action listlengths 34 34 ⌀ | observation.state listlengths 34 34 ⌀ | isaac_commands listlengths 34 34 ⌀ | timestamp float64 0 32.9 ⌀ | frame_index int64 0 547 ⌀ | episode_index int64 0 0 ⌀ | index int64 0 547 ⌀ | task_index int64 0 0 ⌀ | joint_names listlengths 34 34 ⌀ | joint_velocities listlengths 34 34 ⌀ | action.left_arm_wrist_2_joint float64 -3.15 -0.1 ⌀ | action.left_arm_3f_finger_c_joint_1 float64 -3.15 0 ⌀ | action.right_arm_3f_palm_finger_b_joint float64 -3.15 0 ⌀ | action.left_arm_3f_finger_a_joint_3 float64 0 0 ⌀ | action.right_arm_wrist_3_joint float64 0 0 ⌀ | action.left_arm_elbow_joint float64 -0 0 ⌀ | action.right_arm_3f_finger_b_joint_2 float64 0 0.05 ⌀ | action.left_arm_shoulder_lift_joint float64 -0 0 ⌀ | action.right_arm_3f_finger_c_joint_2 float64 -0.05 0 ⌀ | action.left_arm_3f_palm_finger_c_joint float64 -0 0 ⌀ | action.right_arm_3f_finger_a_joint_2 float64 -0 0.05 ⌀ | 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 0.05 ⌀ | action.right_arm_3f_finger_a_joint_3 float64 0 0 ⌀ | action.left_arm_3f_finger_b_joint_3 float64 -0.05 0.05 ⌀ | action.right_arm_shoulder_lift_joint float64 -0 0.05 ⌀ | action.right_arm_shoulder_pan_joint float64 -0 0.05 ⌀ | action.right_arm_wrist_2_joint float64 -0 0.05 ⌀ | action.right_arm_elbow_joint float64 -0 0.05 ⌀ | action.left_arm_3f_finger_c_joint_3 float64 -0 0.05 ⌀ | action.left_arm_shoulder_pan_joint float64 -0 0 ⌀ | action.left_arm_3f_finger_c_joint_2 float64 0 0.05 ⌀ | action.right_arm_3f_finger_c_joint_3 float64 0 0 ⌀ | action.right_arm_3f_palm_finger_c_joint float64 -0.05 0 ⌀ | action.left_arm_3f_finger_b_joint_2 float64 0 0 ⌀ | action.left_arm_3f_finger_b_joint_1 float64 0 0.05 ⌀ | 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 0.05 ⌀ | 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 0 ⌀ | observation.state.left_arm_3f_finger_c_joint_1 float64 0.05 0.05 ⌀ | 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 ⌀ | observation.state.right_arm_3f_finger_b_joint_2 float64 0 0 ⌀ | observation.state.left_arm_shoulder_lift_joint float64 -3.15 0 ⌀ | observation.state.right_arm_3f_finger_c_joint_2 float64 0 0 ⌀ | observation.state.left_arm_3f_palm_finger_c_joint float64 -0 0 ⌀ | observation.state.right_arm_3f_finger_a_joint_2 float64 0 0 ⌀ | observation.state.right_arm_3f_finger_b_joint_1 float64 0.05 0.05 ⌀ | observation.state.right_arm_3f_finger_b_joint_3 float64 -0.05 -0.05 ⌀ | observation.state.right_arm_3f_finger_a_joint_1 float64 0.05 0.05 ⌀ | observation.state.right_arm_3f_finger_c_joint_1 float64 0.05 0.05 ⌀ | 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 ⌀ | observation.state.right_arm_shoulder_pan_joint float64 0 0 ⌀ | observation.state.right_arm_wrist_2_joint float64 0 0 ⌀ | 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 0 ⌀ | observation.state.left_arm_3f_finger_c_joint_2 float64 0 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 ⌀ | observation.state.left_arm_3f_finger_b_joint_1 float64 0.05 0.05 ⌀ | observation.state.left_arm_3f_palm_finger_b_joint float64 -0 0 ⌀ | observation.state.left_arm_3f_finger_a_joint_2 float64 0 0 ⌀ | observation.state.left_arm_3f_finger_a_joint_1 float64 0.05 0.05 ⌀ | observation.state.left_arm_wrist_1_joint float64 