observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | skill.natural_language stringclasses 11
values | skill.verification_question stringclasses 7
values | skill.type stringclasses 7
values | skill.progress float32 0 0.98 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 -100 35 | subtask.natural_language stringclasses 2
values | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 34.3 | frame_index int64 0 343 | episode_index int64 0 9 | index int64 0 3.31k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
1.5297906398773193,
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69.23076629638672,
71.6867446899414,
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68.73809051513672,
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0.09742412716150284,
3.102320671081543,
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3.1087706089019775
] | 0 | Move to safe parking position | Is the robot at safe position? | move_free | 0.662166 | [
-5.513595104217529,
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99.81834411621094,
61.35680389404297,
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0.054266832768917084,
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] | -100 | [
0,
0,
0
] | 32 | 320 | 9 | 3,300 | 0 | ||
[
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70.74010467529297,
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] | [
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0.008259880356490612,
0.09279996156692505,
3.1049699783325195,
0.5188556909561157,
3.1276841163635254
] | 0 | Move to safe parking position | Is the robot at safe position? | move_free | 0.69558 | [
-5.513595104217529,
-99.49281311035156,
99.81834411621094,
61.35680389404297,
-0.41514042019844055,
-100
] | [
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0.024188414216041565,
0.054266832768917084,
3.0922534465789795,
0.6674767732620239,
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] | -100 | [
0,
0,
0
] | 32.099998 | 321 | 9 | 3,301 | 0 | ||
[
0.0805152952671051,
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75.5083999633789,
69.965576171875,
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-100
] | [
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67.04647827148438,
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] | [
0.1732749044895172,
0.010195568203926086,
0.08811917155981064,
3.104316473007202,
0.5265048146247864,
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] | 0 | Move to safe parking position | Is the robot at safe position? | move_free | 0.728371 | [
-5.513595104217529,
-99.49281311035156,
99.81834411621094,
61.35680389404297,
-0.41514042019844055,
-100
] | [
0.170120969414711,
0.024188414216041565,
0.054266832768917084,
3.0922534465789795,
0.6674767732620239,
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] | -100 | [
0,
0,
0
] | 32.200001 | 322 | 9 | 3,302 | 0 | ||
[
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78.6030044555664,
69.10498809814453,
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-100
] | [
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82.372314453125,
66.23871612548828,
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-100
] | [
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0.08323893696069717,
3.1036570072174072,
0.5341536402702332,
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] | 0 | Move to safe parking position | Is the robot at safe position? | move_free | 0.760567 | [
-5.513595104217529,
-99.49281311035156,
99.81834411621094,
61.35680389404297,
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-100
] | [
0.170120969414711,
0.024188414216041565,
0.054266832768917084,
3.0922534465789795,
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] | -100 | [
0,
0,
0
] | 32.299999 | 323 | 9 | 3,303 | 0 | ||
[
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68.3304672241211,
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] | [
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] | [
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0.07966570556163788,
3.102454900741577,
0.5479209423065186,
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] | 0 | Move to safe parking position | Is the robot at safe position? | move_free | 0.790394 | [
-5.513595104217529,
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99.81834411621094,
61.35680389404297,
-0.41514042019844055,
-100
] | [
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0.024188414216041565,
0.054266832768917084,
3.0922534465789795,
0.6674767732620239,
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] | -100 | [
0,
0,
0
] | 32.400002 | 324 | 9 | 3,304 | 0 | ||
[
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84.35013580322266,
67.46987915039062,
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-100
] | [
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-100
] | [
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0.013861959800124168,
0.07439155876636505,
3.101914167404175,
0.554039478302002,
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] | 0 | Move to safe parking position | Is the robot at safe position? | move_free | 0.821787 | [
-5.513595104217529,
-99.49281311035156,
99.81834411621094,
61.35680389404297,
-0.41514042019844055,
-100
] | [
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0.024188414216041565,
0.054266832768917084,
3.0922534465789795,
0.6674767732620239,
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] | -100 | [
0,
0,
0
] | 32.5 | 325 | 9 | 3,305 | 0 | ||
[
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86.82582092285156,
66.60929107666016,
-0.46398046612739563,
-100
] | [
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-91.37042236328125,
90.11368560791016,
64.07245635986328,
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-100
] | [
0.1680440753698349,
0.01580687426030636,
0.07089719921350479,
3.100682258605957,
0.5678060054779053,
-3.0963594913482666
