warehouse_dataset_sample.csv

step,x,y,z,qw,qx,qy,qz,yaw,action_lin,action_ang,processed_action_lin,processed_action_ang,label_done,label_done_reason_id,label_goal_dist,obs_base_ang_vel_0,obs_base_ang_vel_1,obs_base_ang_vel_2,obs_base_lin_vel_0,obs_base_lin_vel_1,obs_base_lin_vel_2,obs_odom_ang_vel_0,obs_odom_ang_vel_1,obs_odom_ang_vel_2,obs_odom_lin_vel_0,obs_odom_lin_vel_1,obs_odom_lin_vel_2,obs_pose_command_0,obs_pose_command_1,obs_pose_command_2,obs_pose_command_3,obs_projected_gravity_0,obs_projected_gravity_1,obs_projected_gravity_2,obs_route_type,mobile_obstacle_1_x,mobile_obstacle_1_y,mobile_obstacle_2_x,mobile_obstacle_2_y,static_obstacle_1_x,static_obstacle_1_y,static_obstacle_2_x,static_obstacle_2_y,static_obstacle_3_x,static_obstacle_3_y
0,5.975033,2.6748953,0.097636715,0.70709574,-0.00012817032,-0.00022951078,-0.7071178,-1.5708275,0,0,1,0,0,0,12.977768,0.008588338,0.0065569803,-0.000271732,-0.030166334,0.015994523,0.0077448376,0.00076993275,-0.0065659843,0.012205788,0.008317789,-0.009327738,-0.0043206606,-9.3499975,-9,-0.1,-3.141537,-0.011687663,-0.0079832,-0.9964885,1,6.643805,-10.311436,-4.691928,1.7083819,99.9723,99.998795,100.027275,100.00003,100.08579,100.00067
1,5.9750643,2.6747956,0.09134658,0.70708454,-0.00025187593,-0.00045150667,-0.70712876,-1.5708588,0,0,1,0,0,0,12.977868,0.0072623286,-0.008212015,-0.00202246,-0.0482281,0.033100184,-0.21658301,0.011894842,-0.025079183,-0.007922292,-0.0163332,-0.00916546,-0.17986482,-9.349823,-9.000326,-0.097636715,-3.1415064,-0.008759856,0.0006966155,-0.994056,1,6.643805,-10.311436,-4.691928,1.7083819,99.94848,99.99789,100.06287,100.00032,100.18154,100.00162
2,5.975096,2.674698,0.08113146,0.70707333,-0.00037430043,-0.0006708345,-0.7071398,-1.5708905,0,0,1,0,0,0,12.977962,-0.008110813,-0.006781228,-0.00027878024,0.037871625,-0.023788473,-0.36129555,-0.0051707476,-0.0386387,0.006500962,-0.0033626352,-0.003235003,-0.37596506,-9.34964,-9.000651,-0.09134658,-3.141475,-0.0035176415,-0.012630314,-0.9994475,1,6.643805,-10.311436,-4.691928,1.7083819,99.930565,99.9967,100.10378,100.00054,100.28253,100.00262
3,5.975128,2.6746016,0.06699234,0.70706207,-0.00049698463,-0.0008900622,-0.70715076,-1.5709221,0,0,1,0,0,0,12.978054,0.021053907,-0.037097353,0.0007466525,-0.0015958436,-0.040828817,-0.57774395,-0.00069662277,-0.03052925,-0.0046338392,-0.002813395,-0.001573177,-0.56189054,-9.349453,-9.000978,-0.08113146,-3.141443,-0.007446548,-0.0030424173,-1.009003,1,6.643805,-10.311436,-4.691928,1.7083819,99.91302,99.99554,100.14529,100.00099,100.384285,100.00375
4,5.9751587,2.6745057,0.04892938,0.70705074,-0.0006200195,-0.0011091474,-0.70716166,-1.570954,0,0,1,0,0,0,12.978144,0.024987973,-0.00694146,-0.01892512,0.007313404,0.026311558,-0.80687284,0.014086406,-0.026296861,-0.008954534,0.008619061,-0.012237761,-0.78405404,-9.349262,-9.001306,-0.06699234,-3.141411,-0.003712105,-0.027862016,-0.9934535,1,6.643805,-10.311436,-4.691928,1.7083819,99.89594,99.9944,100.18799,100.0015,100.487946,100.004974
