Datasets:
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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] | move_to_position | 0 | [
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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 | [
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.014093 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.2 | 2 | 0 | 2 | 0 |
[
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] | [
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] | move_to_position | 0.057646 | [
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] | [
0.009936466813087463,
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] | 0 | move to initial position to start the task | [
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[
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] | move_to_position | 0.126777 | [
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] | [
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] | [
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.4 | 4 | 0 | 4 | 0 |
[
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] | [
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] | move_to_position | 0.201578 | [
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] | [
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0,
0
] | [
0.009936466813087463,
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0,
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.5 | 5 | 0 | 5 | 0 |
[
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] | [
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] | move_to_position | 0.284017 | [
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] | [
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0,
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] | [
0.009936466813087463,
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0,
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] | 0 | move to initial position to start the task | [
0.020194383338093758,
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0.3482072651386261,
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] | 1 | 0.6 | 6 | 0 | 6 | 0 |
[
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] | [
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0
] | move_to_position | 0.37424 | [
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] | [
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0,
0
] | [
0.009936466813087463,
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0,
0
] | 0 | move to initial position to start the task | [
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] | 1 | 0.7 | 7 | 0 | 7 | 0 |
[
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] | [
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] | move_to_position | 0.466583 | [
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] | [
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0,
0
] | [
0.009936466813087463,
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0.3316303491592407,
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0,
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] | 0 | move to initial position to start the task | [
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] | 1 | 0.8 | 8 | 0 | 8 | 0 |
[
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] | [
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] | move_to_position | 0.58938 | [
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] | [
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0,
0
] | [
0.009936466813087463,
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0,
0
] | 0 | move to initial position to start the task | [
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0.3411117494106293,
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] | 1 | 0.9 | 9 | 0 | 9 | 0 |
[
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] | [
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] | move_to_position | 0.706816 | [
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] | [
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0,
0
] | [
0.009936466813087463,
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0,
0
] | 0 | move to initial position to start the task | [
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] | 1 | 1 | 10 | 0 | 10 | 0 |
[
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] | [
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0
] | move_to_position | 0.815534 | [
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] | [
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0,
0
] | [
0.009936466813087463,
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0.3316303491592407,
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0,
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] | 0 | move to initial position to start the task | [
0.012339160777628422,
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0.3355003595352173,
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] | 1 | 1.1 | 11 | 0 | 11 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.909946 | [
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0
] | [
-0.009936466813087463,
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0,
0,
0
] | [
0.009936466813087463,
-0.42399296164512634,
0.3316303491592407,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.01104898750782013,
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0.33337247371673584,
2.7935571670532227,
0.06090039759874344,
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] | 1 | 1.2 | 12 | 0 | 12 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.967834 | [
-1.8866714239120483,
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0
] | [
-0.009936466813087463,
0.42399296164512634,
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0,
0,
0
] | [
0.009936466813087463,
-0.42399296164512634,
0.3316303491592407,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.010309075005352497,
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0.33217325806617737,
2.7935779094696045,
0.06089631840586662,
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] | 1 | 1.3 | 13 | 0 | 13 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.992536 | [
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0
] | [
-0.009936466813087463,
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0.3316303491592407,
0,
0,
0
] | [
0.009936466813087463,
-0.42399296164512634,
0.3316303491592407,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.010012000799179077,
-0.4240250289440155,
0.3316340744495392,
2.793684482574463,
0.060836512595415115,
3.070249319076538
] | 1 | 1.4 | 14 | 0 | 14 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000007 | [
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0
] | [
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0,
0,
0
] | [
0.13426843285560608,
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0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.010012099519371986,
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0.3316943049430847,
2.7933390140533447,
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] | 1 | 1.5 | 15 | 0 | 15 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000013 | [
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0
] | [
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0.10762349516153336,
0,
0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
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0.33170944452285767,
2.7933008670806885,
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] | 1 | 1.6 | 16 | 0 | 16 | 0 |
[
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] | [
