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 | 0.831071 | [
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] | [
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0,
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] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
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] | 0 | 17.4 | 174 | 79 | 20,300 | 0 |
[
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] | move_to_position | 0.863173 | [
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] | [
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] | [
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0,
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] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
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] | 0 | 17.5 | 175 | 79 | 20,301 | 0 |
[
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] | [
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] | move_to_position | 0.891853 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
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] | 0 | 17.6 | 176 | 79 | 20,302 | 0 |
[
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] | [
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] | move_to_position | 0.916345 | [
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] | [
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] | [
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] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
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[
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] | [
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] | move_to_position | 0.937273 | [
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] | [
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] | [
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0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
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] | 0 | 17.799999 | 178 | 79 | 20,304 | 0 |
[
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] | [
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] | move_to_position | 0.95447 | [
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-1.5673195123672485,
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] | [
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0
] | [
-0.023372437804937363,
-0.6994749307632446,
0.05814832076430321,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
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] | 0 | 17.9 | 179 | 79 | 20,305 | 0 |
[
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] | [
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1
] | move_to_position | 0.969615 | [
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1.764064073562622,
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-1.5673195123672485,
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] | [
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0
] | [
-0.023372437804937363,
-0.6994749307632446,
0.05814832076430321,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
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] | 0 | 18 | 180 | 79 | 20,306 | 0 |
[
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] | [
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1
] | move_to_position | 0.981736 | [
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] | [
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0
] | [
-0.023372437804937363,
-0.6994749307632446,
0.05814832076430321,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
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] | 0 | 18.1 | 181 | 79 | 20,307 | 0 |
[
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] | [
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1
] | move_to_position | 0.990309 | [
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] | [
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0,
0
] | [
-0.023372437804937363,
-0.6994749307632446,
0.05814832076430321,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
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] | 0 | 18.200001 | 182 | 79 | 20,308 | 0 |
[
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] | [
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1
] | move_to_position | 0.995568 | [
-1.799007534980774,
-1.0548267364501953,
1.764064073562622,
-2.605093240737915,
-1.5673195123672485,
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] | [
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0.6994749307632446,
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0,
0
] | [
-0.023372437804937363,
-0.6994749307632446,
0.05814832076430321,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
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] | 0 | 18.299999 | 183 | 79 | 20,309 | 0 |
[
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] | [
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1
] | move_to_position | 0.998558 | [
-1.799007534980774,
-1.0548267364501953,
1.764064073562622,
-2.605093240737915,
-1.5673195123672485,
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] | [
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0.6994749307632446,
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0,
0
] | [
-0.023372437804937363,
-0.6994749307632446,
0.05814832076430321,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
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] | 0 | 18.4 | 184 | 79 | 20,310 | 0 |
[
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] | [
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1
] | move_to_position | 0.99952 | [
-1.799007534980774,
-1.0548267364501953,
1.764064073562622,
-2.605093240737915,
-1.5673195123672485,
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1
] | [
0.023372437804937363,
0.6994749307632446,
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0,
0
] | [
-0.023372437804937363,
-0.6994749307632446,
0.05814832076430321,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
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] | 0 | 18.5 | 185 | 79 | 20,311 | 0 |
[
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1
] | [
-1.799007534980774,
-1.0548267364501953,
1.764064073562622,
-2.605093240737915,
-1.5673195123672485,
2.944697380065918,
1
] | move_to_position | 0.999733 | [
-1.799007534980774,
-1.0548267364501953,
1.764064073562622,
-2.605093240737915,
-1.5673195123672485,
2.944697380065918,
1
] | [
0.023372437804937363,
0.6994749307632446,
0.05814832076430321,
0,
0,
0
] | [
-0.023372437804937363,
-0.6994749307632446,
0.05814832076430321,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: approach above blue dish | [
-0.023244047537446022,
-0.6994931697845459,
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] | 0 | 18.6 | 186 | 79 | 20,312 | 0 |
[
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-2.605116605758667,
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1
] | [
-1.799007534980774,
-1.0548267364501953,
1.764064073562622,
-2.605093240737915,
-1.5673195123672485,
2.944697380065918,
1
] | move_to_position | 0 | [
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-2.5906753540039062,
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1
] | [
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0,
0,
0
] | [
-0.02074963040649891,
-0.7363463044166565,
0.04100000113248825,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
-0.02329210564494133,
-0.6994848251342773,
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] | 0 | 18.700001 | 187 | 79 | 20,313 | 0 |
[
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] | [
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1
] | move_to_position | 0 | [
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-2.5906753540039062,
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] | [
0.02074963040649891,
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0
] | [
-0.02074963040649891,
-0.7363463044166565,
0.04100000113248825,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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] | 0 | 18.799999 | 188 | 79 | 20,314 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.010762 | [
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1
] | [
0.02074963040649891,
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0.04100000113248825,
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0,
0
] | [
-0.02074963040649891,
-0.7363463044166565,
0.04100000113248825,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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] | 0 | 18.9 | 189 | 79 | 20,315 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.045096 | [
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1
] | [
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0
] | [
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0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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[
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] | [
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1
] | move_to_position | 0.100253 | [
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] | [
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] | [
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0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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] | 0 | 19.1 | 191 | 79 | 20,317 | 0 |
[
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] | [
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] | move_to_position | 0.170401 | [
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] | [
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] | [
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0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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[
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] | [
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] | move_to_position | 0.253059 | [
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] | [
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] | [
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0,
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] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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[
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] | [
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] | move_to_position | 0.369298 | [
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] | [
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] | [
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0,
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] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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[
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] | [
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] | move_to_position | 0.492093 | [
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] | [
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] | [
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0,
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] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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[
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] | [
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] | move_to_position | 0.633758 | [
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] | [
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] | [
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0,
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] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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[
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] | [