5,5.9751887,2.6744125,0.026942506,0.7070404,-0.00074348215,-0.0013280368,-0.70717156,-1.570983,0,0,1,0,0,0,12.978238,0.01809609,-0.020869741,0.01086062,0.029255915,-0.025381226,-0.96408796,0.012085809,-0.017649122,-0.012517965,0.026288422,-0.023393525,-0.9977816,-9.349075,-9.001636,-0.04892938,-3.1413796,0.0044555366,0.010159577,-0.99273777,1,6.643805,-10.311436,-4.691928,1.7083819,99.87928,99.99331,100.23218,100.00201,100.59379,100.00633
6,5.9752216,2.6743238,0.0010312647,0.7070296,-0.00085738837,-0.0015397791,-0.7071819,-1.5710135,0,0,1,0,0,0,12.978325,0.001474943,-0.034404457,-0.01952822,-0.014753707,0.037698563,-1.1338059,0.01483531,-0.037605654,-0.013321564,-0.02171019,-0.020722039,-1.1527443,-9.348906,-9.001937,-0.026942506,-3.1413505,-0.0001274948,0.0026620552,-1.0039358,1,6.643805,-10.311436,-4.691928,1.7083819,99.86333,99.99225,100.27819,100.00248,100.70197,100.007835
7,5.9752145,2.672436,-0.0000004917383,0.70654845,-0.00055744953,-0.00055640616,-0.7076642,-1.5723741,0,0,1,0,0,0,12.97841,0.013004389,1.034646,-0.068690985,-0.038905546,-0.002492942,-1.157334,0.008540926,1.0456876,-0.056627244,0.007505553,0.039236143,-1.2089523,-9.3487215,-9.002252,-0.0010312647,-3.1413205,-0.0013143467,0.013218764,-1.0008192,1,6.643805,-10.311436,-4.691928,1.7083819,99.8485,99.991196,100.326546,100.003006,100.81309,100.00936
8,5.975213,2.6683185,-0.0000005364418,0.7061382,-0.0005581883,-0.00055642356,-0.70807356,-1.5735332,0,0,1,0,0,0,12.979765,-0.017373968,-0.016455779,-0.03566194,0.124364644,0.041546967,-0.02709542,-0.00004100427,0.0025008293,-0.062098697,0.15064082,0.02967188,-0.027595062,-9.33835,-9.01496,0.0000004917383,-3.1399596,0.00056759943,0.0070471754,-1.0018145,1,6.643805,-10.311436,-4.691928,1.7083819,99.8302,99.9903,100.38047,100.00384,100.90426,100.01037
9,5.9751897,2.6624277,-0.0000005811453,0.70541286,-0.0005586077,-0.00055581506,-0.70879626,-1.5755812,0,0,1,0,0,0,12.982732,0.016411077,0.0025203917,-0.10322642,0.29119605,0.030662086,-0.04433412,-0.011670553,0.009104709,-0.08059956,0.24665913,0.028448025,-0.012095228,-9.332012,-9.025789,0.0000005364418,-3.1388004,0.0011224031,-0.0055663884,-0.998418,1,6.643805,-10.311436,-4.691928,1.7083819,99.8081,99.9898,100.43553,100.005,100.98171,100.011
10,5.9751477,2.6551356,-0.00000055134296,0.70456064,-0.00055932027,-0.0005549017,-0.7096433,-1.5779842,0,0,1,0,0,0,12.986962,0.013862267,-0.008878294,-0.12682179,0.35850054,0.014316272,-0.011519644,-0.0094137965,0.0042597214,-0.12456244,0.3014124,0.049257696,-0.01795971,-9.319399,-9.0448885,0.0000005811453,-3.1367524,-0.014694307,0.0024342143,-0.9985732,1,6.643805,-10.311436,-4.691928,1.7083819,99.78524,99.989456,100.48887,100.00611,101.056786,100.011566
11,5.9750786,2.6471882,-0.00000031292439,0.7036652,-0.00055957335,-0.0005547725,-0.71053123,-1.5805063,0,0,1,0,0,0,12.992188,0.016347777,-0.0009668134,-0.11805557,0.41447908,0.055545155,0.036343735,0.015199046,0.01355159,-0.114116445,0.3609908,0.041358173,0.009356806,-9.304928,-9.067265,0.00000055134296,-3.134349,0.002590022,0.011293641,-1.0216395,1,6.643805,-10.311436,-4.691928,1.7083819,99.76146,99.9891,100.540215,100.007164,101.12968,100.012054
