| { |
| "codebase_version": "v2.1", |
| "robot_type": "Airbot_MMK2", |
| "total_episodes": 173, |
| "total_frames": 52760, |
| "total_tasks": 1, |
| "total_videos": 692, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 30, |
| "splits": { |
| "train": "0:172" |
| }, |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
| "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
| "features": { |
| "observation.images.cam_head_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_left_wrist_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_right_wrist_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_front_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 36 |
| ], |
| "names": [ |
| "left_arm_joint_1_rad", |
| "left_arm_joint_2_rad", |
| "left_arm_joint_3_rad", |
| "left_arm_joint_4_rad", |
| "left_arm_joint_5_rad", |
| "left_arm_joint_6_rad", |
| "right_arm_joint_1_rad", |
| "right_arm_joint_2_rad", |
| "right_arm_joint_3_rad", |
| "right_arm_joint_4_rad", |
| "right_arm_joint_5_rad", |
| "right_arm_joint_6_rad", |
| "left_hand_joint_1_rad", |
| "left_hand_joint_2_rad", |
| "left_hand_joint_3_rad", |
| "left_hand_joint_4_rad", |
| "left_hand_joint_5_rad", |
| "left_hand_joint_6_rad", |
| "left_hand_joint_7_rad", |
| "left_hand_joint_8_rad", |
| "left_hand_joint_9_rad", |
| "left_hand_joint_10_rad", |
| "left_hand_joint_11_rad", |
| "left_hand_joint_12_rad", |
| "right_hand_joint_1_rad", |
| "right_hand_joint_2_rad", |
| "right_hand_joint_3_rad", |
| "right_hand_joint_4_rad", |
| "right_hand_joint_5_rad", |
| "right_hand_joint_6_rad", |
| "right_hand_joint_7_rad", |
| "right_hand_joint_8_rad", |
| "right_hand_joint_9_rad", |
| "right_hand_joint_10_rad", |
| "right_hand_joint_11_rad", |
| "right_hand_joint_12_rad" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 36 |
| ], |
| "names": [ |
| "left_arm_joint_1_rad", |
| "left_arm_joint_2_rad", |
| "left_arm_joint_3_rad", |
| "left_arm_joint_4_rad", |
| "left_arm_joint_5_rad", |
| "left_arm_joint_6_rad", |
| "right_arm_joint_1_rad", |
| "right_arm_joint_2_rad", |
| "right_arm_joint_3_rad", |
| "right_arm_joint_4_rad", |
| "right_arm_joint_5_rad", |
| "right_arm_joint_6_rad", |
| "left_hand_joint_1_rad", |
| "left_hand_joint_2_rad", |
| "left_hand_joint_3_rad", |
| "left_hand_joint_4_rad", |
| "left_hand_joint_5_rad", |
| "left_hand_joint_6_rad", |
| "left_hand_joint_7_rad", |
| "left_hand_joint_8_rad", |
| "left_hand_joint_9_rad", |
| "left_hand_joint_10_rad", |
| "left_hand_joint_11_rad", |
| "left_hand_joint_12_rad", |
| "right_hand_joint_1_rad", |
| "right_hand_joint_2_rad", |
| "right_hand_joint_3_rad", |
| "right_hand_joint_4_rad", |
| "right_hand_joint_5_rad", |
| "right_hand_joint_6_rad", |
| "right_hand_joint_7_rad", |
| "right_hand_joint_8_rad", |
| "right_hand_joint_9_rad", |
| "right_hand_joint_10_rad", |
| "right_hand_joint_11_rad", |
| "right_hand_joint_12_rad" |
| ] |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "subtask_annotation": { |
| "names": null, |
| "shape": [ |
| 5 |
| ], |
| "dtype": "int32" |
| }, |
| "scene_annotation": { |
| "names": null, |
| "shape": [ |
| 1 |
| ], |
| "dtype": "int32" |
| }, |
| "eef_sim_pose_state": { |
| "names": [ |
| "left_eef_pos_x", |
| "left_eef_pos_y", |
| "left_eef_pos_z", |
| "left_eef_rot_x", |
| "left_eef_rot_y", |
