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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
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[
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] | move_to_position | 0.751065 | [
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] | move_to_position | 0.782971 | [
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] | 0 | return to home after placing the block | [
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] | move_to_position | 0.812905 | [
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] | 0 | return to home after placing the block | [
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] | move_to_position | 0.841386 | [
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] | [
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] | 0 | return to home after placing the block | [
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[
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] | move_to_position | 0.866346 | [
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] | [
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] | [
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] | 0 | return to home after placing the block | [
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[
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] | move_to_position | 0.889239 | [
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] | [
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] | 0 | return to home after placing the block | [
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] | 1 | 22.9 | 229 | 2 | 707 | 0 |
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] | move_to_position | 0.911069 | [
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] | 0 | return to home after placing the block | [
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[
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] | move_to_position | 0.929904 | [
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] | [
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] | [
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] | 0 | return to home after placing the block | [
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[
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] | move_to_position | 0.945779 | [
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] | 0 | return to home after placing the block | [
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[
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] | move_to_position | 0.959782 | [
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] | 0 | return to home after placing the block | [
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[
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] | move_to_position | 0.971029 | [
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] | [
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] | [
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] | 0 | return to home after placing the block | [
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] | 1 | 23.4 | 234 | 2 | 712 | 0 |
[
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] | [
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] | move_to_position | 0.979891 | [
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] | [
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] | [
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] | 0 | return to home after placing the block | [
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] | 1 | 23.5 | 235 | 2 | 713 | 0 |
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] | move_to_position | 0.986593 | [
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] | 0 | return to home after placing the block | [
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[
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] | move_to_position | 0.99211 | [
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] | [
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[
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] | [
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] | move_to_position | 0.996094 | [
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] | 0 | return to home after placing the block | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.9 | 9 | 3 | 729 | 0 |
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] | move_to_position | 0.71347 | [
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] | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.824925 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.1 | 11 | 3 | 731 | 0 |
[
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] | move_to_position | 0.914836 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.2 | 12 | 3 | 732 | 0 |
[
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] | move_to_position | 0.968893 | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 1.3 | 13 | 3 | 733 | 0 |
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0
] | move_to_position | 0.993708 | [
-1.9274111986160278,
-2.0117545127868652,
2.0022594928741455,
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] | [
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0,
0,
0
] | [
-0.0020839748904109,
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0.33655688166618347,
0,
0,
0
] | 0 | move to initial position to start the task | [
-0.0020327807869762182,
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0.33675113320350647,
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] | 1 | 1.4 | 14 | 3 | 734 | 0 |
[
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] | [
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0
] | move_to_position | 0.997499 | [
-1.9274111986160278,
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] | [
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0,
0
] | [
-0.0020839748904109,
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0.33655688166618347,
0,
0,
0
] | 0 | move to initial position to start the task | [
-0.0020891129970550537,
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0.3366844654083252,
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] | 1 | 1.5 | 15 | 3 | 735 | 0 |
[
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] | [
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] | move_to_position | 0.000006 | [
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] | [
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0,
0
] | [
0.13912267982959747,
-0.6130619049072266,
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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 | [
-0.002086467109620571,
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] | 1 | 1.6 | 16 | 3 | 736 | 0 |
[
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] | [
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] | move_to_position | 0.000001 | [
-1.5211808681488037,
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] | [
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0
] | [
0.13912267982959747,
-0.6130619049072266,
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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 | [
-0.002076325472444296,
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] | 1 | 1.7 | 17 | 3 | 737 | 0 |
[
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] | [
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] | move_to_position | 0.000399 | [
-1.5211808681488037,
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] | [
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0
] | [
0.13912267982959747,
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0,
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
-0.002080777194350958,
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] | 1 | 1.8 | 18 | 3 | 738 | 0 |
[
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] | [
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] | move_to_position | 0.002464 | [
-1.5211808681488037,
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] | [
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0
] | [
0.13912267982959747,
-0.6130619049072266,
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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 | [
-0.001746268942952156,
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] | 1 | 1.9 | 19 | 3 | 739 | 0 |
[
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] | [
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] | move_to_position | 0.006296 | [
-1.5211808681488037,
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] | [
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0
] | [