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1
] | move_to_position | 0.749104 | [
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] | [
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] | [
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0.04100000113248825,
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0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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] | 0 | 19.700001 | 197 | 79 | 20,323 | 0 |
[
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] | [
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1
] | move_to_position | 0.827138 | [
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] | [
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] | [
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0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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] | 0 | 19.799999 | 198 | 79 | 20,324 | 0 |
[
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] | [
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1
] | move_to_position | 0.892747 | [
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] | [
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] | [
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0.04100000113248825,
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0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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] | 0 | 19.9 | 199 | 79 | 20,325 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.944452 | [
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] | [
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] | [
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0.04100000113248825,
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0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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[
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1
] | [
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1
] | move_to_position | 0.980765 | [
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] | [
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] | [
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0.04100000113248825,
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0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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] | 0 | 20.1 | 201 | 79 | 20,327 | 0 |
[
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1
] | [
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1
] | move_to_position | 0.998161 | [
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] | [
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0
] | [
-0.02074963040649891,
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0.04100000113248825,
0,
0,
0
] | 1 | pick up the red block and place it in the center of the blue dish: descend to blue dish | [
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] | 0 | 20.200001 | 202 | 79 | 20,328 | 0 |
[
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1
] | [
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1.6550061702728271,
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0
] | gripper_open | 0 | [
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] | [
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] | 0 | pick up the red block and place it in the center of the blue dish: release at blue dish | [
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] | 0 | 20.299999 | 203 | 79 | 20,329 | 0 |
[
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0
] | gripper_open | 0.490196 | [
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] | [
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] | 0 | pick up the red block and place it in the center of the blue dish: release at blue dish | [
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] | 0 | 20.4 | 204 | 79 | 20,330 | 0 |
[
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] | [
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0
] | gripper_open | 0.513726 | [
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0
] | [
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] | [
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] | 0 | pick up the red block and place it in the center of the blue dish: release at blue dish | [
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] | 1 | 20.5 | 205 | 79 | 20,331 | 0 |
[
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] | [
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1.6550061702728271,
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0
] | gripper_open | 0.627451 | [
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0
] | [
0.02073548547923565,
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] | [
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] | 0 | pick up the red block and place it in the center of the blue dish: release at blue dish | [
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] | 1 | 20.6 | 206 | 79 | 20,332 | 0 |
[
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] | gripper_open | 0.752941 | [
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] | 1 | 20.700001 | 207 | 79 | 20,333 | 0 |
[
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] | gripper_open | 0.87451 | [
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] | 1 | 20.799999 | 208 | 79 | 20,334 | 0 |
[
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] | gripper_open | 0.984313 | [
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] | 1 | 20.9 | 209 | 79 | 20,335 | 0 |
[
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] | gripper_open | 0.988234 | [
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] | [
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] | 1 | 21 | 210 | 79 | 20,336 | 0 |
[
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] | gripper_open | 0.988234 | [
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] | [
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] | 0 | pick up the red block and place it in the center of the blue dish: release at blue dish | [
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] | 1 | 21.1 | 211 | 79 | 20,337 | 0 |
[
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] | [
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] | move_to_position | 0.00004 | [
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] | [
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] | [
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] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
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] | 1 | 21.200001 | 212 | 79 | 20,338 | 0 |
[
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] | [
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] | move_to_position | 0.000011 | [
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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 in the center of the blue dish: retract after place | [
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] | 1 | 21.299999 | 213 | 79 | 20,339 | 0 |
[
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] | [
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] | move_to_position | 0.011291 | [
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] | [
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] | [
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0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
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] | 1 | 21.4 | 214 | 79 | 20,340 | 0 |
[
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] | [
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] | move_to_position | 0.051806 | [
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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 in the center of the blue dish: retract after place | [
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] | 1 | 21.5 | 215 | 79 | 20,341 | 0 |
[
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] | [
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0
] | move_to_position | 0.106142 | [
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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 in the center of the blue dish: retract after place | [
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] | 1 | 21.6 | 216 | 79 | 20,342 | 0 |
[
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] | [
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] | move_to_position | 0.173469 | [
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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 in the center of the blue dish: retract after place | [
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] | 1 | 21.700001 | 217 | 79 | 20,343 | 0 |
[
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] | [
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0
] | move_to_position | 0.257047 | [
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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 in the center of the blue dish: retract after place | [
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] | 1 | 21.799999 | 218 | 79 | 20,344 | 0 |
[
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] | [
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0
] | move_to_position | 0.367224 | [
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] | [
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] | [
-0.0248501505702734,
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0,
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] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
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] | 1 | 21.9 | 219 | 79 | 20,345 | 0 |
[
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] | [
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0
] | move_to_position | 0.495178 | [
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] | [
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] | [
-0.0248501505702734,
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0,
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] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
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] | 1 | 22 | 220 | 79 | 20,346 | 0 |
[
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] | [
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0
] | move_to_position | 0.638392 | [
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] | [
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] | [
-0.0248501505702734,
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0,
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] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
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] | 1 | 22.1 | 221 | 79 | 20,347 | 0 |
[
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0
] | [
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0
] | move_to_position | 0.751889 | [
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] | [
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0
] | [
-0.0248501505702734,
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0.06278900802135468,
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0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: retract after place | [
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] | 1 | 22.200001 | 222 | 79 | 20,348 | 0 |
[
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0
] | [
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[
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[
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[
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[
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[
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[
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