| "left_eef_rot_z", |
| "right_eef_pos_x", |
| "right_eef_pos_y", |
| "right_eef_pos_z", |
| "right_eef_rot_x", |
| "right_eef_rot_y", |
| "right_eef_rot_z" |
| ], |
| "shape": [ |
| 12 |
| ], |
| "dtype": "float32" |
| }, |
| "eef_sim_pose_action": { |
| "names": [ |
| "left_eef_pos_x", |
| "left_eef_pos_y", |
| "left_eef_pos_z", |
| "left_eef_rot_x", |
| "left_eef_rot_y", |
| "left_eef_rot_z", |
| "right_eef_pos_x", |
| "right_eef_pos_y", |
| "right_eef_pos_z", |
| "right_eef_rot_x", |
| "right_eef_rot_y", |
| "right_eef_rot_z" |
| ], |
| "shape": [ |
| 12 |
| ], |
| "dtype": "float32" |
| }, |
| "eef_direction_state": { |
| "names": [ |
| "left_eef_direction", |
| "right_eef_direction" |
| ], |
| "shape": [ |
| 2 |
| ], |
| "dtype": "int32" |
| }, |
| "eef_direction_action": { |
| "names": [ |
| "left_eef_direction", |
| "right_eef_direction" |
| ], |
| "shape": [ |
| 2 |
| ], |
| "dtype": "int32" |
| }, |
| "eef_velocity_state": { |
| "names": [ |
| "left_eef_velocity", |
| "right_eef_velocity" |
| ], |
| "shape": [ |
| 2 |
| ], |
| "dtype": "int32" |
| }, |
| "eef_velocity_action": { |
| "names": [ |
| "left_eef_velocity", |
| "right_eef_velocity" |
| ], |
| "shape": [ |
| 2 |
| ], |
| "dtype": "int32" |
| }, |
| "eef_acc_mag_state": { |
| "names": [ |
| "left_eef_acc_mag", |
| "right_eef_acc_mag" |
| ], |
| "shape": [ |
| 2 |
| ], |
| "dtype": "int32" |
| }, |
| "eef_acc_mag_action": { |
| "names": [ |
| "left_eef_acc_mag", |
| "right_eef_acc_mag" |
| ], |
| "shape": [ |
| 2 |
| ], |
| "dtype": "int32" |
| } |
| }, |
| "stats": { |
| "task_index": { |
| "min": [ |
| 0 |
| ], |
| "max": [ |
| 0 |
| ], |
| "mean": [ |
| 0.0 |
| ], |
| "std": [ |
| 0.0 |
| ], |
| "count": [ |
| 52760 |
| ] |
| }, |
| "timestamp": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 32.733333333333334 |
| ], |
| "mean": [ |
| 5.711698888046501 |
| ], |
| "std": [ |
| 4.387607543141295 |
| ], |
| "count": [ |
| 52760 |
| ] |
| }, |
| "index": { |
| "min": [ |
| 0 |
| ], |
| "max": [ |
| 52759 |
| ], |
| "mean": [ |
| 26379.5 |
| ], |
| "std": [ |
| 15230.50009848659 |
| ], |
| "count": [ |
| 52760 |
| ] |
| }, |
| "observation.images.cam_front_rgb": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.4070851735244941 |
| ] |
| ], |
| [ |
| [ |
| 0.4373208120725966 |
| ] |
| ], |
| [ |
| [ |
| 0.4115931931600918 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.36454975060297073 |
| ] |
| ], |
| [ |
| [ |
| 0.36508614848710097 |
| ] |
| ], |
| [ |
| [ |
| 0.36873958597806045 |
| ] |
| ] |
| ], |
| "count": [ |
| 17544 |
| ] |
| }, |
| "episode_index": { |
| "min": [ |
| 0 |
| ], |
| "max": [ |
| 172 |
| ], |
| "mean": [ |
| 90.52208112206216 |
| ], |
| "std": [ |
| 50.31533359935161 |
| ], |
| "count": [ |
| 52760 |
| ] |
| }, |
| "observation.images.cam_right_wrist_rgb": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.08235294117647059 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.5850345523528702 |
| ] |
| ], |
| [ |
| [ |
| 0.6102137829717218 |
| ] |
| ], |
| [ |
| [ |
| 0.5754683663474319 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.2876878845463858 |
| ] |
| ], |
| [ |
| [ |
| 0.28590529867378783 |
| ] |
| ], |
| [ |
| [ |
| 0.29197746503719985 |
| ] |
| ] |
| ], |
| "count": [ |
| 17544 |
| ] |
| }, |
| "eef_direction_state": { |
