observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | skill.natural_language stringclasses 25
values | skill.verification_question stringclasses 14
values | skill.type stringclasses 6
values | skill.progress float32 0 1 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 35 | subtask.natural_language stringclasses 4
values | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 91.3 | frame_index int64 0 913 | episode_index int64 0 19 | index int64 0 17.3k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
15.76650333404541,
-64.24674987792969,
50.881954193115234,
77.57731628417969,
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0.02593637816607952
] | [
13.981924057006836,
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55.87827682495117,
73.88932800292969,
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0.02593637816607952
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0.17482832074165344,
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0.13206727802753448,
3.0923378467559814,
0.7042134404182434,
2.850858449935913
] | 1 | Task complete, moving to safe position | Is the robot at the safe position? | move_free | 0.309152 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
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0.1892181634902954,
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0.05644574388861656,
3.0797595977783203,
0.8879473805427551,
3.003706455230713
] | 0.065361 | [
0,
0,
0
] | 84.599998 | 846 | 19 | 17,300 | 0 | ||
[
15.111838340759277,
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54.22885513305664,
76.28865814208984,
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0.02932053990662098
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13.179604530334473,
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59.657920837402344,
72.46652221679688,
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0.02932053990662098
] | [
0.17445731163024902,
-0.028247131034731865,
0.12720514833927155,
3.0912585258483887,
0.7149200439453125,
2.8593590259552
] | 1 | Task complete, moving to safe position | Is the robot at the safe position? | move_free | 0.355765 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.1892181634902954,
-0.008794426918029785,
0.05644574388861656,
3.0797595977783203,
0.8879473805427551,
3.003706455230713
] | 0.065361 | [
0,
0,
0
] | 84.699997 | 847 | 19 | 17,301 | 0 | ||
[
14.23895263671875,
-69.198486328125,
58.02804183959961,
74.91409301757812,
-0.2686202824115753,
0.03274136409163475
] | [
12.3685941696167,
-74.99419403076172,
63.478511810302734,
71.0282974243164,
-0.1462927907705307,
0.03274136409163475
] | [
0.17411458492279053,
-0.026447774842381477,
0.12092369794845581,
3.090632677078247,
0.7210376858711243,
2.8712191581726074
] | 1 | Task complete, moving to safe position | Is the robot at the safe position? | move_free | 0.407179 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.1892181634902954,
-0.008794426918029785,
0.05644574388861656,
3.0797595977783203,
0.8879473805427551,
3.003706455230713
] | 0.065361 | [
0,
0,
0
] | 84.800003 | 848 | 19 | 17,302 | 0 | ||
[
13.475177764892578,
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61.73677062988281,
73.45360565185547,
-0.2686202824115753,
0.036161892116069794
] | [
11.557653427124023,
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67.29877471923828,
69.59019470214844,
-0.13351310789585114,
0.036161892116069794
] | [
0.17413125932216644,
-0.024945750832557678,
0.11514154076576233,
3.0895211696624756,
0.731743574142456,
2.881218671798706
] | 1 | Task complete, moving to safe position | Is the robot at the safe position? | move_free | 0.458443 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.1892181634902954,
-0.008794426918029785,
0.05644574388861656,
3.0797595977783203,
0.8879473805427551,
3.003706455230713
] | 0.065361 | [
0,
0,
0
] | 84.900002 | 849 | 19 | 17,303 | 0 | ||
[
12.602291107177734,
-74.4859390258789,
65.71687316894531,
71.99312591552734,
-0.2686202824115753,
0.03954409062862396
] | [
10.755800247192383,
-80.20907592773438,
71.07622528076172,
68.168212890625,
-0.12087661772966385,
0.03954409062862396
] | [
0.1741401106119156,
-0.023234205320477486,
0.10842441022396088,
3.0887138843536377,
0.739389955997467,
2.892948865890503
] | 1 | Task complete, moving to safe position | Is the robot at the safe position? | move_free | 0.512559 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.1892181634902954,
-0.008794426918029785,
0.05644574388861656,
3.0797595977783203,
0.8879473805427551,
3.003706455230713
] | 0.065361 | [
0,
0,
0
] | 85 | 850 | 19 | 17,304 | 0 | ||
[
11.729405403137207,
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69.60651397705078,
70.7044677734375,
-0.21978022158145905,
0.042848896235227585
] | [
9.972295761108398,
-82.74249267578125,
74.7672348022461,
66.77876281738281,
