action listlengths 34 34 | observation.state listlengths 34 34 | isaac_commands listlengths 34 34 | timestamp float64 0 133 | frame_index int64 0 1.77k | episode_index int64 0 0 | index int64 0 1.77k | task_index int64 0 0 | joint_names listlengths 34 34 | joint_velocities listlengths 34 34 | sensor.right_arm_camera_sensor_camera_info.width float64 640 640 | sensor.right_arm_camera_sensor_camera_info.height float64 480 480 | sensor.right_arm_camera_sensor_camera_info.k_0 float64 309 309 | sensor.right_arm_camera_sensor_camera_info.k_1 float64 0 0 | sensor.right_arm_camera_sensor_camera_info.k_2 float64 320 320 | sensor.right_arm_camera_sensor_camera_info.k_3 float64 0 0 | sensor.right_arm_camera_sensor_camera_info.k_4 float64 309 309 | sensor.right_arm_camera_sensor_camera_info.k_5 float64 240 240 | sensor.right_arm_camera_sensor_camera_info.k_6 float64 0 0 | sensor.right_arm_camera_sensor_camera_info.k_7 float64 0 0 | sensor.right_arm_camera_sensor_camera_info.k_8 float64 1 1 | sensor.right_arm_camera_sensor_camera_info.d_0 float64 0 0 | sensor.right_arm_camera_sensor_camera_info.d_1 float64 0 0 | sensor.right_arm_camera_sensor_camera_info.d_2 float64 0 0 | sensor.right_arm_camera_sensor_camera_info.d_3 float64 0 0 | sensor.right_arm_camera_sensor_camera_info.d_4 float64 0 0 | sensor.left_arm_camera_sensor_camera_info.width float64 640 640 | sensor.left_arm_camera_sensor_camera_info.height float64 480 480 | sensor.left_arm_camera_sensor_camera_info.k_0 float64 309 309 | sensor.left_arm_camera_sensor_camera_info.k_1 float64 0 0 | sensor.left_arm_camera_sensor_camera_info.k_2 float64 320 320 | sensor.left_arm_camera_sensor_camera_info.k_3 float64 0 0 | sensor.left_arm_camera_sensor_camera_info.k_4 float64 309 309 | sensor.left_arm_camera_sensor_camera_info.k_5 float64 240 240 | sensor.left_arm_camera_sensor_camera_info.k_6 float64 0 0 | sensor.left_arm_camera_sensor_camera_info.k_7 float64 0 0 | sensor.left_arm_camera_sensor_camera_info.k_8 float64 1 1 | 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sensor.base_camera_sensor_camera_info.k_3 float64 0 0 | sensor.base_camera_sensor_camera_info.k_4 float64 634 634 | sensor.base_camera_sensor_camera_info.k_5 float64 360 360 | sensor.base_camera_sensor_camera_info.k_6 float64 0 0 | sensor.base_camera_sensor_camera_info.k_7 float64 0 0 | sensor.base_camera_sensor_camera_info.k_8 float64 1 1 | sensor.base_camera_sensor_camera_info.d_0 float64 0 0 | sensor.base_camera_sensor_camera_info.d_1 float64 0 0 | sensor.base_camera_sensor_camera_info.d_2 float64 0 0 | sensor.base_camera_sensor_camera_info.d_3 float64 0 0 | sensor.base_camera_sensor_camera_info.d_4 float64 0 0 | action.left_arm_wrist_2_joint float64 -3.15 -1.4 | action.left_arm_3f_finger_c_joint_1 float64 -3.49 0 | action.right_arm_3f_palm_finger_b_joint float64 -3.49 -0 | action.left_arm_3f_finger_a_joint_3 float64 -1.22 0.09 | action.right_arm_wrist_3_joint float64 -0 4.01 | action.left_arm_elbow_joint float64 -0 0 | action.right_arm_3f_finger_b_joint_2 float64 -1.29 0.54 | action.left_arm_shoulder_lift_joint float64 -1.9 0 | action.right_arm_3f_finger_c_joint_2 float64 -0.05 4.06 | action.left_arm_3f_palm_finger_c_joint float64 -0 2.48 | action.right_arm_3f_finger_a_joint_2 float64 -0 0.52 | action.right_arm_3f_finger_b_joint_1 float64 -0 0 | action.right_arm_3f_finger_b_joint_3 float64 -0.05 0 | action.right_arm_3f_finger_a_joint_1 float64 -0 0 | action.right_arm_3f_finger_c_joint_1 float64 -0 0.52 | action.right_arm_3f_finger_a_joint_3 float64 -0 0 | action.left_arm_3f_finger_b_joint_3 float64 -0.05 0.54 | action.right_arm_shoulder_lift_joint float64 -1.8 0.52 | action.right_arm_shoulder_pan_joint float64 -0 0.51 | action.right_arm_wrist_2_joint float64 -0 0.54 | action.right_arm_elbow_joint float64 -1.89 