action listlengths 34 34 | observation.state listlengths 34 34 | isaac_commands listlengths 34 34 | timestamp float64 0 135 | 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.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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action.left_arm_shoulder_lift_joint float64 -1.89 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 0.25 | 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 0.25 | action.right_arm_3f_finger_a_joint_3 float64 -0 0 | action.left_arm_3f_finger_b_joint_3 float64 -0.05 0.24 | action.right_arm_shoulder_lift_joint float64 -1.8 0.25 | action.right_arm_shoulder_pan_joint float64 -0 0.25 | action.right_arm_wrist_2_joint float64 -0 0.25 | action.right_arm_elbow_joint float64 -1.87 0.24 | 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 0.25 | 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 -0.01 0.24 | 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 0.25 | 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 0.25 | 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 -3.49 -3.15 | observation.state.right_arm_3f_finger_c_joint_2 float64 -0.01 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 0.24 | 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 0.25 | observation.state.right_arm_3f_finger_c_joint_1 float64 0.05 0.25 | 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 0.25 | 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 0.24 | observation.state.left_arm_wrist_1_joint float64 -1.22 0 | observation.state.right_arm_wrist_1_joint float64 -1.9 0 | observation.state.left_arm_wrist_3_joint float64 -0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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-0.50... | 640 | 480 | 308.829575 | 0 | 320 | 0 | 308.829575 | 240 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | 0.02 | 0 | 0 | 0 | 0 | 0.024747 | 0.999694 | 443 | 250,023,117 | 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 | -2.133793 | -3.146565 | -0.000628 | -0.704203 | 2.322482 | 0.000027 | 0.0495 | 0.000086 | -0.0523 | 0.000012 | 0.0495 | 0.000069 | -0.0523 | 0.000015 | 0.0495 | 0.000082 | -0.0523 | -1.030266 | -0.000007 | 0.000033 | -1.053626 | 1.437774 | -0.000045 | 0.0495 | 0.000013 | -0.0523 | -0.00006 | 0.0495 | 0.0001 | -0.0523 | 0.000061 | 0.0495 | 0.00006 | -0.0523 | 2.2597 | 0.0496 | 0 | -0.0523 | 0.0004 | -0.0007 | 0.0002 | -3.1465 | 0.0002 | -0.0001 | 0 | 0.0498 | -0.0523 | 0.0493 | 0.0494 | -0.0523 | -0.0523 | 0 | -1.0027 | 1.3988 | -0.0001 | -0.0523 | -2.1612 | 0.0001 | -0.0522 | -0.0002 | 0.0001 | 0.0494 | 0 | 0.0001 | 0.0495 | -0.6852 | -1.0252 | 0 |
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-0.0... | 13.075615 | 197 | 0 | 197 | 0 | [
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"right_arm_3f_palm_finger_b_joint",
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"left_arm_shoulder_lift_joint",
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"left_arm_3f_palm_finge... | [
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-0.014... | 640 | 480 | 308.829575 | 0 | 320 | 0 | 308.829575 | 240 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | -1.112503 | -0.030926 | 1.684013 | -0 | 0.939693 | -0.34202 | 0 | 443 | 266,689,784 | 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 | -2.1493 | -1.015 | -3.1467 | 0.0001 | -0.0007 | 0.0002 | -0.6938 | -1.0378 | 2.2745 | 1.4147 | 0 | -0.0006 | 0 | 0 | -0.0001 | 0.0006 | 0.0495 | 0.0496 | 0.0495 | 0.0497 | 0.0493 | 0.0494 | 0.0001 | 0.0001 | 0.0001 | 0 | 0.0001 | -0.0001 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | -0.0523 | 2.2745 | 0.0495 | -0.0001 | -0.0523 | -0.0006 | -0.0007 | 0.0001 | -3.1467 | -0.0001 | 0 | 0 | 0.0493 | -0.0523 | 0.0497 | 0.0494 | -0.0523 | -0.0523 | 0.0001 | -1.015 | 1.4147 | 0.0002 | -0.0523 | -2.1493 | 0.0001 | -0.0523 | 0.0006 | 0.0001 | 0.0496 | 0 | 0.0001 | 0.0495 | -0.6938 | -1.0378 | 0 |
[
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... | 13.176605 | 198 | 0 | 198 | 0 | [
"left_arm_wrist_2_joint",
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"right_arm_3f_palm_finger_b_joint",
"left_arm_3f_finger_a_joint_3",
"right_arm_wrist_3_joint",
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"right_arm_3f_finger_b_joint_2",
"left_arm_shoulder_lift_joint",
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-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 | 0.024747 | 0.999694 | 443 | 283,356,452 | 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 | -2.107774 | -3.146564 | -0.000608 | -0.7223 | 2.382149 | 0.000022 | 0.0495 | 0.000085 | -0.0523 | 0.00001 | 0.0495 | 0.000068 | -0.0523 | 0.000018 | 0.0495 | 0.000082 | -0.0523 | -1.056733 | -0.000007 | 0.000034 | -1.080691 | 1.474708 | -0.000046 | 0.0495 | 0.000013 | -0.0523 | -0.000059 | 0.0495 | 0.0001 | -0.0523 | 0.00006 | 0.0495 | 0.000059 | -0.0523 | 2.3108 | 0.0495 | -0.0001 | -0.0523 | -0.0001 | -0.0006 | 0.0001 | -3.1465 | 0 | 0 | 0 | 0.0494 | -0.0523 | 0.0495 | 0.0495 | -0.0523 | -0.0523 | 0.0001 | -1.0283 | 1.4358 | 0.0001 | -0.0523 | -2.1345 | 0.0001 | -0.0523 | 0.0001 | 0.0001 | 0.0495 | 0 | 0.0001 | 0.0495 | -0.7032 | -1.0522 | 0 |
[
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0.... | 13.272216 | 199 | 0 | 199 | 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",
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"left_arm_shoulder_lift_joint",
"right_arm_3f_finger_c_joint_2",
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... | 640 | 480 | 308.829575 | 0 | 320 | 0 | 308.829575 | 240 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | 0.02 | 0 | 0 | 0 | 0 | 0.024498 | 0.9997 | 443 | 300,023,119 | 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 | -2.095446 | -3.146564 | -0.000598 | -0.730873 | 2.41042 | 0.00002 | 0.0495 | 0.000085 | -0.0523 | 0.000009 | 0.0495 | 0.000068 | -0.0523 | 0.000019 | 0.0495 | 0.000081 | -0.0523 | -1.069274 | -0.000007 | 0.000034 | -1.093515 | 1.492207 | -0.000047 | 0.0495 | 0.000014 | -0.0523 | -0.000059 | 0.0495 | 0.0001 | -0.0523 | 0.000059 | 0.0495 | 0.000059 | -0.0523 | 2.3517 | 0.0501 | -0.0001 | -0.0523 | -0.0001 | -0.0006 | 0.0001 | -3.1466 | 0.0001 | 0.002 | 0 | 0.0495 | -0.0523 | 0.0495 | 0.0496 | -0.0523 | -0.0523 | 0 | -1.0447 | 1.4553 | 0 | -0.0522 | -2.1214 | 0.0003 | -0.0523 | 0.0002 | 0.0002 | 0.0502 | 0.0003 | 0.0001 | 0.049 | -0.7122 | -1.0636 | -0.0017 |
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