CoRL2026-CSI/smolVLA-UR7e-PickandPlace-50epoch
Robotics • 0.5B • Updated • 33
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 11
values | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | timestamp float32 0 39.8 | frame_index int64 0 398 | episode_index int64 0 99 | index int64 0 35.9k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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0.3446063995361328,
2.792726516723633,
0.060953810811042786,
3.0696094036102295
] | 1 | 1.7 | 17 | 0 | 17 | 0 |
[
-1.892407774925232,
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0
] | [
-1.9005180597305298,
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0
] | move_to_position | 0.920468 | [
-1.9005180597305298,
-1.958324909210205,
1.9313932657241821,
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] | [
0,
0.4399999976158142,
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0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.0018786678556352854,
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0.3467968702316284,
2.792843818664551,
0.060919139534235,
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] | 1 | 1.8 | 18 | 0 | 18 | 0 |
[
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-1.9045692682266235,
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0
] | [
-1.9005180597305298,
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0
] | move_to_position | 0.957283 | [
-1.9005180597305298,
-1.958324909210205,
1.9313932657241821,
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] | [
0,
0.4399999976158142,
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0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
0.0005047501181252301,
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0.35123056173324585,
2.79287052154541,
0.060927290469408035,
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] | 1 | 1.9 | 19 | 0 | 19 | 0 |
[
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] | [
-1.9005180597305298,
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0
] | move_to_position | 0.99361 | [
-1.9005180597305298,
-1.958324909210205,
1.9313932657241821,
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] | [
0,
0.4399999976158142,
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0,
0,
0
] | [
0,
-0.4399999976158142,
0.3529999852180481,
0,
0,
0
] | 0 | move to initial position to start the task | [
-0.000024207298338296823,
-0.4400009512901306,
0.3529798090457916,
2.792795419692993,
0.060987405478954315,
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] | 1 | 2 | 20 | 0 | 20 | 0 |
[
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] | [
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0
] | move_to_position | 0.000029 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
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] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.00004456521128304303,
-0.4399888813495636,
0.3529300093650818,
2.7929039001464844,
0.0608387254178524,
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] | 1 | 2.1 | 21 | 0 | 21 | 0 |
[
-1.899166464805603,
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0
] | [
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-2.526613235473633,
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0
] | move_to_position | 0.003936 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
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] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
0.000030834598874207586,
-0.4399886727333069,
0.35294684767723083,
2.792895555496216,
0.06087253615260124,
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] | 1 | 2.2 | 22 | 0 | 22 | 0 |
[
-1.8971155881881714,
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0
] | [
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-2.526613235473633,
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0
] | move_to_position | 0.010909 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
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0
] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.00012445657921489328,
-0.44451963901519775,
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] | 1 | 2.3 | 23 | 0 | 23 | 0 |
[
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0
] | [
-1.7491563558578491,
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-2.526613235473633,
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3.0246222019195557,
0
] | move_to_position | 0.017678 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
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0
] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.00013925365055911243,
-0.44680342078208923,
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] | 1 | 2.4 | 24 | 0 | 24 | 0 |
[
-1.8928879499435425,
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0
] | [
-1.7491563558578491,
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1.54567551612854,
-2.526613235473633,
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3.0246222019195557,
0
] | move_to_position | 0.024778 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
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0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0002622937608975917,
-0.4494767189025879,
0.34488075971603394,
2.792895793914795,
0.06090091913938522,
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] | 1 | 2.5 | 25 | 0 | 25 | 0 |
[
-1.8905271291732788,
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0
] | [
-1.7491563558578491,
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1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.033575 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
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0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0003698278742376715,
-0.4524145722389221,
0.3424614369869232,
2.7929866313934326,
0.06082085520029068,
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] | 1 | 2.6 | 26 | 0 | 26 | 0 |
[
-1.8857678174972534,
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-1.950691819190979,
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2.895678997039795,
0
] | [
-1.7491563558578491,
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1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.05074 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
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0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0004823181079700589,
-0.4553624391555786,
0.3400437533855438,
2.7929062843322754,
0.06088688224554062,
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] | 1 | 2.7 | 27 | 0 | 27 | 0 |
[
-1.8833287954330444,
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0
] | [
-1.7491563558578491,
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1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.059352 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
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0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0006257375353015959,
-0.4611065685749054,
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2.7929224967956543,
0.06088355928659439,
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] | 1 | 2.8 | 28 | 0 | 28 | 0 |
[
-1.8810137510299683,
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-1.9691253900527954,
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0
] | [
-1.7491563558578491,
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-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.067861 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
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0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0006776910158805549,
-0.4640105068683624,
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2.7928848266601562,
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] | 1 | 2.9 | 29 | 0 | 29 | 0 |
[
-1.878641963005066,
