| { | |
| "action": { | |
| "eef_quat": { | |
| "mean": [ | |
| -0.2181871384382248, | |
| -0.1798425316810608, | |
| 0.9535675644874573, | |
| 0.6637871265411377, | |
| -0.14284734427928925, | |
| 0.21826383471488953, | |
| 0.5222592949867249, | |
| 0.22078989446163177, | |
| -0.18917755782604218, | |
| 0.9522290229797363, | |
| 0.5473381876945496, | |
| -0.17221979796886444, | |
| 0.15800322592258453, | |
| 0.6168184280395508 | |
| ], | |
| "std": [ | |
| 0.10659151524305344, | |
| 0.13032683730125427, | |
| 0.0495930090546608, | |
| 0.14322130382061005, | |
| 0.24997323751449585, | |
| 0.268388032913208, | |
| 0.25210070610046387, | |
| 0.10971935093402863, | |
| 0.12829728424549103, | |
| 0.0521884486079216, | |
| 0.19244833290576935, | |
| 0.2979034185409546, | |
| 0.24514393508434296, | |
| 0.2818744480609894 | |
| ], | |
| "q01": [ | |
| -0.36269092559814453, | |
| -0.31578728556632996, | |
| 0.8377447128295898, | |
| 0.1046009510755539, | |
| -0.6837176084518433, | |
| -0.1662924438714981, | |
| -0.6462695002555847, | |
| -0.052403565496206284, | |
| -0.31301265954971313, | |
| 0.8174547553062439, | |
| 0.0027993503026664257, | |
| -0.7021592259407043, | |
| -0.49679654836654663, | |
| -0.7105885148048401 | |
| ], | |
| "q99": [ | |
| 0.05393347516655922, | |
| 0.08868826180696487, | |
| 1.0837700366973877, | |
| 0.9821999669075012, | |
| 0.6561997532844543, | |
| 0.7058920860290527, | |
| 0.7209278345108032, | |
| 0.34470802545547485, | |
| 0.08332312852144241, | |
| 1.1105462312698364, | |
| 0.7056137323379517, | |
| 0.7044796943664551, | |
| 0.7053436040878296, | |
| 0.947172224521637 | |
| ] | |
| }, | |
| "eef_euler": { | |
| "mean": [ | |
| -0.2181871384382248, | |
| -0.1798425316810608, | |
| 0.9535675644874573, | |
| 1.416648507118225, | |
| -0.6169447302818298, | |
| -0.030464211478829384, | |
| 0.22078989446163177, | |
| -0.18917755782604218, | |
| 0.9522290229797363, | |
| 1.1137093305587769, | |
| -0.6002848148345947, | |
| 0.07271444797515869 | |
| ], | |
| "std": [ | |
| 0.10659151524305344, | |
| 0.13032683730125427, | |
| 0.0495930090546608, | |
| 1.1611542701721191, | |
| 0.6993488073348999, | |
| 0.8455590605735779, | |
| 0.10971935093402863, | |
| 0.12829728424549103, | |
| 0.0521884486079216, | |
| 0.9290816187858582, | |
| 0.7149349451065063, | |
| 0.8555261492729187 | |
| ], | |
| "q01": [ | |
| -0.36269092559814453, | |
| -0.31578728556632996, | |
| 0.8377447128295898, | |
| -3.022212028503418, | |
| -1.5707926750183105, | |
| -2.8324596881866455, | |
| -0.052403565496206284, | |
| -0.31301265954971313, | |
| 0.8174547553062439, | |
| -2.442902088165283, | |
| -1.570793628692627, | |
| -2.8412561416625977 | |
| ], | |
| "q99": [ | |
| 0.05393347516655922, | |
| 0.08868826180696487, | |
| 1.0837700366973877, | |
| 3.0624241828918457, | |
| 0.06174808368086815, | |
| 2.8814685344696045, | |
| 0.34470802545547485, | |
| 0.08332312852144241, | |
