0.721799373626709,
0.09164950996637344,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: retract after place | [
-0.02229262888431549,
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0.049021802842617035,
2.7941009998321533,
0.06096457690000534,
3.071045398712158
] | 1 | 17.4 | 174 | 1 | 412 | 0 |
[
-1.7815979719161987,
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1.6704281568527222,
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2.992694139480591,
0
] | [
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1.670852541923523,
-2.616166114807129,
-1.580312728881836,
2.9923627376556396,
0
] | move_to_position | 0.013348 | [
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1.686082124710083,
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0
] | [
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0,
0,
0
] | [
-0.03873366490006447,
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0.09164950996637344,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: retract after place | [
-0.022559376433491707,
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0.049719735980033875,
2.794085741043091,
0.06099017336964607,
3.0711660385131836
] | 1 | 17.5 | 175 | 1 | 413 | 0 |
[
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2.991757392883301,
0
] | [
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1.6719578504562378,
-2.6128852367401123,
-1.579807996749878,
2.9910123348236084,
0
] | move_to_position | 0.049694 | [
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1.686082124710083,
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0
] | [
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0,
0,
0
] | [
-0.03873366490006447,
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0.09164950996637344,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: retract after place | [
-0.023261630907654762,
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0.051487036049366,
2.794142723083496,
0.060972001403570175,
3.071084976196289
] | 1 | 17.6 | 176 | 1 | 414 | 0 |
[
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2.9899632930755615,
0
] | [
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1.6732978820800781,
-2.608630657196045,
-1.579166293144226,
2.9892990589141846,
0
] | move_to_position | 0.112377 | [
-1.8120393753051758,
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1.686082124710083,
-2.544832468032837,
-1.5698424577713013,
2.9643313884735107,
0
] | [
0.03873366490006447,
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] | 0 | pick up the red block and place it on the blue dish: retract after place | [
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] | [
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] | [
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[
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] | [
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] | move_to_position | 0.000201 | [
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] | [
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] | 0 | return to home after task completion | [
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] | move_to_position | 0.001325 | [
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] | [
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] | 0 | return to home after task completion | [
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[
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] | move_to_position | 0.003006 | [
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] | [
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] | 0 | return to home after task completion | [
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] | move_to_position | 0.005797 | [
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0
] | move_to_position | 0.367241 | [
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] | [
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] | [
-0.026243681088089943,
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0,
0,
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] | 0 | move to initial position to start the task | [
-0.009613500908017159,
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0.3554218113422394,
2.794666051864624,
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] | 1 | 0.7 | 7 | 2 | 485 | 0 |
[
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] | [
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] | move_to_position | 0.474493 | [
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] | [
-0.026243681088089943,
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0,
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] | 0 | move to initial position to start the task | [
-0.012728228233754635,
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2.794635772705078,
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] | 1 | 0.8 | 8 | 2 | 486 | 0 |
[
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] | [
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] | move_to_position | 0.602408 | [
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] | [
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0,
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] | [
-0.026243681088089943,
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0,
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] | 0 | move to initial position to start the task | [
-0.015986638143658638,
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] | 1 | 0.9 | 9 | 2 | 487 | 0 |
[
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] | [
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] | move_to_position | 0.725812 | [
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] | [
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] | [
-0.026243681088089943,
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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 | 488 | 0 |
[
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] | [
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] | move_to_position | 0.831955 | [
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] | [
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] | [
-0.026243681088089943,
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0,
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] | 0 | move to initial position to start the task | [
-0.022233614698052406,
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] | 1 | 1.1 | 11 | 2 | 489 | 0 |
[
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] | [
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] | move_to_position | 0.91948 | [
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] | [
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] | [
-0.026243681088089943,
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] | 0 | move to initial position to start the task | [
-0.024387000128626823,
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] | 1 | 1.2 | 12 | 2 | 490 | 0 |
[
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] | [
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] | move_to_position | 0.971203 | [
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] | [
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] | [
-0.026243681088089943,
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0,
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] | 0 | move to initial position to start the task | [
-0.02562699466943741,
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] | 1 | 1.3 | 13 | 2 | 491 | 0 |
[
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] | [
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] | move_to_position | 0.993037 | [
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] | [
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] | [
-0.026243681088089943,
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0,
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] | 0 | move to initial position to start the task | [
-0.0261307954788208,
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0.3406030535697937,
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] | 1 | 1.4 | 14 | 2 | 492 | 0 |
[
-1.979958415031433,
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0
] | [
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] | move_to_position | 0.000006 | [
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] | [
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0
] | [
0.08472973108291626,
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0,
0
] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
-0.02615019865334034,
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] | 1 | 1.5 | 15 | 2 | 493 | 0 |
[
-1.9799379110336304,
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] | [
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0
] | move_to_position | 0.000004 | [
-1.6227567195892334,
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] | [
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0,
0
] | [
0.08472973108291626,
-0.6348018050193787,
0.07896826416254044,
0,
0,
0
] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
-0.026130972430109978,
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0.340582013130188,
2.7942779064178467,
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] | 1 | 1.6 | 16 | 2 | 494 | 0 |
[
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] | [
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0
] | move_to_position | 0.000348 | [
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-2.6562750339508057,
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] | [
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0,
0
] | [
0.08472973108291626,
-0.6348018050193787,
0.07896826416254044,
0,
0,
0
] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
-0.026140058413147926,
-0.43669188022613525,
0.3404867649078369,
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] | 1 | 1.7 | 17 | 2 | 495 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.002027 | [
-1.6227567195892334,
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0
] | [
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0,
0
] | [
0.08472973108291626,
-0.6348018050193787,
0.07896826416254044,
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0,
0
] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
-0.025870272889733315,
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2.79445481300354,
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] | 1 | 1.8 | 18 | 2 | 496 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.005142 | [
-1.6227567195892334,
-1.1942387819290161,
1.934126615524292,
-2.6562750339508057,
-1.6344685554504395,
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0
] | [
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0,
0
] | [
0.08472973108291626,
-0.6348018050193787,
0.07896826416254044,
0,
0,
0
] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
-0.025510171428322792,
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2.794260263442993,
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] | 1 | 1.9 | 19 | 2 | 497 | 0 |
[
-1.974608302116394,
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0
] | [
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0
] | move_to_position | 0.010039 | [
-1.6227567195892334,
-1.1942387819290161,
1.934126615524292,
-2.6562750339508057,
-1.6344685554504395,
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0
] | [
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0,
0,
0
] | [
0.08472973108291626,
-0.6348018050193787,
0.07896826416254044,
0,
0,
0
] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
-0.02492799051105976,
-0.43860340118408203,
0.33777904510498047,
2.7943201065063477,
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] | 1 | 2 | 20 | 2 | 498 | 0 |
[
-1.9711016416549683,
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2.8134727478027344,
0
] | [
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2.8156511783599854,
0
] | move_to_position | 0.016702 | [
-1.6227567195892334,
-1.1942387819290161,
1.934126615524292,
-2.6562750339508057,
-1.6344685554504395,
3.1418139934539795,
0
] | [
-0.08472973108291626,
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0,
0,
0
] | [
0.08472973108291626,
-0.6348018050193787,
0.07896826416254044,
0,
0,
0
] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
-0.02418731339275837,
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0.33607131242752075,
2.7942631244659424,
0.060889728367328644,
3.071601152420044
] | 1 | 2.1 | 21 | 2 | 499 | 0 |
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