Datasets:
observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 ⌀ | observation.radian.state list | observation.radian.action list | observation.radian.state_urdf0 list | observation.radian.action_urdf0 list | skill.natural_language stringclasses 37
values | skill.verification_question stringclasses 30
values | skill.type stringclasses 5
values | skill.progress float32 0 0.98 ⌀ | skill.goal_position.joint list | skill.goal_position.world_xyzrpy list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 -100 -50 ⌀ | timestamp float32 0 29.1 ⌀ | frame_index int64 0 873 ⌀ | episode_index int64 0 29 ⌀ | index int64 0 25.5k ⌀ | task_index int64 0 0 ⌀ |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.001824 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.015072 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.039837 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.145634 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.200463 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.228225 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.287564 | [
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52.222721099853516,
57.22840118408203,
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] | -99.869278 | 0.433333 | 13 | 0 | 13 | 0 |
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.348781 | [
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52.222721099853516,
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] | -99.869278 | 0.466667 | 14 | 0 | 14 | 0 |
[
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] | [
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3.083214044570923,
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.380523 | [
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52.222721099853516,
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] | -99.869278 | 0.5 | 15 | 0 | 15 | 0 |
[
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] | [
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] | 1 | [
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1.1209138631820679,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.447827 | [
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52.222721099853516,
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] | -99.869278 | 0.533333 | 16 | 0 | 16 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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1.0719506740570068,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.508224 | [
3.9447731971740723,
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52.222721099853516,
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] | [
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] | -99.869278 | 0.566667 | 17 | 0 | 17 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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1.0481065511703491,
0.9234841465950012,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.540722 | [
3.9447731971740723,
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52.222721099853516,
57.22840118408203,
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] | [
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] | -99.869278 | 0.6 | 18 | 0 | 18 | 0 |
[
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] | [
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] | [
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3.084628105163574,
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] | 1 | [
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] | [
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] | [
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1.0021826028823853,
0.9237537384033203,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.603442 | [
3.9447731971740723,
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52.222721099853516,
57.22840118408203,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.663698 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.688313 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.743693 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.791654 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.814988 | [
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[
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.847253 | [
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[
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.876821 | [
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] | -99.869278 | 0.866667 | 26 | 0 | 26 | 0 |
[
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.88975 | [
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] | -99.869278 | 0.9 | 27 | 0 | 27 | 0 |
[
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] | [
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.905556 | [
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] | -99.869278 | 0.933333 | 28 | 0 | 28 | 0 |
[
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] | 1 | [
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] | [
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0.9249904155731201,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.906439 | [
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] | Open gripper for yellow block | Is the gripper open? | gripper_open | 0.748232 | [
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[
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] | Open gripper for yellow block | Is the gripper open? | gripper_open | 0.778622 | [
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] | -50 | 2.033333 | 61 | 0 | 61 | 0 |
[
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] | Open gripper for yellow block | Is the gripper open? | gripper_open | 0.803418 | [
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] | -50 | 2.066667 | 62 | 0 | 62 | 0 |
[
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] | Open gripper for yellow block | Is the gripper open? | gripper_open | 0.836334 | [
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] | -50 | 2.1 | 63 | 0 | 63 | 0 |
[
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] | Open gripper for yellow block | Is the gripper open? | gripper_open | 0.863557 | [
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] | [
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] | -50 | 2.133333 | 64 | 0 | 64 | 0 |
[
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] | [
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] | 1 | [
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] | [
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] | [
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0.894378125667572,
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] | Move above yellow block | Is the gripper above yellow block? | move | 0.000636 | [
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58.46419143676758,
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] | [
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] | [
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] | -50 | 2.166667 | 65 | 0 | 65 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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0.894368588924408,
0.9207730889320374,
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] | Move above yellow block | Is the gripper above yellow block? | move | 0.001198 | [
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-75.51112365722656,
58.46419143676758,
43.502681732177734,
-0.17094017565250397,
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] | [
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] | [
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] | -50 | 2.2 | 66 | 0 | 66 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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0.9175243973731995,
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] | Move above yellow block | Is the gripper above yellow block? | move | 0.001269 | [
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-75.51112365722656,
58.46419143676758,
43.502681732177734,
-0.17094017565250397,
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] | [
