diff --git "a/meta/episodes_stats.jsonl" "b/meta/episodes_stats.jsonl" --- "a/meta/episodes_stats.jsonl" +++ "b/meta/episodes_stats.jsonl" @@ -1,26 +1,24 @@ -{"episode_index": 0, "stats": {"observation.state.pose": {"min": [-0.27385300397872925, -0.4216195046901703, 0.10908360779285431, -0.5240268247120683, -0.4255487416335233, -1.1264685647763795], "max": [0.2609754800796509, 0.3157392740249634, 0.5867137908935547, 0.602661993795143, 0.44988144835091814, 0.8275518481529224], "mean": [-0.06899783201811396, -0.009017219529704003, 0.3356317877891411, 0.03447594762189883, -0.02765054084773334, -0.15649270764178322], "std": [0.09611995330859872, 0.11937468416323363, 0.058192477869046216, 0.13205241275018526, 0.11268324018350934, 0.21654922179449282], "count": [1833]}, "observation.state.tool": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1833]}, "observation.state.tcp_force": {"min": [-3.2032940387725826, -4.882828235626221, -9.793123245239258], "max": [3.009058952331543, 8.922638893127441, 7.248682975769042], "mean": [-0.0737187399836503, 1.7016396642035352, -1.1055890337527976], "std": [0.7586221966991958, 1.8189749575740883, 1.984025637788867], "count": [1833]}, "observation.state.tcp_torque": {"min": [-0.11280799657106405, -0.6080120205879211, -0.4583300054073334], "max": [0.14344799518585205, 0.7966870069503784, 0.721813976764679], "mean": [0.014808335500708964, 0.08514924167724405, 0.12026836486890517], "std": [0.02922391284988676, 0.17683431443087827, 0.16365338125931703], "count": [1833]}, "observation.state.joints": {"min": [-1.9253125190734863, -2.0877811908721924, -3.2558538913726807, -2.079869508743286, 1.2489924430847168, -1.8981813192367554], "max": [-0.8545339107513428, -1.3559421300888062, -2.2793476581573486, -1.0092370510101318, 2.1088027954101562, -0.022254768759012222], "mean": [-1.4988134457840012, -1.6233218686540336, -2.665425317247123, -1.5541226474951344, 1.5821425479679763, -0.9422549676522003], "std": [0.225837809099676, 0.15080369716366782, 0.15765766324792166, 0.18069042976398147, 0.1257656498509883, 0.23188338814375353], "count": [1833]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36416014121004203]], [[0.3695717852684145]], [[0.3637120039026847]]], "std": [[[0.2460465844513644]], [[0.23574462037640728]], [[0.24021714262115176]]], "count": [280]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.22230626793927447]], [[0.20914462715127205]], [[0.26275157173980707]]], "std": [[[0.2418222756882372]], [[0.2209096295312947]], [[0.26736655108186924]]], "count": [280]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2171148470910998]], [[0.21413962317437263]], [[0.2719171876981245]]], "std": [[[0.24646433631759845]], [[0.23148020278308165]], [[0.28199088175714226]]], "count": [280]}, "action.pose": {"min": [-0.00903630256652832, -0.010003245435655117, -0.00532258953899145, -0.02082077574970035, -0.014104018887874714, -0.029766068702290673], "max": [0.009909503161907196, 0.01411124411970377, 0.007891915738582611, 0.021357187881322418, 0.01009010429989976, 0.027596687314792263], "mean": [-6.779182907645551e-05, -7.630472250051781e-05, -5.9444884540134215e-05, -2.2721693468555117e-05, 1.276579604696435e-05, -5.409892103242142e-05], "std": [0.002411482445740593, 0.003286784736664542, 0.0017797578695202582, 0.0043957955483133705, 0.0029907908907062463, 0.007440855041565476], "count": [1833]}, "action.tool": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1833]}, "action.joints": {"min": [-0.02100914716720581, -0.016624927520751953, -0.015057086944580078, -0.017145514488220215, -0.019305706024169922, -0.03144407272338867], "max": [0.021266937255859375, 0.013995170593261719, 0.020932435989379883, 0.020264625549316406, 0.014554381370544434, 0.028748035430908203], "mean": [-0.0002799026964794269, 0.00018933257105848176, 2.5337924738757545e-05, 7.454544686294678e-05, -3.436063068262944e-05, 6.487326614205069e-05], "std": [0.005742221998516587, 0.0038862973535437914, 0.0045768710709722235, 0.005584048902016116, 0.003868688342337508, 0.007966908597601309], "count": [1833]}, "timestamp": {"min": [0.0], "max": [36.64], "mean": [18.32], "std": [10.582828859367739], "count": [1833]}, "frame_index": {"min": [0], "max": [1832], "mean": [916.0], "std": [529.141442968387], "count": [1833]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1833]}, "index": {"min": [0], "max": [1832], "mean": [916.0], "std": [529.141442968387], "count": [1833]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1833]}}} -{"episode_index": 1, "stats": {"observation.state.pose": {"min": [-0.24714800715446472, -0.325230211019516, 0.08195403218269348, -0.055799720421139065, -0.1824202316223329, -0.5735905325470705], "max": [-0.00034031562972813845, 0.05981118604540825, 0.35960260033607483, 0.4794232758497141, 0.05681937444728735, -0.024777777984950747], "mean": [-0.18048105244606602, -0.02744812801306972, 0.2544439799678973, 0.32915473115719096, 0.004428885133386835, -0.1127339120762665], "std": [0.027773742256810646, 0.054243102314480984, 0.03802814320517885, 0.1331477529688982, 0.03542629805502488, 0.0462461599143089], "count": [313]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.31309904153354634], "std": [0.46375427946739317], "count": [313]}, "observation.state.tcp_force": {"min": [-23.31765556335449, -8.944040298461914, -10.60812664031983], "max": [7.694949150085448, 15.16068172454834, 7.986875057220459], "mean": [0.3016812100935095, 3.972834438287888, 2.772660515654963], "std": [2.901500857488083, 1.6650408788203894, 2.1485488371205133], "count": [313]}, "observation.state.tcp_torque": {"min": [-0.079636998474598, -2.8502860069274902, -3.377450942993164], "max": [0.05401400104165056, 4.085740089416504, 4.057441234588623], "mean": [-0.03495474121296786, -0.44972650566474554, 0.4347797931564716], "std": [0.028397198388688615, 0.5515628650125278, 0.43239088273681], "count": [313]}, "observation.state.joints": {"min": [-2.0501303672790527, -1.6810656785964966, -3.0346572399139404, -1.56894850730896, 1.4024451971054077, -1.337457537651062], "max": [-1.6364164352416992, -1.2835997343063354, -2.7131588459014893, -1.0174328088760376, 2.0370848178863525, -0.7989338040351868], "mean": [-1.9294191278969517, -1.4033647627114487, -2.9159179282264587, -1.2792019307042082, 1.880419384176358, -1.2187377726688933], "std": [0.09497286294540311, 0.044020330020073134, 0.10244279342163647, 0.1050617239012387, 0.138631202902512, 0.1106299043967798], "count": [313]}, "observation.images.side": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38946864213850335]], [[0.3983057663215099]], [[0.39601889549827424]]], "std": [[[0.26695016116225273]], [[0.25535404119785987]], [[0.2583391956883362]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.250739367384814]], [[0.2323112692649076]], [[0.2580496151053014]]], "std": [[[0.26362482655295844]], [[0.24242580949370035]], [[0.27840125019620854]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2780666828048092]], [[0.26026758492697494]], [[0.26280633906237394]]], "std": [[[0.31415595601617896]], [[0.2904313825047538]], [[0.30682686346898475]]], "count": [100]}, "action.pose": {"min": [-0.0013107311679050324, -0.00330271665006876, -0.0015617304015904667, -0.012718934916361398, -0.004180881431509631, -0.001108061626525323], "max": [0.002884877845644951, 0.0015993802808225155, 0.004655776079744101, 0.004479030715667718, 0.002793808559369726, 0.0048257454405522884], "mean": [0.0004933486125075445, -0.0005557528088582203, 0.0004154169657119554, -0.0011942147224854145, -0.0002695564773673734, 0.0006256240339370887], "std": [0.000905146012826574, 0.0011084316182529501, 0.0014544430679171035, 0.0037261789763588047, 0.0013664678360214499, 0.0011174076132343387], "count": [313]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.31309904153354634], "std": [0.46375427946739317], "count": [313]}, "action.joints": {"min": [-0.004367232322692871, -0.005271479487419128, -0.00548553466796875, -0.010472714900970459, -0.01388692855834961, -0.006749629974365234], "max": [0.00782167911529541, 0.0031381696462631226, 0.010197877883911133, 0.005005285143852234, 0.004546165466308594, 0.006023883819580078], "mean": [0.001158903582027545, -0.0005147026750607232, 0.0001059721072260945, -0.0009299867318574185, -0.0011884393021702386, -0.0005650870716229034], "std": [0.0030887755134549923, 0.0018265578518196915, 0.0031817646221758747, 0.003391353212273582, 0.004034140697521902, 0.0031309714349463482], "count": [313]}, "timestamp": {"min": [0.0], "max": [6.24], "mean": [3.1199999999999997], "std": [1.8070971196922427], "count": [313]}, "frame_index": {"min": [0], "max": [312], "mean": [156.0], "std": [90.35485598461214], "count": [313]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [313]}, "index": {"min": [1833], "max": [2145], "mean": [1989.0], "std": [90.35485598461214], "count": [313]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [313]}}} -{"episode_index": 2, "stats": {"observation.state.pose": {"min": [-0.1944604367017746, -0.32648852467536926, 0.07757515460252762, -0.27457023704763306, -0.19164416959372965, -0.5687829852737218], "max": [0.013475798070430756, 0.41245609521865845, 0.349692702293396, 0.12401598477655995, 0.19999334467247198, 0.1270985566943152], "mean": [-0.10635744283502105, -0.2537706473758861, 0.21355074449484027, -0.16849931025988854, -0.0073898524511333205, -0.009808977738024345], "std": [0.0599654999960265, 0.07147996963290085, 0.06117622827897748, 0.08636164014397422, 0.0773831189676492, 0.17773500355586946], "count": [268]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.39925373134328357], "std": [0.4897450248361373], "count": [268]}, "observation.state.tcp_force": {"min": [-29.110841751098633, -12.052517890930176, -10.865280151367188], "max": [7.655327796936037, 9.316488265991211, 0.7443789839744543], "mean": [-1.9444662893309133, -0.4633029770147778, -5.265223355574617], "std": [8.726617989498777, 3.4343034686602056, 2.2034503957826868], "count": [268]}, "observation.state.tcp_torque": {"min": [-0.08022700250148679, -1.2206549644470215, -4.594653129577637], "max": [0.12029299885034549, 4.030303955078125, 2.9200971126556396], "mean": [0.06940831709609709, 0.7128984804982806, -0.417490115024344], "std": [0.03534280295091024, 0.866464433730774, 1.1785614010670027], "count": [268]}, "observation.state.joints": {"min": [-1.92281174659729, -1.9217721223831177, -2.9404921531677246, -1.5909010171890259, 1.3359922170639038, -1.4583996534347534], "max": [-1.5517656803131104, -1.4712990522384644, -2.327740430831909, -1.0132864713668823, 1.8046435117721558, -0.6093361973762512], "mean": [-1.7741463651408012, -1.5622538786325881, -2.7849620829767257, -1.4292490500122754, 1.4029160506689726, -1.2064756437468884], "std": [0.07263119786660596, 0.07284804207787315, 0.09592620916804166, 0.18694442196128827, 0.06687254584583385, 0.14333727523336673], "count": [268]}, "observation.images.side": {"min": [[[0.0]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3919750458985092]], [[0.40040218403466254]], [[0.39849860321656755]]], "std": [[[0.26429559528616636]], [[0.2521125531069243]], [[0.25531879305503236]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.20381044944726862]], [[0.20792970063745664]], [[0.2793171645283628]]], "std": [[[0.19227605384843513]], [[0.17942279336734251]], [[0.23718990136158552]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.22854164931816345]], [[0.24605033809408539]], [[0.33870937787460664]]], "std": [[[0.24477601810831442]], [[0.23829064012675846]], [[0.3079392568577749]]], "count": [100]}, "action.pose": {"min": [-0.003279872005805373, -0.001789752277545631, -0.0015602888306602836, -0.00436651379613791, -0.004041175419753795, -0.003355392758340168], "max": [0.0019905467052012673, 0.005036648362874985, 0.010473928414285183, 0.017945603863418886, 0.010381612940334461, 0.021045651482247615], "mean": [-0.0004302353089983694, 0.0007332294411025602, 0.0011314983417839777, 0.0007781163074956223, 0.0003856998062454963, 0.0022605671486138424], "std": [0.00126816038325123, 0.0011025723737021743, 0.001984415370957065, 0.0032634095736693617, 0.0027114458339421617, 0.005797483743714164], "count": [268]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.39925373134328357], "std": [0.4897450248361373], "count": [268]}, "action.joints": {"min": [-0.0040738582611083984, -0.004244327545166016, -0.006709575653076172, -0.022913306951522827, -0.0036028623580932617, -0.021921157836914062], "max": [0.013819575309753418, 0.007461071014404297, 0.0055694580078125, 0.003962598741054535, 0.01101839542388916, 0.008938789367675781], "mean": [0.001132189782697763, 0.0007959584125192531, 0.00046634763034422006, -0.0021049489437449556, 0.0008149889867697189, -0.001734552098743951], "std": [0.003745379623757169, 0.002072479123887991, 0.002348472200746041, 0.005117405776312091, 0.002733065293112385, 0.006301479949228233], "count": [268]}, "timestamp": {"min": [0.0], "max": [5.34], "mean": [2.67], "std": [1.5472879499304582], "count": [268]}, "frame_index": {"min": [0], "max": [267], "mean": [133.5], "std": [77.36439749652291], "count": [268]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [268]}, "index": {"min": [2146], "max": [2413], "mean": [2279.5], "std": [77.36439749652291], "count": [268]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [268]}}} -{"episode_index": 