| 1.1105462312698364, | |
| 2.4680049419403076, | |
| 0.04809969291090965, | |
| 2.9015748500823975 | |
| ] | |
| }, | |
| "eef_mat": { | |
| "mean": [ | |
| -0.2181871384382248, | |
| -0.1798425316810608, | |
| 0.9535675644874573, | |
| 0.5948719382286072, | |
| -0.3146195709705353, | |
| 0.1053285300731659, | |
| -0.007777391001582146, | |
| -0.1615941971540451, | |
| -0.8204792141914368, | |
| 0.42798328399658203, | |
| 0.5797771215438843, | |
| -0.08803688734769821, | |
| 0.22078989446163177, | |
| -0.18917755782604218, | |
| 0.9522290229797363, | |
| 0.5930658578872681, | |
| -0.3036807179450989, | |
| -0.10351645201444626, | |
| 0.004426594357937574, | |
| 0.156648650765419, | |
| -0.8340383172035217, | |
| 0.40705356001853943, | |
| 0.59047931432724, | |
| 0.08995640277862549 | |
| ], | |
| "std": [ | |
| 0.10659151524305344, | |
| 0.13032683730125427, | |
| 0.0495930090546608, | |
| 0.4595741927623749, | |
| 0.432516872882843, | |
| 0.3711739778518677, | |
| 0.1808924376964569, | |
| 0.39206549525260925, | |
| 0.3379364013671875, | |
| 0.46794211864471436, | |
| 0.44494354724884033, | |
| 0.23663480579853058, | |
| 0.10971935093402863, | |
| 0.12829728424549103, | |
| 0.0521884486079216, | |
| 0.47424185276031494, | |
| 0.4308651089668274, | |
| 0.3671327829360962, | |
| 0.1886383444070816, | |
| 0.37259340286254883, | |
| 0.32467415928840637, | |
| 0.4712448716163635, | |
| 0.4583680331707001, | |
| 0.21301458775997162 | |
| ], | |
| "q01": [ | |
| -0.36269092559814453, | |
| -0.31578728556632996, | |
| 0.8377447128295898, | |
| -0.07350426912307739, | |
| -1.0, | |
| -0.9911999702453613, | |
| -0.8723999261856079, | |
| -1.0, | |
| -1.0, | |
| -0.062382522970438004, | |
| -0.08318043500185013, | |
| -0.9608049988746643, | |
| -0.052403565496206284, | |
| -0.31301265954971313, | |
| 0.8174547553062439, | |
| -0.07599063962697983, | |
| -1.0, | |
| -1.0, | |
| -0.975600004196167, | |
| -0.9531999826431274, | |
| -1.0, | |
| -0.04889128357172012, | |
| -0.09042491763830185, | |
| -0.06053994223475456 | |
| ], | |
| "q99": [ | |
| 0.05393347516655922, | |
| 0.08868826180696487, | |
| 1.0837700366973877, | |
| 0.9996000528335571, | |
| 0.4975999891757965, | |
| 0.9991999864578247, | |
| 0.8795999884605408, | |
| 0.951200008392334, | |
| 0.42039990425109863, | |
| 0.9995999932289124, | |
| 0.9995999932289124, | |
| 0.05906464159488678, | |
| 0.34470802545547485, | |
| 0.08332312852144241, | |
| 1.1105462312698364, | |
| 0.9995999932289124, | |
| 0.43439996242523193, | |
| 0.9883999824523926, | |
| 0.855199933052063, | |
| 0.9995999932289124, | |
| 0.38119998574256897, | |
| 0.9996001124382019, | |
| 0.9996001124382019, | |
| 0.8756304979324341 | |
| ] | |
| }, | |
| "delta_eef_quat_first_action": { | |
| "mean": [ | |
| 0.07973770797252655, | |
| 0.1339617818593979, | |
| 0.011569191701710224, | |
| 0.10846061259508133, | |
| 0.050778649747371674, | |
| 0.2558712065219879, | |
