observation.state list | action list | skill.type stringclasses 3
values | skill.progress float32 0 0.99 | 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 5
values | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | timestamp float32 0 19.3 | frame_index int64 0 193 | episode_index int64 0 99 | index int64 0 19.3k | task_index int64 0 0 |
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-0.030083321034908295,
-0.7243894934654236,
0.1267451047897339,
2.5224311351776123,
0.08876685798168182,
3.0559535026550293
] | 1 | 4.9 | 49 | 95 | 18,397 | 0 |
[
-1.8038586378097534,
-1.1215448379516602,
1.8544491529464722,
-2.9274160861968994,
-1.5577720403671265,
2.9739584922790527,
0
] | [
-1.8038480281829834,
-1.1214252710342407,
1.8543932437896729,
-2.927424669265747,
-1.5577659606933594,
2.9739835262298584,
0
] | move_to_pose | 0 | [
0,
0,
0,
0,
0,
0,
0
] | [
0.03008713200688362,
0.7244604825973511,
0.12669411301612854,
0,
0,
0
] | [
-0.03008713200688362,
-0.7244604825973511,
0.12669411301612854,
0,
0,
0
] | 0 | cycle_001_drawer_handle_approach | [
-0.03010335937142372,
-0.7244585156440735,
0.12675823271274567,
2.5223288536071777,
0.08879391849040985,
3.0559511184692383
] | 1 | 5 | 50 | 95 | 18,398 | 0 |
[
-1.8038467168807983,
-1.1214056015014648,
1.854406714439392,
-2.9274399280548096,
-1.557799220085144,
2.9739739894866943,
0
] | [
-1.8038480281829834,
-1.1214252710342407,
1.8543932437896729,
-2.927424669265747,
-1.5577659606933594,
2.9739835262298584,
1
] | gripper_close | 0 | [
-1.8038467168807983,
-1.1214056015014648,
1.854406714439392,
-2.9274399280548096,
-1.557799220085144,
2.9739739894866943,
1
] | [
0.03009435161948204,
0.7244744300842285,
0.12676994502544403,
2.5222766399383545,
0.08876053243875504,
3.0559446811676025
] | [
-0.03009435161948204,
-0.7244744300842285,
0.12676994502544403,
2.5222766399383545,
0.08876053243875504,
3.0559446811676025
] | 1 | cycle_001_gripper_close | [
-0.03010392002761364,
-0.724453866481781,
0.12669643759727478,
2.5224125385284424,
0.08877149969339371,
3.055922031402588
] | 1 | 5.1 | 51 | 95 | 18,399 | 0 |
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