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 | sensor.left_arm_camera_sensor_camera_info.d_0 float64 0 0 | sensor.left_arm_camera_sensor_camera_info.d_1 float64 0 0 | sensor.left_arm_camera_sensor_camera_info.d_2 float64 0 0 | sensor.left_arm_camera_sensor_camera_info.d_3 float64 0 0 | sensor.left_arm_camera_sensor_camera_info.d_4 float64 0 0 | sensor.tf.translation_x float64 -2.23 0.14 | sensor.tf.translation_y float64 -0.85 0.46 | sensor.tf.translation_z float64 0 2.21 | sensor.tf.rotation_x float64 -0.45 0.86 | sensor.tf.rotation_y float64 -0.5 0.95 | sensor.tf.rotation_z float64 -0.64 0.5 | sensor.tf.rotation_w float64 -0.97 1 | sensor.clock.sec int64 439 492 | sensor.clock.nanosec int64 23.1k 983M | sensor.base_camera_sensor_camera_info.width float64 1.28k 1.28k | sensor.base_camera_sensor_camera_info.height float64 720 720 | sensor.base_camera_sensor_camera_info.k_0 float64 634 634 | sensor.base_camera_sensor_camera_info.k_1 float64 0 0 | sensor.base_camera_sensor_camera_info.k_2 float64 640 640 | 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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