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0
] | [
-1.7491563558578491,
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-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.076475 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
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0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0006930776871740818,
-0.4668210446834564,
0.3301159739494324,
2.7928285598754883,
0.06090898811817169,
3.0695981979370117
] | 1 | 3 | 30 | 0 | 30 | 0 |
[
-1.8762463331222534,
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-1.9876562356948853,
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2.9046947956085205,
0
] | [
-1.7491563558578491,
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-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.084979 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
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0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0006957138539291918,
-0.4696771204471588,
0.32750439643859863,
2.7929110527038574,
0.06093922257423401,
3.0696487426757812
] | 1 | 3.1 | 31 | 0 | 31 | 0 |
[
-1.8718699216842651,
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-2.005689859390259,
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0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.102462 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
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0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0008138762204907835,
-0.47262850403785706,
0.32517871260643005,
2.792708158493042,
0.060944486409425735,
3.069612741470337
] | 1 | 3.2 | 32 | 0 | 32 | 0 |
[
-1.8698352575302124,
-1.8544059991836548,
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-2.0146372318267822,
-1.5488041639328003,
2.9107542037963867,
0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.111349 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.001125635695643723,
-0.4786474406719208,
0.32028728723526,
2.7929162979125977,
0.060906581580638885,
3.0696229934692383
] | 1 | 3.3 | 33 | 0 | 33 | 0 |
[
-1.8678139448165894,
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1.9460629224777222,
-2.023333787918091,
-1.5494869947433472,
2.912672996520996,
0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.120149 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0012393759097903967,
-0.4816933274269104,
0.31788358092308044,
2.79282808303833,
0.06092757731676102,
3.06966233253479
] | 1 | 3.4 | 34 | 0 | 34 | 0 |
[
-1.8656963109970093,
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-2.0322282314300537,
-1.5502175092697144,
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0
] | [
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3.0246222019195557,
0
] | move_to_position | 0.129061 | [
-1.7491563558578491,
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] | [
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0
] | [
-0.007499999832361937,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0013474291190505028,
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2.792943239212036,
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] | 1 | 3.5 | 35 | 0 | 35 | 0 |
[
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] | [
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0
] | move_to_position | 0.137853 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
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] | [
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0,
0
] | [
-0.007499999832361937,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0014586795587092638,
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] | 1 | 3.6 | 36 | 0 | 36 | 0 |
[
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] | [
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-2.526613235473633,
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3.0246222019195557,
0
] | move_to_position | 0.155194 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
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] | [
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0,
0
] | [
-0.007499999832361937,
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0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0015366974985226989,
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] | 1 | 3.7 | 37 | 0 | 37 | 0 |
[
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] | [
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-2.526613235473633,
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3.0246222019195557,
0
] | move_to_position | 0.164031 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
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] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0016628651646897197,
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] | 1 | 3.8 | 38 | 0 | 38 | 0 |
[
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0
] | [
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-2.526613235473633,
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3.0246222019195557,
0
] | move_to_position | 0.17266 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
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] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
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0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0016412229742854834,
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] | 1 | 3.9 | 39 | 0 | 39 | 0 |
[
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] | [
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-2.526613235473633,
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3.0246222019195557,
0
] | move_to_position | 0.181284 | [
-1.7491563558578491,
-0.9419345259666443,
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-2.526613235473633,
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] | [
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0,
0
] | [
-0.007499999832361937,
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0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0016672489000484347,
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] | 1 | 4 | 40 | 0 | 40 | 0 |
[
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] | [
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-2.526613235473633,
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3.0246222019195557,
0
] | move_to_position | 0.190004 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
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] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0016567999264225364,
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] | 1 | 4.1 | 41 | 0 | 41 | 0 |
[
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0
] | [
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-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.207095 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
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] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0016127360286191106,
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] | 1 | 4.2 | 42 | 0 | 42 | 0 |
[
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0
] | [
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-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.2164 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
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] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0018021491123363376,
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] | 1 | 4.3 | 43 | 0 | 43 | 0 |
[
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0
] | [
-1.7491563558578491,
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-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.22567 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0019923734944313765,
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2.7929906845092773,