3, "stats": {"observation.state.pose": {"min": [-0.19682028889656067, -0.28110796213150024, 0.11118485778570175, -0.03273804903563905, -0.1114515936171172, -0.1429802193157664], "max": [-0.04939896985888481, 0.4154222905635834, 0.42051711678504944, 0.2278753433750444, 0.41869328155631935, 0.3122058110640129], "mean": [-0.13321052248936913, -0.03179336886103379, 0.2761873839624252, 0.05843110385951192, 0.17628780917153627, 0.1106316959725547], "std": [0.041537085672995445, 0.2527918749529719, 0.0767425641121666, 0.08277991412643426, 0.14775809665803938, 0.14584929283266354], "count": [287]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.2926829268292683], "std": [0.45499410015067393], "count": [287]}, "observation.state.tcp_force": {"min": [-2.293859958648681, -0.1052900031208992, -4.98422384262085], "max": [2.1410770416259775, 8.103377342224121, 1.919082999229431], "mean": [-0.20573121922914878, 4.610410165862676, -2.4539526039896735], "std": [0.8304476906998804, 1.8023022978031715, 1.5768208365890508], "count": [287]}, "observation.state.tcp_torque": {"min": [-0.026260999962687513, -0.29194098711013794, -0.07159899920225143], "max": [0.07257100194692594, 0.6206820011138916, 0.8704400062561035], "mean": [0.02640969677299309, 0.1704420283122819, 0.3730963212973357], "std": [0.024014998781391333, 0.1364812285191858, 0.18195573223676698], "count": [287]}, "observation.state.joints": {"min": [-1.6732470989227295, -1.9209548234939575, -2.9634509086608887, -1.8693100214004517, 1.5054476261138916, -1.6902984380722046], "max": [-1.3587524890899658, -1.5086742639541626, -2.3214659690856934, -1.2362045049667358, 1.804547667503357, -0.6055224537849426], "mean": [-1.44207745105132, -1.7576519221794316, -2.7301118199418233, -1.6388794794315245, 1.6310250447602221, -1.2699231414014038], "std": [0.06972022754461982, 0.11187305080303057, 0.22688048817586454, 0.19784804446674334, 0.10355328798256153, 0.37289401343009665], "count": [287]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39508658294778587]], [[0.40207874568554014]], [[0.40145926268634796]]], "std": [[[0.256430142684612]], [[0.24638910609295944]], [[0.24911175353504353]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.27860400225933996]], [[0.24428101508916325]], [[0.26694851609779713]]], "std": [[[0.3010618751944281]], [[0.2595438049321309]], [[0.2820973634142362]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.23848833857822965]], [[0.2279660243685952]], [[0.27061859275397404]]], "std": [[[0.288262825438179]], [[0.2632479424473896]], [[0.3000858295333493]]], "count": [100]}, "action.pose": {"min": [-0.002493020612746477, -0.013183862902224064, -0.0028229146264493465, -0.010200462767763442, -0.014798448740640291, -0.0052022711790998145], "max": [0.0022897918242961164, 0.003837066236883402, 0.007843893952667713, 0.00526478498364543, 0.00704194856585838, 0.0075407670212502605], "mean": [0.00038386137843038104, -0.001830822722942086, 0.0014127855522133755, -0.0006786512489182434, -0.0009250068387699124, 0.0007829753152864127], "std": [0.0012054286238547358, 0.004411983736017253, 0.002629358466642864, 0.0027824689019090407, 0.00441725912173413, 0.00291744906683952], "count": [287]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.2926829268292683], "std": [0.45499410015067393], "count": [287]}, "action.joints": {"min": [-0.009844541549682617, -0.0047092437744140625, -0.013813257217407227, -0.01197495311498642, -0.009551644325256348, -0.02005910873413086], "max": [0.010591387748718262, 0.012386322021484375, 0.003607511520385742, 0.007465362548828125, 0.0028023719787597656, 0.00836038589477539], "mean": [0.00023403026501060779, 0.0014346807242698889, -0.0015164617877388665, -0.0012875631441871672, -0.0010333239824514356, -0.002367785583389761], "std": [0.003590524523777716, 0.0035019187448635295, 0.004342231347087119, 0.004161447083109633, 0.002378600177337604, 0.006862244628728971], "count": [287]}, "timestamp": {"min": [0.0], "max": [5.72], "mean": [2.8600000000000003], "std": [1.6569852141766384], "count": [287]}, "frame_index": {"min": [0], "max": [286], "mean": [143.0], "std": [82.84926070883192], "count": [287]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [287]}, "index": {"min": [2414], "max": [2700], "mean": [2557.0], "std": [82.84926070883192], "count": [287]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [287]}}} -{"episode_index": 4, "stats": {"observation.state.pose": {"min": [-0.1813085824251175, -0.16504205763339996, 0.13838613033294678, 0.022674109430324645, -0.15770456385957354, -0.07477173775039814], "max": [-0.02841348759829998, 0.12055523693561554, 0.39572152495384216, 0.4874032259109933, -0.013054509673248393, 0.07797149246095195], "mean": [-0.12837208388225427, 0.030069398708800446, 0.2724208518153145, 0.31228855994586324, -0.07530387975938424, -0.019169292182967992], "std": [0.05440910879164851, 0.05136151475412735, 0.04523879618329725, 0.13748959494674484, 0.041407365846514235, 0.04050378805333273], "count": [315]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.3142857142857143], "std": [0.4642307659791977], "count": [315]}, "observation.state.tcp_force": {"min": [-2.6930859088897714, -1.7573930025100708, -3.848865985870361], "max": [12.501709938049315, 12.118942260742188, 12.431007385253906], "mean": [1.6306231925722268, 2.8555649205968376, 3.67564960873671], "std": [3.679465655447248, 1.656532919450534, 3.365677893706173], "count": [315]}, "observation.state.tcp_torque": {"min": [-0.08096999675035482, -4.403271198272705, -0.26584699749946594], "max": [0.05280999839305863, 0.4249350130558014, 3.5767340660095215], "mean": [-0.029742901648823483, -0.7855623915968907, 0.34288352245376225], "std": [0.030330222155898534, 1.0464273492727367, 0.4452929966302633], "count": [315]}, "observation.state.joints": {"min": [-2.0893008708953857, -1.6468249559402466, -2.973412275314331, -1.665852665901184, 1.5690248012542725, -1.3733786344528198], "max": [-1.5352654457092285, -1.3178677558898926, -2.6470935344696045, -1.0409941673278809, 2.0219430923461914, -1.087157130241394], "mean": [-1.8690430304360768, -1.4447027603785196, -2.825669447580973, -1.2349256492796399, 1.8410181696452792, -1.2290137007122948], "std": [0.1710277529067643, 0.0992854185193026, 0.1296602917762867, 0.1529280897413734, 0.1404081873437909, 0.08870588901029697], "count": [315]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39619890871704483]], [[0.40554575163398693]], [[0.40467653961959316]]], "std": [[[0.2687045334959481]], [[0.2574504666543732]], [[0.25972828807004433]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2531122520777858]], [[0.22235095779875738]], [[0.23812224481562172]]], "std": [[[0.27615011935666256]], [[0.2482941065369156]], [[0.2793759654767825]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3432903493907851]], [[0.3049718518518518]], [[0.31600767368675864]]], "std": [[[0.35792839656458697]], [[0.3264349409818119]], [[0.34390271126964816]]], "count": [100]}, "action.pose": {"min": [-0.004752924665808678, -0.002517425687983632, -0.0018882832955569033, -0.014881932437327598, -0.004065435950324936, -0.003873663212086211], "max": [0.0015130437677726145, 0.0012152314884588122, 0.0064122434705495834, 0.005860531426851228, 0.003060791670410179, 0.003682477649713172], "mean": [-0.00027669087878368575, -0.0004892283747678795, 0.0006537732577617098, -0.0006153989101843547, 1.019943485134944e-05, -5.2298877278083273e-05], "std": [0.0013256848960869546, 0.0007629299304299477, 0.0017729392453991995, 0.004035265800399922, 0.0013868748583899192, 0.0013133175511408004], "count": [315]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.3142857142857143], "std": [0.46423076597919766], "count": [315]}, "action.joints": {"min": [-0.012700915336608887, -0.0032553672790527344, -0.00605010986328125, -0.01622629165649414, -0.01605689525604248, -0.007544994354248047], "max": [0.01493525505065918, 0.007236585021018982, 0.013014793395996094, 0.007760047912597656, 0.006581306457519531, 0.011014461517333984], "mean": [0.0004504779028514075, 0.0005272622271958325, -1.7384120396205356e-05, -0.0012859705066870129, -0.0005140788971431672, -6.235364883665055e-05], "std": [0.004891153460684813, 0.0023055525136608346, 0.003544376350067335, 0.0043652513041132325, 0.004382615500503463, 0.0029875114826863965], "count": [315]}, "timestamp": {"min": [0.0], "max": [6.28], "mean": [3.1399999999999997], "std": [1.8186441836342442], "count": [315]}, "frame_index": {"min": [0], "max": [314], "mean": [157.0], "std": [90.93220918171221], "count": [315]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [315]}, "index": {"min": [2701], "max": [3015], "mean": [2858.0], "std": [90.93220918171221], "count": [315]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [315]}}} -{"episode_index": 5, "stats": {"observation.state.pose": {"min": [-0.10872063040733337, -0.2918790280818939, 0.13839957118034363, -0.09342731313491362, -0.2403624485437561, -0.19557182951065705], "max": [-0.03219284117221832, 0.27895787358283997, 0.382147878408432, 0.031959005208538296, -0.0068393621426059426, 0.2622142078292016], "mean": [-0.06853645333641134, -0.011131797147223487, 0.2763047477444716, -0.03962200381568804, -0.11757041811962163, 0.0359000612515386], "std": [0.01943544483779999, 0.2056971059608722, 0.0699085886138107, 0.03124852714296617, 0.04198135898591853, 0.16224558319762752], "count": [452]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.45132743362831856], "std": [0.49762534228352384], "count": [452]}, "observation.state.tcp_force": {"min": [-2.025933027267455, -2.9168059825897217, -4.4750847816467285], "max": [2.5835990905761728, 3.0418670177459717, 0.006171999964862955], "mean": [0.3352816349489871, -0.17992170753595688, -2.046959882687604], "std": [0.8403705076762172, 0.931076563067188, 0.8380841192711442], "count": [452]}, "observation.state.tcp_torque": {"min": [0.009538000449538233, -0.09354099631309509, -0.5014430284500122], "max": [0.08559700101614003, 0.512686014175415, 0.30608099699020386], "mean": [0.03955264600092726, 0.16154366839302095, -0.07480323421977464], "std": [0.017316044487644518, 0.10685570872604201, 0.12473377538140096], "count": [452]}, "observation.state.joints": {"min": [-2.0982613563537598, -1.842988133430481, -2.9845662117004395, -1.652309536933899, 1.404794692993164, -1.600122332572937], "max": [-1.408491611480713, -1.311625361442566, -2.248203992843628, -1.0413933992385864, 1.5684893131256104, -0.4843605160713196], "mean": [-1.6449825568536742, -1.5865667747185292, -2.599742050719472, -1.403334876077365, 1.4816117389539702, -1.071148981958364], "std": [0.17570213489751618, 0.1324828623582039, 0.25604943504286487, 0.1566681835518079, 0.04078283841089731, 0.4122607159347772], "count": [452]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3985187838730998]], [[0.4069396519057061]], [[0.4056246192259675]]], "std": [[[0.2623725812012038]], [[0.2505588340110624]], [[0.2526316569441796]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.261720342128621]], [[0.24824906640845637]], [[0.28720864197530865]]], "std": [[[0.2728763920288404]], [[0.24928718023892785]], [[0.28290323651300175]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25578944888243366]], [[0.23889069151940612]], [[0.2729365561203905]]], "std": [[[0.27073873259832876]], [[0.24608803453281333]], [[0.2805207369472695]]], "count": [100]}, "action.pose": {"min": [-0.0018213351722806705, -0.010239161550998688, -0.004646660760045052, -0.004142777058782048, -0.0051504304417751, -0.007143455221728125], "max": [0.0017238714499399053, 0.012243209406733513, 0.007141759619116783, 0.005780559663021484, 0.004810713648870646, 0.007217975203733672], "mean": [-0.0001353028935284832, 5.603118109670464e-05, 0.0005455075971697793, -0.0001746031110174606, 0.00010316089536405073, 0.0001634953393763763], "std": [0.000775773244522296, 0.0035914440306162483, 0.0026221335787579175, 0.0016020442991796888, 0.0016576679383856453, 0.002537764458643207], "count": [452]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.45132743362831856], "std": [0.49762534228352384], "count": [452]}, "action.joints": {"min": [-0.010802984237670898, -0.007930755615234375, -0.010068416595458984, -0.014614373445510864, -0.004073381423950195, -0.01365041732788086], "max": [0.01013493537902832, 0.005430638790130615, 0.01019906997680664, 0.012189723551273346, 0.004078984260559082, 0.014869213104248047], "mean": [0.0008411615823222473, 0.00018330640365592146, 0.00020596622365765866, -0.0011595149851090943, -0.00011285216407438296, 4.812362974723883e-05], "std": [0.004334893778135897, 0.002848327220418179, 0.004433021218300575, 0.0055425695316547, 0.0015492240674625513, 0.006702135063103113], "count": [452]}, "timestamp": {"min": [0.0], "max": [9.02], "mean": [4.51], "std": [2.609616830111271], "count": [452]}, "frame_index": {"min": [0], "max": [451], "mean": [225.5], "std": [130.48084150556357], "count": [452]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [452]}, "index": {"min": [3016], "max": [3467], "mean": [3241.5], "std": [130.48084150556357], "count": [452]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [452]}}} -{"episode_index": 6, "stats": {"observation.state.pose": {"min": [-0.1229962483048439, -0.29309362173080444, 