| { |
| "action": { |
| "min": [ |
| -0.20000000298023224, |
| -0.20000000298023224, |
| -0.20000000298023224, |
| 0.0, |
| 0.0, |
| 0.0, |
| -1.0 |
| ], |
| "max": [ |
| 0.20000000298023224, |
| 0.20000000298023224, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| -1.0 |
| ], |
| "mean": [ |
| -0.02087500031106174, |
| 0.00412500006146729, |
| -0.015375000229105353, |
| 0.0, |
| 0.0, |
| 0.0, |
| -1.0 |
| ], |
| "std": [ |
| 0.10314666592805563, |
| 0.10515695271618311, |
| 0.05327860226767551, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "count": [ |
| 1600 |
| ] |
| }, |
| "reward": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 0.0 |
| ], |
| "mean": [ |
| 0.0 |
| ], |
| "std": [ |
| 0.0 |
| ], |
| "count": [ |
| 1600 |
| ] |
| }, |
| "task_score": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 0.0 |
| ], |
| "mean": [ |
| 0.0 |
| ], |
| "std": [ |
| 0.0 |
| ], |
| "count": [ |
| 1600 |
| ] |
| }, |
| "observation.ee_poses": { |
| "min": [ |
| -0.013707450591027737, |
| -0.05545872822403908, |
| 0.9207280278205872, |
| 0.996957004070282, |
| -0.017289899289608, |
| 0.030648987740278244, |
| -0.010916735045611858, |
| 0.020833000540733337, |
| -0.03997904807329178 |
| ], |
| "max": [ |
| 0.06443877518177032, |
| 0.06844954937696457, |
| 1.0220131874084473, |
| 0.9994164109230042, |
| 0.005845170933753252, |
| 0.075504370033741, |
| 0.012882392853498459, |
| 0.04000293090939522, |
| -0.020833000540733337 |
| ], |
| "mean": [ |
| 0.038458651185778764, |
| 0.014792242622352205, |
| 1.008295185752213, |
| 0.9979871632158757, |
| -0.006096282310824108, |
| 0.05976181000703946, |
| -0.004382954427055666, |
| 0.03926030788104981, |
| -0.03924275650992058 |
| ], |
| "std": [ |
| 0.024689059800231773, |
| 0.02820991986079835, |
| 0.026039015462965952, |
| 0.0008648398153580978, |
| 0.007500352318133144, |
| 0.01670270530524888, |
| 0.007603173100805957, |
| 0.002388769668685829, |
| 0.00238279772419269 |
| ], |
| "count": [ |
| 1600 |
| ] |
| }, |
| "observation.force_torque": { |
| "min": [ |
| -0.9036182165145874, |
| -1.0220838785171509, |
| -6.011104106903076, |
| -0.48575061559677124, |
| -0.19439242780208588, |
| -0.19390703737735748 |
| ], |
| "max": [ |
| 0.8852654099464417, |
| 1.6572580337524414, |
| -3.7959516048431396, |
| 0.933773934841156, |
| 0.1902841478586197, |
| 0.21335287392139435 |
| ], |
| "mean": [ |
| 0.046055291471805204, |
| 0.6162167423475677, |
| -5.156280942623981, |
| -0.08541419516511135, |
| 0.006179863377449722, |
| 0.0006376281177518882 |
| ], |
| "std": [ |
| 0.17464330960256055, |
| 0.25655081451822487, |
| 0.1035765273172734, |
| 0.09709539526501783, |
| 0.03511813456540004, |
| 0.03501028832224285 |
| ], |
| "count": [ |
| 801 |
| ] |
| }, |
| "observation.joint_positions": { |
| "min": [ |
| -0.03338000178337097, |
| 0.05577245354652405, |
| -0.07932601869106293, |
| -2.7994894981384277, |
| -0.043149374425411224, |
| 2.892974615097046, |
| 0.6894354820251465, |
| 0.020833000540733337, |
| -0.03997904807329178 |
| ], |
| "max": [ |
| 0.06828833371400833, |
| 0.44675353169441223, |
| 0.09374774992465973, |