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] | [
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] | -50 | 2.233333 | 67 | 0 | 67 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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0.8942928314208984,
0.9126275181770325,
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] | Move above yellow block | Is the gripper above yellow block? | move | 0.01372 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
-0.17094017565250397,
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] | [
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] | [
0.10879620164632797,
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] | -50 | 2.266667 | 68 | 0 | 68 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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0.8942545056343079,
0.9085121154785156,
-0.006135923322290182,
-1.5707963705062866
] | Move above yellow block | Is the gripper above yellow block? | move | 0.019374 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
-0.17094017565250397,
-50
] | [
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] | [
0.10879620164632797,
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] | -50 | 2.3 | 69 | 0 | 69 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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0.9009823799133301,
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-1.5707963705062866
] | Move above yellow block | Is the gripper above yellow block? | move | 0.038861 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
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] | [
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] | -50 | 2.333333 | 70 | 0 | 70 | 0 |
[
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] | [
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] | [
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] | [
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] | Move above yellow block | Is the gripper above yellow block? | move | 0.066559 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
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] | [
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] | [
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] | -50 | 2.366667 | 71 | 0 | 71 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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0.8569219708442688,
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] | Move above yellow block | Is the gripper above yellow block? | move | 0.083427 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
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] | [
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] | [
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] | -50 | 2.4 | 72 | 0 | 72 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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0.8568168878555298,
0.8746916055679321,
-0.006135923322290182,
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] | Move above yellow block | Is the gripper above yellow block? | move | 0.123277 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
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] | [
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] | [
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] | -50 | 2.433333 | 73 | 0 | 73 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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0.856718122959137,
0.8640806674957275,
-0.006135923322290182,
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] | Move above yellow block | Is the gripper above yellow block? | move | 0.158575 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
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] | [
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] | [
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] | -50 | 2.466667 | 74 | 0 | 74 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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0.8566367626190186,
0.855331540107727,
-0.006135923322290182,
-1.5707963705062866
] | Move above yellow block | Is the gripper above yellow block? | move | 0.194369 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
-0.17094017565250397,
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] | [
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] | [
0.10879620164632797,
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1.40297269821167,
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] | -50 | 2.5 | 75 | 0 | 75 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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-1.1518760919570923,
0.8565164804458618,
0.8424113988876343,
-0.006135923322290182,
-1.5707963705062866
] | Move above yellow block | Is the gripper above yellow block? | move | 0.24013 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
-0.17094017565250397,
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] | [
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] | [
0.10879620164632797,
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] | -50 | 2.533333 | 76 | 0 | 76 | 0 |
[
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] | [
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-50
] | [
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] | 1 | [
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] | [
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] | [
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] | [
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0.8564018607139587,
0.8300943970680237,
-0.006135923322290182,
-1.5707963705062866
] | Move above yellow block | Is the gripper above yellow block? | move | 0.288107 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
-0.17094017565250397,
-50
] | [
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] | [
0.10879620164632797,
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1.40297269821167,
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] | -50 | 2.566667 | 77 | 0 | 77 | 0 |
[
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] | [
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-0.17094017565250397,
-50
] | [
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] | 1 | [
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] | [
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] | [
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] | [
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0.8563088774681091,
0.8201035261154175,
-0.006135923322290182,
-1.5707963705062866
] | Move above yellow block | Is the gripper above yellow block? | move | 0.329797 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
-0.17094017565250397,
-50
] | [
0.10879620164632797,
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] | [
0.10879620164632797,
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1.40297269821167,
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] | -50 | 2.6 | 78 | 0 | 78 | 0 |
[
-25.64102554321289,
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] | [
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-0.17094017565250397,
-50
] | [
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3.069669485092163,
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] | 1 | [
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-1.1029322147369385,
1.017796277999878,
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] | [
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] | [
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] | [
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-1.2136902809143066,
0.8561832904815674,
0.8066098093986511,
-0.006135923322290182,
-1.5707963705062866
] | Move above yellow block | Is the gripper above yellow block? | move | 0.379708 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
-0.17094017565250397,
-50
] | [
0.10879620164632797,
0.18077562749385834,
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2.811758041381836,
1.40297269821167,
