observation.state list | action list | observation.ee_pos.robot_xyzrpy list | observation.gripper_binary float32 0 1 | observation.state.radian_urdf0 list | action.radian_urdf0 list | skill.natural_language stringclasses 19
values | skill.verification_question stringclasses 10
values | skill.type stringclasses 7
values | skill.progress float32 0 0.99 | skill.goal_position.joint list | skill.goal_position.robot_xyzrpy list | skill.goal_position.gripper float32 0 30 | subtask.natural_language stringclasses 3
values | subtask.object_name stringclasses 1
value | subtask.target_position list | timestamp float32 0 56.9 | frame_index int64 0 569 | episode_index int64 0 79 | index int64 0 44.9k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
3.384279489517212,
-78.50821685791016,
76.32653045654297,
65.00430297851562,
-0.12210012227296829,
0.042869992554187775
] | [
3.86659836769104,
-83.44005584716797,
80.18434143066406,
62.475181579589844,
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0.042869992554187775
] | [
0.1884857714176178,
-0.008246274664998055,
0.06629841029644012,
3.09844970703125,
0.6799464225769043,
3.0178325176239014
] | 0 | [
0.05522330850362778,
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1.2011069059371948,
1.0845245122909546,
-0.004601942375302315,
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] | [
0.06200049817562103,
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1.2663507461547852,
1.0394045114517212,
-0.0025896807201206684,
-0.01127752847969532
] | Move to safe parking position | Is the robot in the free state? | move_free | 0.569916 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.19439135491847992,
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0.034551575779914856,
3.0888450145721436,
0.8092837333679199,
2.9959921836853027
] | 0.065361 | [
0,
0,
0
] | 54.700001 | 547 | 79 | 44,900 | 0 | ||
[
3.384279489517212,
-81.2052230834961,
79.3197250366211,
64.40240478515625,
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0.04606445133686066
] | [
3.9757518768310547,
-85.79210662841797,
82.98605346679688,
61.74211502075195,
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0.04606445133686066
] | [
0.18752902746200562,
-0.008193380199372768,
0.06171152740716934,
3.097632884979248,
0.6891286373138428,
3.0173161029815674
] | 0 | [
0.05522330850362778,
-1.4450098276138306,
1.2517282962799072,
1.0737864971160889,
-0.004601942375302315,
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] | [
0.06353424489498138,
-1.5284942388534546,
1.313733696937561,
1.0263264179229736,
-0.0024397368542850018,
-0.011203437112271786
] | Move to safe parking position | Is the robot in the free state? | move_free | 0.622977 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.19439135491847992,
-0.011342199519276619,
0.034551575779914856,
3.0888450145721436,
0.8092837333679199,
2.9959921836853027
] | 0.065361 | [
0,
0,
0
] | 54.799999 | 548 | 79 | 44,901 | 0 | ||
[
3.384279489517212,
-83.81795501708984,
82.04081726074219,
63.71453094482422,
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0.04911022260785103
] | [
4.079824447631836,
-88.03468322753906,
85.65736389160156,
61.043174743652344,
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0.04911022260785103
] | [
0.18736733496189117,
-0.008184433914721012,
0.058051664382219315,
3.096384286880493,
0.7029011845588684,
3.0165154933929443
] | 0 | [
0.05522330850362778,
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1.2977477312088013,
1.0615147352218628,
-0.004601942375302315,
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] | [
0.06499659270048141,
-1.5693106651306152,
1.3589112758636475,
1.013857126235962,
-0.0022967723198235035,
-0.011132794432342052
] | Move to safe parking position | Is the robot in the free state? | move_free | 0.672979 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.19439135491847992,
-0.011342199519276619,
0.034551575779914856,
3.0888450145721436,
0.8092837333679199,
2.9959921836853027
] | 0.065361 | [
0,
0,
0
] | 54.900002 | 549 | 79 | 44,902 | 0 | ||
[
3.384279489517212,
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84.76190185546875,
62.85468673706055,
-0.12210012227296829,
0.05197719484567642
] | [
4.177788257598877,
-90.1456069946289,
88.1718521118164,
60.38526153564453,
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0.05197719484567642
] | [
0.18762774765491486,
-0.008198817260563374,