0.5 | action.left_arm_3f_finger_c_joint_3 float64 0 2.48 | action.left_arm_shoulder_pan_joint float64 -0 0 | action.left_arm_3f_finger_c_joint_2 float64 -0 0.54 | action.right_arm_3f_finger_c_joint_3 float64 -0.01 0 | action.right_arm_3f_palm_finger_c_joint float64 -0.05 0.02 | action.left_arm_3f_finger_b_joint_2 float64 -0 0 | action.left_arm_3f_finger_b_joint_1 float64 -0.01 0.5 | action.left_arm_3f_palm_finger_b_joint float64 -0.05 0 | action.left_arm_3f_finger_a_joint_2 float64 -0.05 -0.05 | action.left_arm_3f_finger_a_joint_1 float64 -0.05 0 | action.left_arm_wrist_1_joint float64 -0.05 0.52 | action.right_arm_wrist_1_joint float64 -0.05 0 | action.left_arm_wrist_3_joint float64 -0.05 -0.05 | observation.state.left_arm_wrist_2_joint float64 -0 4.06 | observation.state.left_arm_3f_finger_c_joint_1 float64 0.05 0.51 | observation.state.right_arm_3f_palm_finger_b_joint float64 -0 0 | observation.state.left_arm_3f_finger_a_joint_3 float64 -0.05 -0.05 | observation.state.right_arm_wrist_3_joint float64 -0 0 | observation.state.left_arm_elbow_joint float64 -0 0.01 | observation.state.right_arm_3f_finger_b_joint_2 float64 -0 0 | observation.state.left_arm_shoulder_lift_joint float64 -3.49 -3.15 | observation.state.right_arm_3f_finger_c_joint_2 float64 -0.02 0 | observation.state.left_arm_3f_palm_finger_c_joint float64 -0 0 | observation.state.right_arm_3f_finger_a_joint_2 float64 -0.01 0.02 | observation.state.right_arm_3f_finger_b_joint_1 float64 0.05 0.5 | observation.state.right_arm_3f_finger_b_joint_3 float64 -0.05 -0.05 | observation.state.right_arm_3f_finger_a_joint_1 float64 0.04 0.54 | observation.state.right_arm_3f_finger_c_joint_1 float64 0.05 0.53 | observation.state.right_arm_3f_finger_a_joint_3 float64 -0.05 -0.05 | observation.state.left_arm_3f_finger_b_joint_3 float64 -0.05 -0.05 | observation.state.right_arm_shoulder_lift_joint float64 -0 0.1 | observation.state.right_arm_shoulder_pan_joint float64 -1.8 0 | observation.state.right_arm_wrist_2_joint float64 0 2.48 | observation.state.right_arm_elbow_joint float64 -0 0 | observation.state.left_arm_3f_finger_c_joint_3 float64 -0.05 -0.05 | observation.state.left_arm_shoulder_pan_joint float64 -3.15 -1.4 | observation.state.left_arm_3f_finger_c_joint_2 float64 -0.01 0 | observation.state.right_arm_3f_finger_c_joint_3 float64 -0.05 -0.05 | observation.state.right_arm_3f_palm_finger_c_joint float64 -0 0 | observation.state.left_arm_3f_finger_b_joint_2 float64 -0 0.01 | observation.state.left_arm_3f_finger_b_joint_1 float64 0.05 0.52 | observation.state.left_arm_3f_palm_finger_b_joint float64 -0 0 | observation.state.left_arm_3f_finger_a_joint_2 float64 -0.02 0.01 | observation.state.left_arm_3f_finger_a_joint_1 float64 0.05 0.54 | observation.state.left_arm_wrist_1_joint float64 -1.29 0 | observation.state.right_arm_wrist_1_joint float64 -1.92 -0 | observation.state.left_arm_wrist_3_joint float64 -0 0 |
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... | 640 | 480 | 308.829575 | 0 | 320 | 0 | 308.829575 | 240 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | 640 | 480 | 308.829575 | 0 | 320 | 0 | 308.829575 | 240 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | 0.02 | 0 | 0 | 0 | 0 | 0.119166 | 0.992874 | 475 | 916,691,487 | 1,280 | 720 | 634.08624 | 0 | 640 | 0 | 634.08624 | 360 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | -1.3973 | -1.4376 | -3.4885 | 0.01 | -0.0001 | 0.0001 | -1.2165 | -1.8196 | 4.0111 | 2.4832 | 0 | 0.0001 | 0.0001 | 0.0001 | 0 | 0 | 0.2389 | 0.252 | 0.2484 | 0.2483 | 0.239 | 0.254 | 0 | 0.0001 | 0 | 0.0001 | 0 | 0.0001 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | 4.0111 | 0.2484 | 0 | -0.0523 | 0.0001 | -0.0001 | 0 | -3.4885 | 0.0001 | 0.0001 | 0.0001 | 0.239 | -0.0523 | 0.2483 | 0.254 | -0.0523 | -0.0523 | 0.01 | -1.4376 | 2.4832 | 0.0001 | -0.0523 | -1.3973 | 0 | -0.0523 | 0 | 0.0001 | 0.252 | 0.0001 | 0 | 0.2389 | -1.2165 | -1.8196 | 0 |