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] | move_to_position | 0.0003 | [
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] | [
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0
] | [
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0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
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] | 1 | 1.7 | 17 | 0 | 17 | 0 |
[
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] | [
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] | move_to_position | 0.002283 | [
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1.949872612953186,
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] | [
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0,
0
] | [
0.13426843285560608,
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0,
0,
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] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
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] | 1 | 1.8 | 18 | 0 | 18 | 0 |
[
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] | [
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] | move_to_position | 0.00656 | [
-1.5296483039855957,
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-1.6661698818206787,
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] | [
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0,
0
] | [
0.13426843285560608,
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0,
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] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
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] | 1 | 1.9 | 19 | 0 | 19 | 0 |
[
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] | [
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] | move_to_position | 0.012268 | [
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-1.6661698818206787,
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] | [
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0,
0
] | [
0.13426843285560608,
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0,
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] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.011673133820295334,
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] | 1 | 2 | 20 | 0 | 20 | 0 |
[
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] | [
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] | move_to_position | 0.021211 | [
-1.5296483039855957,
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] | [
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0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
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0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.012668473646044731,
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] | 1 | 2.1 | 21 | 0 | 21 | 0 |
[
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] | [
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] | move_to_position | 0.032778 | [
-1.5296483039855957,
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-2.5886433124542236,
-1.6661698818206787,
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] | [
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0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
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0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.014002188108861446,
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] | 1 | 2.2 | 22 | 0 | 22 | 0 |
[
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] | [
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] | move_to_position | 0.048232 | [
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] | [
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0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
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0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.015808021649718285,
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] | 1 | 2.3 | 23 | 0 | 23 | 0 |
[
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] | [
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0
] | move_to_position | 0.068494 | [
-1.5296483039855957,
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1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
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] | [
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0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
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] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
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] | 1 | 2.4 | 24 | 0 | 24 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.091226 | [
-1.5296483039855957,
-1.2713825702667236,
1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
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0
] | [
-0.13426843285560608,
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0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.020997995510697365,
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] | 1 | 2.5 | 25 | 0 | 25 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.118323 | [
-1.5296483039855957,
-1.2713825702667236,
1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
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0
] | [
-0.13426843285560608,
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0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.024155525490641594,
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] | 1 | 2.6 | 26 | 0 | 26 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.148042 | [
-1.5296483039855957,
-1.2713825702667236,
1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
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0
] | [
-0.13426843285560608,
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0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
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] | 1 | 2.7 | 27 | 0 | 27 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.181609 | [
-1.5296483039855957,
-1.2713825702667236,
1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
3.2307748794555664,
0
] | [
-0.13426843285560608,
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0,
0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.03171151503920555,
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0.2924514710903168,
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] | 1 | 2.8 | 28 | 0 | 28 | 0 |
[
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0
] | [
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-2.108158826828003,
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0
] | move_to_position | 0.218564 | [
-1.5296483039855957,
-1.2713825702667236,
1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
3.2307748794555664,
0
] | [
-0.13426843285560608,
0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.03612876310944557,
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0.28440985083580017,
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0.06085873395204544,
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] | 1 | 2.9 | 29 | 0 | 29 | 0 |
[
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0
] | [
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-2.1393027305603027,
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3.0133514404296875,
0
] | move_to_position | 0.25865 | [
-1.5296483039855957,
-1.2713825702667236,
1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
3.2307748794555664,
0
] | [
-0.13426843285560608,
0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.040986575186252594,
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0.27574604749679565,
