action
listlengths 34
34
⌀ | observation.state
listlengths 34
34
⌀ | isaac_commands
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34
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32.9
⌀ | frame_index
int64 0
547
⌀ | episode_index
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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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[
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"left_arm_3f_finger_a_joint_1",
"left_arm_wrist_1_joint",
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|
[
"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",
"left_arm_elbow_joint",
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"left_arm_shoulder_lift_joint",
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"right_arm_3f_finger_b_joint_3",
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"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",
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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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[
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| 198
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| 198
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|
[
"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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[
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[
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[
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] | 11.47728
| 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",
"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",
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"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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| 0.0001
| -0.0001
| -0.0001
|
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