0.05427231267094612,
3.0951061248779297,
0.7166728973388672,
3.0156824588775635
] | 0 | [
0.05522330850362778,
-1.5370486974716187,
1.3437671661376953,
1.0461748838424683,
-0.004601942375302315,
-0.011066298000514507
] | [
0.06637310981750488,
-1.6077309846878052,
1.401436686515808,
1.0021198987960815,
-0.002162200165912509,
-0.011066298000514507
] | Move to safe parking position | Is the robot in the free state? | move_free | 0.722082 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.19439135491847992,
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0.034551575779914856,
3.0888450145721436,
0.8092837333679199,
2.9959921836853027
] | 0.065361 | [
0,
0,
0
] | 55 | 550 | 79 | 44,903 | 0 | ||
[
3.4934496879577637,
-87.86346435546875,
87.48299407958984,
62.16680908203125,
-0.12210012227296829,
0.05463138967752457
] | [
4.2684807777404785,
-92.09986877441406,
90.49972534179688,
59.77617645263672,
-0.04045514017343521,
0.05463138967752457
] | [
0.18666547536849976,
-0.00837309192866087,
0.04833308979868889,
3.0955355167388916,
0.7120823860168457,
3.014429807662964
] | 0 | [
0.05675728619098663,
-1.5661944150924683,
1.3897866010665894,
1.0339030027389526,
-0.004601942375302315,
-0.011004737578332424
] | [
0.06764745712280273,
-1.6432998180389404,
1.4408060312271118,
0.991253674030304,
-0.0020376157481223345,
-0.011004737578332424
] | Move to safe parking position | Is the robot in the free state? | move_free | 0.763361 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.19439135491847992,
-0.011342199519276619,
0.034551575779914856,
3.0888450145721436,
0.8092837333679199,
2.9959921836853027
] | 0.065361 | [
0,
0,
0
] | 55.099998 | 551 | 79 | 44,904 | 0 | ||
[
3.930130958557129,
-90.89759826660156,
90.02267456054688,
61.822872161865234,
-0.12210012227296829,
0.057044658809900284
] | [
4.350941181182861,
-93.8767318725586,
92.61628723144531,
59.222381591796875,
-0.036848586052656174,
0.057044658809900284
] | [
0.18713921308517456,
-0.00931323878467083,
0.04552891477942467,
3.093796968460083,
0.7304437756538391,
3.007145881652832
] | 0 | [
0.06289321184158325,
-1.6214176416397095,
1.4327380657196045,
1.0277671813964844,
-0.004601942375302315,
-0.01094876416027546
] | [
0.06880612671375275,
-1.6756399869918823,
1.4766016006469727,
0.9813738465309143,
-0.001924340263940394,
-0.01094876416027546
] | Move to safe parking position | Is the robot in the free state? | move_free | 0.814147 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.19439135491847992,
-0.011342199519276619,
0.034551575779914856,
3.0888450145721436,
0.8092837333679199,
2.9959921836853027
] | 0.065361 | [
0,
0,
0
] | 55.200001 | 552 | 79 | 44,905 | 0 | ||
[
3.930130958557129,
-92.33038330078125,
92.19954681396484,
60.96302795410156,
-0.12210012227296829,
0.059189241379499435
] | [
4.424221038818359,
-95.45577239990234,
94.49720764160156,
58.73023986816406,
-0.03364356607198715,
0.059189241379499435
] | [
0.1874839812517166,
-0.009334937669336796,
0.04160267859697342,
3.093353509902954,
0.7350338697433472,
3.0068490505218506
] | 0 | [
0.06289321184158325,
-1.6474953889846802,
1.4695535898208618,
1.0124273300170898,
-0.004601942375302315,
-0.010899023152887821
] | [
0.06983580440282822,
-1.7043795585632324,
1.5084120035171509,
0.9725939631462097,
-0.001823676167987287,
-0.010899023152887821
] | Move to safe parking position | Is the robot in the free state? | move_free | 0.849501 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.19439135491847992,
-0.011342199519276619,
0.034551575779914856,
3.0888450145721436,
0.8092837333679199,
2.9959921836853027
] | 0.065361 | [
0,
0,
0
] | 55.299999 | 553 | 79 | 44,906 | 0 | ||
[
3.930130958557129,
-93.5946044921875,
94.19501495361328,
60.87704086303711,
-0.12210012227296829,
0.06104307249188423
] | [
4.487565994262695,
-96.82073211669922,
96.12311553955078,
58.30482482910156,
-0.030873071402311325,
0.06104307249188423
] | [
0.1862376481294632,
-0.00925644300878048,
0.03662334010004997,
3.0942370891571045,
0.7258535027503967,
3.0074386596679688
] | 0 | [
0.06289321184158325,
-1.6705050468444824,
1.5033012628555298,
1.0108933448791504,
-0.004601942375302315,
-0.010856025852262974
] | [
0.07072588056325912,
-1.7292227745056152,
1.5359095335006714,
0.9650045037269592,
-0.0017366597894579172,
-0.010856025852262974
] | Move to safe parking position | Is the robot in the free state? | move_free | 0.877939 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.19439135491847992,