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] | [
0.10879620164632797,
0.18077562749385834,
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1.40297269821167,
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] | -50 | 2.633333 | 79 | 0 | 79 | 0 |
[
-30.276134490966797,
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59.58688735961914,
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] | [
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-0.17094017565250397,
-50
] | [
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3.062310218811035,
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] | 1 | [
-0.47093209624290466,
-1.130543828010559,
1.017796277999878,
0.9449321627616882,
-0.003834951901808381,
-1.6262362003326416
] | [
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-1.1964799165725708,
0.9565368294715881,
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] | [
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0.9173204898834229,
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-1.6262362003326416
] | [
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-1.236363410949707,
0.8560611009597778,
0.7934778928756714,
-0.006135923322290182,
-1.5707963705062866
] | Move above yellow block | Is the gripper above yellow block? | move | 0.44018 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
-0.17094017565250397,
-50
] | [
0.10879620164632797,
0.18077562749385834,
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2.811758041381836,
1.40297269821167,
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] | [
0.10879620164632797,
0.18077562749385834,
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] | -50 | 2.666667 | 80 | 0 | 80 | 0 |
[
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] | [
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] | [
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] | [
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] | Move above yellow block | Is the gripper above yellow block? | move | 0.476548 | [
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58.46419143676758,
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] | [
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] | -50 | 2.7 | 81 | 0 | 81 | 0 |
[
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] | [
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] | [
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] | [
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0.8558434247970581,
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] | Move above yellow block | Is the gripper above yellow block? | move | 0.529882 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
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] | [
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] | [
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] | -50 | 2.733333 | 82 | 0 | 82 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | Move above yellow block | Is the gripper above yellow block? | move | 0.584096 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
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] | [
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] | [
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] | -50 | 2.766667 | 83 | 0 | 83 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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0.8556421399116516,
0.7484659552574158,
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] | Move above yellow block | Is the gripper above yellow block? | move | 0.628529 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
-0.17094017565250397,
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] | [
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] | [
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] | -50 | 2.8 | 84 | 0 | 84 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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0.8555329442024231,
0.7367258071899414,
-0.006135923322290182,
-1.5707963705062866
] | Move above yellow block | Is the gripper above yellow block? | move | 0.672625 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
-0.17094017565250397,
-50
] | [
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] | [
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1.40297269821167,
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] | -50 | 2.833333 | 85 | 0 | 85 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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-1.3497940301895142,
0.8554496765136719,
0.7277811765670776,
-0.006135923322290182,
-1.5707963705062866
] | Move above yellow block | Is the gripper above yellow block? | move | 0.734356 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
-0.17094017565250397,
-50
] | [
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] | [
0.10879620164632797,
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] | -50 | 2.866667 | 86 | 0 | 86 | 0 |
[
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] | [
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-50
] | [
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3.0082850456237793,
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] | 1 | [
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1.017796277999878,
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] | [
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] | [
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] | [
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-1.357309103012085,
0.8554091453552246,
0.7234286069869995,
-0.006135923322290182,
-1.5707963705062866
] | Move above yellow block | Is the gripper above yellow block? | move | 0.762303 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
-0.17094017565250397,
-50
] | [
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] | [
0.10879620164632797,
0.18077562749385834,
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1.40297269821167,
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] | -50 | 2.9 | 87 | 0 | 87 | 0 |
[
-57.79092788696289,
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48.24636459350586,
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] | [
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-0.17094017565250397,
-50
] | [
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3.002671957015991,
1.2128570079803467,
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] | 1 | [
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1.017796277999878,
0.8651651740074158,
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] | [
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] | [
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] | [
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-1.3676406145095825,
0.8553535342216492,
0.7174447774887085,
-0.006135923322290182,
-1.5707963705062866
] | Move above yellow block | Is the gripper above yellow block? | move | 0.792344 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
-0.17094017565250397,
-50
] | [
0.10879620164632797,
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] | [
0.10879620164632797,
0.18077562749385834,
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2.811758041381836,
1.40297269821167,
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] | -50 | 2.933333 | 88 | 0 | 88 | 0 |
[
-60.25640869140625,
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59.58688735961914,
48.24636459350586,
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] | [
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-0.17094017565250397,
-50
] | [
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2.9973268508911133,
1.2249897718429565,
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] | 1 | [
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1.017796277999878,
0.8651651740074158,
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] | [
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] | [
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] | [
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0.8552920818328857,
0.7108453512191772,