| 0.8376129865646362, | |
| -0.0856424868106842, | |
| 0.12362300604581833, | |
| 0.01123591884970665, | |
| -0.04501119256019592, | |
| -0.011213485151529312, | |
| 0.23345482349395752, | |
| 0.8234111070632935 | |
| ], | |
| "std": [ | |
| 0.10659194737672806, | |
| 0.13032813370227814, | |
| 0.04959448054432869, | |
| 0.1954765021800995, | |
| 0.1953841894865036, | |
| 0.3103983998298645, | |
| 0.21414333581924438, | |
| 0.10971662402153015, | |
| 0.1282992959022522, | |
| 0.05209530517458916, | |
| 0.1987752616405487, | |
| 0.20221015810966492, | |
| 0.3285689949989319, | |
| 0.27745646238327026 | |
| ], | |
| "q01": [ | |
| -0.06477004289627075, | |
| -0.001982435118407011, | |
| -0.10425396263599396, | |
| -0.2803381085395813, | |
| -0.48398175835609436, | |
| -0.28410714864730835, | |
| -0.28804445266723633, | |
| -0.35883697867393494, | |
| -0.00021221255883574486, | |
| -0.1235433965921402, | |
| -0.49777522683143616, | |
| -0.7061124444007874, | |
| -0.49339306354522705, | |
| -0.500650942325592 | |
| ], | |
| "q99": [ | |
| 0.3518565893173218, | |
| 0.40249350666999817, | |
| 0.14177371561527252, | |
| 0.6419960856437683, | |
| 0.7054963707923889, | |
| 0.715397298336029, | |
| 0.9996585249900818, | |
| 0.03827379271388054, | |
| 0.39612311124801636, | |
| 0.1695493906736374, | |
| 0.5884912014007568, | |
| 0.6177422404289246, | |
| 0.7185119390487671, | |
| 0.9996588826179504 | |
| ] | |
| }, | |
| "delta_eef_euler_first_action": { | |
| "mean": [ | |
| 0.07973770797252655, | |
| 0.1339617818593979, | |
| 0.011569191701710224, | |
| -0.13414765894412994, | |
| -0.6169648170471191, | |
| -0.030446955934166908, | |
| -0.0856424868106842, | |
| 0.12362300604581833, | |
| 0.01123591884970665, | |
| -0.44708916544914246, | |
| -0.6003032922744751, | |
| 0.07272883504629135 | |
| ], | |
| "std": [ | |
| 0.10659194737672806, | |
| 0.13032813370227814, | |
| 0.04959448054432869, | |
| 1.1611621379852295, | |
| 0.6993604898452759, | |
| 0.8455621004104614, | |
| 0.10971662402153015, | |
| 0.1282992959022522, | |
| 0.05209530517458916, | |
| 0.9290808439254761, | |
| 0.7149471640586853, | |
| 0.8555284738540649 | |
| ], | |
| "q01": [ | |
| -0.06477004289627075, | |
| -0.001982435118407011, | |
| -0.10425396263599396, | |
| -4.574256420135498, | |
| -1.5706217288970947, | |
| -2.835023880004883, | |
| -0.35883697867393494, | |
| -0.00021221255883574486, | |
| -0.1235433965921402, | |
| -4.0037078857421875, | |
| -1.5712188482284546, | |
| -2.8400518894195557 | |
| ], | |
| "q99": [ | |
| 0.3518565893173218, | |
| 0.40249350666999817, | |
| 0.14177371561527252, | |
| 1.5103939771652222, | |
| 0.061088789254426956, | |
| 2.8777265548706055, | |
| 0.03827379271388054, | |
| 0.39612311124801636, | |
| 0.1695493906736374, | |
| 0.9072070717811584, | |
| 0.04793304204940796, | |
| 2.9016520977020264 | |
| ] | |
| }, | |
| "delta_eef_mat_first_action": { | |
| "mean": [ | |