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] | 1 | 4.4 | 44 | 0 | 44 | 0 |
[
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0
] | [
-1.7491563558578491,
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1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.235155 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0021557589061558247,
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] | 1 | 4.5 | 45 | 0 | 45 | 0 |
[
-1.840654730796814,
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0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.244421 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
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0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0023078168742358685,
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0.2824312448501587,
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0.06088778376579285,
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] | 1 | 4.6 | 46 | 0 | 46 | 0 |
[
-1.8372219800949097,
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0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.263017 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
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0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.002430981257930398,
-0.5266121625900269,
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3.0696747303009033
] | 1 | 4.7 | 47 | 0 | 47 | 0 |
[
-1.8354872465133667,
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-2.168485403060913,
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2.943181037902832,
0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.272397 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0026485214475542307,
-0.5328753590583801,
0.2747579514980316,
2.792954444885254,
0.060903940349817276,
3.0696513652801514
] | 1 | 4.8 | 48 | 0 | 48 | 0 |
[
-1.833830714225769,
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-2.176504373550415,
-1.5614575147628784,
2.944795608520508,
0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.281472 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.00275400560349226,
-0.5359891057014465,
0.2720986008644104,
2.793015480041504,
0.06089191138744354,
3.0696189403533936
] | 1 | 4.9 | 49 | 0 | 49 | 0 |
[
-1.8321255445480347,
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-2.184593915939331,
-1.5620912313461304,
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0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.290678 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0027995414566248655,
-0.5390471816062927,
0.2695081830024719,
2.7929508686065674,
0.06091383844614029,
3.0696380138397217
] | 1 | 5 | 50 | 0 | 50 | 0 |
[
-1.8304780721664429,
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-2.1928203105926514,
-1.5626863241195679,
2.9479830265045166,
0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.299942 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.002875769743695855,
-0.542086124420166,
0.2668185532093048,
2.7929844856262207,
0.06089497730135918,
3.06961727142334
] | 1 | 5.1 | 51 | 0 | 51 | 0 |
[
-1.8270686864852905,
-1.6453558206558228,
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-2.208960771560669,
-1.5638221502304077,
2.951209306716919,
0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.318108 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
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0
] | [
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0,
0
] | [
-0.007499999832361937,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.002874595345929265,
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0.26406845450401306,
2.792976140975952,
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] | 1 | 5.2 | 52 | 0 | 52 | 0 |
[
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0
] | [
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-2.526613235473633,
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3.0246222019195557,
0
] | move_to_position | 0.327452 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
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] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0029168808832764626,
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] | 1 | 5.3 | 53 | 0 | 53 | 0 |
[
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0
] | [
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-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.336496 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
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] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0029014023020863533,
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] | 1 | 5.4 | 54 | 0 | 54 | 0 |
[
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] | [
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-2.526613235473633,
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3.0246222019195557,
0
] | move_to_position | 0.345485 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
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3.0246222019195557,
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] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0028661424294114113,
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] | 1 | 5.5 | 55 | 0 | 55 | 0 |
[
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] | [
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-2.526613235473633,
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3.0246222019195557,
0
] | move_to_position | 0.354611 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
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3.0246222019195557,
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] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.002834673272445798,
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] | 1 | 5.6 | 56 | 0 | 56 | 0 |
[
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] | [
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-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.373359 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
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] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.002790462225675583,
-0.563062846660614,
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] | 1 | 5.7 | 57 | 0 | 57 | 0 |
[
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0
] | [
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-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.383506 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
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] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0031590736471116543,
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] | 1 | 5.8 | 58 | 0 | 58 | 0 |
[
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0
] | [
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-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.393568 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
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] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.00334420264698565,
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] | 1 | 5.9 | 59 | 0 | 59 | 0 |
[
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0
] | [
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-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.403819 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
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] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0035175757948309183,
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] | 1 | 6 | 60 | 0 | 60 | 0 |
[
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0
] | [
-1.7491563558578491,
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1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.413902 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.003633590182289481,