2.793565511703491,
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3.0704641342163086
] | 1 | 3 | 30 | 0 | 30 | 0 |
[
-1.7495635747909546,
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3.023000478744507,
0
] | [
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2.0598409175872803,
-2.1707022190093994,
-1.5926353931427002,
3.029451608657837,
0
] | move_to_position | 0.299857 | [
-1.5296483039855957,
-1.2713825702667236,
1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
3.2307748794555664,
0
] | [
-0.13426843285560608,
0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.045810066163539886,
-0.4771827757358551,
0.2671513855457306,
2.7931759357452393,
0.06092079356312752,
3.0703420639038086
] | 1 | 3.1 | 31 | 0 | 31 | 0 |
[
-1.7320626974105835,
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-2.1906449794769287,
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3.039451837539673,
0
] | [
-1.7253477573394775,
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2.0613245964050293,
-2.2035136222839355,
-1.5986751317977905,
3.0458149909973145,
0
] | move_to_position | 0.344629 | [
-1.5296483039855957,
-1.2713825702667236,
1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
3.2307748794555664,
0
] | [
-0.13426843285560608,
0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.050714198499917984,
-0.4848676025867462,
0.25857049226760864,
2.792616844177246,
0.06101073697209358,
3.0704586505889893
] | 1 | 3.2 | 32 | 0 | 32 | 0 |
[
-1.714903712272644,
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2.0618622303009033,
-2.2235934734344482,
-1.602279543876648,
3.0557162761688232,
0
] | [
-1.708772897720337,
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2.062067747116089,
-2.235407829284668,
-1.6044366359710693,
3.061432361602783,
0
] | move_to_position | 0.390168 | [
-1.5296483039855957,
-1.2713825702667236,
1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
3.2307748794555664,
0
] | [
-0.13426843285560608,
0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.05660441145300865,
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0.24824698269367218,
2.791769027709961,
0.06099529191851616,
3.0702977180480957
] | 1 | 3.3 | 33 | 0 | 33 | 0 |
[
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] | [
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] | move_to_position | 0.439669 | [
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] | [
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0
] | [
0.13426843285560608,
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0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.06256340444087982,
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] | 1 | 3.4 | 34 | 0 | 34 | 0 |
[
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] | [
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0
] | move_to_position | 0.486783 | [
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1.949872612953186,
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] | [
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0,
0
] | [
0.13426843285560608,
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0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.06848520785570145,
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] | 1 | 3.5 | 35 | 0 | 35 | 0 |
[
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] | [
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0
] | move_to_position | 0.531886 | [
-1.5296483039855957,
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1.949872612953186,
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] | [
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0,
0
] | [
0.13426843285560608,
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0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
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] | 1 | 3.6 | 36 | 0 | 36 | 0 |
[
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] | [
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] | move_to_position | 0.580005 | [
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-1.6661698818206787,
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] | [
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0
] | [
0.13426843285560608,
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0,
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] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
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] | 1 | 3.7 | 37 | 0 | 37 | 0 |
[
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] | [
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] | move_to_position | 0.628497 | [
-1.5296483039855957,
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] | [
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0
] | [
0.13426843285560608,
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0,
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] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
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] | 1 | 3.8 | 38 | 0 | 38 | 0 |
[
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] | [
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0
] | move_to_position | 0.674735 | [
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] | [
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0
] | [
0.13426843285560608,
-0.6077423691749573,
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0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.09205828607082367,
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] | 1 | 3.9 | 39 | 0 | 39 | 0 |
[
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] | [
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] | move_to_position | 0.718123 | [
-1.5296483039855957,
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-2.5886433124542236,
-1.6661698818206787,
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] | [
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0
] | [
0.13426843285560608,
-0.6077423691749573,
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0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.09779317677021027,
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] | 1 | 4 | 40 | 0 | 40 | 0 |
[
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] | [
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0
] | move_to_position | 0.759776 | [
-1.5296483039855957,
-1.2713825702667236,
1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
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] | [
-0.13426843285560608,
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0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.10277760028839111,
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2.793438196182251,
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] | 1 | 4.1 | 41 | 0 | 41 | 0 |
[
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] | [
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0
] | move_to_position | 0.796458 | [
-1.5296483039855957,
-1.2713825702667236,
1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
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0
] | [
-0.13426843285560608,
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0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.10792627185583115,
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2.7934317588806152,
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] | 1 | 4.2 | 42 | 0 | 42 | 0 |
[
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] | [
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0
] | move_to_position | 0.835697 | [
-1.5296483039855957,
-1.2713825702667236,