0.1926708221435547, -0.1284581939657775, -0.5051753932964307, -0.09801182097847777], "max": [0.14270545542240143, 0.26204997301101685, 0.4139391779899597, 0.07186539911776164, -0.1376256552308679, 0.8720469795860103], "mean": [-0.04868282115198368, 0.014123775751696403, 0.29329676138745114, 0.016910624408616064, -0.3465210020072132, 0.03174958404695443], "std": [0.05194487447411342, 0.12936238618575563, 0.05603816300068516, 0.0347769025687346, 0.12863385639457028, 0.07717503475156653], "count": [352]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.3352272727272727], "std": [0.4720698553679396], "count": [352]}, "observation.state.tcp_force": {"min": [-18.55445671081543, -14.032821655273438, -3.8568899631500235], "max": [11.94372272491455, 1.1233199834823608, 6.635062217712401], "mean": [-0.49313055132403283, -3.7980651701833597, 0.5946939334336837], "std": [4.783591233768618, 2.8265845980336666, 1.6623208613099802], "count": [352]}, "observation.state.tcp_torque": {"min": [-0.022097999230026522, -2.9308691024780273, -4.941743850708008], "max": [0.07245600223541307, 1.5388879776000977, 0.15332099795341492], "mean": [0.02305526425268255, -0.2924478985597871, -0.701200081848087], "std": [0.018910878978757522, 0.6635644146403943, 0.8886795238975871], "count": [352]}, "observation.state.joints": {"min": [-2.1003527641296387, -1.854237675666809, -2.984123468399048, -1.5479254722595215, 1.1920688152313232, -1.7664111852645874], "max": [-1.3953410387039185, -1.2318971157073975, -2.278242826461792, -0.9048665761947632, 1.5369718074798584, -0.838126003742218], "mean": [-1.939712618900971, -1.3574765046889132, -2.480016055432233, -1.1304245972159235, 1.3756982105022126, -0.9800118768418377], "std": [0.145951770456452, 0.06583211836050741, 0.209340072853087, 0.17912977553061807, 0.12624238058431927, 0.15259028222800283], "count": [352]}, "observation.images.side": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3909359242123816]], [[0.39954655797899685]], [[0.39860606300947343]]], "std": [[[0.25973276841360776]], [[0.24749675282342973]], [[0.24986891561906624]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2779119051077221]], [[0.2571374872912128]], [[0.2995338207052368]]], "std": [[[0.30684929951746576]], [[0.2780467661725789]], [[0.30743241191670306]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29734117485677397]], [[0.26405466150246104]], [[0.2961348987331558]]], "std": [[[0.3238761107624395]], [[0.29120916869823144]], [[0.31667993247327336]]], "count": [100]}, "action.pose": {"min": [-0.0036821537651121616, -0.005434862803667784, -0.005184355657547712, -0.0025697973959321095, -0.006722500280889054, -0.0050391747891384425], "max": [0.003994010388851165, 0.00820743665099144, 0.005861593410372735, 0.004668255710904727, 0.006629748410589498, 0.005382411903799378], "mean": [0.00017096494995592264, 0.000707266724801511, 0.0006109659564065788, 0.00014108642599478273, 0.00021307774858560097, -0.00022172649421855022], "std": [0.001486144803193661, 0.002764391232874295, 0.002135516471685732, 0.0015264159717406456, 0.0025331535315616265, 0.0018727878768047216], "count": [352]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.3352272727272727], "std": [0.4720698553679396], "count": [352]}, "action.joints": {"min": [-0.008515477180480957, -0.004287660121917725, -0.006791830062866211, -0.011686146259307861, -0.006832122802734375, -0.004512310028076172], "max": [0.011928319931030273, 0.00425875186920166, 0.01245260238647461, 0.013276427984237671, 0.007428884506225586, 0.01252889633178711], "mean": [0.001541551879861138, -0.0004176940895955671, 0.0008816312659870495, -0.0013661473005248065, -6.982921199365096e-05, 0.0010472319342873313], "std": [0.0035059134142649785, 0.0015884925408556393, 0.004515219247670756, 0.004526891851003406, 0.0028198117566881915, 0.003375984205653682], "count": [352]}, "timestamp": {"min": [0.0], "max": [7.02], "mean": [3.51], "std": [2.0322647465327934], "count": [352]}, "frame_index": {"min": [0], "max": [351], "mean": [175.5], "std": [101.61323732663968], "count": [352]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [352]}, "index": {"min": [3468], "max": [3819], "mean": [3643.5], "std": [101.61323732663968], "count": [352]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [352]}}} -{"episode_index": 7, "stats": {"observation.state.pose": {"min": [-0.10555785149335861, -0.21707352995872498, 0.13613075017929077, -0.2513154722819993, -0.3002097227399305, -0.5707521884012791], "max": [0.14409871399402618, 0.2626165747642517, 0.37898489832878113, 0.18380315001492564, -0.11728309521896985, 0.8735962150761324], "mean": [0.041787199241384985, -0.04053635570744518, 0.26202722013528856, -0.07364416621325671, -0.20072585301795287, -0.03496079809058902], "std": [0.04969400823114783, 0.16302125478934978, 0.06566819434152352, 0.12041400673032593, 0.03732413737820266, 0.2807912225772211], "count": [336]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.25892857142857145], "std": [0.43804630614414575], "count": [336]}, "observation.state.tcp_force": {"min": [-10.142375946044922, -9.00045394897461, -5.13059902191162], "max": [3.7267479896545406, 1.5999599695205688, 3.3096039295196533], "mean": [-0.1556350048867032, -1.7240470593453556, -2.021068213928846], "std": [2.0148923650876522, 1.4886923513320942, 1.6493279797263425], "count": [336]}, "observation.state.tcp_torque": {"min": [-0.0020260000601410254, -2.3083040714263916, -3.1646978855133057], "max": [0.11103799939155551, 0.5368490219116211, 1.2362970113754272], "mean": [0.0542318183334839, 0.039637172304147886, -0.2754746028873515], "std": [0.03075700722896152, 0.40575599111084054, 0.5270486049235328], "count": [336]}, "observation.state.joints": {"min": [-2.2239978313446045, -1.854045033454895, -2.7378809452056885, -1.4670079946517944, 1.26387357711792, -1.7713907957077026], "max": [-1.3944709300994873, -1.340113639831543, -2.302973508834839, -0.9098249077796936, 1.5211052894592285, -0.22631865739822388], "mean": [-1.6437175128431547, -1.650965432325999, -2.624875158781097, -1.2812351188844158, 1.4051596586193358, -1.0244887260099251], "std": [0.13538731478057578, 0.10742141970133193, 0.09359291023240297, 0.09281014231647113, 0.08900460583467573, 0.22679949937175786], "count": [336]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38365533230520676]], [[0.3911122626129103]], [[0.38975917456121023]]], "std": [[[0.25317004843896834]], [[0.2414277916020988]], [[0.24500452818693086]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2588534737351731]], [[0.2584236907931897]], [[0.3024664649398854]]], "std": [[[0.2775780668420361]], [[0.26619139759991767]], [[0.29773526483130436]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.21701934801904302]], [[0.21660350843217946]], [[0.26154221253933674]]], "std": [[[0.2558062641673675]], [[0.24264163407725095]], [[0.28568320647347806]]], "count": [100]}, "action.pose": {"min": [-0.00243946211412549, -0.011742494069039822, -0.0040523060597479335, -0.007226024577324407, -0.004616227660833916, -0.029213738003947762], "max": [0.0036102931480854754, 0.004674361553043127, 0.009277508594095707, 0.009146146253619751, 0.004586587961492361, 0.005943950231002692], "mean": [-0.00028030366169132107, -0.0007486099378820452, 0.0004688618672183847, -0.00014149765986208582, 0.0001463140133565684, -0.003006333606047823], "std": [0.0012172145421540446, 0.003443256993933248, 0.002423268190787162, 0.003240304776503562, 0.0019244920968281385, 0.007511207948369015], "count": [336]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.25892857142857145], "std": [0.43804630614414575], "count": [336]}, "action.joints": {"min": [-0.009116291999816895, -0.00680156983435154, -0.008891105651855469, -0.009667843580245972, -0.007527709007263184, -0.013912200927734375], "max": [0.006567478179931641, 0.009773597121238708, 0.002103567123413086, 0.006942480802536011, 0.007907748222351074, 0.030034542083740234], "mean": [-0.0007599407718295143, 0.0011963622001487585, -0.0005166161627996535, -0.0005456110285151572, 7.171112866628737e-05, 0.0024537742137908936], "std": [0.002939839804568996, 0.003362453497974426, 0.002344955790392667, 0.0036079663912854153, 0.0026800417628551313, 0.008100645536073101], "count": [336]}, "timestamp": {"min": [0.0], "max": [6.7], "mean": [3.3499999999999996], "std": [1.9398883129362543], "count": [336]}, "frame_index": {"min": [0], "max": [335], "mean": [167.5], "std": [96.99441564681271], "count": [336]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [336]}, "index": {"min": [3820], "max": [4155], "mean": [3987.5], "std": [96.99441564681271], "count": [336]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [336]}}} -{"episode_index": 8, "stats": {"observation.state.pose": {"min": [-0.20164358615875244, -0.026108775287866592, 0.12566925585269928, -0.3734858859422037, -0.2995819619693516, -0.5703985282353667], "max": [0.09886988997459412, 0.06893112510442734, 0.6121566295623779, 0.18336220771716522, -0.0669005263482223, 0.0526040977504483], "mean": [-0.0137382585405108, 0.012773493322599078, 0.26197380367541473, -0.11005336216923607, -0.15872891795326236, -0.1675148476857294], "std": [0.07198345235713842, 0.026529629634296923, 0.053141146773786264, 0.18074374891478837, 0.039473204218162375, 0.09606158789053278], "count": [596]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.45805369127516776], "std": [0.4982374004271066], "count": [596]}, "observation.state.tcp_force": {"min": [-26.3972225189209, -10.648052215576172, -15.128394126892088], "max": [9.82696342468262, 8.49781322479248, 3.389880895614624], "mean": [-2.6249494454817572, -0.8524979797692738, -2.6588520991302254], "std": [7.068185585995292, 1.6112333716102356, 3.40834234673616], "count": [596]}, "observation.state.tcp_torque": {"min": [-0.04639599844813348, -2.883924961090088, -3.176909923553467], "max": [0.287050008773804, 3.630089044570923, 3.6515378952026367], "mean": [0.05129790952884875, 0.2089610496054805, -0.03012307815950273], "std": [0.054196687301404124, 0.758369968713423, 0.5311776724923499], "count": [596]}, "observation.state.joints": {"min": [-2.223710060119629, -1.961652398109436, -2.659238576889038, -1.9957224130630493, 1.1996515989303589, -0.9475415349006653], "max": [-1.1626887321472168, -1.3407363891601562, -2.303419589996338, -0.9074116349220276, 1.5384855270385742, -0.2268574833869934], "mean": [-1.601732098416194, -1.6646478126113047, -2.4938572625185818, -1.4247811837684388, 1.3793005167237864, -0.7465253024293272], "std": [0.2582300711318208, 0.16725676342634174, 0.10191651530531623, 0.22595049563414718, 0.12625649723715685, 0.14195649320112524], "count": [596]}, "observation.images.side": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3877114366845365]], [[0.39426956378056843]], [[0.39223684120339775]]], "std": [[[0.25239920297508767]], [[0.24153104445521761]], [[0.2453204772558601]]], "count": [120]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.22870725543989887]], [[0.22571273433927755]], [[0.273878547029237]]], "std": [[[0.24530760252416084]], [[0.23041211210219525]], [[0.2713353453889798]]], "count": [120]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2632512130503779]], [[0.25896601307189543]], [[0.3051652626482692]]], "std": [[[0.29549690264096473]], [[0.28435618591423273]], [[0.3190647383301126]]], "count": [120]}, "action.pose": {"min": [-0.0039707873947918415, -0.0025107599794864655, -0.0028752025682479134, -0.007649147311176375, -0.005676950286292337, -0.004733733235720385], "max": [0.0056350906379520884, 0.003137514228001237, 0.0048783342353999615, 0.009395977325071418, 0.01030288535594126, 0.009862401054563341], "mean": [3.276795932711838e-05, -7.432375246209033e-05, 0.0002970552379556405, -0.00020447562415913822, 0.00036808588499340417, 0.0007379452701260287], "std": [0.002020463687559379, 0.000947775505118268, 0.0014767507788755847, 0.0028226328465469352, 0.0022833652279751686, 0.0024966833610957882], "count": [596]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.45805369127516776], "std": [0.4982374004271066], "count": [596]}, "action.joints": {"min": [-0.006175637245178223, -0.007415696978569031, -0.010729312896728516, -0.01560954749584198, -0.006734013557434082, -0.014433860778808594], "max": [0.014285445213317871, 0.0049648284912109375, 0.004426717758178711, 0.014917448163032532, 0.009273052215576172, 0.0034971237182617188], "mean": [0.0009431630973047858, -0.00022073876377954555, -0.00032848039729483177, -0.0009723521844052629, 0.0002821869898162432, -0.0010231941338353508], "std": [0.004564684427816768, 0.00296959844466862, 0.002435966985619125, 0.00456590892298826, 0.0026606503333545593, 0.0034373707463192433], "count": [596]}, "timestamp": {"min": [0.0], "max": [11.9], "mean": [5.949999999999999], "std": [3.441002760824234], "count": [596]}, "frame_index": {"min": [0], "max": [595], "mean": [297.5], "std": [172.0501380412117], "count": [596]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [596]}, "index": {"min": [4156], "max": [4751], "mean": [4453.5], "std": [172.0501380412117], "count": [596]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [596]}}} -{"episode_index": 9, "stats": {"observation.state.pose": {"min": [-0.22678792476654053, -0.34223541617393494, 0.1824670433998108, -0.06507167372405259, -0.3471995843696425, -0.15227392369905765], "max": [0.05880752205848694, 