| "min": [ |
| 0, |
| 0 |
| ], |
| "max": [ |
| 6, |
| 6 |
| ], |
| "mean": [ |
| 5.85816906747536, |
| 3.0293404094010614 |
| ], |
| "std": [ |
| 0.6694016306085415, |
| 1.6261263725948099 |
| ], |
| "count": [ |
| 52760 |
| ] |
| }, |
| "eef_sim_pose_state": { |
| "min": [ |
| 0.5227128929586499, |
| 0.10375053546006054, |
| 1.0278411496636244, |
| -3.141412686034121, |
| 0.6210116648278903, |
| -3.136489921303534, |
| 0.5008431852159141, |
| -0.34498636414435374, |
| 1.0078017787315265, |
| -3.1415668131175147, |
| 0.4307716089218405, |
| -3.1415566815078173 |
| ], |
| "max": [ |
| 0.6697043090427603, |
| 0.3021523563381343, |
| 1.366292598884733, |
| 3.140434490701071, |
| 1.5687623842107707, |
| 3.140938861589705, |
| 0.8633451004750127, |
| 0.10668135187147473, |
| 1.3524401707750449, |
| 3.141342345281527, |
| 1.5634307712341053, |
| 3.1415900283017346 |
| ], |
| "mean": [ |
| 0.5734515177602003, |
| 0.22533333071569797, |
| 1.151924444742489, |
| -1.3466699408990614, |
| 1.2049529985754779, |
| -1.5783489322457922, |
| 0.6691694031094425, |
| -0.12872863692888176, |
| 1.1309772791808417, |
| 1.9680895528611562, |
| 1.0425376567003493, |
| 0.825200163944327 |
| ], |
| "std": [ |
| 0.028808233872931185, |
| 0.036579627800745224, |
| 0.10951562286862114, |
| 1.1151142387331945, |
| 0.2472779685415724, |
| 1.0744330988526052, |
| 0.04576690898110037, |
| 0.08095637129784457, |
| 0.06304706384800467, |
| 0.9197579149851174, |
| 0.15630064608240687, |
| 2.541519600202627 |
| ], |
| "count": [ |
| 52760 |
| ] |
| }, |
| "observation.images.cam_head_rgb": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.48522202100079276 |
| ] |
| ], |
| [ |
| [ |
| 0.4664326435014745 |
| ] |
| ], |
| [ |
| [ |
| 0.436288684319202 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.2360773249002988 |
| ] |
| ], |
| [ |
| [ |
| 0.225725186601893 |
| ] |
| ], |
| [ |
| [ |
| 0.218361471274221 |
| ] |
| ] |
| ], |
| "count": [ |
| 17544 |
| ] |
| }, |
| "observation.state": { |
| "min": [ |
| -0.23823148012161255, |
| -1.13920259475708, |
| 0.48502230644226074, |
| -2.17362380027771, |
| -1.63796067237854, |
| 0.6246047616004944, |
| -1.538037896156311, |
| -1.5852454900741577, |
| 0.6363012194633484, |
| -2.976963758468628, |
| -1.6400468349456787, |
| -1.6478551626205444, |
| 0.01179733406752348, |
| 0.8024665117263794, |
| -0.018413225188851357, |
| -0.010733774863183498, |
| 0.003948807250708342, |
| -0.016575174406170845, |
| 0.003490658476948738, |
| -0.016798794269561768, |
| 0.010537425056099892, |
| -0.06534621864557266, |
| 0.010995574295520782, |
| -0.02140209823846817, |
| -0.018107790499925613, |
| 0.5171301364898682, |
| 0.0089993542060256, |
| -0.011273736134171486, |
| -0.020082194358110428, |
| -0.024058273062109947, |
| 0.009501135908067226, |
| 0.0, |
| 0.005459608044475317, |
| -0.020038560032844543, |
| 0.009299332275986671, |
| -0.02200751006603241 |
| ], |
| "max": [ |
| 1.4071276187896729, |
| -0.5197604298591614, |
| 1.2022082805633545, |
| 0.09761005640029907, |
| -0.47431716322898865, |
| 2.995083808898926, |
| 0.17078660428524017, |
| -0.5926933288574219, |
| 2.1614880561828613, |
| 0.8260376453399658, |
| 1.6407904624938965, |
| 2.468766689300537, |
| 1.780307412147522, |
| 1.5652440786361694, |
| 1.2555627822875977, |