1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
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0
] | [
-0.13426843285560608,
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0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
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] | 1 | 4.3 | 43 | 0 | 43 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.868093 | [
-1.5296483039855957,
-1.2713825702667236,
1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
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0
] | [
-0.13426843285560608,
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0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
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] | 1 | 4.4 | 44 | 0 | 44 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.895096 | [
-1.5296483039855957,
-1.2713825702667236,
1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
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0
] | [
-0.13426843285560608,
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0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.12079448252916336,
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] | 1 | 4.5 | 45 | 0 | 45 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.921166 | [
-1.5296483039855957,
-1.2713825702667236,
1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
3.2307748794555664,
0
] | [
-0.13426843285560608,
0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.12411469221115112,
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] | 1 | 4.6 | 46 | 0 | 46 | 0 |
[
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0
] | [
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-2.5675106048583984,
-1.6621453762054443,
3.2195703983306885,
0
] | move_to_position | 0.943164 | [
-1.5296483039855957,
-1.2713825702667236,
1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
3.2307748794555664,
0
] | [
-0.13426843285560608,
0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.12700095772743225,
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0.12068624794483185,
2.793391704559326,
0.06095531955361366,
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] | 1 | 4.7 | 47 | 0 | 47 | 0 |
[
-1.5393556356430054,
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-2.5713717937469482,
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0
] | [
-1.5376309156417847,
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-2.5745186805725098,
-1.6634514331817627,
3.2232015132904053,
0
] | move_to_position | 0.960907 | [
-1.5296483039855957,
-1.2713825702667236,
1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
3.2307748794555664,
0
] | [
-0.13426843285560608,
0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.1292664259672165,
-0.6004113554954529,
0.11666172742843628,
2.79329776763916,
0.06088826805353165,
3.0704171657562256
] | 1 | 4.8 | 48 | 0 | 48 | 0 |
[
-1.5360478162765503,
-1.293845534324646,
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-2.5774343013763428,
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3.2246944904327393,
0
] | [
-1.534674048423767,
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1.958490252494812,
-2.579895496368408,
-1.6644599437713623,
3.226005792617798,
0
] | move_to_position | 0.973997 | [
-1.5296483039855957,
-1.2713825702667236,
1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
3.2307748794555664,
0
] | [
-0.13426843285560608,
0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.1310155838727951,
-0.6028841733932495,
0.11343103647232056,
2.7933998107910156,
0.060924261808395386,
3.070460319519043
] | 1 | 4.9 | 49 | 0 | 49 | 0 |
[
-1.533504843711853,
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3.2271604537963867,
0
] | [
-1.5325638055801392,
-1.2818728685379028,
1.9550944566726685,
-2.583648920059204,
-1.6651787757873535,
3.2280077934265137,
0
] | move_to_position | 0.984188 | [
-1.5296483039855957,
-1.2713825702667236,
1.949872612953186,
-2.5886433124542236,
-1.6661698818206787,
3.2307748794555664,
0
] | [
-0.13426843285560608,
0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
0.10762349516153336,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
0.1323329657316208,
-0.6047861576080322,
0.11109018325805664,
2.793375015258789,
0.06087631359696388,
3.0704569816589355
] | 1 | 5 | 50 | 0 | 50 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.991502 | [
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] | [
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0
] | [
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0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
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0.10936741530895233,
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] | 1 | 5.1 | 51 | 0 | 51 | 0 |
[
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] | [
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] | move_to_position | 0.996437 | [
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] | [
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0,
0
] | [
0.13426843285560608,
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0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
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] | 1 | 5.2 | 52 | 0 | 52 | 0 |
[
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] | [
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0
] | move_to_position | 0.999081 | [
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] | [
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0,
0
] | [
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0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
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] | 1 | 5.3 | 53 | 0 | 53 | 0 |
[
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] | [
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] | move_to_position | 0.999674 | [
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] | [
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0,
0
] | [
0.13426843285560608,
-0.6077423691749573,
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0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: approach above red block | [
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] | 1 | 5.4 | 54 | 0 | 54 | 0 |
[
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] | [
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0
] | gripper_open | 1 | [
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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: open gripper | [
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] | 1 | 5.5 | 55 | 0 | 55 | 0 |
[
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] | [
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] | gripper_open | 1 | [
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0
] | [
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] | [
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] | 0 | pick up the red block and place it on the blue dish: open gripper | [
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] | 1 | 5.6 | 56 | 0 | 56 | 0 |
[
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] | [
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0
] | gripper_open | 1 | [
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0
] | [
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] | [
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0.10761161893606186,
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] | 0 | pick up the red block and place it on the blue dish: open gripper | [
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0.10759179294109344,
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] | 1 | 5.7 | 57 | 0 | 57 | 0 |