0.03331028297543526, 0.612122654914856, 0.08845475003185188, 0.04922783725800839, 0.06389938640697389], "mean": [-0.12315105515079601, -0.22108780893058236, 0.34548824748062357, 0.034989838399986636, -0.12309453103871024, -0.020783070798226718], "std": [0.08385991797869861, 0.1166003866664288, 0.12296519980874399, 0.03677822748619902, 0.10323018433046778, 0.05266891243147819], "count": [392]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.1913265306122449], "std": [0.3933455088038081], "count": [392]}, "observation.state.tcp_force": {"min": [-25.9738712310791, -4.306775093078613, -11.29886054992676], "max": [2.323024034500122, 13.40418815612793, 2.9611380100250195], "mean": [-5.4232892969715865, 1.9565259448480696, -2.1894696060311505], "std": [8.317140673857718, 3.605914031176065, 2.7223489190520933], "count": [392]}, "observation.state.tcp_torque": {"min": [-0.01957499980926492, -1.4765599966049194, -1.6401790380477905], "max": [0.1433899998664845, 4.735325813293457, 6.601378917694092], "mean": [0.033844237319313575, 0.49189236954422383, 0.7023720615700824], "std": [0.02647814153099773, 1.1846792393903192, 1.5695279910730455], "count": [392]}, "observation.state.joints": {"min": [-1.9917601346969604, -1.6294976472854614, -3.076436996459961, -2.0118257999420166, 1.486721158027649, -1.5387338399887085], "max": [-1.1171040534973145, -1.2507359981536865, -2.4583470821380615, -0.84465092420578, 1.636832356452942, -0.9461854100227356], "mean": [-1.6961029576403754, -1.4205549818520644, -2.9246751678233243, -1.466612282912342, 1.584482376976889, -1.339420745415347], "std": [0.2962916423606275, 0.10349483436913236, 0.18191058542204808, 0.33131273142549195, 0.038854756933883836, 0.16738986230582736], "count": [392]}, "observation.images.side": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40189639421311596]], [[0.4093181787471543]], [[0.4082099346405229]]], "std": [[[0.2604352887998328]], [[0.24967964767548903]], [[0.2522495467268583]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29888430565641894]], [[0.30037435165012505]], [[0.34240668119099493]]], "std": [[[0.3061839464369369]], [[0.2921478917768595]], [[0.3108142190918581]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2853400984426693]], [[0.2779096974098281]], [[0.30808262083434196]]], "std": [[[0.29647595222919854]], [[0.27863148559097367]], [[0.3045240861514452]]], "count": [100]}, "action.pose": {"min": [-0.003888272447511555, -0.005098605528473854, -0.003965382464230061, -0.0050328026968289195, -0.004253707235844839, -0.005896634921001603], "max": [0.0034589138813316826, 0.004406176041811705, 0.0059157093055546275, 0.006367427626523946, 0.008392529000860183, 0.002394075269242431], "mean": [0.0002707364522472504, -0.0005374494940135301, -0.00047071744751872536, 0.00014760940801665764, 9.660984873417852e-06, -0.0002458087265434624], "std": [0.0019443982122256407, 0.001981222635264791, 0.002391315714565461, 0.0017964109708890079, 0.0028760355208979804, 0.0018544247106216695], "count": [392]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.1913265306122449], "std": [0.3933455088038081], "count": [392]}, "action.joints": {"min": [-0.010158181190490723, -0.006597429048269987, -0.007062196731567383, -0.018719583749771118, -0.005998730659484863, -0.007908821105957031], "max": [0.01613008975982666, 0.007106766104698181, 0.007338047027587891, 0.009060144424438477, 0.009082555770874023, 0.013036727905273438], "mean": [-0.0009096833516140374, 6.558358305780103e-05, -0.0011036207481306425, 0.0008756140471502606, 0.00020847363131386892, -0.0008081319380779656], "std": [0.005075776174120079, 0.0030642728810208156, 0.0028843840988100194, 0.006772647194627624, 0.0022544614329695284, 0.003749805445976608], "count": [392]}, "timestamp": {"min": [0.0], "max": [7.82], "mean": [3.91], "std": [2.2632056910497553], "count": [392]}, "frame_index": {"min": [0], "max": [391], "mean": [195.5], "std": [113.16028455248777], "count": [392]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [392]}, "index": {"min": [4752], "max": [5143], "mean": [4947.5], "std": [113.16028455248777], "count": [392]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [392]}}} -{"episode_index": 10, "stats": {"observation.state.pose": {"min": [-0.24374616146087646, -0.3661711513996124, 0.15245743095874786, -0.0221170141221324, -0.16005837738818607, -0.1607597621967061], "max": [0.13728493452072144, -0.01808394305408001, 0.45449623465538025, 0.08102573252664982, 0.053581275024406017, 0.02487650542892779], "mean": [-0.019163459421444044, -0.1181355328886833, 0.31241558647705514, 0.03454941811409065, -0.01200783558390626, -0.061695786013003545], "std": [0.1167887140150196, 0.056257693894075034, 0.04968492531077343, 0.03046911861963059, 0.058994439815627485, 0.05557389632214384], "count": [412]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.35194174757281554], "std": [0.4775759142672588], "count": [412]}, "observation.state.tcp_force": {"min": [-23.601945877075195, -2.72037410736084, -4.079926013946535], "max": [2.30734395980835, 5.974997043609619, 0.987322986125946], "mean": [-4.44435505584183, 1.9854655453736907, -1.719148293899336], "std": [7.43110330209558, 1.8892236599129197, 0.8949347791141171], "count": [412]}, "observation.state.tcp_torque": {"min": [-0.062031000852585096, -0.36451199650764465, -1.7375550270080566], "max": [0.04600999876856799, 0.9571880102157593, 1.5467339754104614], "mean": [0.00943452670419467, 0.08249029089082557, 0.26693942584196284], "std": [0.02848324221787642, 0.20512520860553823, 0.6220150201736454], "count": [412]}, "observation.state.joints": {"min": [-2.130466938018799, -1.9584137201309204, -3.0894618034362793, -1.665080189704895, 1.5349504947662354, -1.4816211462020874], "max": [-1.1116838455200195, -1.3186569213867188, -2.64752197265625, -1.1060197353363037, 1.6561343669891357, -0.9757373929023743], "mean": [-1.4507357868754749, -1.6828245416428278, -2.821781056019866, -1.5548082422284246, 1.5936467439225577, -1.1951067868656324], "std": [0.2420178128087042, 0.1854027503144161, 0.09904423212450757, 0.11609210729949147, 0.03752324974943327, 0.14979851815802503], "count": [412]}, "observation.images.side": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39721153704927664]], [[0.404651752955864]], [[0.4041228346919292]]], "std": [[[0.25963829945181766]], [[0.2481266842580911]], [[0.24993291357832978]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32414306301944645]], [[0.301055552327927]], [[0.31890851609779713]]], "std": [[[0.3166661513971377]], [[0.29662961807804683]], [[0.30821262982493547]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29153652545791975]], [[0.2844724199144678]], [[0.31527626240619705]]], "std": [[[0.2918282031119791]], [[0.2815315452742461]], [[0.3107155340244381]]], "count": [100]}, "action.pose": {"min": [-0.00385125819593668, -0.0032954937778413296, -0.0018202972132712603, -0.0033419290414676466, -0.00829728621119652, -0.0030669864982214847], "max": [0.005100117996335029, 0.0030403665732592344, 0.0054670916870236405, 0.006042467657593112, 0.0033793973824791657, 0.0057837300243802], "mean": [-1.8148507192353844e-05, -0.00015776636426323323, 0.0005225707211112031, 2.3628998076318517e-05, -0.0001354815384808299, 0.0002518810217761922], "std": [0.0021405929835630246, 0.0012756167297455555, 0.0017987347220670342, 0.0014159348855123587, 0.0018838345032127, 0.0016479825770001869], "count": [412]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.35194174757281554], "std": [0.4775759142672588], "count": [412]}, "action.joints": {"min": [-0.007150053977966309, -0.005727291107177734, -0.004314899444580078, -0.013162285089492798, -0.003168463706970215, -0.00856637954711914], "max": [0.013566970825195312, 0.005766391754150391, 0.004267454147338867, 0.0027446746826171875, 0.003245711326599121, 0.004878520965576172], "mean": [0.0006795548698277149, 0.00036785696538219466, -0.000167340329549845, -0.0009439358396175345, -3.3928352652244196e-05, -0.00042147080875137475], "std": [0.005246375391411576, 0.003119837782902387, 0.0021312770721527968, 0.0031149516954848745, 0.00118820162834078, 0.0031848699186761043], "count": [412]}, "timestamp": {"min": [0.0], "max": [8.22], "mean": [4.109999999999999], "std": [2.3786761023729146], "count": [412]}, "frame_index": {"min": [0], "max": [411], "mean": [205.5], "std": [118.93380511864572], "count": [412]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [412]}, "index": {"min": [5144], "max": [5555], "mean": [5349.5], "std": [118.93380511864572], "count": [412]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [412]}}} -{"episode_index": 11, "stats": {"observation.state.pose": {"min": [-0.17521221935749054, -0.3656960427761078, 0.15272539854049683, -0.0710270842778241, -0.4076966525537875, -0.1728868210719455], "max": [0.11758050322532654, -0.012380551546812057, 0.3781611919403076, 0.03452339161801964, -0.07863685630888062, 0.07679771437266132], "mean": [0.0435644293417992, -0.2988053114047345, 0.25069290022306806, -0.0029497685253801753, -0.16521035234989873, -0.08639301922443958], "std": [0.0919688521218279, 0.06522567075377704, 0.04215985645085186, 0.03398409632906331, 0.050747604533555694, 0.07587804232387342], "count": [316]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.2310126582278481], "std": [0.42148049772955276], "count": [316]}, "observation.state.tcp_force": {"min": [-25.737878799438477, -8.969935417175293, -7.4378662109375], "max": [3.2184340953826904, 3.313325881958008, 7.582130908966059], "mean": [-6.188069088315249, -0.6938528913733419, -0.7915145975371448], "std": [8.74143345229251, 2.6127231258052714, 2.439838326200809], "count": [316]}, "observation.state.tcp_torque": {"min": [-0.017596000805497218, -3.824812889099121, -3.9468929767608643], "max": [0.14415599405765614, 2.2929039001464844, 1.1770069599151611], "mean": [0.038043610806797225, -0.18270033950102516, -0.1680403328184322], "std": [0.0293509788582109, 1.0255231588682259, 1.105383450226077], "count": [316]}, "observation.state.joints": {"min": [-2.130190372467041, -1.820175290107727, -3.101064682006836, -1.533697485923767, 1.2530559301376343, -1.5746396780014038], "max": [-1.4543787240982056, -1.3163740634918213, -2.4174587726593018, -1.1051791906356812, 1.5726017951965332, -0.831081211566925], "mean": [-1.659316116873222, -1.6345548618443404, -3.024143464203122, -1.2569174962707712, 1.5381944752946686, -1.374569998323163], "std": [0.1865858165132851, 0.1680014542875191, 0.08508457726635105, 0.07580274148178107, 0.03581724537540962, 0.1324674218741924], "count": [316]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4023150723360505]], [[0.4110569332452082]], [[0.4107752529925828]]], "std": [[[0.2652197258079881]], [[0.2538700078739589]], [[0.2553189614464688]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2771937771322521]], [[0.2710209085774228]], [[0.3167447785039942]]], "std": [[[0.2622092257160221]], [[0.24276283051714456]], [[0.26935653020818107]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.35806112805616075]], [[0.34635545711288634]], [[0.3796457435649157]]], "std": [[[0.321613946708732]], [[0.30365094226188033]], [[0.32310761206395633]]], "count": [100]}, "action.pose": {"min": [-0.00333020929247141, -0.001656550564803183, -0.0030615103896707288, -0.004555588216439862, -0.00957305235128647, -0.004290391880083355], "max": [0.008186358027160166, 0.003081160131841898, 0.007949409075081348, 0.0033629883957246036, 0.004247843011963681, 0.0062000770130055845], "mean": [0.0006341194736412231, 0.00047251251786592193, 0.0005390074685623449, -0.00015871460998861668, 2.9891295379117682e-05, -0.0003773678251018661], "std": [0.0018876986323336019, 0.000954165500691344, 0.002156412565586587, 0.0012032262560345839, 0.0019429296394818992, 0.0017626053321825026], "count": [316]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.2310126582278481], "std": [0.42148049772955276], "count": [316]}, "action.joints": {"min": [-0.0029360055923461914, -0.01026734709739685, -0.003741025924682617, -0.011747583746910095, -0.00452423095703125, -0.006675243377685547], "max": [0.008922576904296875, 0.007654666900634766, 0.004256010055541992, 0.003748387098312378, 0.00429534912109375, 0.005946636199951172], "mean": [0.002134950855110265, -0.0009335861482386347, 0.0008465881589092785, -0.001357886775196353, -0.0002307190170770959, 0.0011921713623819473], "std": [0.0024991336707486256, 0.0032220977313812955, 0.001730248751265201, 0.003100926337774868, 0.0015417979966484358, 0.0024088967737856517], "count": [316]}, "timestamp": {"min": [0.0], "max": [6.3], "mean": [3.1499999999999995], "std": [1.8244177153272767], "count": [316]}, "frame_index": {"min": [0], "max": [315], "mean": [157.5], "std": [91.22088576636384], "count": [316]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [316]}, "index": {"min": [5556], "max": [5871], "mean": [5713.5], "std": [91.22088576636384], "count": [316]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [316]}}} -{"episode_index": 12, "stats": {"observation.state.pose": {"min": [-0.18648988008499146, -0.22521370649337769, 0.13459795713424683, -0.08273236821755942, -0.41297644525698285, -0.08098891296036609], "max": [0.12455569207668304, 0.6779414415359497, 0.400973916053772, 0.2671316706208386, 