0.13912267982959747,
-0.6130619049072266,
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0,
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
-0.001150352880358696,
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] | 1 | 2 | 20 | 3 | 740 | 0 |
[
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] | [
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] | move_to_position | 0.012637 | [
-1.5211808681488037,
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] | [
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0,
0
] | [
0.13912267982959747,
-0.6130619049072266,
0.12633226811885834,
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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 | [
-0.00029821597854606807,
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] | 1 | 2.1 | 21 | 3 | 741 | 0 |
[
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] | [
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] | move_to_position | 0.021482 | [
-1.5211808681488037,
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1.9101471900939941,
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-1.6683037281036377,
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] | [
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0,
0
] | [
0.13912267982959747,
-0.6130619049072266,
0.12633226811885834,
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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 | [
0.0007643178105354309,
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] | 1 | 2.2 | 22 | 3 | 742 | 0 |
[
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] | [
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0
] | move_to_position | 0.03219 | [
-1.5211808681488037,
-1.2866506576538086,
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-2.5318477153778076,
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] | [
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0,
0
] | [
0.13912267982959747,
-0.6130619049072266,
0.12633226811885834,
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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 | [
0.0022046894300729036,
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] | 1 | 2.3 | 23 | 3 | 743 | 0 |
[
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] | [
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] | move_to_position | 0.047078 | [
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] | [
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0,
0
] | [
0.13912267982959747,
-0.6130619049072266,
0.12633226811885834,
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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 | [
0.00411350280046463,
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] | 1 | 2.4 | 24 | 3 | 744 | 0 |
[
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] | [
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0
] | move_to_position | 0.066432 | [
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] | [
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0
] | [
0.13912267982959747,
-0.6130619049072266,
0.12633226811885834,
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0,
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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] | 1 | 2.5 | 25 | 3 | 745 | 0 |
[
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] | [
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0
] | move_to_position | 0.08912 | [
-1.5211808681488037,
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] | [
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0
] | [
0.13912267982959747,
-0.6130619049072266,
0.12633226811885834,
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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 | [
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] | 1 | 2.6 | 26 | 3 | 746 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.115774 | [
-1.5211808681488037,
-1.2866506576538086,
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-2.5318477153778076,
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] | [
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0,
0
] | [
0.13912267982959747,
-0.6130619049072266,
0.12633226811885834,
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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 | [
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] | 1 | 2.7 | 27 | 3 | 747 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.143635 | [
-1.5211808681488037,
-1.2866506576538086,
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-2.5318477153778076,
-1.6683037281036377,
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] | [
-0.13912267982959747,
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0,
0
] | [
0.13912267982959747,
-0.6130619049072266,
0.12633226811885834,
0,
0,
0
] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
0.016667667776346207,
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] | 1 | 2.8 | 28 | 3 | 748 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.176781 | [
-1.5211808681488037,
-1.2866506576538086,
1.9101471900939941,
-2.5318477153778076,
-1.6683037281036377,
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] | [
-0.13912267982959747,
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0,
0
] | [
0.13912267982959747,
-0.6130619049072266,
0.12633226811885834,
0,
0,
0
] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
0.021044041961431503,
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] | 1 | 2.9 | 29 | 3 | 749 | 0 |
[
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0
] | [
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-2.0746939182281494,
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0
] | move_to_position | 0.213656 | [
-1.5211808681488037,
-1.2866506576538086,
1.9101471900939941,
-2.5318477153778076,
-1.6683037281036377,
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] | [
-0.13912267982959747,
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0,
0
] | [
0.13912267982959747,
-0.6130619049072266,
0.12633226811885834,
0,
0,
0
] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
0.026160649955272675,
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] | 1 | 3 | 30 | 3 | 750 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.251794 | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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[
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] | move_to_position | 0.29413 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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[
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] | move_to_position | 0.337727 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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[
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] | move_to_position | 0.384205 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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[
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] | [
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] | move_to_position | 0.429421 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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[
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] | [
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] | move_to_position | 0.478514 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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[
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] | [
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] | move_to_position | 0.525526 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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[
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] | [
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] | move_to_position | 0.569723 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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[
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] | [
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] | move_to_position | 0.617512 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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[
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] | [
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] | move_to_position | 0.664644 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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[
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] | [
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] | move_to_position | 0.709708 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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[
