| { |
| "codebase_version": "v2.1", |
| "robot_type": "Airbot_MMK2", |
| "total_episodes": 47, |
| "total_frames": 6005, |
| "total_tasks": 1, |
| "total_videos": 188, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 30, |
| "splits": { |
| "train": "0:46" |
| }, |
| "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": { |
| "observation.images.cam_head_rgb": { |
| "min": [ |
| [ |
| [ |
| 0.00392156862745098 |
| ] |
| ], |
| [ |
| [ |
| 0.0196078431372549 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.4728142043005146 |
| ] |
| ], |
| [ |
| [ |
| 0.4719993532714505 |
| ] |
| ], |
| [ |
| [ |
| 0.47695584454526496 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.19806016534431972 |
| ] |
| ], |
| [ |
| [ |
| 0.1930215111781408 |
| ] |
| ], |
| [ |
| [ |
| 0.18341976590890946 |
| ] |
| ] |
| ], |
| "count": [ |
| 4700 |
| ] |
| }, |
| "observation.images.cam_front_rgb": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.4932527374930469 |
| ] |
| ], |
| [ |
| [ |
| 0.5227899476341955 |
| ] |
| ], |
| [ |
| [ |
| 0.524575138106661 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.2809648584172359 |
| ] |
| ], |
| [ |
| [ |
| 0.28154671398670994 |
| ] |
| ], |
| [ |
| [ |
| 0.28368645478934473 |
| ] |
| ] |
| ], |
| "count": [ |
| 4700 |
| ] |
| }, |
| "subtask_annotation": { |
| "min": [ |
| 0, |
| 5, |
| 5, |
| 5, |
| 5 |
| ], |
| "max": [ |
| 4, |
| 5, |
| 5, |
| 5, |
| 5 |
| ], |
| "mean": [ |
| 1.9278934221482098, |
| 5.0, |
| 5.0, |
| 5.0, |
| 5.0 |
| ], |
| "std": [ |
| 1.484629988738657, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "count": [ |
| 6005 |
| ] |
| }, |
| "eef_acc_mag_state": { |
| "min": [ |
| 0, |
| 0 |
| ], |
| "max": [ |
| 2, |
| 2 |
| ], |
| "mean": [ |
| 1.0401332223147377, |
| 0.8930890924229808 |
| ], |
| "std": [ |
| 0.82964714602932, |
| 0.8272385366741527 |
| ], |
| "count": [ |
| 6005 |
| ] |
| }, |
| "action": { |
| "min": [ |
| 0.34815603494644165, |
| -1.220268726348877, |
| 0.8445391654968262, |
| -0.4099312424659729, |
| -1.6003005504608154, |
| 0.5316115617752075, |
| -1.2514305114746094, |
| -1.2804346084594727, |
| 1.053444743156433, |
| -0.8423218727111816, |
| 0.593134880065918, |
| -0.7111538648605347, |
| 0.28238940238952637, |
| 0.7717191576957703, |
| -0.02742348425090313, |
| -0.036679185926914215, |
| 0.015504077076911926, |
| -0.041380830109119415, |
| 0.012669999152421951, |
| -0.00979566015303135, |
| 0.013460852205753326, |
| -0.01015563402324915, |
| 0.010242899879813194, |
| -0.019122261554002762, |
| 0.44932952523231506, |
| 0.7305948138237, |
| -0.0004091827431693673, |
| -0.016373369842767715, |
| 0.017147859558463097, |
| -0.004505131393671036, |
| 0.010717290453612804, |
| -0.02842704951763153, |
| 0.013724633492529392, |
| -0.01575159654021263, |
| 0.009408415295183659, |
| 0.012989755719900131 |
| ], |
| "max": [ |
| 1.3125619888305664, |
| -0.7351510524749756, |
| 1.435981273651123, |
| 0.05995126813650131, |
| -0.40871527791023254, |
| 1.4133549928665161, |
| -0.4612993001937866, |
| -0.791275680065155, |
| 1.5656113624572754, |
| 0.22455769777297974, |