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] | 1 | 6.1 | 61 | 0 | 61 | 0 |
[
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0
] | [
-1.7491563558578491,
-0.9419345259666443,
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-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.434098 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0038036489859223366,
-0.5838626623153687,
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] | 1 | 6.2 | 62 | 0 | 62 | 0 |
[
-1.8069771528244019,
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0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.444269 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
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0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.004014877602458,
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0.22580060362815857,
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] | 1 | 6.3 | 63 | 0 | 63 | 0 |
[
-1.8055933713912964,
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-1.5715621709823608,
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0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.45427 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
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0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.004097565542906523,
-0.5940254330635071,
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2.7928786277770996,
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3.069662570953369
] | 1 | 6.4 | 64 | 0 | 64 | 0 |
[
-1.8041499853134155,
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-2.320096731185913,
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0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.464242 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.004163497127592564,
-0.5974240303039551,
0.22004318237304688,
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3.0697038173675537
] | 1 | 6.5 | 65 | 0 | 65 | 0 |
[
-1.802711844444275,
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-2.327061414718628,
-1.5725454092025757,
2.97418475151062,
0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.47421 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.004259040113538504,
-0.6007307767868042,
0.2170998901128769,
2.793001651763916,
0.060898978263139725,
3.069647789001465
] | 1 | 6.6 | 66 | 0 | 66 | 0 |
[
-1.7998846769332886,
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-2.341106653213501,
-1.5735520124435425,
2.9768786430358887,
0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.494123 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.00429947255179286,
-0.6040185689926147,
0.21420010924339294,
2.792926073074341,
0.06089523807168007,
3.0696098804473877
] | 1 | 6.7 | 67 | 0 | 67 | 0 |
[
-1.7984212636947632,
-1.4482002258300781,
1.8727506399154663,
-2.348076581954956,
-1.574057936668396,
2.9782333374023438,
0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.504032 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.004275808110833168,
-0.6105937361717224,
0.20810838043689728,
2.7929234504699707,
0.06085402891039848,
3.069736957550049
] | 1 | 6.8 | 68 | 0 | 68 | 0 |
[
-1.7969392538070679,
-1.4373774528503418,
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-2.3551700115203857,
-1.5746163129806519,
2.979576587677002,
0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.514083 | [
-1.7491563558578491,
-0.9419345259666443,
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] | [
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0,
0
] | [
-0.007499999832361937,
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0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
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] | 1 | 6.9 | 69 | 0 | 69 | 0 |
[
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] | [
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3.0246222019195557,
0
] | move_to_position | 0.524114 | [
-1.7491563558578491,
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] | [
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0,
0
] | [
-0.007499999832361937,
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0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.004317454062402248,
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] | 1 | 7 | 70 | 0 | 70 | 0 |
[
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0
] | [
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3.0246222019195557,
0
] | move_to_position | 0.533876 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
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] | [
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0,
0
] | [
-0.007499999832361937,
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0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
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] | 1 | 7.1 | 71 | 0 | 71 | 0 |
[
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0
] | [
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-2.526613235473633,
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3.0246222019195557,
0
] | move_to_position | 0.553516 | [
-1.7491563558578491,
-0.9419345259666443,
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-2.526613235473633,
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3.0246222019195557,
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] | [
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0,
0
] | [
-0.007499999832361937,
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0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
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] | 1 | 7.2 | 72 | 0 | 72 | 0 |
[
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] | [
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-2.526613235473633,
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3.0246222019195557,
0
] | move_to_position | 0.563641 | [
-1.7491563558578491,
-0.9419345259666443,
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-2.526613235473633,
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] | [
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0,
0
] | [
-0.007499999832361937,
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0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0044461567886173725,
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] | 1 | 7.3 | 73 | 0 | 73 | 0 |
[
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] | [
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-2.526613235473633,
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3.0246222019195557,
0
] | move_to_position | 0.574006 | [
-1.7491563558578491,
-0.9419345259666443,
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-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
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] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
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0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0045929476618766785,
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] | 1 | 7.4 | 74 | 0 | 74 | 0 |
[
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0
] | [
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-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.584074 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
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] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
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0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.004724648781120777,
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] | 1 | 7.5 | 75 | 0 | 75 | 0 |
[
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] | [
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-2.526613235473633,
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3.0246222019195557,
0