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] | [
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] | move_to_position | 0.751368 | [
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] | [
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] | [
0.13912267982959747,
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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[
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] | [
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] | move_to_position | 0.788751 | [
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] | [
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] | [
0.13912267982959747,
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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] | 1 | 4.3 | 43 | 3 | 763 | 0 |
[
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] | [
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] | move_to_position | 0.826085 | [
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] | [
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] | [
0.13912267982959747,
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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] | 1 | 4.4 | 44 | 3 | 764 | 0 |
[
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] | [
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] | move_to_position | 0.860184 | [
-1.5211808681488037,
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-1.6683037281036377,
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] | [
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] | [
0.13912267982959747,
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0.12633226811885834,
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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] | 1 | 4.5 | 45 | 3 | 765 | 0 |
[
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] | [
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] | move_to_position | 0.8895 | [
-1.5211808681488037,
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-2.5318477153778076,
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] | [
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] | [
0.13912267982959747,
-0.6130619049072266,
0.12633226811885834,
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0,
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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] | 1 | 4.6 | 46 | 3 | 766 | 0 |
[
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] | [
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0
] | move_to_position | 0.916481 | [
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-2.5318477153778076,
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] | [
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0
] | [
0.13912267982959747,
-0.6130619049072266,
0.12633226811885834,
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0,
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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] | 1 | 4.7 | 47 | 3 | 767 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.939452 | [
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] | [
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] | [
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0,
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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] | 1 | 4.8 | 48 | 3 | 768 | 0 |
[
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] | [
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] | move_to_position | 0.957317 | [
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] | [
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] | [
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0,
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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] | 1 | 4.9 | 49 | 3 | 769 | 0 |
[
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] | [
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] | move_to_position | 0.971401 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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] | 1 | 5 | 50 | 3 | 770 | 0 |
[
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] | [
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] | move_to_position | 0.98173 | [
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] | [
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] | [
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0,
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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] | 1 | 5.1 | 51 | 3 | 771 | 0 |
[
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] | [
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] | move_to_position | 0.989644 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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] | 1 | 5.2 | 52 | 3 | 772 | 0 |
[
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] | [
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] | move_to_position | 0.994834 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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[
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] | [
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] | move_to_position | 0.998122 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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] | 1 | 5.4 | 54 | 3 | 774 | 0 |
[
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] | [
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] | move_to_position | 0.999563 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: approach above red block | [
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] | 1 | 5.5 | 55 | 3 | 775 | 0 |
[
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] | [
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] | gripper_open | 1 | [
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] | [
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] | 1 | 5.6 | 56 | 3 | 776 | 0 |
[
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] | gripper_open | 1 | [
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] | [
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] | 1 | 5.7 | 57 | 3 | 777 | 0 |
[
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] | gripper_open | 1 | [
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] | [
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[
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] | gripper_open | 1 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: open gripper | [
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] | 1 | 5.9 | 59 | 3 | 779 | 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 | pick up the red block and place it into the center of the blue dish: descend to red block | [
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] | 1 | 6 | 60 | 3 | 780 | 0 |
[
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] | [
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] | move_to_position | 0.000129 | [
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] | [
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0,
0
] | [
0.12408625334501266,
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0,
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] | 0 | pick up the red block and place it into the center of the blue dish: descend to red block | [
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] | 1 | 6.1 | 61 | 3 | 781 | 0 |
[
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] | [
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] | move_to_position | 0.010205 | [
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] | [
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] | [
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0,
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] | 0 | pick up the red block and place it into the center of the blue dish: descend to red block | [
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] | 1 | 6.2 | 62 | 3 | 782 | 0 |
[
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0
] | [
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] | move_to_position | 0.03987 | [
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] | [
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0
] | [
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0,
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] | 0 | pick up the red block and place it into the center of the blue dish: descend to red block | [
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] | 1 | 6.3 | 63 | 3 | 783 | 0 |
[