0.18276549409606968, 0.06131183822929862], "mean": [0.013084016522759052, -0.15930485834311592, 0.31209744427536357, -0.04815642621000666, -0.09975080549631071, 0.01126179601349041], "std": [0.08155146198371531, 0.09015476244932612, 0.05445289722778127, 0.02641947780261281, 0.18400015625154564, 0.04217753970682008], "count": [366]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.2978142076502732], "std": [0.45729739270185343], "count": [366]}, "observation.state.tcp_force": {"min": [-28.268508911132812, -5.502441883087158, -5.015305042266846], "max": [2.9010291099548344, 5.963479042053223, 4.6757922172546325], "mean": [-3.446249791265776, -0.3296608661347237, -1.5281739271083044], "std": [7.026953967815626, 2.8405272970032205, 1.6802285544724718], "count": [366]}, "observation.state.tcp_torque": {"min": [-0.03957200050354003, -3.4619710445404053, -2.8927080631256104], "max": [0.1390209943056108, 0.4272249937057495, 1.1433579921722412], "mean": [0.04969667223450103, -0.11811606588217911, -0.050722669077689804], "std": [0.03143780345402522, 0.7240834268988968, 0.5691115929533584], "count": [366]}, "observation.state.joints": {"min": [-1.9525407552719116, -1.9672785997390747, -2.9310286045074463, -1.649861454963684, 1.2515901327133179, -1.4208487272262573], "max": [-1.183802843093872, -1.355762243270874, -2.014176607131958, -0.8093509674072266, 1.5529699325561523, -0.44803744554519653], "mean": [-1.5136789474330965, -1.6541714410964257, -2.780436573784208, -1.4805506151882026, 1.4625412105211144, -1.2338661593817621], "std": [0.22777028175844702, 0.19488172452749053, 0.1807047257853367, 0.16263309347341173, 0.09195367644644255, 0.2097924969247777], "count": [366]}, "observation.images.side": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.385994531835206]], [[0.39185222589410296]], [[0.39042603363442757]]], "std": [[[0.2547151495657178]], [[0.24515636157370035]], [[0.24826359778841683]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2582513935286049]], [[0.2385373129992738]], [[0.2672082094730896]]], "std": [[[0.2787232574594542]], [[0.25439384995630443]], [[0.27890907769385015]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2654898297425966]], [[0.2570909787783426]], [[0.28604847091099816]]], "std": [[[0.28391102570841076]], [[0.2698182749518422]], [[0.2942735972970564]]], "count": [100]}, "action.pose": {"min": [-0.004176127258688211, -0.004294492304325104, -0.003055774141103029, -0.00278158225675044, -0.02221233180803872, -0.003984018179748992], "max": [0.012985652312636374, 0.002249583136290312, 0.011085266247391704, 0.0088672703716945, 0.007604115022976421, 0.0034352849204563273], "mean": [-2.841934217255828e-05, -0.00045833009543030646, 8.846288625891799e-05, 0.00014956063112447476, 0.0006712891168404194, 0.00019872439977860551], "std": [0.0024174878750316195, 0.00108983914132195, 0.0023450849052813194, 0.0014419861713862105, 0.004339456393477623, 0.0012110727983543094], "count": [366]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.2978142076502732], "std": [0.45729739270185343], "count": [366]}, "action.joints": {"min": [-0.008149862289428711, -0.007273197174072266, -0.008486509323120117, -0.012914299964904785, -0.003954172134399414, -0.010127544403076172], "max": [0.012841343879699707, 0.010916069149971008, 0.003898143768310547, 0.007222533226013184, 0.00654757022857666, 0.006021976470947266], "mean": [0.0010554422446287395, -0.0003069595012640774, -0.0011279459208087192, -0.001066223956145794, 0.0006895957748746612, -0.0012438232130040237], "std": [0.004882583953515098, 0.004083237523056447, 0.0027033597866405372, 0.003364286692509434, 0.001989146499429129, 0.0031724929625099162], "count": [366]}, "timestamp": {"min": [0.0], "max": [7.3], "mean": [3.6499999999999995], "std": [2.113094097920551], "count": [366]}, "frame_index": {"min": [0], "max": [365], "mean": [182.5], "std": [105.65470489602754], "count": [366]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [366]}, "index": {"min": [5872], "max": [6237], "mean": [6054.5], "std": [105.65470489602754], "count": [366]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [366]}}} -{"episode_index": 13, "stats": {"observation.state.pose": {"min": [-0.09055902063846588, -0.35260605812072754, 0.12608732283115387, -0.6331083546939227, -0.3173053871263074, -0.2116500211499563], "max": [0.06236272677779198, 0.7033964395523071, 0.3875637948513031, 0.2691538014711926, 0.09577097232007326, -0.029441999411026706], "mean": [0.013424502712864854, -0.04517041083002222, 0.2104999554646128, -0.25228082354881565, -0.16640871274627378, -0.07573024775938013], "std": [0.04460975213595763, 0.36799290102378285, 0.07446216942959309, 0.312276088254159, 0.07894947047186068, 0.046390819003058165], "count": [317]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.3438485804416404], "std": [0.4749912990465289], "count": [317]}, "observation.state.tcp_force": {"min": [-18.585140228271484, -8.353928565979004, -13.19655990600586], "max": [11.13439178466797, 3.7945899963378906, 3.486294984817505], "mean": [-1.350046598377097, -2.3462116281128833, -4.420977921092924], "std": [3.808857357250055, 2.349537950941125, 4.942582126386981], "count": [317]}, "observation.state.tcp_torque": {"min": [-0.047194000333547564, -1.5344860553741455, -2.244318962097168], "max": [0.20729699730873113, 2.3937549591064453, 0.5696349740028381], "mean": [0.0675220883481057, 0.4143154128162302, -0.38828577198503517], "std": [0.07101190576240729, 0.7228803160494545, 0.5310687445476341], "count": [317]}, "observation.state.joints": {"min": [-1.7469022274017334, -1.9953395128250122, -2.825404644012451, -1.778835415840149, 0.9663980007171631, -1.1989463567733765], "max": [-1.3059474229812622, -1.5179243087768555, -1.9948476552963257, -0.8090909123420715, 1.636257290840149, -0.4380114674568176], "mean": [-1.6006385855118184, -1.8047715026873519, -2.5148608695821433, -1.3327152074699522, 1.2351160519506652, -0.834820402533474], "std": [0.13584370333142312, 0.10842788472023304, 0.24447573500887318, 0.23019645397192687, 0.198025636834944, 0.18277091973924509], "count": [317]}, "observation.images.side": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3715524755819931]], [[0.37829113167364325]], [[0.3767234530366454]]], "std": [[[0.2516227172278651]], [[0.24158770809529545]], [[0.24461995742514123]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2173525377229081]], [[0.21763781812313404]], [[0.2756707237956911]]], "std": [[[0.23474000295347872]], [[0.2211231370181318]], [[0.2813821746596743]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.21422884692971841]], [[0.21386832889534416]], [[0.25822839667554265]]], "std": [[[0.23449619911507052]], [[0.22470873307046638]], [[0.27528688632264814]]], "count": [100]}, "action.pose": {"min": [-0.004793751984834673, -0.01802927255630493, -0.007074160501360893, -0.01456795881088273, -0.008770088815939658, -0.011029062419907079], "max": [0.004902470856904983, 0.004120615776628256, 0.008229783736169336, 0.024218447847430588, 0.01044803380786119, 0.002694486542677111], "mean": [0.0003753773957865713, -0.0023541763777387187, 0.0007929673885670637, -0.0008246341542978569, 0.0007712387021769206, -0.0005494696841172854], "std": [0.0018670886014495649, 0.0055778430113456075, 0.0038605376833997815, 0.00679571893715589, 0.00349291106907737, 0.002188419336409359], "count": [317]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.3438485804416404], "std": [0.4749912990465289], "count": [317]}, "action.joints": {"min": [-0.014616608619689941, -0.004646778106689453, -0.013996124267578125, -0.020262092351913452, -0.011083126068115234, -0.013053417205810547], "max": [0.00971519947052002, 0.008175373077392578, 0.003114461898803711, 0.016296103596687317, 0.023070096969604492, 0.007036685943603516], "mean": [0.0001635040018460728, 0.0014361868897447075, -0.002361812050034195, -0.002396813329391487, 0.0003344835919160572, -0.0018379319729489108], "std": [0.00485783421834539, 0.0031904775615244946, 0.004840242823757932, 0.008363717127342565, 0.0057731981037290915, 0.004647616144463141], "count": [317]}, "timestamp": {"min": [0.0], "max": [6.32], "mean": [3.1599999999999997], "std": [1.8301912468373351], "count": [317]}, "frame_index": {"min": [0], "max": [316], "mean": [158.0], "std": [91.50956234186677], "count": [317]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [317]}, "index": {"min": [6238], "max": [6554], "mean": [6396.0], "std": [91.50956234186677], "count": [317]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [317]}}} -{"episode_index": 14, "stats": {"observation.state.pose": {"min": [-0.20239397883415222, -0.10583312809467316, 0.22369302809238434, 0.033819086694176215, 0.009788825515999688, -0.18637305441570434], "max": [-0.09092923253774643, 0.0904780924320221, 0.43400853872299194, 0.4408764029880979, 0.34515466905948866, -0.06158313275284526], "mean": [-0.17148818414739042, 0.009051620251832143, 0.2667288699939893, 0.2767914805911771, 0.2629981865674157, -0.1239554441987901], "std": [0.0313243909787299, 0.06399100417796794, 0.049052332454308234, 0.11146833507342543, 0.07185777134825219, 0.024758504260532697], "count": [323]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.39628482972136225], "std": [0.4891248955574365], "count": [323]}, "observation.state.tcp_force": {"min": [-4.661287784576416, 2.0829339027404785, -2.8872900009155273], "max": [1.841194987297058, 15.294967651367188, 2.054081916809082], "mean": [-0.47235454478655753, 6.538650362115157, -0.41536692117669566], "std": [1.0185661690684105, 2.0436358628100724, 1.2108647101190144], "count": [323]}, "observation.state.tcp_torque": {"min": [-0.053468998521566516, -0.6686000227928162, -0.19879600405693054], "max": [0.07110500335693337, 0.42367100715637207, 2.7900729179382324], "mean": [0.004086470567324184, 0.005367377402799546, 0.6171956698730265], "std": [0.03429781702015497, 0.1247542613510519, 0.3460099969123387], "count": [323]}, "observation.state.joints": {"min": [-1.7083134651184082, -1.7403255701065063, -2.9570789337158203, -1.7786623239517212, 1.6361123323440552, -1.2666658163070679], "max": [-1.3256853818893433, -1.4569008350372314, -2.7773470878601074, -1.4655523300170898, 2.08756422996521, -1.0821646451950073], "mean": [-1.5983758766215652, -1.6882042560045933, -2.9025588338220083, -1.574408673280533, 1.9190418089137358, -1.2001674762082173], "std": [0.10664251130690804, 0.02800155901114093, 0.03374586456642341, 0.08645117176086992, 0.1259219719595094, 0.02897680625315819], "count": [323]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37283280605125946]], [[0.3799859528530513]], [[0.3789840757876184]]], "std": [[[0.2534791880342503]], [[0.2434918739126988]], [[0.24621815644514797]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2667927410635036]], [[0.2607974614701848]], [[0.27307903816670703]]], "std": [[[0.3242601853731378]], [[0.3107926161511654]], [[0.3276055290198212]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.20128548374082142]], [[0.20854279028483821]], [[0.23108524973775518]]], "std": [[[0.27412861613822603]], [[0.2661392286242889]], [[0.29532373713975923]]], "count": [100]}, "action.pose": {"min": [-0.001576885697431862, -0.002211273182183504, -0.0029172981157898907, -0.006188246643620989, -0.008149583184475784, -0.004436595902694949], "max": [0.0010398232843726876, 0.0043029035441577435, 0.004399869125336409, 0.011003797031323426, 0.004076774835249264, 0.0018278484458710944], "mean": [-0.00011754113084853736, -5.4122850987518254e-05, -0.00019315253034999803, 0.00024005877588979097, -4.286707010676414e-06, -0.000411156376316418], "std": [0.000707127735506877, 0.0012752293098102253, 0.0014858086334908456, 0.003249860717096576, 0.0023345469974347423, 0.0011479157473574142], "count": [323]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.39628482972136225], "std": [0.4891248955574365], "count": [323]}, "action.joints": {"min": [-0.007273674011230469, -0.0020170211791992188, -0.003125429153442383, -0.003078460693359375, -0.007875204086303711, -0.004276275634765625], "max": [0.0033799409866333008, 0.007046699523925781, 0.005179643630981445, 0.007105827331542969, 0.010391592979431152, 0.007991313934326172], "mean": [-0.0007509816172691321, 0.0003321604232300915, -6.878855796790344e-05, 0.00045691333688080497, 0.00019411332097954057, 0.00031841797725334995], "std": [0.0021484371431295087, 0.0018655149821916281, 0.001646661944209869, 0.0020457281410610796, 0.0035127192439207444, 0.0022362124892508204], "count": [323]}, "timestamp": {"min": [0.0], "max": [6.44], "mean": [3.2199999999999998], "std": [1.8648324321504064], "count": [323]}, "frame_index": {"min": [0], "max": [322], "mean": [161.0], "std": [93.24162160752032], "count": [323]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [323]}, "index": {"min": [6555], "max": [6877], "mean": [6716.0], "std": [93.24162160752032], "count": [323]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [323]}}} -{"episode_index": 15, "stats": {"observation.state.pose": {"min": [-0.17872048914432526, -0.3809669315814972, 0.2737293839454651, -0.26512653856938007, -0.02568329960755089, -0.1427078330484752], "max": [0.10713300853967667, -0.08765846490859985, 0.43370628356933594, 0.08909403724652082, 0.2872978318315782, 0.2175902061814855], "mean": [-0.02704957878022125, -0.28343273188197005, 