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 20
values | skill.verification_question stringclasses 12
values | skill.type stringclasses 5
values | skill.progress float32 0 0.97 ⌀ | 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 41.6 ⌀ | frame_index int64 0 1.25k ⌀ | episode_index int64 0 29 ⌀ | index int64 0 31.7k ⌀ | 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 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.002684 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.008869 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.021341 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.027948 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.055531 | [
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.098336 | [
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-3.037005662918091
] | Move to initial position | Is the robot at initial position? | move_initial | 0.122036 | [
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46.86513137817383,
66.5169448852539,
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] | -99.868767 | 0.3 | 9 | 0 | 9 | 0 |
[
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.170871 | [
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46.86513137817383,
66.5169448852539,
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] | -99.868767 | 0.333333 | 10 | 0 | 10 | 0 |
[
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.222387 | [
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46.86513137817383,
66.5169448852539,
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] | -99.868767 | 0.366667 | 11 | 0 | 11 | 0 |
[
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.249408 | [
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46.86513137817383,
66.5169448852539,
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] | -99.868767 | 0.4 | 12 | 0 | 12 | 0 |
[
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] | [
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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 | 0.310742 | [
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46.86513137817383,
66.5169448852539,
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] | -99.868767 | 0.433333 | 13 | 0 | 13 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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1.163608193397522,
1.1933878660202026,
0.14869779348373413,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.373621 | [
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46.86513137817383,
66.5169448852539,
4.859584808349609,
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] | [
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] | [
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] | -99.868767 | 0.466667 | 14 | 0 | 14 | 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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1.1358290910720825,
1.193486213684082,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.403137 | [
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46.86513137817383,
66.5169448852539,
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] | -99.868767 | 0.5 | 15 | 0 | 15 | 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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1.080556035041809,
1.1936818361282349,
0.14928577840328217,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.465741 | [
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66.5169448852539,
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] | [
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] | -99.868767 | 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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] | [
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1.026418685913086,
1.1938735246658325,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.530161 | [
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46.86513137817383,
66.5169448852539,
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] | [
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] | -99.868767 | 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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] | [
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1.1939668655395508,
0.14985570311546326,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.562222 | [
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46.86513137817383,
66.5169448852539,
4.859584808349609,
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] | [
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] | [
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] | -99.868767 | 0.6 | 18 | 0 | 18 | 0 |
[
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] | [
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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 | 0.624442 | [
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46.86513137817383,
66.5169448852539,
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] | -99.868767 | 0.633333 | 19 | 0 | 19 | 0 |
[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.686092 | [
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66.5169448852539,
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[
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.714267 | [
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46.86513137817383,
66.5169448852539,
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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 | 0.764374 | [
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46.86513137817383,
66.5169448852539,
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] | -99.868767 | 0.733333 | 22 | 0 | 22 | 0 |
[
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] | 1 | [
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.810763 | [
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46.86513137817383,
66.5169448852539,
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] | -99.868767 | 0.766667 | 23 | 0 | 23 | 0 |
[
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] | [
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] | [
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] | 1 | [
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] | [
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1.1947226524353027,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.832238 | [
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46.86513137817383,
66.5169448852539,
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] | [
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] | [
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] | -99.868767 | 0.8 | 24 | 0 | 24 | 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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1.1948190927505493,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.868732 | [
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46.86513137817383,
66.5169448852539,
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] | [
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] | -99.868767 | 0.833333 | 25 | 0 | 25 | 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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1.1948928833007812,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.897115 | [
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46.86513137817383,
66.5169448852539,
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] | [
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] | -99.868767 | 0.866667 | 26 | 0 | 26 | 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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1.1949208974838257,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.907046 | [
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46.86513137817383,
66.5169448852539,
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] | [
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] | -99.868767 | 0.9 | 27 | 0 | 27 | 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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1.1949584484100342,
0.15183889865875244,
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] | Move to initial position | Is the robot at initial position? | move_initial | 0.922831 | [
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66.5169448852539,
4.859584808349609,
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] | [
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] | [
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] | -99.868767 | 0.933333 | 28 | 0 | 28 | 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 chocolate pie 1 to prepare for picking | Is the gripper positioned above chocolate pie 1? | move | 0.000189 | [
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[
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] | Move above chocolate pie 1 to prepare for picking | Is the gripper positioned above chocolate pie 1? | move | 0.001798 | [
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[
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] | Move above chocolate pie 1 to prepare for picking | Is the gripper positioned above chocolate pie 1? | move | 0.00218 | [
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[
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] | Move above chocolate pie 1 to prepare for picking | Is the gripper positioned above chocolate pie 1? | move | 0.002297 | [
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] | -50 | 3.1 | 93 | 0 | 93 | 0 |
[
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] | [
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] | Move above chocolate pie 1 to prepare for picking | Is the gripper positioned above chocolate pie 1? | move | 0.002515 | [
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[
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] | [
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] | Move above chocolate pie 1 to prepare for picking | Is the gripper positioned above chocolate pie 1? | move | 0.002616 | [
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[
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] | Move above chocolate pie 1 to prepare for picking | Is the gripper positioned above chocolate pie 1? | move | 0.002616 | [
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[
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] | Move above chocolate pie 1 to prepare for picking | Is the gripper positioned above chocolate pie 1? | move | 0.002616 | [
-42.169097900390625,
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] | [
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[
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] | Move above chocolate pie 1 to prepare for picking | Is the gripper positioned above chocolate pie 1? | move | 0.011496 | [
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] | [
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[
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1.2190009355545044,
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] | -50 | 3.3 | 99 | 0 | 99 | 0 |
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