| 0.16942782700061798, |
| 0.9962688684463501, |
| 1.9231237173080444, |
| 1.5892748832702637, |
| 1.9234782457351685, |
| 1.7950711250305176, |
| 1.9223766326904297, |
| 1.381389856338501, |
| 1.9280979633331299, |
| 1.7595566511154175, |
| 1.5091207027435303, |
| 1.2262301445007324, |
| 0.17419476807117462, |
| 0.9898144006729126, |
| 1.8318593502044678, |
| 1.8604446649551392, |
| 1.9338685274124146, |
| 1.8970351219177246, |
| 1.974491000175476, |
| 1.903052568435669, |
| 1.9398353099822998 |
| ], |
| "mean": [ |
| 0.9845350059502355, |
| -0.9142687096457485, |
| 0.7714602202306967, |
| -0.7754624294641448, |
| -1.3617445205867156, |
| 1.7705492288054978, |
| -0.6155909511813551, |
| -1.0728820707070006, |
| 1.3149295314321743, |
| -0.8669438218331272, |
| 0.6336979746500806, |
| -0.21521804147746648, |
| 0.47506665761407446, |
| 1.332067903827726, |
| 0.031100614141852723, |
| 0.03543512119998801, |
| 0.398431433502435, |
| 0.1177364653001228, |
| 0.3363048036396715, |
| 0.07081992914406975, |
| 0.3052535717722263, |
| 0.10171462665475604, |
| 0.07023556510083959, |
| 0.463741030496296, |
| 0.6688408304955542, |
| 1.0570975355809615, |
| 0.05735287069239942, |
| 0.05630172224414257, |
| 0.3386048063419765, |
| 0.016915162049814976, |
| 0.5865818373413744, |
| 0.32187482595353345, |
| 0.517078824098246, |
| 0.8503613772012969, |
| 0.679195442785427, |
| 0.8934951886779873 |
| ], |
| "std": [ |
| 0.4780885681401013, |
| 0.15330033343132207, |
| 0.133591957037089, |
| 0.5364677698647264, |
| 0.261133293643557, |
| 0.5952325009461837, |
| 0.3707803054358815, |
| 0.1430776914071808, |
| 0.2153113312779959, |
| 0.8192256532201575, |
| 0.3422296047162653, |
| 0.5759721114927824, |
| 0.4259918465360091, |
| 0.0881161586129753, |
| 0.1060639213234575, |
| 0.039453990683202884, |
| 0.20981260118736195, |
| 0.3922878685003984, |
| 0.19911508331077246, |
| 0.2962777388984324, |
| 0.23912202849322656, |
| 0.31826843192148563, |
| 0.1344407728163778, |
| 0.5248020423098319, |
| 0.7205880502046884, |
| 0.14869350563040967, |
| 0.1347585098639712, |
| 0.055052543892728616, |
| 0.14312386275113648, |
| 0.06712423084098315, |
| 0.5848910057919516, |
| 0.7123147156437537, |
| 0.5734207562638174, |
| 0.935404493708264, |
| 0.7456563318843581, |
| 0.9176485372232777 |
| ], |
| "count": [ |
| 52760 |
| ] |
| }, |
| "subtask_annotation": { |
| "min": [ |
| 0, |
| 8, |
| 8, |
| 8, |
| 8 |
| ], |
| "max": [ |
| 7, |
| 8, |
| 8, |
| 8, |
| 8 |
| ], |
| "mean": [ |
| 3.431330553449583, |
| 8.0, |
| 8.0, |
| 8.0, |
| 8.0 |
| ], |
| "std": [ |
| 2.347393868070819, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "count": [ |
| 52760 |
| ] |
| }, |
| "scene_annotation": { |
| "min": [ |
| 0 |
| ], |
| "max": [ |
| 172 |
| ], |
| "mean": [ |
| 90.52208112206216 |
| ], |
| "std": [ |
| 50.31533359935161 |
| ], |
| "count": [ |
| 52760 |
| ] |
| }, |
| "eef_velocity_state": { |
| "min": [ |
| 0, |
| 0 |
| ], |
| "max": [ |
| 2, |
| 2 |
| ], |
| "mean": [ |
| 0.053790750568612586, |
| 1.2374715693707354 |
| ], |
| "std": [ |
| 0.2361935095538997, |
| 0.5612202180915545 |
| ], |
| "count": [ |
| 52760 |
| ] |
| }, |
| "observation.images.cam_left_wrist_rgb": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0392156862745098 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.5515425840030782 |