0.32889030452294976, -0.11319421744333616, 0.14633321639082003, 0.05577489036716174], "std": [0.10598123600007722, 0.08906097866920727, 0.04797979546255183, 0.1048095415761981, 0.08176470203071556, 0.11622925456884818], "count": [449]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.49665924276169265], "std": [0.49998883921651155], "count": [449]}, "observation.state.tcp_force": {"min": [-2.4898309707641593, -1.7901840209960938, -8.637144088745115], "max": [7.3420190811157235, 6.920380115509033, -0.6630719900131226], "mean": [1.1493067245375326, 3.180606147228742, -4.604731911407547], "std": [2.306482344000764, 1.2368784481030035, 2.214665832287128], "count": [449]}, "observation.state.tcp_torque": {"min": [-0.0010920000495389767, -0.4673750102519989, -0.4635550081729889], "max": [0.1918289959430693, 1.348464012145996, 1.2617549896240234], "mean": [0.07247212692144438, 0.3665734648949286, 0.3021038331499506], "std": [0.041178353208164716, 0.3104559985693961, 0.2716631202274264], "count": [449]}, "observation.state.joints": {"min": [-1.6583161354064941, -2.1702234745025635, -3.0255300998687744, -2.038198709487915, 1.3204693794250488, -1.6758211851119995], "max": [-0.8214157223701477, -1.436299443244934, -2.7696361541748047, -1.5874048471450806, 1.6599528789520264, -1.0641793012619019], "mean": [-1.2123485661561877, -1.8388606267410823, -2.9261768235926637, -1.8111093299160557, 1.4720807078155485, -1.41668775378994], "std": [0.2937934621548732, 0.24600296832523186, 0.07047298082877565, 0.12373098591594624, 0.10430151451800844, 0.17709955098000124], "count": [449]}, "observation.images.side": {"min": [[[0.0]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3800640713813615]], [[0.3870582463097599]], [[0.38474765513696113]]], "std": [[[0.2555606804002752]], [[0.24589083552035368]], [[0.24819613947479863]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.22772585975954168]], [[0.21932671023965142]], [[0.26287070281610586]]], "std": [[[0.2180161855136266]], [[0.19776372457507155]], [[0.24179450457409504]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2357288307915759]], [[0.22276005486968448]], [[0.2543706640845639]]], "std": [[[0.25409200952721805]], [[0.2325519082065377]], [[0.2644597937337318]]], "count": [100]}, "action.pose": {"min": [-0.00399111770093441, -0.006197000853717327, -0.0019013870041817425, -0.010735301491810218, -0.004716498927270996, -0.008769606339362196], "max": [0.007135938853025436, 0.002970881527289748, 0.0010438222670927644, 0.0083708960509852, 0.007969038819393148, 0.012142720157335574], "mean": [8.53591572668991e-06, -0.0002228005158352321, -0.0003691013027774434, -2.9972681148704105e-05, 0.00032378361043983595, 1.0712857034645026e-05], "std": [0.0019534049386228268, 0.0020232775483515954, 0.000519415914854928, 0.0035600811027448674, 0.002094287643468158, 0.0032075623731187626], "count": [449]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.49665924276169265], "std": [0.49998883921651155], "count": [449]}, "action.joints": {"min": [-0.008903980255126953, -0.013037681579589844, -0.005497932434082031, -0.011832714080810547, -0.010959506034851074, -0.014163494110107422], "max": [0.016052842140197754, 0.007771492004394531, 0.0039021968841552734, 0.007263660430908203, 0.00601041316986084, 0.008971691131591797], "mean": [-0.00037537651231931416, -0.0002051497626020874, -0.0003023933461620441, 0.0003071245478096943, -5.172276018988051e-05, -0.000296191277111028], "std": [0.0051473114544828, 0.00414572738895546, 0.001971570547282751, 0.0034304242126260522, 0.0032858110654758257, 0.004060665444814006], "count": [449]}, "timestamp": {"min": [0.0], "max": [8.96], "mean": [4.4799999999999995], "std": [2.592296279363144], "count": [449]}, "frame_index": {"min": [0], "max": [448], "mean": [224.0], "std": [129.6148139681572], "count": [449]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [449]}, "index": {"min": [6878], "max": [7326], "mean": [7102.0], "std": [129.6148139681572], "count": [449]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [449]}}} -{"episode_index": 16, "stats": {"observation.state.pose": {"min": [-0.19715318083763123, -0.2094830870628357, 0.2183373123407364, -0.09442741903182623, -0.10359594565486807, -0.21042707723615856], "max": [-0.06159628555178642, 0.1516447514295578, 0.40266212821006775, 0.06195862864561173, 0.07779573171027465, -0.01103907938187817], "mean": [-0.08384343618615192, 0.003370433174214533, 0.2921766943830045, 0.020013870513985312, -0.01126149094171917, -0.13514765891486305], "std": [0.01959906289982235, 0.09920919300957814, 0.05242633032312286, 0.03297917925896554, 0.059494756446704454, 0.04595478272247902], "count": [317]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.4668769716088328], "std": [0.49890165863644703], "count": [317]}, "observation.state.tcp_force": {"min": [-3.3062100410461417, -0.3341340124607086, -5.159428119659424], "max": [1.9823750257492077, 3.9714560508728027, -0.3940950036048889], "mean": [0.30917057725938785, 1.5714424778780773, -2.2400317787183948], "std": [0.7499165364957615, 0.8591270204062106, 1.0635300983353733], "count": [317]}, "observation.state.tcp_torque": {"min": [0.0026529999449848504, -0.10986699908971786, -0.3104180097579956], "max": [0.0743250027298927, 1.0997569561004639, 0.4342440068721771], "mean": [0.02969160252206662, 0.25601887936653916, 0.07010123978570186], "std": [0.014290806244314464, 0.24814019353335343, 0.12695045713550437], "count": [317]}, "observation.state.joints": {"min": [-1.707920789718628, -1.7728887796401978, -2.925574541091919, -1.7941595315933228, 1.5100409984588623, -1.3379820585250854], "max": [-1.356459379196167, -1.4807398319244385, -2.5357463359832764, -1.3808561563491821, 1.6626160144805908, -0.7780540585517883], "mean": [-1.5694315696740375, -1.6173928694018054, -2.6433719558294637, -1.5029450707631156, 1.5817494779731196, -0.9432308621211006], "std": [0.10845873317153418, 0.10428972569244144, 0.097650721356815, 0.11401102028275174, 0.04214345464576468, 0.13372873100820812], "count": [317]}, "observation.images.side": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3833028376294338]], [[0.3895871807299699]], [[0.3877086847323199]]], "std": [[[0.2548772775123866]], [[0.24442879487252203]], [[0.24773561577772515]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2524521649318163]], [[0.23942821915597515]], [[0.2892748341805858]]], "std": [[[0.24977522770338967]], [[0.22740581507764038]], [[0.2679254526040298]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2328408875978375]], [[0.22406434116033247]], [[0.26979777616396355]]], "std": [[[0.24531194360886713]], [[0.22291113753579989]], [[0.26307191149280357]]], "count": [100]}, "action.pose": {"min": [-0.0019189020385965705, -0.0034232812467962503, -0.004045762121677399, -0.0067807730544753855, -0.004142935543675064, -0.010744269448748844], "max": [0.002246594289317727, 0.006450680084526539, 0.002112800255417824, 0.011200842893575723, 0.005067143018035347, 0.004786618655287547], "mean": [0.00021515495135351602, 0.0003197775156200369, -0.00038499732543308775, 0.0002178737022773833, -0.0001540924151560662, -0.00018309063921939655], "std": [0.00064348935950974, 0.002367892548242304, 0.0012400312325933694, 0.002659914570735171, 0.001636452838668716, 0.002854139580182866], "count": [317]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.4668769716088328], "std": [0.49890165863644703], "count": [317]}, "action.joints": {"min": [-0.004720568656921387, -0.009734153747558594, -0.003911733627319336, -0.002597332000732422, -0.00548243522644043, -0.007218360900878906], "max": [0.007915854454040527, 0.005371570587158203, 0.0061223506927490234, 0.007467746734619141, 0.009331822395324707, 0.015133857727050781], "mean": [-0.0005834843458061338, -0.00015278680070835145, 0.00023383522635378673, 0.0009562192787342831, 8.877481947937974e-05, 0.0004281591541759599], "std": [0.0024862140919231206, 0.003103500793397869, 0.002530935486814836, 0.0019107687803889748, 0.002394885774111361, 0.0043728591210476725], "count": [317]}, "timestamp": {"min": [0.0], "max": [6.32], "mean": [3.1599999999999997], "std": [1.8301912468373351], "count": [317]}, "frame_index": {"min": [0], "max": [316], "mean": [158.0], "std": [91.50956234186677], "count": [317]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [317]}, "index": {"min": [7327], "max": [7643], "mean": [7485.0], "std": [91.50956234186677], "count": [317]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [317]}}} -{"episode_index": 17, "stats": {"observation.state.pose": {"min": [-0.2354758232831955, -0.20934386551380157, 0.20626315474510193, -0.02912768555515871, 0.03583151268623297, -0.15292554128788247], "max": [-0.06270178407430649, -0.047200724482536316, 0.5091639757156372, 0.16739674400487395, 0.16655531419440206, -0.019737584166603442], "mean": [-0.17064831552960727, -0.12175733704590103, 0.2662693597255787, 0.021199581085379674, 0.0908820209045466, -0.10559418492600182], "std": [0.058757799695361414, 0.05798021157491938, 0.06187093034245466, 0.049688386289543654, 0.039216252221119165, 0.03786852345107617], "count": [309]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.6666666666666666], "std": [0.4714045207910317], "count": [309]}, "observation.state.tcp_force": {"min": [-1.8090829849243157, 0.9829220175743103, -4.305088996887206], "max": [2.0138640403747567, 5.940528869628906, 0.18572700023651104], "mean": [0.5596639350400244, 2.8981201750946664, -2.5549111427938187], "std": [0.8369661474562777, 0.7720129815013492, 0.9075852873693855], "count": [309]}, "observation.state.tcp_torque": {"min": [-0.012148000299930595, -0.2038010060787201, -0.5429059863090515], "max": [0.07372400164604183, 0.4267530143260956, 0.8797910213470459], "mean": [0.02487637867185791, 0.17706958614343213, 0.13961389331933727], "std": [0.01920913183509099, 0.12841934436208124, 0.15049745558318073], "count": [309]}, "observation.state.joints": {"min": [-1.8052581548690796, -1.6787477731704712, -2.9390249252319336, -1.9673181772232056, 1.5828018188476562, -1.3398593664169312], "max": [-1.302712321281433, -1.4323769807815552, -2.664990186691284, -1.4329161643981934, 1.7673320770263672, -0.9715531468391418], "mean": [-1.6716454796806508, -1.5496157442481773, -2.7995397874838326, -1.564605436664569, 1.630760415472259, -1.129377682617953], "std": [0.08101598813114384, 0.06797970603590173, 0.09943417203882447, 0.10005927444945792, 0.047007500889677596, 0.13087740530990877], "count": [309]}, "observation.images.side": {"min": [[[0.0]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38582336638026]], [[0.39192540207094073]], [[0.38873903209223765]]], "std": [[[0.25953575439473264]], [[0.25033679660472435]], [[0.25312658731939486]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2891925877511498]], [[0.2653642265795207]], [[0.256983311546841]]], "std": [[[0.2884133957238852]], [[0.2660020981695613]], [[0.2836768780368687]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32818343742435246]], [[0.3125771774388768]], [[0.31915892681352376]]], "std": [[[0.33201020791674535]], [[0.3154063757734912]], [[0.33692234043604313]]], "count": [100]}, "action.pose": {"min": [-0.0010858423775061958, -0.0016897410387173295, -0.004146000370383263, -0.008672493505136809, -0.002222052865783475, -0.007072150510811812], "max": [0.0029161476995795965, 0.006661856546998024, 0.0014148454647511246, 0.006236650758406051, 0.004585159826158813, 0.002739184283119125], "mean": [0.0004390211755990124, 6.904411005208677e-05, -0.000613820158940991, -4.1914942263461964e-05, -0.00015996502034724974, -0.00014184521245864847], "std": [0.0009303762353724363, 0.0016774672419554687, 0.0012359734730037566, 0.0023609609656575193, 0.0013810876470255926, 0.0016006039686826017], "count": [309]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.6666666666666666], "std": [0.4714045207910317], "count": [309]}, "action.joints": {"min": [-0.007629752159118652, -0.004963181912899017, -0.004105091094970703, -0.0033578872680664062, -0.006769299507141113, -0.0065097808837890625], "max": [0.002811431884765625, 0.0033094659447669983, 0.005608558654785156, 0.006659984588623047, 0.006254792213439941, 0.011738300323486328], "mean": [-0.0006133371958069045, -0.0004496847476786105, 5.296364571284322e-05, 0.0011727603157668776, -6.491736686731234e-05, 0.00014388291195372547], "std": [0.002438174948662184, 0.0017068124341446539, 0.002279964152712493, 0.002200843533022319, 0.002059403454054442, 0.0034112968189651386], "count": [309]}, "timestamp": {"min": [0.0], "max": [6.16], "mean": [3.08], "std": [1.784002989534117], "count": [309]}, "frame_index": {"min": [0], "max": [308], "mean": [154.0], "std": [89.20014947670585], "count": [309]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [309]}, "index": {"min": [7644], "max": [7952], "mean": [7798.0], "std": [89.20014947670585], "count": [309]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [309]}}} -{"episode_index": 18, "stats": {"observation.state.pose": {"min": [-0.22148722410202026, -0.09498217701911926, 0.2539949119091034, -0.14271832642420462, -0.04181283065683106, -0.08971599290622437], "max": [-0.06687722355127335, -0.019145309925079346, 0.5090358853340149, 0.0790440422352189, 0.6393870462940829, 0.054862806042434875], "mean": [-0.14282962629902815, -0.05102865119890986, 