action listlengths 34 34 | observation.state listlengths 34 34 | isaac_commands listlengths 34 34 | timestamp float64 0 22.8 | frame_index int64 0 604 | episode_index int64 0 0 | index int64 0 604 | task_index int64 0 0 | joint_names listlengths 34 34 | joint_velocities listlengths 34 34 | 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.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.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 | sensor.tf.translation_x float64 -2.11 0.02 | sensor.tf.translation_y float64 -0.85 0.46 | sensor.tf.translation_z float64 0 2.18 | sensor.tf.rotation_x float64 -0.3 0.86 | sensor.tf.rotation_y float64 -0.5 0.88 | sensor.tf.rotation_z float64 -0.04 0.5 | sensor.tf.rotation_w float64 -0.51 1 | sensor.clock.sec int64 407 413 | sensor.clock.nanosec int64 21.3k 983M | action.left_arm_wrist_2_joint float64 -3.15 -1.4 | 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 -1.2 0.04 | action.right_arm_wrist_3_joint float64 -0 4.03 | action.left_arm_elbow_joint float64 -0.01 0 | action.right_arm_3f_finger_b_joint_2 float64 -1.2 0.05 | action.left_arm_shoulder_lift_joint float64 -1.82 0 | action.right_arm_3f_finger_c_joint_2 float64 -0.05 4.03 | action.left_arm_3f_palm_finger_c_joint float64 -0 2.48 | 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 -1.8 0.05 | action.right_arm_shoulder_pan_joint float64 -0 0.05 | action.right_arm_wrist_2_joint float64 -0 0.06 | action.right_arm_elbow_joint float64 -1.82 0.05 | 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 0.05 | action.right_arm_3f_finger_c_joint_3 float64 -0 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 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 4.03 | 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 -3.15 | 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 -0.02 0.02 | 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 0.04 0.06 | 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 0.04 | 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 -0.01 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 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 -1.2 -0 | observation.state.right_arm_wrist_1_joint float64 -1.82 0 | observation.state.left_arm_wrist_3_joint float64 -0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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-0.0655,
-0.0144,
0.0081,
-0.201,
0.0008,
-0.2776
] | 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 | 1,280 | 720 | 634.08624 | 0 | 640 | 0 | 634.08624 | 360 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.5 | -0.5 | 0.5 | 0.5 | 408 | 783,354,653 | -3.0699 | -0.079 | -3.1467 | 0 | 0.0002 | 0 | -0.0523 | -0.0798 | 0.1768 | 0.1062 | 0.0004 | 0.0001 | 0.0001 | -0.0003 | -0.0001 | -0.0001 | 0.0495 | 0.0495 | 0.0496 | 0.0495 | 0.0495 | 0.0495 | 0.0001 | 0 | 0.0001 | 0.0001 | 0 | 0 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | 0.158 | 0.0496 | -0.0001 | -0.0523 | 0.0001 | 0.0002 | 0 | -3.1467 | 0 | -0.0003 | 0.0001 | 0.0495 | -0.0523 | 0.0495 | 0.0495 | -0.0523 | -0.0523 | 0 | -0.0691 | 0.0783 | 0 | -0.0523 | -3.0782 | 0.0001 | -0.0523 | -0.0001 | 0 | 0.0494 | 0.0001 | 0.0001 | 0.0495 | -0.0467 | -0.0713 | 0.0004 |
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0,
-0.0523,
-0.0523,
-0.0523,
-0.0523,
-0.0523,
-0.0523
] | 2.827116 | 98 | 0 | 98 | 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_finger_c_joint",
"right_arm_3f_finger_a_joint_2",
"right_arm_3f_finger_b_joint_1",
"right_arm_3f_finger_b_joint_3",
"right_arm_3f_finger_a_joint_1",