| ] |
| ], |
| [ |
| [ |
| 0.5727839090939228 |
| ] |
| ], |
| [ |
| [ |
| 0.5495968323178662 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.2911065505864637 |
| ] |
| ], |
| [ |
| [ |
| 0.2929315758395397 |
| ] |
| ], |
| [ |
| [ |
| 0.29870416798806826 |
| ] |
| ] |
| ], |
| "count": [ |
| 17544 |
| ] |
| }, |
| "action": { |
| "min": [ |
| -0.23823148012161255, |
| -1.13920259475708, |
| 0.48502230644226074, |
| -2.17362380027771, |
| -1.63796067237854, |
| 0.6246047616004944, |
| -1.538037896156311, |
| -1.5852454900741577, |
| 0.6363012194633484, |
| -2.976963758468628, |
| -1.6400468349456787, |
| -1.6478551626205444, |
| 0.01179733406752348, |
| 0.8024665117263794, |
| -0.018413225188851357, |
| -0.010733774863183498, |
| 0.003948807250708342, |
| -0.016575174406170845, |
| 0.003490658476948738, |
| -0.016798794269561768, |
| 0.010537425056099892, |
| -0.06534621864557266, |
| 0.010995574295520782, |
| -0.02140209823846817, |
| -0.018107790499925613, |
| 0.5171301364898682, |
| 0.0089993542060256, |
| -0.011273736134171486, |
| -0.020082194358110428, |
| -0.024058273062109947, |
| 0.009501135908067226, |
| 0.0, |
| 0.005459608044475317, |
| -0.020038560032844543, |
| 0.009299332275986671, |
| -0.02200751006603241 |
| ], |
| "max": [ |
| 1.4071276187896729, |
| -0.5197604298591614, |
| 1.2022082805633545, |
| 0.09761005640029907, |
| -0.47431716322898865, |
| 2.995083808898926, |
| 0.17078660428524017, |
| -0.5926933288574219, |
| 2.1614880561828613, |
| 0.8260376453399658, |
| 1.6407904624938965, |
| 2.468766689300537, |
| 1.780307412147522, |
| 1.5652440786361694, |
| 1.2555627822875977, |
| 0.16942782700061798, |
| 0.9962688684463501, |
| 1.9231237173080444, |
| 1.5892748832702637, |
| 1.9234782457351685, |
| 1.7950711250305176, |
| 1.9223766326904297, |
| 1.381389856338501, |
| 1.9280979633331299, |
| 1.7595566511154175, |
| 1.5091207027435303, |
| 1.2262301445007324, |
| 0.17419476807117462, |
| 0.9898144006729126, |
| 1.8318593502044678, |
| 1.8604446649551392, |
| 1.9338685274124146, |
| 1.8970351219177246, |
| 1.974491000175476, |
| 1.903052568435669, |
| 1.9398353099822998 |
| ], |
| "mean": [ |
| 0.9845350059502355, |
| -0.9142687096457485, |
| 0.7714602202306967, |
| -0.7754624294641448, |
| -1.3617445205867156, |
| 1.7705492288054978, |
| -0.6155909511813551, |
| -1.0728820707070006, |
| 1.3149295314321743, |
| -0.8669438218331272, |
| 0.6336979746500806, |
| -0.21521804147746648, |
| 0.47506665761407446, |
| 1.332067903827726, |
| 0.031100614141852723, |
| 0.03543512119998801, |
| 0.398431433502435, |
| 0.1177364653001228, |
| 0.3363048036396715, |
| 0.07081992914406975, |
| 0.3052535717722263, |
| 0.10171462665475604, |
| 0.07023556510083959, |
| 0.463741030496296, |
| 0.6688408304955542, |
| 1.0570975355809615, |
| 0.05735287069239942, |
| 0.05630172224414257, |
| 0.3386048063419765, |
| 0.016915162049814976, |
| 0.5865818373413744, |
| 0.32187482595353345, |
| 0.517078824098246, |
| 0.8503613772012969, |
| 0.679195442785427, |
| 0.8934951886779873 |
| ], |
| "std": [ |
| 0.4780885681401013, |
| 0.15330033343132207, |
| 0.133591957037089, |
| 0.5364677698647264, |
| 0.261133293643557, |
| 0.5952325009461837, |
| 0.3707803054358815, |
| 0.1430776914071808, |
| 0.2153113312779959, |