0.32948021377835957, -0.028061754536469377, 0.4389301076289552, -0.009962145339195512], "std": [0.04511915199019682, 0.02421189314557246, 0.08113770423474029, 0.07418257822847264, 0.18331897704297628, 0.04079510148124722], "count": [343]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.5539358600583091], "std": [0.4970824106722853], "count": [343]}, "observation.state.tcp_force": {"min": [-3.500648021697996, 1.063873052597046, -12.137374877929686], "max": [10.24434280395508, 18.778932571411133, -1.0189939737319946], "mean": [0.709739632579127, 8.021379421125696, -5.41308636081462], "std": [3.1643716211435913, 4.298084986095402, 3.0605814464677534], "count": [343]}, "observation.state.tcp_torque": {"min": [0.009793000295758136, -0.1723320037126541, -0.13102599978446958], "max": [0.13942700624465884, 2.6836791038513184, 4.684814929962158], "mean": [0.05462513696239393, 0.682417892101533, 1.1130653354325726], "std": [0.029423302266622185, 0.7235746591342165, 1.1728072452222862], "count": [343]}, "observation.state.joints": {"min": [-1.5066888332366943, -2.364243745803833, -2.833021640777588, -2.2953622341156006, 1.529771327972412, -1.3283365964889526], "max": [-0.6338754296302795, -1.3784939050674438, -2.578460931777954, -1.804155945777893, 1.7457756996154785, -0.9225013852119446], "mean": [-0.9706595428831029, -2.0422545449031686, -2.7800889355795726, -2.124982884604451, 1.6927253557016133, -1.2432314704875558], "std": [0.21815875633437548, 0.28518757049464505, 0.022026344369548905, 0.11780782892145038, 0.03782268513931177, 0.054896985026594756], "count": [343]}, "observation.images.side": {"min": [[[0.0]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40117194536241463]], [[0.4112738062715723]], [[0.41215604905632663]]], "std": [[[0.264029491366228]], [[0.24871781597331666]], [[0.2477928719269428]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2166966803840878]], [[0.18667357701928508]], [[0.18207392883079157]]], "std": [[[0.28148999546065706]], [[0.24849314981727313]], [[0.26127782561037727]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.23622484951182118]], [[0.19726848704914066]], [[0.18750133139675623]]], "std": [[[0.29560971361144656]], [[0.2553594848694799]], [[0.2601173873643691]]], "count": [100]}, "action.pose": {"min": [-0.0025538990739732985, -0.0014378264313563704, -0.0034324827138334513, -0.0031575075328537853, -0.007354178128371469, -0.00507343489131947], "max": [0.0035628203768283133, 0.0018900815630331635, 0.0023614631500095125, 0.0022446373527236245, 0.0074090596564519995, 0.0031852789573334566], "mean": [0.0005358246483662005, 3.747639367882812e-05, -0.00043013484589604926, -0.00037303511590446633, 0.0010774357889259275, -0.00014313502530000012], "std": [0.0008532541894490165, 0.0005827083186121352, 0.0011549497977432386, 0.0010134070950733574, 0.002852162802564227, 0.0013018245007480878], "count": [343]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.5539358600583091], "std": [0.4970824106722853], "count": [343]}, "action.joints": {"min": [-0.011082708835601807, -0.009940147399902344, -0.0043261051177978516, -0.0037755966186523438, -0.00255739688873291, -0.007991790771484375], "max": [0.007868647575378418, 0.01249551773071289, 0.0024619102478027344, 0.006554603576660156, 0.0042476654052734375, 0.005720615386962891], "mean": [0.001210767395642339, -0.0018886099345493334, -0.00011125528430104603, -0.0004697179655291944, -1.871829130211655e-05, -0.00016605193691420487], "std": [0.003534102769911262, 0.0037646899697931532, 0.0011319034150654192, 0.002162023088629862, 0.001103697014633554, 0.0020765566116396532], "count": [343]}, "timestamp": {"min": [0.0], "max": [6.84], "mean": [3.42], "std": [1.98030300711785], "count": [343]}, "frame_index": {"min": [0], "max": [342], "mean": [171.0], "std": [99.0151503558925], "count": [343]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [343]}, "index": {"min": [7953], "max": [8295], "mean": [8124.0], "std": [99.0151503558925], "count": [343]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [343]}}} -{"episode_index": 19, "stats": {"observation.state.pose": {"min": [-0.21216554939746857, -0.06670955568552017, 0.2075384259223938, -0.016209916632028337, -0.26553723567131704, -0.3412956236748313], "max": [0.026994846761226654, 0.34585806727409363, 0.45422589778900146, 0.12443593750534795, 0.0769644744809308, 0.007966571920871624], "mean": [-0.06543264861499855, -0.00923706955400967, 0.2973371407580237, 0.07053590710284463, -0.16422376037954542, -0.24165555315925857], "std": [0.0717424079864056, 0.03414720989868741, 0.06970344407467048, 0.040049766120240464, 0.11024385450801326, 0.10222590718809375], "count": [344]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.375], "std": [0.4841229182759271], "count": [344]}, "observation.state.tcp_force": {"min": [-1.4144910573959348, -3.852407932281494, -2.6395180225372314], "max": [7.396388053894043, 3.848418951034546, 8.139226913452148], "mean": [1.4145935315098668, -0.11501437776593754, -0.26572225454025145], "std": [2.0630377590310616, 1.6644657132049776, 1.580753244840251], "count": [344]}, "observation.state.tcp_torque": {"min": [-0.02870899997651566, -3.0009610652923584, -1.0411150455474854], "max": [0.06593400239944465, 0.24089400470256805, 0.4551990032196045], "mean": [0.016396485468481676, -0.114738662402974, -0.10547005176044348], "std": [0.019223330057458583, 0.3684422409726552, 0.2804862538966837], "count": [344]}, "observation.state.joints": {"min": [-2.0453994274139404, -1.9190641641616821, -2.7381539344787598, -1.804029107093811, 1.4176759719848633, -1.098364233970642], "max": [-1.1060500144958496, -1.318091869354248, -2.366692543029785, -1.0821812152862549, 1.6620938777923584, -0.61358243227005], "mean": [-1.7555165613113448, -1.471908884686093, -2.5780061552690907, -1.3300428480602975, 1.4852862319974012, -0.7880013469000196], "std": [0.1962331482216821, 0.0858055481211053, 0.07828860787716158, 0.2479976038032253, 0.07510081483242137, 0.1561017991769696], "count": [344]}, "observation.images.side": {"min": [[[0.0]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40528230300359847]], [[0.41587530293016084]], [[0.4175071014173459]]], "std": [[[0.2689519549171821]], [[0.253958737695441]], [[0.2524554278653434]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24381481965625756]], [[0.2287026095376422]], [[0.25075418219962886]]], "std": [[[0.2858487682157365]], [[0.2664264349089631]], [[0.2982902364976252]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.22815158880012912]], [[0.21684128620995724]], [[0.24713614298394254]]], "std": [[[0.25921901390987445]], [[0.2412715277202229]], [[0.2804349788327045]]], "count": [100]}, "action.pose": {"min": [-0.002246149582788348, -0.0017385045066475868, -0.00283939391374588, -0.004778893448714951, -0.007177875064268813, -0.00500354406315979], "max": [0.0038641749415546656, 0.0019898763857781887, 0.008163997903466225, 0.004082303312101375, 0.009587797575368429, 0.004599784752605684], "mean": [0.0002334549645753627, 0.00013587131586829463, -0.0003064370007143283, 0.0002268911781898206, -0.00043336503917080756, -0.00046338856263835975], "std": [0.0013100431076145213, 0.0007966309412507956, 0.001676929273509285, 0.0014701089125600617, 0.0025161794548269737, 0.001799264658094995], "count": [344]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.375], "std": [0.4841229182759271], "count": [344]}, "action.joints": {"min": [-0.005884289741516113, -0.007430925965309143, -0.007282733917236328, -0.029505878686904907, -0.004237651824951172, -0.011420726776123047], "max": [0.026543736457824707, 0.003913767635822296, 0.004119873046875, 0.008696839213371277, 0.007249236106872559, 0.006149768829345703], "mean": [-0.0009014440137286518, 0.00011138622324134028, 0.00018129168554793958, 0.0012142260269218579, -0.00016806430594865665, 0.0006186227465784827], "std": [0.003905508166510752, 0.0023781722587206153, 0.0018455332172530807, 0.004788077357726173, 0.0019388294078787718, 0.002907253107867913], "count": [344]}, "timestamp": {"min": [0.0], "max": [6.86], "mean": [3.43], "std": [1.9860765342755549], "count": [344]}, "frame_index": {"min": [0], "max": [343], "mean": [171.5], "std": [99.30382671377775], "count": [344]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [344]}, "index": {"min": [8296], "max": [8639], "mean": [8467.5], "std": [99.30382671377775], "count": [344]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [344]}}} -{"episode_index": 20, "stats": {"observation.state.pose": {"min": [-0.16255350410938263, -0.02084796130657196, 0.15667688846588135, -0.18610104925735949, -0.44826895902886177, -0.2670051774413082], "max": [0.08180258423089981, 0.42812395095825195, 0.44321417808532715, 0.16738053833021418, 0.03412114243389852, 0.0029809084287997084], "mean": [0.01710903780986871, 0.37511009997055855, 0.26204975045021667, 0.037618240105529506, -0.23783696642941704, -0.1594298264509922], "std": [0.050806370285324746, 0.05923365685060295, 0.05798633088978036, 0.09003133617164817, 0.15013465887070943, 0.08319984652172586], "count": [405]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.6518518518518519], "std": [0.4763832649129934], "count": [405]}, "observation.state.tcp_force": {"min": [-13.01626396179199, -9.797322273254395, -11.936623573303226], "max": [10.491223335266112, 11.179933547973633, 6.806509017944339], "mean": [-0.44322102264426405, -0.49642132209774886, -1.1754605191929357], "std": [2.9644190667605925, 2.996842280886525, 2.7351889803963716], "count": [405]}, "observation.state.tcp_torque": {"min": [-0.06844200193882025, -2.5217130184173584, -2.9078478813171387], "max": [0.10649500042200094, 5.629763126373291, 5.736484050750732], "mean": [0.012310782695755222, 0.34406101206794704, 0.17514964768686045], "std": [0.026904294378135418, 1.163375987820155, 1.111445555324566], "count": [405]}, "observation.state.joints": {"min": [-1.7851523160934448, -2.2129199504852295, -2.6141765117645264, -1.8393970727920532, 1.175125002861023, -0.996608555316925], "max": [-0.7598853707313538, -1.5356203317642212, -2.1232192516326904, -0.9315906167030334, 1.6127495765686035, -0.3335431218147278], "mean": [-1.3551128332997546, -1.8938870653694058, -2.217257320733718, -1.3353095418141212, 1.371767105879607, -0.5158707149234819], "std": [0.3560718746363679, 0.17066850762543567, 0.08689200189521741, 0.3176070838612962, 0.13889389232180907, 0.15402723166330393], "count": [405]}, "observation.images.side": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3837484717632371]], [[0.3929818814716898]], [[0.39466608063450104]]], "std": [[[0.2527083998511687]], [[0.23825110297367474]], [[0.23823557083114857]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.18126591785685467]], [[0.18968683127572017]], [[0.25555519083353506]]], "std": [[[0.25075173999810174]], [[0.23364146821819837]], [[0.29576068917917203]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.1994074848704914]], [[0.2047097829419834]], [[0.27282252723311545]]], "std": [[[0.24656038437037456]], [[0.22483566614392791]], [[0.2854621012245052]]], "count": [100]}, "action.pose": {"min": [-0.004018059931695463, -0.011418062262237072, -0.002715735929086805, -0.010549683688137993, -0.009639883692108775, -0.008184768446485718], "max": [0.002790873870253563, 0.00357008446007967, 0.008577479049563408, 0.0066394083327926835, 0.009470989254057649, 0.004285946525982578], "mean": [-0.00029407090462147024, -0.000633226808741587, -2.0736413311461546e-05, -0.00015086205774106365, -7.886617378077762e-05, -0.0002913413681131783], "std": [0.0012390294333399908, 0.002241957914532168, 0.0018187944279192147, 0.0031482953598501945, 0.0031677849599272643, 0.0022579400541741196], "count": [405]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.6518518518518519], "std": [0.4763832649129934], "count": [405]}, "action.joints": {"min": [-0.01718902587890625, -0.007544040679931641, -0.005485057830810547, -0.026635408401489258, -0.012646079063415527, -0.00737762451171875], "max": [0.009404897689819336, 0.008437907323241234, 0.007275581359863281, 0.01718282699584961, 0.008492708206176758, 0.015660762786865234], "mean": [-0.0014303881445048767, 0.0009798159627358854, -3.8265887601875964e-05, 0.0003878924880682686, -0.00031578570236394436, 5.190813982928241e-05], "std": [0.005093035234570134, 0.0033759188205478834, 0.0019925750727103806, 0.006741614086667177, 0.003143986495092488, 0.0035665507200619002], "count": [405]}, "timestamp": {"min": [0.0], "max": [8.08], "mean": [4.039999999999999], "std": [2.338261462426019], "count": [405]}, "frame_index": {"min": [0], "max": [404], "mean": [202.0], "std": [116.91307312130097], "count": [405]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [405]}, "index": {"min": [8640], "max": [9044], "mean": [8842.0], "std": [116.91307312130097], "count": [405]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [405]}}} -{"episode_index": 21, "stats": {"observation.state.pose": {"min": [-0.20332494378089905, -0.02141581103205681, 0.1991385519504547, -0.2553817788618461, -0.04232324724902181, -0.0590889651683259], "max": [-0.008836326189339161, 0.36140814423561096, 0.46422910690307617, 0.10594157536719678, 0.08690917401243636, 0.18147191858996753], "mean": [-0.07834326980248241, 0.24547534472792293, 0.3109721250758313, -0.13530121648606822, 