| 1.6462852954864502, |
| -0.13970349729061127, |
| 1.1569461822509766, |
| 1.278110384941101, |
| 0.031088676303625107, |
| 0.17116226255893707, |
| 0.9149124622344971, |
| 0.5628523230552673, |
| 1.1319606304168701, |
| 1.3359295129776, |
| 1.113847255706787, |
| 1.687558889389038, |
| 0.8069802522659302, |
| 1.8374607563018799, |
| 1.3024029731750488, |
| 1.3802446126937866, |
| 0.05853397771716118, |
| 0.1693296730518341, |
| 0.7263842225074768, |
| 0.42034074664115906, |
| 0.8419249653816223, |
| 0.5580363273620605, |
| 1.0694559812545776, |
| 1.6904985904693604, |
| 0.899040937423706, |
| 1.8087828159332275 |
| ], |
| "mean": [ |
| 0.9216178485694079, |
| -0.9028357590664237, |
| 1.003706862626723, |
| -0.1967655186227319, |
| -1.0880801095355064, |
| 0.9576427010274946, |
| -1.0030669017199374, |
| -1.039227150213113, |
| 1.2113423159676329, |
| -0.1549077016750442, |
| 1.0712359592876863, |
| -0.43484135375828864, |
| 0.7720374543303554, |
| 0.8723058548199942, |
| -0.01663394439655304, |
| 0.114514072161233, |
| 0.2797792434543495, |
| 0.050438591954511565, |
| 0.28935728634177993, |
| 0.10376351904946005, |
| 0.2909809863140541, |
| 0.1608049111612929, |
| 0.11372699133809858, |
| 0.5764282233957247, |
| 0.8658729662208334, |
| 1.077521306668392, |
| 0.013021197026559803, |
| 0.05927923435684942, |
| 0.3852705682842658, |
| 0.021066903890413755, |
| 0.3986911143192542, |
| 0.03991002122300454, |
| 0.4404755374325205, |
| 0.14185442810166288, |
| 0.16427294411056742, |
| 0.935899590651856 |
| ], |
| "std": [ |
| 0.1953298350208078, |
| 0.08839643225162108, |
| 0.12055592116591271, |
| 0.06318593056007009, |
| 0.22850352248338676, |
| 0.11795339004222162, |
| 0.18303828064363314, |
| 0.09922187762363939, |
| 0.11336771050662175, |
| 0.24062562084924824, |
| 0.20595450752569358, |
| 0.08759285800912561, |
| 0.1178750470698703, |
| 0.04476147721862757, |
| 0.01034640576486431, |
| 0.053471106262124576, |
| 0.2625897527391655, |
| 0.0942045586282604, |
| 0.30784032601756933, |
| 0.22351988992743535, |
| 0.3118059283484042, |
| 0.3167243100221235, |
| 0.17486648420759715, |
| 0.508807266198212, |
| 0.15477003594504307, |
| 0.1662208133319404, |
| 0.008204111687252736, |
| 0.048936067372407015, |
| 0.15609731275483457, |
| 0.03133692943419427, |
| 0.15288242375663474, |
| 0.08409117106610763, |
| 0.1647804255420776, |
| 0.2927290871567207, |
| 0.16721337372579073, |
| 0.30303918042731265 |
| ], |
| "count": [ |
| 6005 |
| ] |
| }, |
| "observation.state": { |
| "min": [ |
| 0.34815603494644165, |
| -1.220268726348877, |
| 0.8445391654968262, |
| -0.4099312424659729, |
| -1.6003005504608154, |
| 0.5316115617752075, |
| -1.2514305114746094, |
| -1.2804346084594727, |
| 1.053444743156433, |
| -0.8423218727111816, |
| 0.593134880065918, |
| -0.7111538648605347, |
| 0.28238940238952637, |
| 0.7717191576957703, |
| -0.02742348425090313, |
| -0.036679185926914215, |
| 0.015504077076911926, |
| -0.041380830109119415, |
| 0.012669999152421951, |
| -0.00979566015303135, |
| 0.013460852205753326, |
| -0.01015563402324915, |
| 0.010242899879813194, |