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0.042848896235227585
] | [
0.1740323305130005,
-0.021521665155887604,
0.10130330175161362,
3.0897936820983887,
0.742529034614563,
2.9070796966552734
] | 1 | Task complete, moving to safe position | Is the robot at the safe position? | move_free | 0.564346 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.1892181634902954,
-0.008794426918029785,
0.05644574388861656,
3.0797595977783203,
0.8879473805427551,
3.003706455230713
] | 0.065361 | [
0,
0,
0
] | 85.099998 | 851 | 19 | 17,305 | 0 | ||
[
10.85651969909668,
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73.22478485107422,
69.15807342529297,
-0.17094017565250397,
0.04604209586977959
] | [
9.215250015258789,
-85.19036102294922,
78.33360290527344,
65.43624114990234,
-0.09659893065690994,
0.04604209586977959
] | [
0.17490623891353607,
-0.019962523132562637,
0.09584344923496246,
3.0896289348602295,
0.7579042315483093,
2.9203598499298096
] | 1 | Task complete, moving to safe position | Is the robot at the safe position? | move_free | 0.61587 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.1892181634902954,
-0.008794426918029785,
0.05644574388861656,
3.0797595977783203,
0.8879473805427551,
3.003706455230713
] | 0.065361 | [
0,
0,
0
] | 85.199997 | 852 | 19 | 17,306 | 0 | ||
[
10.420076370239258,
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76.93351745605469,
67.86941528320312,
-0.17094017565250397,
0.04908887296915054
] | [
8.492918014526367,
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81.73643493652344,
64.1552734375,
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0.04908887296915054
] | [
0.17516718804836273,
-0.019147027283906937,
0.0890432745218277,
3.089148759841919,
0.7624929547309875,
2.9261651039123535
] | 1 | Task complete, moving to safe position | Is the robot at the safe position? | move_free | 0.664846 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.1892181634902954,
-0.008794426918029785,
0.05644574388861656,
3.0797595977783203,
0.8879473805427551,
3.003706455230713
] | 0.065361 | [
0,
0,
0
] | 85.300003 | 853 | 19 | 17,307 | 0 | ||
[
9.219858169555664,
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80.18995666503906,
66.408935546875,
-0.17094017565250397,
0.051955100148916245
] | [
7.813391208648682,
-89.72319793701172,
84.9376220703125,
62.95022201538086,
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0.051955100148916245
] | [
0.17665304243564606,
-0.01698976568877697,
0.08450061082839966,
3.0871853828430176,
0.7808469533920288,
2.941669464111328
] | 1 | Task complete, moving to safe position | Is the robot at the safe position? | move_free | 0.713346 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.1892181634902954,
-0.008794426918029785,
0.05644574388861656,
3.0797595977783203,
0.8879473805427551,
3.003706455230713
] | 0.065361 | [
0,
0,
0
] | 85.400002 | 854 | 19 | 17,308 | 0 | ||
[
9.001636505126953,
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83.80823516845703,
65.12027740478516,
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0.054612163454294205
] | [
7.1834540367126465,
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87.90518951416016,
61.833106994628906,
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0.054612163454294205
] | [
0.17732281982898712,
-0.016641180962324142,
0.07792361080646515,
3.086514949798584,
0.7869643568992615,
2.9442641735076904
] | 1 | Task complete, moving to safe position | Is the robot at the safe position? | move_free | 0.761111 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.1892181634902954,
-0.008794426918029785,
0.05644574388861656,
3.0797595977783203,
0.8879473805427551,
3.003706455230713
] | 0.065361 | [
0,
0,
0
] | 85.5 | 855 | 19 | 17,309 | 0 | ||
[
7.910529136657715,
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87.0646743774414,
63.91752624511719,
-0.17094017565250397,
0.057026464492082596
] | [
6.611070156097412,
-93.61083221435547,
90.60163879394531,
60.818058013916016,
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0.057026464492082596
] | [
0.1783534437417984,
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0.07202386111021042,
3.085836410522461,
0.7930817604064941,
2.9591219425201416
] | 1 | Task complete, moving to safe position | Is the robot at the safe position? | move_free | 0.805864 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.1892181634902954,
-0.008794426918029785,
0.05644574388861656,
3.0797595977783203,
0.8879473805427551,
3.003706455230713
] | 0.065361 | [
0,
0,
0
] | 85.599998 | 856 | 19 | 17,310 | 0 | ||
[
7.25586462020874,
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90.14020538330078,
62.80068588256836,
-0.17094017565250397,
0.05917428806424141
] | [
6.10186243057251,
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93.00045776367188,
59.915042877197266,