| 0.07973770797252655, | |
| 0.1339617818593979, | |
| 0.011569191701710224, | |
| 0.5948562026023865, | |
| -0.31462162733078003, | |
| 0.10534258931875229, | |
| 0.4277493953704834, | |
| 0.5764122605323792, | |
| -0.10442919284105301, | |
| 0.01632840186357498, | |
| 0.1731642484664917, | |
| 0.8185465335845947, | |
| -0.0856424868106842, | |
| 0.12362300604581833, | |
| 0.01123591884970665, | |
| 0.5930517911911011, | |
| -0.3036845028400421, | |
| -0.10350534319877625, | |
| 0.40708085894584656, | |
| 0.5920058488845825, | |
| 0.08161133527755737, | |
| -0.0003670850128401071, | |
| -0.1507323980331421, | |
| 0.834894061088562 | |
| ], | |
| "std": [ | |
| 0.10659194737672806, | |
| 0.13032813370227814, | |
| 0.04959448054432869, | |
| 0.459590345621109, | |
| 0.43251603841781616, | |
| 0.37117454409599304, | |
| 0.467771977186203, | |
| 0.4472402036190033, | |
| 0.23459787666797638, | |
| 0.18131856620311737, | |
| 0.38946205377578735, | |
| 0.3393718898296356, | |
| 0.10971662402153015, | |
| 0.1282992959022522, | |
| 0.05209530517458916, | |
| 0.47425711154937744, | |
| 0.43086445331573486, | |
| 0.3671368956565857, | |
| 0.47140368819236755, | |
| 0.4574260711669922, | |
| 0.21376702189445496, | |
| 0.18824194371700287, | |
| 0.373769611120224, | |
| 0.3241787552833557 | |
| ], | |
| "q01": [ | |
| -0.06477004289627075, | |
| -0.001982435118407011, | |
| -0.10425396263599396, | |
| -0.0735047459602356, | |
| -1.0, | |
| -0.9911999702453613, | |
| -0.062260907143354416, | |
| -0.08752947300672531, | |
| -0.966001570224762, | |
| -0.8723209500312805, | |
| -0.9556000232696533, | |
| -0.4247997999191284, | |
| -0.35883697867393494, | |
| -0.00021221255883574486, | |
| -0.1235433965921402, | |
| -0.07599057257175446, | |
| -1.0, | |
| -1.0, | |
| -0.04873303323984146, | |
| -0.09026721864938736, | |
| -0.0670718252658844, | |
| -0.8515980839729309, | |
| -1.0, | |
| -0.38199931383132935 | |
| ], | |
| "q99": [ | |
| 0.3518565893173218, | |
| 0.40249350666999817, | |
| 0.14177371561527252, | |
| 0.9996000528335571, | |
| 0.4975999593734741, | |
| 0.9991999864578247, | |
| 0.9996000528335571, | |
| 0.9996000528335571, | |
| 0.05355111137032509, | |
| 0.8799922466278076, | |
| 0.9991999864578247, | |
| 0.9995999932289124, | |
| 0.03827379271388054, | |
| 0.39612311124801636, | |
| 0.1695493906736374, | |
| 0.9995999932289124, | |
| 0.43439996242523193, | |
| 0.9883999824523926, | |
| 0.9996001720428467, | |
| 0.9996001720428467, | |
| 0.8704155683517456, | |
| 0.9747999310493469, | |
| 0.9515999555587769, | |
| 0.9995999932289124 | |
| ] | |
| }, | |
| "gripper": { | |
| "mean": [ | |
| 0.6628647446632385, | |
| 0.6795170903205872 | |
| ], | |
| "std": [ | |
| 0.45556363463401794, | |
| 0.4498363733291626 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.9998000264167786, | |
| 0.9998000264167786 | |
| ] | |
| } | |
| }, | |
| "state": { | |
| "eef_quat": { | |
| "mean": [ | |
