action
listlengths 34
34
| observation.state
listlengths 34
34
| isaac_commands
listlengths 34
34
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float64 0
40.7
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int64 0
359
| episode_index
int64 0
0
| index
int64 0
359
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0
| joint_names
listlengths 34
34
| joint_velocities
listlengths 34
34
| action.arm1_shoulder_lift_joint
float64 -1.41
-0.27
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float64 -0.29
-0.29
| action.arm1_wrist_1_joint
float64 0.44
0.44
| action.arm1_wrist_2_joint
float64 -0.18
-0.18
| action.arm2_wrist_3_joint
float64 0.36
0.36
| action.arm1_wrist_3_joint
float64 -0
0
| action.arm2_3f_finger_b_joint_3
float64 -0.24
0.91
| action.arm1_3f_finger_c_joint_3
float64 -0.1
-0.1
| action.arm2_3f_palm_finger_b_joint
float64 -0.37
-0.37
| action.arm2_3f_finger_c_joint_3
float64 -0.29
-0.29
| action.arm2_3f_palm_finger_c_joint
float64 -0.41
-0.41
| action.arm1_3f_finger_c_joint_2
float64 0
0
| action.arm2_3f_finger_a_joint_3
float64 0.05
0.05
| action.arm2_3f_finger_c_joint_2
float64 0
0
| action.arm1_3f_finger_b_joint_2
float64 -0.05
-0.05
| action.arm2_3f_finger_c_joint_1
float64 0
0
| action.arm2_wrist_2_joint
float64 0.05
0.05
| action.arm1_shoulder_pan_joint
float64 0
0
| action.arm1_3f_finger_c_joint_1
float64 -0.05
-0.05
| action.arm2_3f_finger_b_joint_1
float64 -0
0
| action.arm2_shoulder_pan_joint
float64 0.05
0.05
| action.arm1_3f_finger_b_joint_3
float64 0
0
| action.arm1_3f_finger_b_joint_1
float64 -0.05
-0.05
| action.arm2_3f_finger_a_joint_2
float64 0.05
0.05
| action.arm1_3f_palm_finger_b_joint
float64 0
0
| action.arm1_3f_finger_a_joint_3
float64 -0.05
-0.05
| action.arm2_elbow_joint
float64 0
0
| action.arm1_3f_finger_a_joint_1
float64 0.05
0.05
| action.arm2_shoulder_lift_joint
float64 0
0
| action.arm2_3f_finger_b_joint_2
float64 -0.05
-0.05
| action.arm2_3f_finger_a_joint_1
float64 -0
0
| action.arm1_3f_palm_finger_c_joint
float64 0.05
0.05
| action.arm1_3f_finger_a_joint_2
float64 0
0
| action.arm2_wrist_1_joint
float64 -0.05
-0.05
| observation.state.arm1_shoulder_lift_joint
float64 -0.29
-0.29
| observation.state.arm1_elbow_joint
float64 0.44
0.44
| observation.state.arm1_wrist_1_joint
float64 -0.18
-0.18
| observation.state.arm1_wrist_2_joint
float64 0.36
0.36
| observation.state.arm2_wrist_3_joint
float64 0
0
| observation.state.arm1_wrist_3_joint
float64 -0
0
| observation.state.arm2_3f_finger_b_joint_3
float64 -0.05
-0.05
| observation.state.arm1_3f_finger_c_joint_3
float64 -0.05
-0.05
| observation.state.arm2_3f_palm_finger_b_joint
float64 0
0
| observation.state.arm2_3f_finger_c_joint_3
float64 -0.05
-0.05
| observation.state.arm2_3f_palm_finger_c_joint
float64 0
0
| observation.state.arm1_3f_finger_c_joint_2
float64 -0
0
| observation.state.arm2_3f_finger_a_joint_3
float64 -0.05
-0.05
| observation.state.arm2_3f_finger_c_joint_2
float64 0
0
| observation.state.arm1_3f_finger_b_joint_2
float64 0
0
| observation.state.arm2_3f_finger_c_joint_1
float64 0.05
0.05
| observation.state.arm2_wrist_2_joint
float64 -0.41
-0.41
| observation.state.arm1_shoulder_pan_joint
float64 -1.42
-0.27
| observation.state.arm1_3f_finger_c_joint_1
float64 0.05
0.05
| observation.state.arm2_3f_finger_b_joint_1
float64 0.05
0.05
| observation.state.arm2_shoulder_pan_joint
float64 -0.24
0.92
| observation.state.arm1_3f_finger_b_joint_3
float64 -0.05
-0.05
| observation.state.arm1_3f_finger_b_joint_1
float64 0.05
0.05
| observation.state.arm2_3f_finger_a_joint_2
float64 0
0
| observation.state.arm1_3f_palm_finger_b_joint
float64 0
0
| observation.state.arm1_3f_finger_a_joint_3
float64 -0.05
-0.05
| observation.state.arm2_elbow_joint
float64 -0.37
-0.37
| observation.state.arm1_3f_finger_a_joint_1
float64 0.05
0.05
| observation.state.arm2_shoulder_lift_joint
float64 -0.1
-0.1
| observation.state.arm2_3f_finger_b_joint_2
float64 0
0
| observation.state.arm2_3f_finger_a_joint_1
float64 0.05
0.05
| observation.state.arm1_3f_palm_finger_c_joint
float64 -0
0
| observation.state.arm1_3f_finger_a_joint_2
float64 0
0
| observation.state.arm2_wrist_1_joint
float64 -0.29
-0.29
|
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
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"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
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| 5
| 0
| 5
| 0
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[
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| 6
| 0
| 6
| 0
|
[
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| 7
| 0
| 7
| 0
|
[
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| 10
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| 11
| 0
| 11
| 0
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[
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| 15
| 0
| 15
| 0
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| 19
| 0
| 19
| 0
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| 20
| 0
| 20
| 0
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[
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| 24
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| 33
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| 33
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[
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| 58
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| 58
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| 59
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| 72
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| 84
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| 85
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| 85
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[
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| 93
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| 93
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| 97
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| 98
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| 98
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[
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"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 11.71085
| 99
| 0
| 99
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
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