] | move_to_position | 0.59424 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
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] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
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0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.004865675698965788,
-0.6406566500663757,
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] | 1 | 7.6 | 76 | 0 | 76 | 0 |
[
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0
] | [
-1.7491563558578491,
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-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.614586 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
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] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.00497822929173708,
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] | 1 | 7.7 | 77 | 0 | 77 | 0 |
[
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0
] | [
-1.7491563558578491,
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-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.624719 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.005165289621800184,
-0.6508551239967346,
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] | 1 | 7.8 | 78 | 0 | 78 | 0 |
[
-1.7822221517562866,
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0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.634736 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.005273913033306599,
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] | 1 | 7.9 | 79 | 0 | 79 | 0 |
[
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0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.645007 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
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0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0053547522984445095,
-0.6575924754142761,
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] | 1 | 8 | 80 | 0 | 80 | 0 |
[
-1.7799776792526245,
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-2.431925058364868,
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0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.655014 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
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0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.005412759259343147,
-0.6608852744102478,
0.1649857759475708,
2.79302716255188,
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] | 1 | 8.1 | 81 | 0 | 81 | 0 |
[
-1.7777284383773804,
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-2.4417054653167725,
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2.9977951049804688,
0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.675129 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
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0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.005471149459481239,
-0.6641733050346375,
0.16205033659934998,
2.792999267578125,
0.06087261438369751,
3.069653034210205
] | 1 | 8.2 | 82 | 0 | 82 | 0 |
[
-1.776560664176941,
-1.255936622619629,
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-2.4465935230255127,
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0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.685315 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0055018262937664986,
-0.6707881093025208,
0.1559668332338333,
2.792940616607666,
0.060882288962602615,
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] | 1 | 8.3 | 83 | 0 | 83 | 0 |
[
-1.7754558324813843,
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-2.451472043991089,
-1.5823420286178589,
2.9999287128448486,
0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.695311 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.005551380105316639,
-0.6740009784698486,
0.15292072296142578,
2.7929203510284424,
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3.0696380138397217
] | 1 | 8.4 | 84 | 0 | 84 | 0 |
[
-1.7743643522262573,
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-2.4563419818878174,
-1.582788348197937,
3.0009958744049072,
0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.705312 | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | [
0.007499999832361937,
0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | [
-0.007499999832361937,
-0.7689999938011169,
0.07000000029802322,
0,
0,
0
] | 0 | pick up the red block and place it in the center of the blue dish: approach above red block | [
-0.0055504534393548965,
-0.6772518754005432,
0.14964206516742706,
2.7930452823638916,
0.06084674596786499,
3.069646120071411
] | 1 | 8.5 | 85 | 0 | 85 | 0 |
[
-1.7732185125350952,
-1.2239158153533936,
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-2.46124529838562,
-1.5831855535507202,
3.002028703689575,
0
] | [
-1.7491563558578491,
-0.9419345259666443,
1.54567551612854,
-2.526613235473633,
-1.591965913772583,
3.0246222019195557,
0
] | move_to_position | 0.715427 | [
-1.7491563558578491,
-0.9419345259666443,
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
10fps downsampled LeRobot v3 dataset for UR7e red-block-on-blue-dish pick-and-place. It is derived from CoRL2026-CSI/UR7e_CaP_PickandPlace_100epi by keeping source frames 0, 3, 6, ... in each successful forward episode. Numeric observations and absolute 7D UR7e actions are copied from the retained source frames without interpolation.
- Homepage: https://huggingface.co/datasets/CoRL2026-CSI/UR7e_CaP_PickandPlace_100epi
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "ur7e",
"total_episodes": 100,
"total_frames": 35878,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:100"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow.pos",
"wrist_1.pos",
"wrist_2.pos",
"wrist_3.pos",
"gripper.pos"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow.pos",
"wrist_1.pos",
"wrist_2.pos",
"wrist_3.pos",
"gripper.pos"
]
},
"observation.images.realsense_topview": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.realsense_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"skill.type": {
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"shape": [
1
],
"names": null
},
"skill.progress": {
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],
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},
"skill.goal_position.joint": {
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"names": [
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"elbow.pos",
"wrist_1.pos",
"wrist_2.pos",
"wrist_3.pos",
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]
},
"skill.goal_position.world_xyzrpy": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
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]
},
"skill.goal_position.robot_xyzrpy": {
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],
"names": [
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"z",
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]
},
"skill.goal_position.gripper": {
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1
],
"names": [
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]
},
"skill.natural_language": {
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},
"observation.ee_pos.robot_xyzrpy": {
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],
"names": [
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},
"observation.gripper_binary": {
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1
],
"names": null
},
"timestamp": {
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},
"frame_index": {
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"shape": [
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},
"episode_index": {
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"names": null
},
"index": {
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},
"task_index": {
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"shape": [
1
],
"names": null
}
}
}
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