| -0.019122261554002762, |
| 0.44932952523231506, |
| 0.7305948138237, |
| -0.0004091827431693673, |
| -0.016373369842767715, |
| 0.017147859558463097, |
| -0.004505131393671036, |
| 0.010717290453612804, |
| -0.02842704951763153, |
| 0.013724633492529392, |
| -0.01575159654021263, |
| 0.009408415295183659, |
| 0.012989755719900131 |
| ], |
| "max": [ |
| 1.3125619888305664, |
| -0.7351510524749756, |
| 1.435981273651123, |
| 0.05995126813650131, |
| -0.40871527791023254, |
| 1.4133549928665161, |
| -0.4612993001937866, |
| -0.791275680065155, |
| 1.5656113624572754, |
| 0.22455769777297974, |
| 1.6462852954864502, |
| -0.13970349729061127, |
| 1.1569461822509766, |
| 1.278110384941101, |
| 0.031088676303625107, |
| 0.17116226255893707, |
| 0.9149124622344971, |
| 0.5628523230552673, |
| 1.1319606304168701, |
| 1.3359295129776, |
| 1.113847255706787, |
| 1.687558889389038, |
| 0.8069802522659302, |
| 1.8374607563018799, |
| 1.3024029731750488, |
| 1.3802446126937866, |
| 0.05853397771716118, |
| 0.1693296730518341, |
| 0.7263842225074768, |
| 0.42034074664115906, |
| 0.8419249653816223, |
| 0.5580363273620605, |
| 1.0694559812545776, |
| 1.6904985904693604, |
| 0.899040937423706, |
| 1.8087828159332275 |
| ], |
| "mean": [ |
| 0.9216178485694079, |
| -0.9028357590664237, |
| 1.003706862626723, |
| -0.1967655186227319, |
| -1.0880801095355064, |
| 0.9576427010274946, |
| -1.0030669017199374, |
| -1.039227150213113, |
| 1.2113423159676329, |
| -0.1549077016750442, |
| 1.0712359592876863, |
| -0.43484135375828864, |
| 0.7720374543303554, |
| 0.8723058548199942, |
| -0.01663394439655304, |
| 0.114514072161233, |
| 0.2797792434543495, |
| 0.050438591954511565, |
| 0.28935728634177993, |
| 0.10376351904946005, |
| 0.2909809863140541, |
| 0.1608049111612929, |
| 0.11372699133809858, |
| 0.5764282233957247, |
| 0.8658729662208334, |
| 1.077521306668392, |
| 0.013021197026559803, |
| 0.05927923435684942, |
| 0.3852705682842658, |
| 0.021066903890413755, |
| 0.3986911143192542, |
| 0.03991002122300454, |
| 0.4404755374325205, |
| 0.14185442810166288, |
| 0.16427294411056742, |
| 0.935899590651856 |
| ], |
| "std": [ |
| 0.1953298350208078, |
| 0.08839643225162108, |
| 0.12055592116591271, |
| 0.06318593056007009, |
| 0.22850352248338676, |
| 0.11795339004222162, |
| 0.18303828064363314, |
| 0.09922187762363939, |
| 0.11336771050662175, |
| 0.24062562084924824, |
| 0.20595450752569358, |
| 0.08759285800912561, |
| 0.1178750470698703, |
| 0.04476147721862757, |
| 0.01034640576486431, |
| 0.053471106262124576, |
| 0.2625897527391655, |
| 0.0942045586282604, |
| 0.30784032601756933, |
| 0.22351988992743535, |
| 0.3118059283484042, |
| 0.3167243100221235, |
| 0.17486648420759715, |
| 0.508807266198212, |
| 0.15477003594504307, |
| 0.1662208133319404, |
| 0.008204111687252736, |
| 0.048936067372407015, |
| 0.15609731275483457, |
| 0.03133692943419427, |
| 0.15288242375663474, |
| 0.08409117106610763, |
| 0.1647804255420776, |
| 0.2927290871567207, |
| 0.16721337372579073, |
| 0.30303918042731265 |
| ], |
| "count": [ |
| 6005 |
| ] |
| }, |
