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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[
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"left_arm_3f_finger_a_joint_1",
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"right_arm_wrist_1_joint",
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[
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"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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| 3
| 0
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| 4
| 0
| 4
| 0
|
[
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"left_arm_3f_finger_a_joint_1",
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| 5
| 0
| 5
| 0
|
[
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"left_arm_3f_finger_c_joint_1",
"right_arm_3f_palm_finger_b_joint",
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"left_arm_3f_finger_a_joint_1",
"left_arm_wrist_1_joint",
"right_arm_wrist_1_joint",
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-0.0523,
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| 6
| 0
| 6
| 0
|
[
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"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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"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",
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"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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0.0082,
0.004,
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| 0
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| 0
| 0
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| 0.0496
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| 0
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| 7
| 0
| 7
| 0
|
[
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"right_arm_3f_palm_finger_b_joint",
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[
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[
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0.00002994474628940226,
0.04958570532535669,
0.00006951769299339503,
-0.052374023859784936,
0.00006335454229265451,
0.049587089177360766,
0.00006565639122854919,
-0.05233180386456661
] |
[
0,
0.0496,
0,
-0.0523,
-0.0001,
0.0001,
0.0001,
-3.1466,
0.0001,
0,
0,
0.0496,
-0.0524,
0.0496,
0.0496,
-0.0524,
-0.0524,
0,
0,
0,
0,
-0.0523,
-3.1467,
0,
-0.0523,
0.0001,
0.0001,
0.0496,
0,
0.0001,
0.0495,
0.0001,
-0.0001,
-0.0001
] |
[
-3.1467169550530314,
-3.1465860751466987,
0.000053665655711665746,
0.00009790113265626132,
0.000041005034418776644,
-0.00005664280336350203,
0.049546971204481094,
0.000065156190097332,
-0.052305583842401394,
-0.000022220564028248193,
0.049578756222594535,
0.00006970002285670489,
-0.05238589808479883,
0.000031814821716398,
0.049557061057677494,
0.000028958096867427233,
-0.05233318100213073,
-0.00004727117344737053,
-0.000014521313738077881,
-0.00004186144452542067,
-0.00006407806985080243,
-0.000016148580191656947,
-0.0000884535176679492,
0.04957359319608659,
0.00001051466150674969,
-0.05238132296768017,
0.00002994474628940226,
0.04958570532535669,
0.00006951769299339503,
-0.052374023859784936,
0.00006335454229265451,
0.049587089177360766,
0.00006565639122854919,
-0.05233180386456661
] | 5.877094
| 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"
] |
[
-0.0001,
-0.0062,
0.0016,
-0.0001,
0,
0.0016,
0.0003,
0.0144,
0.0005,
-0.003,
0,
0.0042,
0.0001,
-0.0045,
0.0035,
0,
-0.0001,
-0.008,
0,
0,
-0.0008,
-0.0002,
-0.0001,
-0.0008,
0.0001,
0.0014,
-0.0005,
-0.0077,
-0.0028,
0,
0.0082,
0.004,
-0.002,
0.0004
] | -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
| -3.1466
| 0.0001
| 0
| 0
| 0.0496
| -0.0524
| 0.0496
| 0.0496
| -0.0524
| -0.0524
| 0
| 0
| 0
| 0
| -0.0523
| -3.1467
| 0
| -0.0523
| 0.0001
| 0.0001
| 0.0496
| 0
| 0.0001
| 0.0495
| 0.0001
| -0.0001
| -0.0001
|
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