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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-1.9806450605392456,
-1.996839165687561,
1.972131609916687,
-1.8656641244888306,
-1.5080336332321167,
2.7710158824920654,
0
] | [
-1.9809906482696533,
-1.9972566366195679,
1.971815586090088,
-1.8650096654891968,
-1.507928490638733,
2.7707650661468506,
0
] | move_to_position | 0.998608 | [
-1.981181025505066,
-1.9976612329483032,
1.9716458320617676,
-1.8644239902496338,
-1.5078681707382202,
2.770582914352417,
0
] | [
0.019256195053458214,
0.4211690425872803,
0.34055960178375244,
0,
0,
0
] | [
-0.019256195053458214,
-0.4211690425872803,
0.34055960178375244,
0,
0,
0
] | 0 | return to home after task completion | [
-0.019186967983841896,
-0.42137473821640015,
0.34024032950401306,
2.8210229873657227,
0.06039223074913025,
3.1054491996765137
] | 1 | 27.4 | 274 | 79 | 20,400 | 0 |
[
-1.9809445142745972,
-1.9973546266555786,
1.9718278646469116,
-1.8646904230117798,
-1.5079210996627808,
2.770702600479126,
0
] | [
-1.981156826019287,
-1.9976062774658203,
1.9716664552688599,
-1.8645011186599731,
-1.507875919342041,
2.770606279373169,
0
] | move_to_position | 0.999578 | [
-1.981181025505066,
-1.9976612329483032,
1.9716458320617676,
-1.8644239902496338,
-1.5078681707382202,
2.770582914352417,
0
] | [
0.019256195053458214,
0.4211690425872803,
0.34055960178375244,
0,
0,
0
] | [
-0.019256195053458214,
-0.4211690425872803,
0.34055960178375244,
0,
0,
0
] | 0 | return to home after task completion | [
-0.019196445122361183,
-0.42123112082481384,
0.34038856625556946,
2.8211517333984375,
0.060295116156339645,
3.105501890182495
] | 1 | 27.5 | 275 | 79 | 20,401 | 0 |
[
-1.981101393699646,
-1.997459053993225,
1.9716600179672241,
-1.8644577264785767,
-1.5078781843185425,
2.77057147026062,
0
] | [
-1.981181025505066,
-1.9976612329483032,
1.9716458320617676,
-1.8644239902496338,
-1.5078681707382202,
2.770582914352417,
0
] | move_to_position | 0.999821 | [
-1.981181025505066,
-1.9976612329483032,
1.9716458320617676,
-1.8644239902496338,
-1.5078681707382202,
2.770582914352417,
0
] | [
0.019256195053458214,
0.4211690425872803,
0.34055960178375244,
0,
0,
0
] | [
-0.019256195053458214,
-0.4211690425872803,
0.34055960178375244,
0,
0,
0
] | 0 | return to home after task completion | [
-0.019257044419646263,
-0.4211985170841217,
0.3404863178730011,
2.821078062057495,
0.06034357473254204,
3.1053996086120605
] | 1 | 27.6 | 276 | 79 | 20,402 | 0 |
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