] | 0 | Move to safe parking position | Is the robot at safe position? | move_free | 0.849624 | [
-5.513595104217529,
-99.49281311035156,
99.81834411621094,
61.35680389404297,
-0.41514042019844055,
-100
] | [
0.170120969414711,
0.024188414216041565,
0.054266832768917084,
3.0922534465789795,
0.6674767732620239,
-3.0394363403320312
] | -100 | [
0,
0,
0
] | 32.599998 | 326 | 9 | 3,306 | 0 | ||
[
-2.737520217895508,
-89.02594757080078,
89.56675720214844,
66.09294128417969,
-0.46398046612739563,
-100
] | [
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-93.19646453857422,
92.29544067382812,
63.46193313598633,
-0.44624707102775574,
-100
] | [
0.16659098863601685,
0.01662534475326538,
0.0660923421382904,
3.100266933441162,
0.5723946690559387,
-3.088913679122925
] | 0 | Move to safe parking position | Is the robot at safe position? | move_free | 0.877949 | [
-5.513595104217529,
-99.49281311035156,
99.81834411621094,
61.35680389404297,
-0.41514042019844055,
-100
] | [
0.170120969414711,
0.024188414216041565,
0.054266832768917084,
3.0922534465789795,
0.6674767732620239,
-3.0394363403320312
] | -100 | [
0,
0,
0
] | 32.700001 | 327 | 9 | 3,307 | 0 | ||
[
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-91.15270233154297,
91.77719116210938,
65.40447235107422,
-0.46398046612739563,
-100
] | [
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-94.82000732421875,
94.2352523803711,
62.91911697387695,
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-100
] | [
0.16627618670463562,
0.01797807589173317,
0.0628814622759819,
3.099146842956543,
0.5846306681632996,
-3.0787882804870605
] | 0 | Move to safe parking position | Is the robot at safe position? | move_free | 0.902723 | [
-5.513595104217529,
-99.49281311035156,
99.81834411621094,
61.35680389404297,
-0.41514042019844055,
-100
] | [
0.170120969414711,
0.024188414216041565,
0.054266832768917084,
3.0922534465789795,
0.6674767732620239,
-3.0394363403320312
] | -100 | [
0,
0,
0
] | 32.799999 | 328 | 9 | 3,308 | 0 | ||
[
-3.7037036418914795,
-93.10931396484375,
94.16445922851562,
64.80206298828125,
-0.46398046612739563,
-100
] | [
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95.91265869140625,
62.449729919433594,
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-100
] | [
0.1655000001192093,
0.01886088028550148,
0.058573704212903976,
3.098722219467163,
0.5892189741134644,
-3.0713536739349365
] | 0 | Move to safe parking position | Is the robot at safe position? | move_free | 0.926878 | [
-5.513595104217529,
-99.49281311035156,
99.81834411621094,
61.35680389404297,
-0.41514042019844055,
-100
] | [
0.170120969414711,
0.024188414216041565,
0.054266832768917084,
3.0922534465789795,
0.6674767732620239,
-3.0394363403320312
] | -100 | [
0,
0,
0
] | 32.900002 | 329 | 9 | 3,309 | 0 | ||
[
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-94.21522521972656,
95.66754913330078,
64.62995147705078,
-0.46398046612739563,
-100
] | [
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97.30807495117188,
62.05924987792969,
-0.4255201816558838,
-100
] | [
0.16439507901668549,
0.019879799336194992,
0.055338356643915176,
3.099005699157715,
0.5861600637435913,
-3.061992645263672
] | 0 | Move to safe parking position | Is the robot at safe position? | move_free | 0.940817 | [
-5.513595104217529,
-99.49281311035156,
99.81834411621094,
61.35680389404297,
-0.41514042019844055,
-100
] | [
0.170120969414711,
0.024188414216041565,
0.054266832768917084,
3.0922534465789795,
0.6674767732620239,
-3.0394363403320312
] | -100 | [
0,
0,
0
] | 33 | 330 | 9 | 3,310 | 0 | ||
[
-4.428341388702393,
-95.32113647460938,
97.08222961425781,
64.11359405517578,
-0.46398046612739563,
-100
] | [
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98.4067611694336,
61.75180435180664,
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-100
] | [
0.16432006657123566,
0.020460302010178566,
0.052868932485580444,
3.0985801219940186,
0.5907484292984009,
-3.057626962661743
] | 0 | Move to safe parking position | Is the robot at safe position? | move_free | 0.954735 | [
-5.513595104217529,
-99.49281311035156,
99.81834411621094,
61.35680389404297,
-0.41514042019844055,
-100
] | [
0.170120969414711,
0.024188414216041565,
0.054266832768917084,
3.0922534465789795,
0.6674767732620239,
-3.0394363403320312
] | -100 | [
0,
0,
0
] | 33.099998 | 331 | 9 | 3,311 | 0 | ||
[
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98.40848541259766,
63.59724426269531,
-0.46398046612739563,
-100
] | [
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99,
61.53080749511719,
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-100
] | [
0.16321614384651184,
0.020868947729468346,
0.048935018479824066,
3.0997090339660645,
0.5785129070281982,
-3.0524017810821533
] | 0 | Move to safe parking position | Is the robot at safe position? | move_free | 0.961449 | [
-5.513595104217529,
-99.49281311035156,
99.81834411621094,
61.35680389404297,
-0.41514042019844055,
-100
] | [
0.170120969414711,
0.024188414216041565,
0.054266832768917084,
3.0922534465789795,
0.6674767732620239,
-3.0394363403320312
] | -100 | [
0,
0,
0
] | 33.200001 | 332 | 9 | 3,312 | 0 | ||
[
-4.830917835235596,
-95.40621185302734,
99.02741241455078,
63.253013610839844,
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-100
] | [
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-99,
99,
61.39867401123047,
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-100
] | [
0.1628366857767105,
0.021196812391281128,
0.047168757766485214,
3.100127696990967,
0.5739242434501648,
-3.049105644226074
] | 0 | Move to safe parking position | Is the robot at safe position? | move_free | 0.963921 | [
-5.513595104217529,
-99.49281311035156,
99.81834411621094,
61.35680389404297,
-0.41514042019844055,
-100
] | [
0.170120969414711,
0.024188414216041565,
0.054266832768917084,
3.0922534465789795,
0.6674767732620239,
-3.0394363403320312
] | -100 | [
0,
0,
0
] | 33.299999 | 333 | 9 | 3,313 | 0 |
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