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0.05917428806424141
] | [
0.17936517298221588,
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0.06646660715341568,
3.0851492881774902,
0.7991989254951477,
2.967834711074829
] | 1 | Task complete, moving to safe position | Is the robot at the safe position? | move_free | 0.847402 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.1892181634902954,
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0.05644574388861656,
3.0797595977783203,
0.8879473805427551,
3.003706455230713
] | 0.065361 | [
0,
0,
0
] | 85.699997 | 857 | 19 | 17,311 | 0 | ||
[
7.146753787994385,
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92.6729965209961,
61.85567092895508,
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0.06103168800473213
] | [
5.6615095138549805,
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95.07492065429688,
59.134132385253906,
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0.06103168800473213
] | [
0.18030129373073578,
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0.0619918592274189,
3.0844533443450928,
0.8053156733512878,
2.9688682556152344
] | 1 | Task complete, moving to safe position | Is the robot at the safe position? | move_free | 0.880792 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.1892181634902954,
-0.008794426918029785,
0.05644574388861656,
3.0797595977783203,
0.8879473805427551,
3.003706455230713
] | 0.065361 | [
0,
0,
0
] | 85.800003 | 858 | 19 | 17,312 | 0 | ||
[
6.382978916168213,
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94.84396362304688,
60.91065216064453,
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0.06257736682891846
] | [
5.2950592041015625,
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96.80123138427734,
58.48427963256836,
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0.06257736682891846
] | [
0.18173210322856903,
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0.058741308748722076,
3.083214044570923,
0.816019594669342,
2.978708028793335
] | 1 | Task complete, moving to safe position | Is the robot at the safe position? | move_free | 0.91234 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.1892181634902954,
-0.008794426918029785,
0.05644574388861656,
3.0797595977783203,
0.8879473805427551,
3.003706455230713
] | 0.065361 | [
0,
0,
0
] | 85.900002 | 859 | 19 | 17,313 | 0 | ||
[
5.619203567504883,
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96.7435531616211,
60.22336959838867,
-0.17094017565250397,
0.06379398703575134
] | [
5.006622314453125,
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98.1600341796875,
57.972774505615234,
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0.06379398703575134
] | [
0.18266384303569794,
-0.0103791244328022,
0.05538640171289444,
3.082674264907837,
0.8206068277359009,
2.9890518188476562
] | 1 | Task complete, moving to safe position | Is the robot at the safe position? | move_free | 0.938197 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.1892181634902954,
-0.008794426918029785,
0.05644574388861656,
3.0797595977783203,
0.8879473805427551,
3.003706455230713
] | 0.065361 | [
0,
0,
0
] | 86 | 860 | 19 | 17,314 | 0 | ||
[
5.619203567504883,
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98.00994873046875,
59.53608322143555,
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0.06466919183731079
] | [
4.799128532409668,
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99,
57.60481262207031,
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0.06466919183731079
] | [
0.18388652801513672,
-0.01046741846948862,
0.053981438279151917,
3.0813937187194824,
0.8313094973564148,
2.988110303878784
] | 1 | Task complete, moving to safe position | Is the robot at the safe position? | move_free | 0.956456 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.1892181634902954,
-0.008794426918029785,
0.05644574388861656,
3.0797595977783203,
0.8879473805427551,
3.003706455230713
] | 0.065361 | [
0,
0,
0
] | 86.099998 | 861 | 19 | 17,315 | 0 | ||
[
5.619203567504883,
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98.28131866455078,
59.450172424316406,
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0.06519337743520737
] | [
4.674854278564453,
-99,
99,
57.38442611694336,
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0.06519337743520737
] | [
0.18444441258907318,
-0.010507707484066486,
0.05431457236409187,
3.080460548400879,
0.8389537930488586,
2.9874184131622314
] | 1 | Task complete, moving to safe position | Is the robot at the safe position? | move_free | 0.962222 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.1892181634902954,
-0.008794426918029785,
0.05644574388861656,
3.0797595977783203,
0.8879473805427551,
3.003706455230713
] | 0.065361 | [
0,
0,
0
] | 86.199997 | 862 | 19 | 17,316 | 0 |
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