12,5.9749885,2.6390557,-0.0000005066395,0.7027803,-0.00056021335,-0.00055361324,-0.7114065,-1.5829957,0,0,1,0,0,0,12.997875,-0.022738827,0.008456841,-0.124637276,0.41328,0.05171487,0.049407173,0.009856482,0.010279835,-0.12324397,0.3988917,0.05044703,-0.015751172,-9.289979,-9.090712,0.00000031292439,-3.1318276,0.016197946,-0.014490586,-0.98977757,1,6.643805,-10.311436,-4.691928,1.7083819,99.736626,99.98857,100.58864,100.00812,101.200226,100.01248
13,5.9748764,2.6308782,-0.00000064074993,0.7019176,-0.0005604495,-0.0005527567,-0.7122577,-1.5854194,0,0,1,0,0,0,13.003683,0.0037103146,-0.0015079565,-0.14178066,0.37242648,-0.0036955439,0.038226787,-0.014432787,0.015125192,-0.12663066,0.4245113,0.023345074,0.02029076,-9.275453,-9.113822,0.0000005066395,-3.1293375,0.015998863,-0.009039503,-0.9952276,1,6.643805,-10.311436,-4.691928,1.7083819,99.710625,99.987686,100.63306,100.00891,101.268265,100.01283
14,5.9747467,2.622692,-0.0000005364418,0.701072,-0.00056133885,-0.0005520686,-0.7130902,-1.5877929,0,0,1,0,0,0,13.009507,0.018015478,-0.019059453,-0.11887297,0.3728335,-0.0073115416,0.040241387,-0.008812776,0.006901442,-0.1304347,0.42195404,0.031648226,0.029107435,-9.261514,-9.136281,0.00000064074993,-3.1269143,-0.0070293844,0.007913837,-1.0135807,1,6.643805,-10.311436,-4.691928,1.7083819,99.68336,99.98621,100.67491,100.0096,101.33388,100.01312
15,5.974598,2.614498,-0.00000055134296,0.7002378,-0.00056193623,-0.00055128196,-0.71390927,-1.590131,0,0,1,0,0,0,13.01533,-0.011392403,-0.012055019,-0.10884826,0.4194117,0.007778775,-0.028585218,0.0036097718,-0.0037339106,-0.1345641,0.39188614,0.044909105,-0.0024134405,-9.247991,-9.158247,0.0000005364418,-3.1245406,0.0063249744,0.0011823225,-0.9832444,1,6.643805,-10.311436,-4.691928,1.7083819,99.654816,99.983604,100.71429,100.01015,101.39734,100.013374
16,5.974429,2.6062994,-0.0000003874302,0.6994145,-0.0005624094,-0.0005506021,-0.71471584,-1.5924361,0,0,1,0,0,0,13.021148,0.017004509,0.015793089,-0.114271924,0.36740237,-0.016716596,-0.0006994903,0.00037498493,-0.0015455242,-0.1153295,0.3966963,0.041447043,0.028558435,-9.234749,-9.179853,0.00000055134296,-3.1222026,-0.00779628,0.010702761,-0.9998297,1,6.643805,-10.311436,-4.691928,1.7083819,99.62511,99.97916,100.75097,100.01056,101.45853,100.01357
17,5.9742417,2.5980997,-0.00000044703484,0.69860107,-0.00056290324,-0.00054963573,-0.71551096,-1.5947111,0,0,1,0,0,0,13.02696,0.012242507,0.017264895,-0.12928137,0.4099965,0.017267983,-0.026466664,0.0065617086,0.009703548,-0.10824188,0.38815966,0.012425074,-0.01933762,-9.2217655,-9.201126,0.0000003874302,-3.1198976,-0.007922006,-0.008312782,-1.0248214,1,6.643805,-10.311436,-4.691928,1.7083819,99.59447,99.97258,100.78469,100.01082,101.51731,100.01371
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19,5.9738126,2.5816948,-0.00000052154064,0.69699633,-0.0005640919,-0.000548112,-0.7170743,-1.5991918,0,0,1,0,0,0,13.038551,0.016945552,0.012420196,-0.12177344,0.3718985,0.007930659,-0.048369404,0.011091634,0.007113357,-0.11387473,0.42902663,0.03296254,-0.027872605,-9.196415,-9.242822,0.00000074505806,-3.115369,0.0010896651,-0.008950792,-1.0074149,1,6.643805,-10.311436,-4.691928,1.7083819,99.57866,99.96886,100.84285,100.0106,101.62753,100.01374
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