-0.011342199519276619,
0.034551575779914856,
3.0888450145721436,
0.8092837333679199,
2.9959921836853027
] | 0.065361 | [
0,
0,
0
] | 55.400002 | 554 | 79 | 44,907 | 0 | ||
[
3.930130958557129,
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96.09976959228516,
60.36113357543945,
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0.06258579343557358
] | [
4.540279865264893,
-97.95662689208984,
97.4761734008789,
57.950801849365234,
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0.06258579343557358
] | [
0.1865171194076538,
-0.009274031966924667,
0.033300429582595825,
3.093796968460083,
0.7304438352584839,
3.007145881652832
] | 0 | [
0.06289321184158325,
-1.698116660118103,
1.5355147123336792,
1.0016894340515137,
-0.004601942375302315,
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] | [
0.07146657258272171,
-1.7498968839645386,
1.5587925910949707,
0.9586886167526245,
-0.0016642463160678744,
-0.010820244438946247
] | Move to safe parking position | Is the robot in the free state? | move_free | 0.909085 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.19439135491847992,
-0.011342199519276619,
0.034551575779914856,
3.0888450145721436,
0.8092837333679199,
2.9959921836853027
] | 0.065361 | [
0,
0,
0
] | 55.5 | 555 | 79 | 44,908 | 0 | ||
[
4.03930139541626,
-96.29161071777344,
97.55101776123047,
59.8452262878418,
-0.12210012227296829,
0.06380043923854828
] | [
4.581783771514893,
-98.85095977783203,
98.5414810180664,
57.67206573486328,
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0.06380043923854828
] | [
0.18707816302776337,
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0.03103628195822239,
3.0932047367095947,
0.7365639209747314,
3.0052154064178467
] | 0 | [
0.0644271969795227,
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1.5600584745407104,
0.992485523223877,
-0.004601942375302315,
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] | [
0.07204975932836533,
-1.76617431640625,
1.576809287071228,
0.9537159204483032,
-0.0016072324942797422,
-0.010792071931064129
] | Move to safe parking position | Is the robot in the free state? | move_free | 0.933117 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.19439135491847992,
-0.011342199519276619,
0.034551575779914856,
3.0888450145721436,
0.8092837333679199,
2.9959921836853027
] | 0.065361 | [
0,
0,
0
] | 55.599998 | 556 | 79 | 44,909 | 0 | ||
[
4.148471832275391,
-97.0501480102539,
98.36734771728516,
59.32931900024414,
-0.12210012227296829,
0.0646735355257988
] | [
4.611617565155029,
-99,
99,
57.47170639038086,
-0.025447450578212738,
0.0646735355257988
] | [
0.1880493015050888,
-0.009830189868807793,
0.030378269031643867,
3.092303991317749,
0.7457438111305237,
3.003073215484619
] | 0 | [
0.06596117466688156,
-1.7333983182907104,
1.5738643407821655,
0.983281672000885,
-0.004601942375302315,
-0.010771822184324265
] | [
0.07246895879507065,
-1.768886923789978,
1.5845638513565063,
0.9501414895057678,
-0.001566250459291041,
-0.010771822184324265
] | Move to safe parking position | Is the robot in the free state? | move_free | 0.948631 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.19439135491847992,
-0.011342199519276619,
0.034551575779914856,
3.0888450145721436,
0.8092837333679199,
2.9959921836853027
] | 0.065361 | [
0,
0,
0
] | 55.700001 | 557 | 79 | 44,910 | 0 | ||
[
4.257641792297363,
-97.38727569580078,
98.73015594482422,
59.07136535644531,
-0.12210012227296829,
0.06519576907157898
] | [
4.629461765289307,
-99,
99,
57.351863861083984,
-0.02466699481010437,
0.06519576907157898
] | [
0.18853859603405,
-0.010093171149492264,
0.030141200870275497,
3.0918478965759277,
0.7503336668014526,
3.0012288093566895
] | 0 | [
0.06749515235424042,
-1.7395342588424683,
1.5800001621246338,
0.9786797165870667,
-0.004601942375302315,
-0.010759709402918816
] | [
0.07271969318389893,
-1.768886923789978,
1.5845638513565063,
0.9480034708976746,
-0.001541737699881196,
-0.010759709402918816
] | Move to safe parking position | Is the robot in the free state? | move_free | 0.955674 | [
4.635108470916748,
-100,
99.91019439697266,
57.313941955566406,
-0.02442002482712269,
0.06536102294921875
] | [
0.19439135491847992,
-0.011342199519276619,
0.034551575779914856,
3.0888450145721436,
0.8092837333679199,
2.9959921836853027
] | 0.065361 | [
0,
0,
0
] | 55.799999 | 558 | 79 | 44,911 | 0 |
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