| 0.8192256532201575, |
| 0.3422296047162653, |
| 0.5759721114927824, |
| 0.4259918465360091, |
| 0.0881161586129753, |
| 0.1060639213234575, |
| 0.039453990683202884, |
| 0.20981260118736195, |
| 0.3922878685003984, |
| 0.19911508331077246, |
| 0.2962777388984324, |
| 0.23912202849322656, |
| 0.31826843192148563, |
| 0.1344407728163778, |
| 0.5248020423098319, |
| 0.7205880502046884, |
| 0.14869350563040967, |
| 0.1347585098639712, |
| 0.055052543892728616, |
| 0.14312386275113648, |
| 0.06712423084098315, |
| 0.5848910057919516, |
| 0.7123147156437537, |
| 0.5734207562638174, |
| 0.935404493708264, |
| 0.7456563318843581, |
| 0.9176485372232777 |
| ], |
| "count": [ |
| 52760 |
| ] |
| }, |
| "eef_acc_mag_action": { |
| "min": [ |
| 0, |
| 0 |
| ], |
| "max": [ |
| 2, |
| 2 |
| ], |
| "mean": [ |
| 0.0440674753601213, |
| 0.871095526914329 |
| ], |
| "std": [ |
| 0.26782698690828494, |
| 0.8446675337554097 |
| ], |
| "count": [ |
| 52760 |
| ] |
| }, |
| "frame_index": { |
| "min": [ |
| 0 |
| ], |
| "max": [ |
| 982 |
| ], |
| "mean": [ |
| 171.350966641395 |
| ], |
| "std": [ |
| 131.62822629423883 |
| ], |
| "count": [ |
| 52760 |
| ] |
| }, |
| "eef_sim_pose_action": { |
| "min": [ |
| 0.5227128929586499, |
| 0.10375053546006054, |
| 1.0278411496636244, |
| -3.141412686034121, |
| 0.6210116648278903, |
| -3.136489921303534, |
| 0.5008431852159141, |
| -0.34498636414435374, |
| 1.0078017787315265, |
| -3.1415668131175147, |
| 0.4307716089218405, |
| -3.1415566815078173 |
| ], |
| "max": [ |
| 0.6697043090427603, |
| 0.3021523563381343, |
| 1.366292598884733, |
| 3.140434490701071, |
| 1.5687623842107707, |
| 3.140938861589705, |
| 0.8633451004750127, |
| 0.10668135187147473, |
| 1.3524401707750449, |
| 3.141342345281527, |
| 1.5634307712341053, |
| 3.1415900283017346 |
| ], |
| "mean": [ |
| 0.5734515177602003, |
| 0.22533333071569797, |
| 1.151924444742489, |
| -1.3466699408990614, |
| 1.2049529985754779, |
| -1.5783489322457922, |
| 0.6691694031094425, |
| -0.12872863692888176, |
| 1.1309772791808417, |
| 1.9680895528611562, |
| 1.0425376567003493, |
| 0.825200163944327 |
| ], |
| "std": [ |
| 0.028808233872931185, |
| 0.036579627800745224, |
| 0.10951562286862114, |
| 1.1151142387331945, |
| 0.2472779685415724, |
| 1.0744330988526052, |
| 0.04576690898110037, |
| 0.08095637129784457, |
| 0.06304706384800467, |
| 0.9197579149851174, |
| 0.15630064608240687, |
| 2.541519600202627 |
| ], |
| "count": [ |
| 52760 |
| ] |
| }, |
| "eef_acc_mag_state": { |
| "min": [ |
| 0, |
| 0 |
| ], |
| "max": [ |
| 2, |
| 2 |
| ], |
| "mean": [ |
| 0.0440674753601213, |
| 0.871095526914329 |
| ], |
| "std": [ |
| 0.26782698690828494, |
| 0.8446675337554097 |
| ], |
| "count": [ |
| 52760 |
| ] |
| }, |
| "eef_velocity_action": { |
| "min": [ |
| 0, |
| 0 |
| ], |
| "max": [ |
| 2, |
| 2 |
| ], |
| "mean": [ |
| 0.053790750568612586, |
| 1.2374715693707354 |
| ], |
| "std": [ |
| 0.2361935095538997, |
| 0.5612202180915545 |
| ], |
| "count": [ |
| 52760 |
| ] |
| }, |
| "eef_direction_action": { |
| "min": [ |
| 0, |
| 0 |
| ], |
| "max": [ |
| 6, |
| 6 |
| ], |
| "mean": [ |
| 5.85816906747536, |
| 3.0293404094010614 |
| ], |
| "std": [ |
| 0.6694016306085415, |
| 1.6261263725948099 |
| ], |
| "count": [ |
| 52760 |
| ] |
| } |
| } |
| } |