| -0.21855486929416656, | |
| -0.18038393557071686, | |
| 0.9534844756126404, | |
| 0.6640257835388184, | |
| -0.14236077666282654, | |
| 0.2174917757511139, | |
| 0.5232216715812683, | |
| 0.2213200330734253, | |
| -0.18976479768753052, | |
| 0.9521831274032593, | |
| 0.5480858683586121, | |
| -0.17180202901363373, | |
| 0.15720997750759125, | |
| 0.6177528500556946 | |
| ], | |
| "std": [ | |
| 0.1064506322145462, | |
| 0.13037344813346863, | |
| 0.049513619393110275, | |
| 0.14281392097473145, | |
| 0.24936449527740479, | |
| 0.26820337772369385, | |
| 0.2514556050300598, | |
| 0.10954169929027557, | |
| 0.12829916179180145, | |
| 0.052086129784584045, | |
| 0.1921893060207367, | |
| 0.29732784628868103, | |
| 0.2445755898952484, | |
| 0.2803497314453125 | |
| ], | |
| "q01": [ | |
| -0.3622920513153076, | |
| -0.31578728556632996, | |
| 0.8377447128295898, | |
| 0.10580095648765564, | |
| -0.6829385757446289, | |
| -0.1662924438714981, | |
| -0.63907790184021, | |
| -0.052213557064533234, | |
| -0.31301265954971313, | |
| 0.818312406539917, | |
| 0.0029992973431944847, | |
| -0.7021592259407043, | |
| -0.4944089651107788, | |
| -0.7105885148048401 | |
| ], | |
| "q99": [ | |
| 0.05333516374230385, | |
| 0.08868826180696487, | |
| 1.0837700366973877, | |
| 0.9821999669075012, | |
| 0.6484095454216003, | |
| 0.7058920860290527, | |
| 0.7209278345108032, | |
| 0.3445180356502533, | |
| 0.08332312852144241, | |
| 1.1104592084884644, | |
| 0.7056137323379517, | |
| 0.7044796943664551, | |
| 0.7053436040878296, | |
| 0.946772575378418 | |
| ] | |
| }, | |
| "eef_euler": { | |
| "mean": [ | |
| -0.21855486929416656, | |
| -0.18038393557071686, | |
| 0.9534844756126404, | |
| 1.4181853532791138, | |
| -0.6145432591438293, | |
| -0.030213739722967148, | |
| 0.2213200330734253, | |
| -0.18976479768753052, | |
| 0.9521831274032593, | |
| 1.11654531955719, | |
| -0.5975149869918823, | |
| 0.07176879048347473 | |
| ], | |
| "std": [ | |
| 0.1064506322145462, | |
| 0.13037344813346863, | |
| 0.049513619393110275, | |
| 1.157323956489563, | |
| 0.6989468932151794, | |
| 0.8432199954986572, | |
| 0.10954169929027557, | |
| 0.12829916179180145, | |
| 0.052086129784584045, | |
| 0.9265897274017334, | |
| 0.7144032716751099, | |
| 0.8528872132301331 | |
| ], | |
| "q01": [ | |
| -0.3622920513153076, | |
| -0.31578728556632996, | |
| 0.8377447128295898, | |
| -3.0209553241729736, | |
| -1.5707926750183105, | |
| -2.831202983856201, | |
| -0.052213557064533234, | |
| -0.31301265954971313, | |
| 0.818312406539917, | |
| -2.4391322135925293, | |
| -1.570793628692627, | |
| -2.838742971420288 | |
| ], | |
| "q99": [ | |
| 0.05333516374230385, | |
| 0.08868826180696487, | |
| 1.0837700366973877, | |
| 3.0611674785614014, | |
| 0.060494691133499146, | |
| 2.8776984214782715, | |
| 0.3445180356502533, | |
| 0.08332312852144241, | |
| 1.1104592084884644, | |
| 2.465491533279419, | |
| 0.04809969291090965, | |