-0.006135923322290182,
-1.5707963705062866
] | Move above yellow block | Is the gripper above yellow block? | move | 0.821642 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
-0.17094017565250397,
-50
] | [
0.10879620164632797,
0.18077562749385834,
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2.811758041381836,
1.40297269821167,
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] | [
0.10879620164632797,
0.18077562749385834,
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1.40297269821167,
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] | -50 | 2.966667 | 89 | 0 | 89 | 0 |
[
-61.834320068359375,
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59.58688735961914,
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] | [
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-73.83729553222656,
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-0.17094017565250397,
-50
] | [
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] | 1 | [
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-1.3084856271743774,
1.017796277999878,
0.8574952483177185,
-0.0023009711876511574,
-1.6262362003326416
] | [
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0.9557209014892578,
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] | [
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] | [
-1.0673054456710815,
-1.3877369165420532,
0.8552451729774475,
0.7058053612709045,
-0.006135923322290182,
-1.5707963705062866
] | Move above yellow block | Is the gripper above yellow block? | move | 0.842111 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
-0.17094017565250397,
-50
] | [
0.10879620164632797,
0.18077562749385834,
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2.811758041381836,
1.40297269821167,
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] | [
0.10879620164632797,
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0.1999698430299759,
2.811758041381836,
1.40297269821167,
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] | -50 | 3 | 90 | 0 | 90 | 0 |
[
-63.51084899902344,
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59.58688735961914,
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] | [
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-0.17094017565250397,
-50
] | [
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] | 1 | [
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] | Move above yellow block | Is the gripper above yellow block? | move | 0.864877 | [
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] | [
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] | -50 | 3.033333 | 91 | 0 | 91 | 0 |
[
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] | Move above yellow block | Is the gripper above yellow block? | move | 0.891614 | [
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-75.51112365722656,
58.46419143676758,
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] | [
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] | -50 | 3.066667 | 92 | 0 | 92 | 0 |
[
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] | [
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] | Move above yellow block | Is the gripper above yellow block? | move | 0.910547 | [
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58.46419143676758,
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] | [
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] | [
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] | -50 | 3.1 | 93 | 0 | 93 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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0.8550062775611877,
0.6801338791847229,
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] | Move above yellow block | Is the gripper above yellow block? | move | 0.931287 | [
-73.28942108154297,
-75.51112365722656,
58.46419143676758,
43.502681732177734,
-0.17094017565250397,
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] | [
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] | [
0.10879620164632797,
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] | -50 | 3.133333 | 94 | 0 | 94 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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] | Pick up yellow block | move | 0 | [
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84.69467163085938,
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-50
] | [
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] | [
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] | -50 | 3.166667 | 95 | 0 | 95 | 0 | |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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0.9127981066703796,
0.7095426917076111,
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] | Pick up yellow block | move | 0 | [
-72.69390106201172,
-23.394760131835938,
84.69467163085938,
-2.470249652862549,
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-50
] | [
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] | [
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] | -50 | 3.2 | 96 | 0 | 96 | 0 | |
[
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] | [
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] | [
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] | 1 | [
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] | [
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] | [
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] | [
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0.6994166970252991,
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] | Pick up yellow block | move | 0 | [
-72.69390106201172,
-23.394760131835938,
84.69467163085938,
-2.470249652862549,
-0.07326007634401321,
-50
] | [
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] | [
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] | -50 | 3.233333 | 97 | 0 | 97 | 0 | |
[
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] | [
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-50
] | [
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] | 1 | [
-1.1320778131484985,
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] | [
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] | [
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] | [
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0.9258607029914856,
0.6829125881195068,
-0.003067961661145091,
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] | Pick up yellow block | move | 0.006313 | [
-72.69390106201172,
-23.394760131835938,
84.69467163085938,
-2.470249652862549,
-0.07326007634401321,
-50
] | [
0.11562557518482208,
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] | [
0.11562557518482208,
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3.084280252456665,
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] | -50 | 3.266667 | 98 | 0 | 98 | 0 | |
[
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] | [
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-0.07326007634401321,
-50
] | [
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2.953397035598755,
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] | 1 | [
-1.1320778131484985,
-1.3652429580688477,
1.050009846687317,
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] | [
-1.1320058107376099,
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1.0338207483291626,
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] | [
-1.193437099456787,
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] | [
-1.1933650970458984,
-1.381084680557251,
0.9333450198173523,
0.6676544547080994,
-0.003067961661145091,
-1.5707963705062866
] | Pick up yellow block | move | 0.008986 | [
-72.69390106201172,
-23.394760131835938,
84.69467163085938,
-2.470249652862549,
-0.07326007634401321,
-50
] | [
0.11562557518482208,
0.1930169016122818,
0.01664290949702263,
3.084280252456665,
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] | [
0.11562557518482208,
0.1930169016122818,
0.01664290949702263,
3.084280252456665,
0.8356207013130188,
-2.026700735092163
] | -50 | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
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