0 0 ⌀ | observation.state.right_arm_wrist_1_joint float64 -0 0 ⌀ | observation.state.left_arm_wrist_3_joint float64 -0 0 ⌀ |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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] | -3.146717 | -3.146586 | 0.000054 | 0.000098 | 0.000041 | -0.000057 | 0.049547 | 0.000065 | -0.052306 | -0.000022 | 0.049579 | 0.00007 | -0.052386 | 0.000032 | 0.049557 | 0.000029 | -0.052333 | -0.000047 | -0.000015 | -0.000042 | -0.000064 | -0.000016 | -0.000088 | 0.049574 | 0.000011 | -0.052381 | 0.00003 | 0.049586 | 0.00007 | -0.052374 | 0.000063 | 0.049587 | 0.000066 | -0.052332 | 0 | 0.0496 | 0 | -0.0523 | -0.0001 | 0.0001 | 0.0001 | -0.0364 | 0.0001 | 0 | 0 | 0.0496 | -0.0524 | 0.0496 | 0.0496 | -0.0524 | -0.0524 | 0 | 0 | 0 | 0 | -0.0523 | -0.063 | 0 | -0.0523 | 0.0001 | 0.0001 | 0.0496 | 0 | 0.0001 | 0.0495 | 0.0001 | -0.0001 | -0.0001 |
[
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0,
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0,
0.0001,
0,
0.0001,
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0,
0,
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0,
0,
0,
0.0001,
0.0495,
0.0496,
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0.0496,
0.0496,
0.0001,
0.0001,
0,
0,
0.0001,
0.0001,
-0.0523,
-0.0524,
-0.0523,
-0.0524,
-0.0524,
-0.0523
] | [
0,
0.0496,
0,
-0.0523,
-0.0001,
0.0001,
0.0001,
-0.0581,
0.0001,
0,
0,
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0.0496,
0.0496,
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0,
0,
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0,
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0.0001,
0.0496,
0,
0.0001,
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0.0001,
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] | [
-0.0975,
0,
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0,
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0,
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0.0001,
0.0001,
-0.0523,
-0.0524,
-0.0523,
-0.0524,
-0.0524,
-0.0523
] | 18.107599 | 299 | 0 | 299 | 0 | [
"left_arm_wrist_2_joint",
"left_arm_3f_finger_c_joint_1",
"right_arm_3f_palm_finger_b_joint",
"left_arm_3f_finger_a_joint_3",
"right_arm_wrist_3_joint",
"left_arm_elbow_joint",
"right_arm_3f_finger_b_joint_2",
"left_arm_shoulder_lift_joint",
"right_arm_3f_finger_c_joint_2",
"left_arm_3f_palm_finge... | [
0,
0,
0.0016,
0,
0,
0,
0.0003,
-1.303,
0.0005,
0.0001,
0,
0.0042,
0.0001,
-0.0045,
0.0035,
0,
0,
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0,
0,
-0.0008,
0,
-2.0713,
0,
0.0001,
0.0014,
0,
0,
0,
0,
0,
-0.0001,
-0.002,
-0.0001
] | -0.0975 | 0 | -0.0581 | 0 | 0.0001 | 0 | 0.0001 | -0.0001 | 0 | 0 | -0.0001 | -0.0001 | 0 | 0 | 0 | 0.0001 | 0.0495 | 0.0496 | 0.0496 | 0.0496 | 0.0496 | 0.0496 | 0.0001 | 0.0001 | 0 | 0 | 0.0001 | 0.0001 | -0.0523 | -0.0524 | -0.0523 | -0.0524 | -0.0524 | -0.0523 | 0 | 0.0496 | 0 | -0.0523 | -0.0001 | 0.0001 | 0.0001 | -0.0581 | 0.0001 | 0 | 0 | 0.0496 | -0.0524 | 0.0496 | 0.0496 | -0.0524 | -0.0524 | 0 | 0 | 0 | 0 | -0.0523 | -0.0975 | 0 | -0.0523 | 0.0001 | 0.0001 | 0.0496 | 0 | 0.0001 | 0.0495 | 0.0001 | -0.0001 | -0.0001 |
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