| "scene_annotation": { |
| "min": [ |
| 0 |
| ], |
| "max": [ |
| 46 |
| ], |
| "mean": [ |
| 22.60915903413822 |
| ], |
| "std": [ |
| 13.824182652891393 |
| ], |
| "count": [ |
| 6005 |
| ] |
| }, |
| "eef_velocity_action": { |
| "min": [ |
| 0, |
| 0 |
| ], |
| "max": [ |
| 2, |
| 2 |
| ], |
| "mean": [ |
| 1.2344712739383847, |
| 1.1658617818484596 |
| ], |
| "std": [ |
| 0.7821770304477066, |
| 0.8853325737115744 |
| ], |
| "count": [ |
| 6005 |
| ] |
| }, |
| "eef_direction_state": { |
| "min": [ |
| 0, |
| 0 |
| ], |
| "max": [ |
| 6, |
| 6 |
| ], |
| "mean": [ |
| 3.0541215653621983, |
| 3.449292256452956 |
| ], |
| "std": [ |
| 2.0814157455014914, |
| 2.2904722284914114 |
| ], |
| "count": [ |
| 6005 |
| ] |
| }, |
| "observation.images.cam_left_wrist_rgb": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.09411764705882353 |
| ] |
| ], |
| [ |
| [ |
| 0.03529411764705882 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.4856940045716867 |
| ] |
| ], |
| [ |
| [ |
| 0.4979551656584621 |
| ] |
| ], |
| [ |
| [ |
| 0.4829724219945071 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.3073372176744255 |
| ] |
| ], |
| [ |
| [ |
| 0.31127354694396975 |
| ] |
| ], |
| [ |
| [ |
| 0.3163398570613079 |
| ] |
| ] |
| ], |
| "count": [ |
| 4700 |
| ] |
| }, |
| "index": { |
| "min": [ |
| 0 |
| ], |
| "max": [ |
| 6004 |
| ], |
| "mean": [ |
| 3002.0 |
| ], |
| "std": [ |
| 1733.4941592056202 |
| ], |
| "count": [ |
| 6005 |
| ] |
| }, |
| "eef_direction_action": { |
| "min": [ |
| 0, |
| 0 |
| ], |
| "max": [ |
| 6, |
| 6 |
| ], |
| "mean": [ |
| 3.0541215653621983, |
| 3.449292256452956 |
| ], |
| "std": [ |
| 2.0814157455014914, |
| 2.2904722284914114 |
| ], |
| "count": [ |
| 6005 |
| ] |
| }, |
| "task_index": { |
| "min": [ |
| 0 |
| ], |
| "max": [ |
| 0 |
| ], |
| "mean": [ |
| 0.0 |
| ], |
| "std": [ |
| 0.0 |
| ], |
| "count": [ |
| 6005 |
| ] |
| }, |
| "eef_sim_pose_action": { |
| "min": [ |
| 0.5734904361665558, |
| 0.11405221459618403, |
| 1.0803516078283544, |
| -1.885364650702468, |
| 0.3812171939824187, |
| -2.521733184470889, |
| 0.5501847001493017, |
| -0.2259165840893508, |
| 1.035468406021326, |
| 0.8630283631214035, |
| 0.3447157257812383, |
| 1.8608634876923893 |
| ], |
| "max": [ |
| 0.7843424624447415, |
| 0.24670253626170946, |
| 1.2510775096309468, |
| -0.9190691530658488, |
| 1.2376583761393203, |
| -1.6452493709510079, |
| 0.7752448547100665, |
| -0.04280213264143301, |
| 1.2423914176434883, |
| 1.9971613905880203, |
| 0.9314222171493265, |
| 3.0955601942809947 |
| ], |
| "mean": [ |
| 0.6296669436027188, |
| 0.17388221354732306, |
| 1.1866401954166992, |
| -1.2992650381751758, |
| 0.8849394253638179, |
| -1.9204948475946726, |
| 0.6159735255178943, |
| -0.14605286157129255, |
| 1.1190959133420846, |
| 1.5214486740176636, |
| 0.6633403629858672, |
| 2.3597826130973787 |
| ], |
| "std": [ |
| 0.046405121864805075, |
| 0.023882851566913797, |
| 0.039461619471600234, |
| 0.19996098734508452, |
| 0.1041373041954947, |
| 0.19376522355664372, |
| 0.04705119388970095, |
| 0.04612027512594203, |
| 0.03764773490687631, |