| 2.899061679840088 | |
| ] | |
| }, | |
| "eef_mat": { | |
| "mean": [ | |
| -0.21855486929416656, | |
| -0.18038393557071686, | |
| 0.9534844756126404, | |
| 0.5966312885284424, | |
| -0.31356319785118103, | |
| 0.10513211786746979, | |
| -0.00763627327978611, | |
| -0.16112194955348969, | |
| -0.8214864730834961, | |
| 0.42634427547454834, | |
| 0.5815992951393127, | |
| -0.08754988014698029, | |
| 0.2213200330734253, | |
| -0.18976479768753052, | |
| 0.9521831274032593, | |
| 0.5950971841812134, | |
| -0.3024774193763733, | |
| -0.10330964624881744, | |
| 0.004315768368542194, | |
| 0.15626618266105652, | |
| -0.8351897597312927, | |
| 0.4051886796951294, | |
| 0.5925435423851013, | |
| 0.08949225395917892 | |
| ], | |
| "std": [ | |
| 0.1064506322145462, | |
| 0.13037344813346863, | |
| 0.049513619393110275, | |
| 0.4592941999435425, | |
| 0.43194451928138733, | |
| 0.3703112006187439, | |
| 0.18024468421936035, | |
| 0.3912767767906189, | |
| 0.33698445558547974, | |
| 0.46772301197052, | |
| 0.4447338283061981, | |
| 0.23612730205059052, | |
| 0.10954169929027557, | |
| 0.12829916179180145, | |
| 0.052086129784584045, | |
| 0.47388240694999695, | |
| 0.4302442967891693, | |
| 0.36608749628067017, | |
| 0.18790724873542786, | |
| 0.37157273292541504, | |
| 0.323485404253006, | |
| 0.47094613313674927, | |
| 0.4580426812171936, | |
| 0.21239566802978516 | |
| ], | |
| "q01": [ | |
| -0.3622920513153076, | |
| -0.31578728556632996, | |
| 0.8377447128295898, | |
| -0.07310430705547333, | |
| -1.0, | |
| -0.9904000163078308, | |
| -0.8723999261856079, | |
| -1.0, | |
| -1.0, | |
| -0.0615825355052948, | |
| -0.08198045939207077, | |
| -0.9604050517082214, | |
| -0.052213557064533234, | |
| -0.31301265954971313, | |
| 0.818312406539917, | |
| -0.07559064030647278, | |
| -1.0, | |
| -1.0, | |
| -0.974399983882904, | |
| -0.951200008392334, | |
| -1.0, | |
| -0.04889128357172012, | |
| -0.08882547169923782, | |
| -0.06014003977179527 | |
| ], | |
| "q99": [ | |
| 0.05333516374230385, | |
| 0.08868826180696487, | |
| 1.0837700366973877, | |
| 0.9996000528335571, | |
| 0.49480000138282776, | |
| 0.9991999864578247, | |
| 0.8791999816894531, | |
| 0.9495999813079834, | |
| 0.4175999164581299, | |
| 0.9995999932289124, | |
| 0.9995999932289124, | |
| 0.05866469442844391, | |
| 0.3445180356502533, | |
| 0.08332312852144241, | |
| 1.1104592084884644, | |
| 0.9995999932289124, | |
| 0.4315999448299408, | |
| 0.9872000217437744, | |
| 0.8543999195098877, | |
| 0.9995999932289124, | |
| 0.3808000087738037, | |
| 0.9996001124382019, | |
| 0.9996001124382019, | |
| 0.8736310005187988 | |
| ] | |
| }, | |
| "gripper": { | |
| "mean": [ | |
| 0.6641190052032471, | |
| 0.6806148290634155 | |
| ], | |
| "std": [ | |
| 0.4551047086715698, | |
| 0.4493986666202545 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.9998000264167786, | |
| 0.9998000264167786 | |
| ] | |
| } | |
| } | |
| } |