[
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] | [
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] | gripper_open | 1 | [
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0
] | [
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] | [
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0.10761161893606186,
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] | 0 | pick up the red block and place it on the blue dish: open gripper | [
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0.10758663713932037,
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] | 1 | 5.8 | 58 | 0 | 58 | 0 |
[
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0
] | [
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-2.5886433124542236,
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0
] | move_to_position | 0.000135 | [
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] | [
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0,
0
] | [
0.11627618223428726,
-0.6346085667610168,
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0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: descend to red block | [
0.13424494862556458,
-0.6077427864074707,
0.10760603100061417,
2.793402671813965,
0.06095954403281212,
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] | 1 | 5.9 | 59 | 0 | 59 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.000246 | [
-1.5645191669464111,
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1.9462238550186157,
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0
] | [
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0,
0
] | [
0.11627618223428726,
-0.6346085667610168,
0.03400000184774399,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: descend to red block | [
0.1342553347349167,
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0.10755287855863571,
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] | 1 | 6 | 60 | 0 | 60 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.010782 | [
-1.5645191669464111,
-1.1022180318832397,
1.9462238550186157,
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] | [
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0,
0
] | [
0.11627618223428726,
-0.6346085667610168,
0.03400000184774399,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: descend to red block | [
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0.10655073821544647,
2.793360471725464,
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] | 1 | 6.1 | 61 | 0 | 61 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.040066 | [
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] | [
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0,
0
] | [
0.11627618223428726,
-0.6346085667610168,
0.03400000184774399,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: descend to red block | [
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0.10407844930887222,
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] | 1 | 6.2 | 62 | 0 | 62 | 0 |
[
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0
] | [
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1.9517196416854858,
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0
] | move_to_position | 0.088404 | [
-1.5645191669464111,
-1.1022180318832397,
1.9462238550186157,
-2.7571094036102295,
-1.6547948122024536,
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0
] | [
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0,
0
] | [
0.11627618223428726,
-0.6346085667610168,
0.03400000184774399,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: descend to red block | [
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-0.6103825569152832,
0.10024044662714005,
2.793375253677368,
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] | 1 | 6.3 | 63 | 0 | 63 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.16412 | [
-1.5645191669464111,
-1.1022180318832397,
1.9462238550186157,
-2.7571094036102295,
-1.6547948122024536,
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0
] | [
-0.11627618223428726,
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0,
0
] | [
0.11627618223428726,
-0.6346085667610168,
0.03400000184774399,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: descend to red block | [
0.1311521977186203,
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0.09489057213068008,
2.7933268547058105,
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] | 1 | 6.4 | 64 | 0 | 64 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.263864 | [
-1.5645191669464111,
-1.1022180318832397,
1.9462238550186157,
-2.7571094036102295,
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0
] | [
-0.11627618223428726,
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0,
0
] | [
0.11627618223428726,
-0.6346085667610168,
0.03400000184774399,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: descend to red block | [
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0.0866607278585434,
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0.06094783544540405,
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] | 1 | 6.5 | 65 | 0 | 65 | 0 |
[
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0
] | [
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3.216099262237549,
0
] | move_to_position | 0.385108 | [
-1.5645191669464111,
-1.1022180318832397,
1.9462238550186157,
-2.7571094036102295,
-1.6547948122024536,
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0
] | [
-0.11627618223428726,
0.6346085667610168,
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0,
0,
0
] | [
0.11627618223428726,
-0.6346085667610168,
0.03400000184774399,
0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: descend to red block | [
0.12692399322986603,
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0.07770153880119324,
2.7931132316589355,
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] | 1 | 6.6 | 66 | 0 | 66 | 0 |
[
-1.5476092100143433,
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0
] | [
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1.9529013633728027,
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3.2118706703186035,
0
] | move_to_position | 0.50531 | [
-1.5645191669464111,
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1.9462238550186157,
-2.7571094036102295,
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0
] | [
-0.11627618223428726,
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0
] | [
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0,
0
] | 0 | pick up the red block and place it on the blue dish: descend to red block | [
0.12479529529809952,
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0.06893891841173172,
2.7932939529418945,
0.06089590862393379,
3.070427179336548
] | 1 | 6.7 | 67 | 0 | 67 | 0 |
[
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] | [
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] | move_to_position | 0.619831 | [
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] | [
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0,
0
] | [
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0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: descend to red block | [
0.1227414458990097,
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0.06035317853093147,
2.7937047481536865,
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] | 1 | 6.8 | 68 | 0 | 68 | 0 |
[
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] | [
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0
] | move_to_position | 0.730808 | [
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] | [
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0,
0
] | [
0.11627618223428726,