"right_arm_3f_finger_c_joint_1",
"right_arm_3f_finger_a_joint_3",
"left_arm_3f_finger_b_joint_3",
"right_arm_shoulder_lift_joint",
"right_arm_shoulder_pan_joint",
"right_arm_wrist_2_joint",
"right_arm_elbow_joint",
"left_arm_3f_finger_c_joint_3",
"left_arm_shoulder_pan_joint",
"left_arm_3f_finger_c_joint_2",
"right_arm_3f_finger_c_joint_3",
"right_arm_3f_palm_finger_c_joint",
"left_arm_3f_finger_b_joint_2",
"left_arm_3f_finger_b_joint_1",
"left_arm_3f_palm_finger_b_joint",
"left_arm_3f_finger_a_joint_2",
"left_arm_3f_finger_a_joint_1",
"left_arm_wrist_1_joint",
"right_arm_wrist_1_joint",
"left_arm_wrist_3_joint"
] | [
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0.0219,
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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 | 1,280 | 720 | 634.08624 | 0 | 640 | 0 | 634.08624 | 360 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.5 | -0.5 | 0.5 | 0.5 | 408 | 783,354,653 | -3.0699 | -0.079 | -3.1467 | 0 | 0.0002 | 0 | -0.0523 | -0.0798 | 0.1768 | 0.1062 | 0.0004 | 0.0001 | 0.0001 | -0.0003 | -0.0001 | -0.0001 | 0.0495 | 0.0495 | 0.0496 | 0.0495 | 0.0495 | 0.0495 | 0.0001 | 0 | 0.0001 | 0.0001 | 0 | 0 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | 0.1768 | 0.0496 | -0.0001 | -0.0523 | 0.0001 | 0.0002 | 0 | -3.1467 | 0 | -0.0003 | 0.0001 | 0.0495 | -0.0523 | 0.0495 | 0.0495 | -0.0523 | -0.0523 | 0 | -0.079 | 0.1062 | 0 | -0.0523 | -3.0699 | 0.0001 | -0.0523 | -0.0001 | 0 | 0.0495 | 0.0001 | 0.0001 | 0.0495 | -0.0523 | -0.0798 | 0.0004 |
[
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] | 2.874457 | 99 | 0 | 99 | 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_finger_c_joint",
"right_arm_3f_finger_a_joint_2",
"right_arm_3f_finger_b_joint_1",
"right_arm_3f_finger_b_joint_3",
"right_arm_3f_finger_a_joint_1",
"right_arm_3f_finger_c_joint_1",
"right_arm_3f_finger_a_joint_3",
"left_arm_3f_finger_b_joint_3",
"right_arm_shoulder_lift_joint",
"right_arm_shoulder_pan_joint",
"right_arm_wrist_2_joint",
"right_arm_elbow_joint",
"left_arm_3f_finger_c_joint_3",
"left_arm_shoulder_pan_joint",
"left_arm_3f_finger_c_joint_2",
"right_arm_3f_finger_c_joint_3",
"right_arm_3f_palm_finger_c_joint",
"left_arm_3f_finger_b_joint_2",
"left_arm_3f_finger_b_joint_1",
"left_arm_3f_palm_finger_b_joint",
"left_arm_3f_finger_a_joint_2",
"left_arm_3f_finger_a_joint_1",
"left_arm_wrist_1_joint",
"right_arm_wrist_1_joint",
"left_arm_wrist_3_joint"
] | [
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0.0211,
0.0012,
0.4753,
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0.0393,
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0.0065,
-0.1817,
0.0343,
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0.0672
] | 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 | 1,280 | 720 | 634.08624 | 0 | 640 | 0 | 634.08624 | 360 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0.5 | -0.5 | 0.5 | 0.5 | 408 | 800,021,320 | -3.0603 | -0.0889 | -3.1466 | 0 | 0.0001 | -0.0001 | -0.0591 | -0.0901 | 0.1844 | 0.1226 | 0.0002 | -0.0003 | 0 | -0.0002 | -0.0002 | 0.0003 | 0.0493 | 0.0492 | 0.0492 | 0.0494 | 0.0496 | 0.0495 | 0.0001 | 0 | 0.0001 | 0.0001 | 0 | 0 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | 0.1844 | 0.0492 | -0.0002 | -0.0523 | -0.0003 | 0.0001 | 0 | -3.1466 | 0 | -0.0002 | 0.0001 | 0.0496 | -0.0523 | 0.0494 | 0.0495 | -0.0523 | -0.0523 | 0 | -0.0889 | 0.1226 | -0.0001 | -0.0523 | -3.0603 | 0.0001 | -0.0523 | 0.0003 | 0 | 0.0492 | 0 | 0.0001 | 0.0493 | -0.0591 | -0.0901 | 0.0002 |
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