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... | 640 | 480 | 308.829575 | 0 | 320 | 0 | 308.829575 | 240 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | 640 | 480 | 308.829575 | 0 | 320 | 0 | 308.829575 | 240 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.5 | -0.5 | 0.5 | 0.5 | 475 | 933,358,155 | 1,280 | 720 | 634.08624 | 0 | 640 | 0 | 634.08624 | 360 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | -1.3973 | -1.4376 | -3.4885 | 0.01 | -0.0001 | 0.0001 | -1.2165 | -1.8196 | 4.0111 | 2.4832 | 0 | 0.0001 | 0.0001 | 0.0001 | 0 | 0 | 0.2389 | 0.252 | 0.2484 | 0.2483 | 0.239 | 0.254 | 0 | 0.0001 | 0 | 0.0001 | 0 | 0.0001 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | 4.0111 | 0.2484 | 0 | -0.0523 | 0.0001 | -0.0001 | 0 | -3.4885 | 0.0001 | 0.0001 | 0.0001 | 0.239 | -0.0523 | 0.2483 | 0.254 | -0.0523 | -0.0523 | 0.01 | -1.4376 | 2.4832 | 0.0001 | -0.0523 | -1.3973 | 0 | -0.0523 | 0 | 0.0001 | 0.252 | 0.0001 | 0 | 0.2389 | -1.2165 | -1.8196 | 0 |
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"right_arm_3f_palm_finger_b_joint",
"left_arm_3f_finger_a_joint_3",
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... | 640 | 480 | 308.829575 | 0 | 320 | 0 | 308.829575 | 240 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | 640 | 480 | 308.829575 | 0 | 320 | 0 | 308.829575 | 240 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | 0.02 | 0 | 0 | 0 | 0 | 0.119166 | 0.992874 | 475 | 950,024,822 | 1,280 | 720 | 634.08624 | 0 | 640 | 0 | 634.08624 | 360 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | -1.397302 | -3.48844 | -0.000084 | -1.216491 | 4.011142 | -0.000055 | 0.238915 | 0.000031 | -0.0523 | 0.000088 | 0.252026 | 0.000082 | -0.0523 | 0.000098 | 0.248419 | 0.000048 | -0.0523 | -1.437607 | 0.010029 | 0.000047 | -1.819589 | 2.483205 | 0.000067 | 0.248298 | 0.000074 | -0.0523 | 0.000036 | 0.238976 | 0.000047 | -0.0523 | -0.000044 | 0.253976 | 0.000088 | -0.0523 | 4.0111 | 0.2484 | 0 | -0.0523 | 0.0001 | -0.0001 | 0 | -3.4885 | 0.0001 | 0.0001 | 0.0001 | 0.239 | -0.0523 | 0.2483 | 0.254 | -0.0523 | -0.0523 | 0.01 | -1.4376 | 2.4832 | 0.0001 | -0.0523 | -1.3973 | 0 | -0.0523 | 0 | 0.0001 | 0.252 | 0.0001 | 0 | 0.2389 | -1.2165 | -1.8196 | 0 |
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] | 15.677869 | 199 | 0 | 199 | 0 | [
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"right_arm_3f_palm_finger_b_joint",
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"right_arm_3f_finger_b_joint_2",
"left_arm_shoulder_lift_joint",
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... | 640 | 480 | 308.829575 | 0 | 320 | 0 | 308.829575 | 240 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | 640 | 480 | 308.829575 | 0 | 320 | 0 | 308.829575 | 240 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | -1.580087 | -0.854752 | 1.431658 | -0.184342 | 0.950743 | 0.248818 | -0.013991 | 475 | 966,691,490 | 1,280 | 720 | 634.08624 | 0 | 640 | 0 | 634.08624 | 360 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | -1.3973 | -1.4376 | -3.4885 | 0.01 | -0.0001 | 0.0001 | -1.2165 | -1.8196 | 4.0111 | 2.4832 | 0 | 0.0001 | 0.0001 | 0.0001 | 0 | 0 | 0.2389 | 0.252 | 0.2484 | 0.2483 | 0.239 | 0.254 | 0 | 0.0001 | 0 | 0.0001 | 0 | 0.0001 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | 4.0111 | 0.2484 | 0 | -0.0523 | 0.0001 | -0.0001 | 0 | -3.4885 | 0.0001 | 0.0001 | 0.0001 | 0.239 | -0.0523 | 0.2483 | 0.254 | -0.0523 | -0.0523 | 0.01 | -1.4376 | 2.4832 | 0.0001 | -0.0523 | -1.3973 | 0 | -0.0523 | 0 | 0.0001 | 0.252 | 0.0001 | 0 | 0.2389 | -1.2165 | -1.8196 | 0 |
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