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0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: descend to red block | [
0.1207677349448204,
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0.052169110625982285,
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] | 1 | 6.9 | 69 | 0 | 69 | 0 |
[
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] | [
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0
] | move_to_position | 0.834316 | [
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] | [
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0,
0
] | [
0.11627618223428726,
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0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: descend to red block | [
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] | 1 | 7 | 70 | 0 | 70 | 0 |
[
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] | [
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0
] | move_to_position | 0.914899 | [
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] | [
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0,
0
] | [
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0,
0
] | 0 | pick up the red block and place it on the blue dish: descend to red block | [
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] | 1 | 7.1 | 71 | 0 | 71 | 0 |
[
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] | [
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] | move_to_position | 0.967368 | [
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] | [
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0,
0
] | [
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0,
0
] | 0 | pick up the red block and place it on the blue dish: descend to red block | [
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] | 1 | 7.2 | 72 | 0 | 72 | 0 |
[
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] | [
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] | move_to_position | 0.9911 | [
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] | [
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0,
0
] | [
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0,
0,
0
] | 0 | pick up the red block and place it on the blue dish: descend to red block | [
0.11648524552583694,
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0.03437378257513046,
2.793588876724243,
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] | 1 | 7.3 | 73 | 0 | 73 | 0 |
[
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] | [
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0
] | move_to_position | 0.998662 | [
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] | [
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0,
0
] | [
0.11627618223428726,
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0,
0
] | 0 | pick up the red block and place it on the blue dish: descend to red block | [
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] | 1 | 7.4 | 74 | 0 | 74 | 0 |
[
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] | [
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1
] | gripper_close | 0 | [
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] | [
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] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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0.034030523151159286,
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] | 1 | 7.5 | 75 | 0 | 75 | 0 |
[
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1
] | gripper_close | 0.011765 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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] | 1 | 7.6 | 76 | 0 | 76 | 0 |
[
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] | [
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1
] | gripper_close | 0.054902 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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] | 1 | 7.7 | 77 | 0 | 77 | 0 |
[
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] | [
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1
] | gripper_close | 0.184314 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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] | 1 | 7.8 | 78 | 0 | 78 | 0 |
[
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] | [
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1
] | gripper_close | 0.321569 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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] | 1 | 7.9 | 79 | 0 | 79 | 0 |
[
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] | [
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1
] | gripper_close | 0.45098 | [
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1
] | [
-0.1163710355758667,
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] | [
0.1163710355758667,
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] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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] | 1 | 8 | 80 | 0 | 80 | 0 |
[
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] | [
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1
] | gripper_close | 0.505882 | [
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1
] | [
-0.1163710355758667,
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] | [
0.1163710355758667,
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3.0705792903900146
] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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] | 0 | 8.1 | 81 | 0 | 81 | 0 |
[
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] | [
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1
] | gripper_close | 0.505882 | [
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1
] | [
-0.1163710355758667,
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] | [
0.1163710355758667,
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2.793440818786621,
0.06096567213535309,
3.0705792903900146
] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
0.11628270149230957,
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] | 0 | 8.2 | 82 | 0 | 82 | 0 |
[
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0.5058823823928833
] | [
-1.5645191669464111,
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-2.7571094036102295,
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3.1978797912597656,
1
] | gripper_close | 0.505882 | [
-1.5643380880355835,
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1.9462708234786987,
-2.757066011428833,
-1.654791235923767,
3.197880506515503,
1
] | [
-0.1163710355758667,
0.6345710158348083,
0.03404729813337326,
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] | [
0.1163710355758667,
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0.03404729813337326,
2.793440818786621,
0.06096567213535309,
3.0705792903900146
] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
0.11629848182201385,
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0.034132219851017,
2.793154001235962,
0.06088320538401604,
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] | 0 | 8.3 | 83 | 0 | 83 | 0 |
[
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1
] | gripper_close | 0.505882 | [
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] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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[
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] | gripper_close | 0.505882 | [
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] | [
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] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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[
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] | gripper_close | 0.505882 | [