| -2.5731759071350098, |
| 0.05371164157986641, |
| 3.135309934616089, |
| 0.9840702414512634, |
| 0.04000293090939522, |
| -0.020833000540733337 |
| ], |
| "mean": [ |
| 0.029225250192102977, |
| 0.19323062908370048, |
| 0.006368268581354644, |
| -2.6338371056318284, |
| 0.017560473707401342, |
| 2.947291735112667, |
| 0.8167355196550489, |
| 0.03926030788104981, |
| -0.03924275650992058 |
| ], |
| "std": [ |
| 0.024129355173043807, |
| 0.08224322389097002, |
| 0.03918309634685105, |
| 0.06441778354079679, |
| 0.023172445259477027, |
| 0.05562058297487045, |
| 0.05702747943603762, |
| 0.002388769668685829, |
| 0.00238279772419269 |
| ], |
| "count": [ |
| 1600 |
| ] |
| }, |
| "observation.object_pos": { |
| "min": [ |
| -0.04744018241763115, |
| -0.08477858453989029, |
| 0.8146026730537415 |
| ], |
| "max": [ |
| 0.010771963745355606, |
| -0.01832284778356552, |
| 0.8159999847412109 |
| ], |
| "mean": [ |
| -0.010377079332142734, |
| -0.03794197302855802, |
| 0.8149779731414738 |
| ], |
| "std": [ |
| 0.025571984943858945, |
| 0.030180686865246165, |
| 8.302991470242911e-05 |
| ], |
| "count": [ |
| 801 |
| ] |
| }, |
| "observation.object_quat": { |
| "min": [ |
| -1.1298432892395405e-12, |
| -9.339460628476903e-13, |
| 0.28603869676589966, |
| -0.44245994091033936 |
| ], |
| "max": [ |
| 3.7111766025728354e-13, |
| 1.4179159148891562e-12, |
| 0.8967882990837097, |
| 0.9582180380821228 |
| ], |
| "mean": [ |
| -3.2150381678630446e-15, |
| -3.7727981459123883e-16, |
| 0.7121072009708105, |
| 0.11563392800189434 |
| ], |
| "std": [ |
| 5.719902100918147e-14, |
| 9.348517924196321e-14, |
| 0.2748172021115262, |
| 0.6356159552448911 |
| ], |
| "count": [ |
| 801 |
| ] |
| }, |
| "observation.object_state": { |
| "min": [ |
| -0.04744018241763115, |
| -0.08477858453989029, |
| 0.8146026730537415, |
| -1.1298432892395405e-12, |
| -9.339460628476903e-13, |
| 0.28603869676589966, |
| -0.44245994091033936, |
| -0.07715834677219391, |
| -0.1112353503704071, |
| -0.20703639090061188 |
| ], |
| "max": [ |
| 0.010771963745355606, |
| -0.01832284778356552, |
| 0.8159999847412109, |
| 3.7111766025728354e-13, |
| 1.4179159148891562e-12, |
| 0.8967882990837097, |
| 0.9582180380821228, |
| 0.02447154000401497, |
| 0.03632720559835434, |
| -0.10575227439403534 |
| ], |
| "mean": [ |
| -0.010377079332142734, |
| -0.03794197302855802, |
| 0.8149779731414738, |
| -3.2150381678630446e-15, |
| -3.7727981459123883e-16, |
| 0.7121072009708105, |
| 0.11563392800189434, |
| -0.048823924916097314, |
| -0.052758287962237735, |
| -0.19329625133717998 |
| ], |
| "std": [ |
| 0.025571984943858945, |
| 0.030180686865246165, |
| 8.302991470242911e-05, |
| 5.719902100918147e-14, |
| 9.348517924196321e-14, |
| 0.2748172021115262, |
| 0.6356159552448911, |
| 0.025929644872099308, |
| 0.03987711481783299, |
| 0.02607003208598489 |
| ], |
| "count": [ |
| 801 |
| ] |
| }, |
| "observation.robot0_eef_pos": { |
| "min": [ |
| -0.013707450591027737, |
| -0.05545872822403908, |
| 0.9207280278205872 |
| ], |
| "max": [ |
| 0.06443877518177032, |
| 0.06844954937696457, |
| 1.0220131874084473 |
| ], |
