observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language string | skill.verification_question string | skill.type string | skill.progress float32 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 | subtask.natural_language string | subtask.object_name string | subtask.target_position list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | 31.799999 | 318 | 19 | 7,383 | 0 | ||
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] | 31.9 | 319 | 19 | 7,384 | 0 | ||
[
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] | 32 | 320 | 19 | 7,385 | 0 | ||
[
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] | [
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] | pull lid -0cm on pot | move_linear | 0.359137 | [
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] | 32.099998 | 321 | 19 | 7,386 | 0 | ||
[
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] | 32.200001 | 322 | 19 | 7,387 | 0 | ||
[
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] | 32.299999 | 323 | 19 | 7,388 | 0 | ||
[
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] | 32.400002 | 324 | 19 | 7,389 | 0 | ||
[
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] | 32.5 | 325 | 19 | 7,390 | 0 | ||
[
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] | 32.599998 | 326 | 19 | 7,391 | 0 | ||
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[
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] | 32.900002 | 329 | 19 | 7,394 | 0 | ||
[
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] | 33 | 330 | 19 | 7,395 | 0 | ||
[
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] | 33.099998 | 331 | 19 | 7,396 | 0 | ||
[
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3.847780227661133,
28.18181800842285,
20.017597198486328,
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6.008508205413818
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0.07892630994319916,
3.066267728805542,
0.8195780515670776,
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0.03681553900241852,
0.3405437171459198,
0.3712233304977417,
-0.02147573232650757,
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] | [
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0.03681553900241852,
0.3405437171459198,
0.3712233304977417,
-0.02147573232650757,
0.12193326652050018
] | release lid on pot | gripper_open | 0.140653 | [
-4.200442314147949,
3.847780227661133,
28.18181800842285,
20.017597198486328,
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20
] | [
0.33088651299476624,
-0.0030221138149499893,
0.07892630994319916,
3.066267728805542,
0.8195780515670776,
3.0279741287231445
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 33.200001 | 332 | 19 | 7,397 | 0 | ||
[
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3.847780227661133,
28.18181800842285,
20.017597198486328,
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3.847780227661133,
28.18181800842285,
20.017597198486328,
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7.0101094245910645
] | [
0.33088651299476624,
-0.0030221138149499893,
0.07892630994319916,
3.066267728805542,
0.8195780515670776,
3.0279741287231445
] | 1 | [
0.010737862437963486,
0.03681553900241852,
0.3405437171459198,
0.3712233304977417,
-0.02147573232650757,
0.14507201313972473
] | [
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0.03681553900241852,
0.3405437171459198,
0.3712233304977417,
-0.02147573232650757,
0.14507201313972473
] | release lid on pot | gripper_open | 0.202171 | [
-4.200442314147949,
3.847780227661133,
28.18181800842285,
20.017597198486328,
-0.6593406796455383,
20
] | [
0.33088651299476624,
-0.0030221138149499893,
0.07892630994319916,
3.066267728805542,
0.8195780515670776,
3.0279741287231445
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 33.299999 | 333 | 19 | 7,398 | 0 | ||
[
-4.200442314147949,
3.847780227661133,
28.18181800842285,
20.017597198486328,
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8.010845184326172
] | [
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3.847780227661133,
28.18181800842285,
20.017597198486328,
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8.010845184326172
] | [
0.33088651299476624,
-0.0030221138149499893,
0.07892630994319916,
3.066267728805542,
0.8195780515670776,
3.0279741287231445
] | 1 | [
0.010737862437963486,
0.03681553900241852,
0.3405437171459198,
0.3712233304977417,
-0.02147573232650757,
0.16819076240062714
] | [
0.010737862437963486,
0.03681553900241852,
0.3405437171459198,
0.3712233304977417,
-0.02147573232650757,
0.16819076240062714
] | release lid on pot | gripper_open | 0.263635 | [
-4.200442314147949,
3.847780227661133,
28.18181800842285,
20.017597198486328,
-0.6593406796455383,
20
] | [
0.33088651299476624,
-0.0030221138149499893,
0.07892630994319916,
3.066267728805542,
0.8195780515670776,
3.0279741287231445
] | 20 | pick pot lid and place on pot | [
0,
0,
0
] | 33.400002 | 334 | 19 | 7,399 | 0 |
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