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] | [
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] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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[
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] | [
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] | gripper_close | 0.505882 | [
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] | [
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] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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[
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] | gripper_close | 0.505882 | [
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] | [
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] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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[
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] | gripper_close | 0.505882 | [
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] | [
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] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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] | 0 | 8.9 | 89 | 0 | 89 | 0 |
[
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] | gripper_close | 0.505882 | [
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] | [
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] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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[
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] | gripper_close | 0.505882 | [
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] | [
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] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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] | 0 | 9.1 | 91 | 0 | 91 | 0 |
[
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] | [
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1
] | gripper_close | 0.505882 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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] | 0 | 9.2 | 92 | 0 | 92 | 0 |
[
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] | [
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1
] | gripper_close | 0.505882 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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] | 0 | 9.3 | 93 | 0 | 93 | 0 |
[
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] | [
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1
] | gripper_close | 0.505882 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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] | 0 | 9.4 | 94 | 0 | 94 | 0 |
[
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] | [
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1
] | gripper_close | 0.505882 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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] | 0 | 9.5 | 95 | 0 | 95 | 0 |
[
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] | [
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1
] | gripper_close | 0.505882 | [
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1
] | [
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] | [
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2.793440818786621,
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3.0705792903900146
] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
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2.793454647064209,
0.06092001497745514,
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] | 0 | 9.6 | 96 | 0 | 96 | 0 |
[
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] | [
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1
] | gripper_close | 0.505882 | [
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1
] | [
-0.1163710355758667,
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] | [
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2.793440818786621,
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3.0705792903900146
] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
0.11629654467105865,
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0.034000467509031296,
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] | 0 | 9.7 | 97 | 0 | 97 | 0 |
[
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] | [
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1
] | gripper_close | 0.505882 | [
-1.5643380880355835,
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-1.654791235923767,
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1
] | [
-0.1163710355758667,
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] | [
0.1163710355758667,
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0.03404729813337326,
2.793440818786621,
0.06096567213535309,
3.0705792903900146
] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
0.11628133803606033,
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0.03400417044758797,
2.793445587158203,
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] | 0 | 9.8 | 98 | 0 | 98 | 0 |
[
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0.5058823823928833
] | [
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-2.7571094036102295,
-1.6547948122024536,
3.1978797912597656,
1
] | gripper_close | 0.505882 | [
-1.5643380880355835,
-1.102346658706665,
1.9462708234786987,
-2.757066011428833,
-1.654791235923767,
3.197880506515503,
1
] | [
-0.1163710355758667,
0.6345710158348083,
0.03404729813337326,
2.793440818786621,
0.06096567213535309,
3.0705792903900146
] | [
0.1163710355758667,
-0.6345710158348083,
0.03404729813337326,
2.793440818786621,
0.06096567213535309,
3.0705792903900146
] | 1 | pick up the red block and place it on the blue dish: grasp red block | [
0.11627110093832016,
-0.6346244812011719,
0.03401315212249756,
2.793415069580078,
0.06094101816415787,
3.0704352855682373
] | 0 | 9.9 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "ur7e",
"total_episodes": 80,
"total_frames": 20403,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
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},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
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],
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"shoulder_lift.pos",
"elbow.pos",
"wrist_1.pos",
"wrist_2.pos",
"wrist_3.pos",
"gripper.pos"
]
},
"action": {
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],
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"elbow.pos",
"wrist_1.pos",
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"wrist_3.pos",
"gripper.pos"
]
},
"observation.images.realsense_wrist": {
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640,
3
],
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},
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},
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},
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},
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]
},
"skill.goal_position.world_xyzrpy": {
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},
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]
},
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},
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},
"observation.gripper_binary": {
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},
"timestamp": {
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},
"index": {
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},
"task_index": {
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],
"names": null
}
}
}
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