| "mean": [ |
| 0.038458651185778764, |
| 0.014792242622352205, |
| 1.008295185752213 |
| ], |
| "std": [ |
| 0.024689059800231773, |
| 0.02820991986079835, |
| 0.026039015462965952 |
| ], |
| "count": [ |
| 1600 |
| ] |
| }, |
| "observation.robot0_eef_quat": { |
| "min": [ |
| 0.996957004070282, |
| -0.017289899289608, |
| 0.030648987740278244, |
| -0.010916735045611858 |
| ], |
| "max": [ |
| 0.9994164109230042, |
| 0.005845170933753252, |
| 0.075504370033741, |
| 0.012882392853498459 |
| ], |
| "mean": [ |
| 0.9979871632158757, |
| -0.006096282310824108, |
| 0.05976181000703946, |
| -0.004382954427055666 |
| ], |
| "std": [ |
| 0.0008648398153580978, |
| 0.007500352318133144, |
| 0.01670270530524888, |
| 0.007603173100805957 |
| ], |
| "count": [ |
| 1600 |
| ] |
| }, |
| "observation.robot0_gripper_qpos": { |
| "min": [ |
| 0.020833000540733337, |
| -0.03997904807329178 |
| ], |
| "max": [ |
| 0.04000293090939522, |
| -0.020833000540733337 |
| ], |
| "mean": [ |
| 0.03926030788104981, |
| -0.03924275650992058 |
| ], |
| "std": [ |
| 0.002388769668685829, |
| 0.00238279772419269 |
| ], |
| "count": [ |
| 1600 |
| ] |
| }, |
| "observation.robot0_joint_pos": { |
| "min": [ |
| -0.03338000178337097, |
| 0.05577245354652405, |
| -0.07932601869106293, |
| -2.7994894981384277, |
| -0.043149374425411224, |
| 2.892974615097046, |
| 0.6894354820251465 |
| ], |
| "max": [ |
| 0.06828833371400833, |
| 0.44675353169441223, |
| 0.09374774992465973, |
| -2.5731759071350098, |
| 0.05371164157986641, |
| 3.135309934616089, |
| 0.9840702414512634 |
| ], |
| "mean": [ |
| 0.029225250192102977, |
| 0.19323062908370048, |
| 0.006368268581354644, |
| -2.6338371056318284, |
| 0.017560473707401342, |
| 2.947291735112667, |
| 0.8167355196550489 |
| ], |
| "std": [ |
| 0.024129355173043807, |
| 0.08224322389097002, |
| 0.03918309634685105, |
| 0.06441778354079679, |
| 0.023172445259477027, |
| 0.05562058297487045, |
| 0.05702747943603762 |
| ], |
| "count": [ |
| 1600 |
| ] |
| }, |
| "observation.robot0_joint_vel": { |
| "min": [ |
| -0.05302094295620918, |
| -0.15103816986083984, |
| -0.09250893443822861, |
| -0.21478025615215302, |
| -0.11381085216999054, |
| -0.0957401841878891, |
| -0.22726324200630188 |
| ], |
| "max": [ |
| 0.04818194732069969, |
| 0.23751966655254364, |
| 0.11845070868730545, |
| 0.20422805845737457, |
| 0.10828045755624771, |
| 0.17753133177757263, |
| 0.26421335339546204 |
| ], |
| "mean": [ |
| 0.0008552936340404873, |
| 0.005065507739912831, |
| 0.003396535525714607, |
| -0.016598902152774445, |
| -0.0022034143888947527, |
| 0.020874299933299537, |
| 0.00624931123923538 |
| ], |
| "std": [ |
| 0.01891234616297812, |
| 0.09089335114705262, |
| 0.03770657931975591, |
| 0.08187768624668038, |
| 0.04037421933786992, |
| 0.05145923122475748, |
| 0.084004203467682 |
| ], |
| "count": [ |
| 1600 |
| ] |
| }, |
| "observation.robot0_tactile_left": { |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "count": [ |
| 801 |
| ] |
| }, |
| "observation.robot0_tactile_right": { |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "count": [ |
| 801 |
| ] |
| } |
| } |