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] | [
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0
] | move_to_position | 0.088927 | [
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] | [
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0
] | [
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0,
0
] | 0 | pick up the red block and place it into the center of the blue dish: descend to red block | [
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] | 1 | 6.4 | 64 | 3 | 784 | 0 |
[
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] | move_to_position | 0.163032 | [
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] | [
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0,
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] | 0 | pick up the red block and place it into the center of the blue dish: descend to red block | [
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] | 1 | 6.5 | 65 | 3 | 785 | 0 |
[
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] | [
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] | move_to_position | 0.259592 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: descend to red block | [
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] | 1 | 6.6 | 66 | 3 | 786 | 0 |
[
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] | [
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0
] | move_to_position | 0.375264 | [
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] | [
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] | [
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0,
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] | 0 | pick up the red block and place it into the center of the blue dish: descend to red block | [
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] | 1 | 6.7 | 67 | 3 | 787 | 0 |
[
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] | move_to_position | 0.491396 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it into the center of the blue dish: descend to red block | [
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] | 1 | 6.8 | 68 | 3 | 788 | 0 |
[
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] | [
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] | move_to_position | 0.615496 | [
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] | [
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] | [
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0,
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] | 0 | pick up the red block and place it into the center of the blue dish: descend to red block | [
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] | 1 | 6.9 | 69 | 3 | 789 | 0 |
[
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] | [
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] | move_to_position | 0.738343 | [
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] | [
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] | [
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0,
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] | 0 | pick up the red block and place it into the center of the blue dish: descend to red block | [
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] | 1 | 7 | 70 | 3 | 790 | 0 |
[
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] | [
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] | move_to_position | 0.836986 | [
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] | [
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] | [
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0,
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] | 0 | pick up the red block and place it into the center of the blue dish: descend to red block | [
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] | 1 | 7.1 | 71 | 3 | 791 | 0 |
[
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] | [
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] | move_to_position | 0.908854 | [
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] | [
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0
] | [
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0,
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] | 0 | pick up the red block and place it into the center of the blue dish: descend to red block | [
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] | 1 | 7.2 | 72 | 3 | 792 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.961944 | [
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] | [
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0
] | [
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0,
0
] | 0 | pick up the red block and place it into the center of the blue dish: descend to red block | [
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] | 1 | 7.3 | 73 | 3 | 793 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.992262 | [
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] | [
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0
] | [
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0,
0
] | 0 | pick up the red block and place it into the center of the blue dish: descend to red block | [
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] | 1 | 7.4 | 74 | 3 | 794 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.999128 | [
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0
] | [
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0,
0
] | [
0.12408625334501266,
-0.6328505873680115,
0.03400000184774399,
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0,
0
] | 0 | pick up the red block and place it into the center of the blue dish: descend to red block | [
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] | 1 | 7.5 | 75 | 3 | 795 | 0 |
[
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0
] | [
-1.5504568815231323,
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1
] | gripper_close | 0 | [
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1
] | [
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] | [
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] | 1 | pick up the red block and place it into the center of the blue dish: grasp red block | [
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2.7944788932800293,
0.06084904447197914,
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] | 1 | 7.6 | 76 | 3 | 796 | 0 |
[
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] | [
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3.2099673748016357,
1
] | gripper_close | 0.011765 | [
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3.2099900245666504,
1
] | [
-0.12418632209300995,
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] | [
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] | 1 | pick up the red block and place it into the center of the blue dish: grasp red block | [
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] | 1 | 7.7 | 77 | 3 | 797 | 0 |
[
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0.05098039284348488
] | [
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3.2099673748016357,
1
] | gripper_close | 0.05098 | [
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3.2099900245666504,
1
] | [
-0.12418632209300995,
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] | [
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0.03406525403261185,
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3.071937322616577
] | 1 | pick up the red block and place it into the center of the blue dish: grasp red block | [
0.12411365658044815,
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2.794482707977295,
0.06084684655070305,
3.071824550628662
] | 1 | 7.8 | 78 | 3 | 798 | 0 |
[
-1.55046546459198,
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3.2099554538726807,
0.18039216101169586
] | [
-1.5504568815231323,
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1.9448717832565308,
-2.753718137741089,
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3.2099673748016357,
1
] | gripper_close | 0.180392 | [
-1.5503023862838745,
-1.1022109985351562,
1.9448498487472534,
-2.7536141872406006,
-1.6589058637619019,
3.2099900245666504,
1
] | [
-0.12418632209300995,
0.6328406929969788,
0.03406525403261185,
2.794497489929199,
0.060858070850372314,
3.071937322616577
] | [
0.12418632209300995,
-0.6328406929969788,
0.03406525403261185,
2.794497489929199,
0.060858070850372314,
3.071937322616577
] | 1 | pick up the red block and place it into the center of the blue dish: grasp red block | [
0.12407997995615005,
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0.03400901332497597,
2.7945358753204346,
0.06085291504859924,
3.0717785358428955
] | 1 | 7.9 | 79 | 3 | 799 | 0 |
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