| 0.18178786735198793, |
| 0.09785469681527047, |
| 0.26963440161033553 |
| ], |
| "count": [ |
| 6005 |
| ] |
| }, |
| "observation.images.cam_right_wrist_rgb": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.07058823529411765 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.5687983222952302 |
| ] |
| ], |
| [ |
| [ |
| 0.5770838542535809 |
| ] |
| ], |
| [ |
| [ |
| 0.5629533824398553 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.2949876912323677 |
| ] |
| ], |
| [ |
| [ |
| 0.3035615009376433 |
| ] |
| ], |
| [ |
| [ |
| 0.3113609509375086 |
| ] |
| ] |
| ], |
| "count": [ |
| 4700 |
| ] |
| }, |
| "eef_acc_mag_action": { |
| "min": [ |
| 0, |
| 0 |
| ], |
| "max": [ |
| 2, |
| 2 |
| ], |
| "mean": [ |
| 1.0401332223147377, |
| 0.8930890924229808 |
| ], |
| "std": [ |
| 0.82964714602932, |
| 0.8272385366741527 |
| ], |
| "count": [ |
| 6005 |
| ] |
| }, |
| "eef_sim_pose_state": { |
| "min": [ |
| 0.5734904361665558, |
| 0.11405221459618403, |
| 1.0803516078283544, |
| -1.885364650702468, |
| 0.3812171939824187, |
| -2.521733184470889, |
| 0.5501847001493017, |
| -0.2259165840893508, |
| 1.035468406021326, |
| 0.8630283631214035, |
| 0.3447157257812383, |
| 1.8608634876923893 |
| ], |
| "max": [ |
| 0.7843424624447415, |
| 0.24670253626170946, |
| 1.2510775096309468, |
| -0.9190691530658488, |
| 1.2376583761393203, |
| -1.6452493709510079, |
| 0.7752448547100665, |
| -0.04280213264143301, |
| 1.2423914176434883, |
| 1.9971613905880203, |
| 0.9314222171493265, |
| 3.0955601942809947 |
| ], |
| "mean": [ |
| 0.6296669436027188, |
| 0.17388221354732306, |
| 1.1866401954166992, |
| -1.2992650381751758, |
| 0.8849394253638179, |
| -1.9204948475946726, |
| 0.6159735255178943, |
| -0.14605286157129255, |
| 1.1190959133420846, |
| 1.5214486740176636, |
| 0.6633403629858672, |
| 2.3597826130973787 |
| ], |
| "std": [ |
| 0.046405121864805075, |
| 0.023882851566913797, |
| 0.039461619471600234, |
| 0.19996098734508452, |
| 0.1041373041954947, |
| 0.19376522355664372, |
| 0.04705119388970095, |
| 0.04612027512594203, |
| 0.03764773490687631, |
| 0.18178786735198793, |
| 0.09785469681527047, |
| 0.26963440161033553 |
| ], |
| "count": [ |
| 6005 |
| ] |
| }, |
| "timestamp": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 5.266666666666667 |
| ], |
| "mean": [ |
| 2.1365806272550656 |
| ], |
| "std": [ |
| 1.2706318591511112 |
| ], |
| "count": [ |
| 6005 |
| ] |
| }, |
| "eef_velocity_state": { |
| "min": [ |
| 0, |
| 0 |
| ], |
| "max": [ |
| 2, |
| 2 |
| ], |
| "mean": [ |
| 1.2344712739383847, |
| 1.1658617818484596 |
| ], |
| "std": [ |
| 0.7821770304477066, |
| 0.8853325737115744 |
| ], |
| "count": [ |
| 6005 |
| ] |
| }, |
| "frame_index": { |
| "min": [ |
| 0 |
| ], |
| "max": [ |
| 158 |
| ], |
| "mean": [ |
| 64.09741881765196 |
| ], |
| "std": [ |
| 38.11895577453334 |
| ], |
| "count": [ |
| 6005 |
| ] |
| }, |
| "episode_index": { |
| "min": [ |
| 0 |
| ], |
| "max": [ |
| 46 |
| ], |
| "mean": [ |
| 22.60915903413822 |
| ], |
| "std": [ |
| 13.824182652891393 |
| ], |
| "count": [ |
| 6005 |
| ] |
| } |
| } |
| } |