0.040771356798989807, 0.08647522764674494], "std": [0.056948954047663994, 0.1056804379880106, 0.08176375013619341, 0.10363048951254648, 0.028756170653864425, 0.055661932172704855], "count": [404]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.4381188118811881], "std": [0.4961559417733544], "count": [404]}, "observation.state.tcp_force": {"min": [-2.41037106513977, -0.9685999751091003, -8.232475280761719], "max": [4.948087215423586, 4.164599895477295, -0.3141250014305116], "mean": [0.6461194186751783, 1.5055291592466211, -4.578034169529334], "std": [1.181285394336015, 0.9150264625971899, 1.6564732258558073], "count": [404]}, "observation.state.tcp_torque": {"min": [-0.00826600007712846, -0.18347899615764618, -0.922245979309082], "max": [0.12283100187778474, 0.8082619905471802, 1.1673049926757812], "mean": [0.0672940023669611, 0.38140327741719304, 0.08906142345681428], "std": [0.026360534076894666, 0.18150125720158494, 0.14209575291989787], "count": [404]}, "observation.state.joints": {"min": [-1.5192281007766724, -2.153547525405884, -2.6325957775115967, -2.0584909915924072, 1.4105812311172485, -1.1465386152267456], "max": [-0.7688548564910889, -1.5143145322799683, -2.2565271854400635, -1.526506781578064, 1.6975144147872925, -0.7412946820259094], "mean": [-1.103318471129578, -1.945701156217273, -2.3332075830733423, -1.788885089135406, 1.4989290497090557, -0.8503251539008452], "std": [0.17241157453955686, 0.20586982819437893, 0.11645310541297613, 0.11732545304594294, 0.07324414451630161, 0.08646358336861001], "count": [404]}, "observation.images.side": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37644922229565986]], [[0.38561202026878166]], [[0.39019009179701847]]], "std": [[[0.24804695370437876]], [[0.23466240082695972]], [[0.23175800451959164]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.21826486887759217]], [[0.20445166464939885]], [[0.2333808295005245]]], "std": [[[0.24590235970460575]], [[0.22941928612522614]], [[0.2628843186262185]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.23913293472121358]], [[0.2350075816993464]], [[0.28373811345114175]]], "std": [[[0.26159021718043773]], [[0.24848647937665871]], [[0.28408048290112675]]], "count": [100]}, "action.pose": {"min": [-0.004322392400354148, -0.008447482250630856, -0.0031392525415867567, -0.011822654953012175, -0.004490203878308119, -0.004014971285839022], "max": [0.004393993876874447, 0.006093749776482582, 0.0077111348509788505, 0.016185380735298273, 0.0032134308571107884, 0.009606070063163675], "mean": [0.0001297616243997673, 0.00046614164719021526, -0.0001231484002008722, 0.00014751909316381147, -0.00015253780313040035, 0.0002951652999352136], "std": [0.0015303467415963307, 0.0025196626365577442, 0.0016863231585910368, 0.0038854029075281377, 0.0013804716680647121, 0.0023731542200891697], "count": [404]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.4381188118811881], "std": [0.4961559417733544], "count": [404]}, "action.joints": {"min": [-0.018149137496948242, -0.012134075164794922, -0.009993314743041992, -0.006594181060791016, -0.010576367378234863, -0.013489723205566406], "max": [0.015401780605316162, 0.017807483673095703, 0.011437654495239258, 0.008111953735351562, 0.012424230575561523, 0.011903762817382812], "mean": [-0.00039267421949027787, -0.00011110766894543673, 0.00032260748419431174, 0.0007414197051289058, 5.955536766807632e-05, 1.1802899955522896e-09], "std": [0.006180103190249627, 0.005519301322416549, 0.0032876669866136214, 0.003052826835659216, 0.003228615827624205, 0.0038917281594230764], "count": [404]}, "timestamp": {"min": [0.0], "max": [8.06], "mean": [4.029999999999999], "std": [2.33248794209102], "count": [404]}, "frame_index": {"min": [0], "max": [403], "mean": [201.5], "std": [116.62439710455098], "count": [404]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [404]}, "index": {"min": [9045], "max": [9448], "mean": [9246.5], "std": [116.62439710455098], "count": [404]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [404]}}} -{"episode_index": 22, "stats": {"observation.state.pose": {"min": [-0.21015648543834686, -0.14510153234004974, 0.1832457333803177, 0.029515756874956972, 0.0010850539199789289, 0.023110796928497136], "max": [-0.15511943399906158, 0.007113093975931406, 0.4830998182296753, 0.23783639595472977, 0.1190565273162294, 0.13762994667105677], "mean": [-0.17813852791513143, -0.032040696476072515, 0.25320498782662704, 0.14474270332704184, 0.04222761829170735, 0.1144081359444323], "std": [0.016124058585770408, 0.051442323584880774, 0.08220689497735456, 0.07098837301559623, 0.02873485382776894, 0.018419712066898082], "count": [358]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.3547486033519553], "std": [0.4784370719037064], "count": [358]}, "observation.state.tcp_force": {"min": [-11.728398323059082, -1.801895022392273, -4.200946807861327], "max": [5.4179630279541025, 6.905840873718262, 1.5267200469970692], "mean": [0.18915910830535254, 3.117932905344157, -0.6408036775905223], "std": [2.789994916952459, 1.1599028877164945, 1.2156709337677338], "count": [358]}, "observation.state.tcp_torque": {"min": [-0.04025600105524029, -0.4444369971752167, -1.6948180198669434], "max": [0.09096200019121133, 0.9128739833831787, 1.7958699464797974], "mean": [0.01247893574940227, 0.036955742417056216, 0.2480701112120761], "std": [0.026037946570972255, 0.18038106185002278, 0.4331041321398254], "count": [358]}, "observation.state.joints": {"min": [-1.911020278930664, -1.625592827796936, -2.8244082927703857, -1.9763771295547485, 1.6082637310028076, -1.386459231376648], "max": [-1.2084323167800903, -1.4507968425750732, -2.6313867568969727, -1.2844200134277344, 1.810149073600769, -1.1440833806991577], "mean": [-1.7557621042155687, -1.5126489780468648, -2.762094449064585, -1.4491995649630798, 1.7207882167906734, -1.3079077777915826], "std": [0.1622220576508109, 0.029523334757846183, 0.06034610763537639, 0.17523252333049524, 0.06641927554874129, 0.07584520975095023], "count": [358]}, "observation.images.side": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40434466916354556]], [[0.4133786957479621]], [[0.41568611000954686]]], "std": [[[0.2607218316595497]], [[0.2481102270065141]], [[0.2467417498121103]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3207783038812233]], [[0.29478745420802066]], [[0.3064820769789397]]], "std": [[[0.3170080736994048]], [[0.3016011210969069]], [[0.33152340949577613]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3838708722666021]], [[0.36638839506172843]], [[0.37180207859275394]]], "std": [[[0.38004515589587756]], [[0.3676535253110987]], [[0.3718669940195115]]], "count": [100]}, "action.pose": {"min": [-0.0012696285266429186, -0.003964595962315798, -0.00428132014349103, -0.007648988363072911, -0.006333297900243506, -0.002016678730602412], "max": [0.001820336910896004, 0.0013501860667020082, 0.0014030170859768989, 0.004818291380536979, 0.00432907643371272, 0.002378026607601054], "mean": [8.564839589203917e-05, -0.00045899293418543547, -0.0006784167673296205, -4.165979356302552e-05, -0.0001541639140121076, 0.00018594449830052615], "std": [0.0006137771689770069, 0.0008192744079740885, 0.0010212036476494814, 0.0019031299734811916, 0.001698010843344688, 0.0007443199911370099], "count": [358]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.3547486033519553], "std": [0.4784370719037064], "count": [358]}, "action.joints": {"min": [-0.009893655776977539, -0.0035050250589847565, -0.0034847259521484375, -0.0037106722593307495, -0.007207989692687988, -0.005416393280029297], "max": [0.0015288591384887695, 0.004944939166307449, 0.0018548965454101562, 0.010860919952392578, 0.0038640499114990234, 0.0020389556884765625], "mean": [-0.0014830394830117678, 0.00017950465309553307, -0.0004975123112428122, 0.001410918914473631, -8.847194010984964e-05, -0.0006534613710541965], "std": [0.002295208721931329, 0.0013895204902212958, 0.0012407799098339048, 0.0028515642603878506, 0.0018609692179001767, 0.0015560791764651532], "count": [358]}, "timestamp": {"min": [0.0], "max": [7.14], "mean": [3.57], "std": [2.0669059001318857], "count": [358]}, "frame_index": {"min": [0], "max": [357], "mean": [178.5], "std": [103.34529500659427], "count": [358]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [358]}, "index": {"min": [9449], "max": [9806], "mean": [9627.5], "std": [103.34529500659427], "count": [358]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [358]}}} -{"episode_index": 23, "stats": {"observation.state.pose": {"min": [-0.20677511394023895, -0.1772514134645462, 0.23233425617218018, 0.02360385836980227, 0.04813075058962224, -0.15142743751914514], "max": [0.026241661980748177, 0.03299325332045555, 0.48307815194129944, 0.22661316362811593, 0.2109053662006839, 0.30347834248594685], "mean": [-0.13020353394264628, -0.06615029352854306, 0.30872126186177845, 0.13820706002777067, 0.11884707697606375, 0.051859671219532215], "std": [0.08477899121393387, 0.07737091080886085, 0.06800358065705256, 0.04530908663908881, 0.03802689686847605, 0.1635045985772627], "count": [420]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.6333333333333333], "std": [0.4818944098266987], "count": [420]}, "observation.state.tcp_force": {"min": [-2.484689950942993, 2.2763869762420654, -3.535783052444458], "max": [12.081398010253906, 8.86822509765625, 2.172753095626833], "mean": [5.021842747719936, 4.680504479862395, -0.9535406105220318], "std": [4.9498185386314315, 1.3406402888220377, 0.9999562056234865], "count": [420]}, "observation.state.tcp_torque": {"min": [-0.04085199907422077, -1.1868679523468018, -0.2623090147972107], "max": [0.06524000316858271, 0.8623830080032349, 2.10676908493042], "mean": [0.02161832856368378, -0.0980324540464651, 0.6149200475996449], "std": [0.020221339156525655, 0.28720802293217185, 0.396650135815445], "count": [420]}, "observation.state.joints": {"min": [-1.7604222297668457, -2.020979642868042, -3.0215320587158203, -1.9755302667617798, 1.6274899244308472, -1.7594021558761597], "max": [-1.1371220350265503, -1.4713401794433594, -2.6938376426696777, -1.4500794410705566, 1.8097057342529297, -0.97846919298172], "mean": [-1.4852616449197134, -1.6550210308460962, -2.8273596616018386, -1.6499235391616822, 1.7230834898494538, -1.310462257124129], "std": [0.2230835079457557, 0.18371858647074915, 0.11350632264673002, 0.15069691172429445, 0.04871207006888382, 0.2774214454946773], "count": [420]}, "observation.images.side": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.400551294705148]], [[0.4087203422192847]], [[0.4119384210912829]]], "std": [[[0.2568609339785961]], [[0.24426535021911308]], [[0.24230297350198615]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3035202953280078]], [[0.2826951262809651]], [[0.31148975550714114]]], "std": [[[0.3079765089740936]], [[0.2924253452836858]], [[0.32653697837554935]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25230273864278224]], [[0.2396253885257807]], [[0.2686281142580489]]], "std": [[[0.27837258793684777]], [[0.26180990637917173]], [[0.29319247307478674]]], "count": [100]}, "action.pose": {"min": [-0.006072208285331727, -0.00292731961235404, -0.0031264929566532373, -0.007600188506014077, -0.004393508944496416, -0.005916224888143177], "max": [0.0029275694396346807, 0.0024244263768196106, 0.004326049238443374, 0.004280876910968821, 0.004458249006391357, 0.0058470029912110946], "mean": [0.0002753065592235955, -0.00027990476160734293, -0.0003352424135890769, 5.348798015982809e-05, 0.00021284788566994917, 0.0005300724033360356], "std": [0.0014862559048093667, 0.0011247879913204029, 0.001356329180471242, 0.002179968876395535, 0.0015267245180242929, 0.002351227390474779], "count": [420]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.6333333333333333], "std": [0.4818944098266987], "count": [420]}, "action.joints": {"min": [-0.011460065841674805, -0.007556438446044922, -0.00500178337097168, -0.010723114013671875, -0.007170677185058594, -0.010296821594238281], "max": [0.0071258544921875, 0.011080265045166016, 0.0049474239349365234, 0.009066104888916016, 0.003821730613708496, 0.008723735809326172], "mean": [-3.9734726860409693e-05, -0.0005055245899018787, -0.00036242008209228513, 0.00031167779705442843, -5.102980704534622e-05, -0.0009089163371494839], "std": [0.003861926023676045, 0.0031592162484409925, 0.0019833181623168106, 0.0032163887926109865, 0.0020592946756568635, 0.0040207194210857], "count": [420]}, "timestamp": {"min": [0.0], "max": [8.38], "mean": [4.1899999999999995], "std": [2.424864257369197], "count": [420]}, "frame_index": {"min": [0], "max": [419], "mean": [209.5], "std": [121.24321286845984], "count": [420]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [420]}, "index": {"min": [9807], "max": [10226], "mean": [10016.5], "std": [121.24321286845984], "count": [420]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [420]}}} -{"episode_index": 24, "stats": {"observation.state.pose": {"min": [-0.16974730789661407, -0.07668882608413696, 0.2072393149137497, -0.04887304095473225, -0.1856712161299141, -0.22567444671925707], "max": [0.017902234569191933, -0.028701841831207275, 0.46021974086761475, 0.04132009654497404, 0.13566195730853026, -0.09628654115807622], "mean": [-0.06994727218041596, -0.05032815340760552, 0.26819960788899894, 0.03021100877282942, -0.10427035907572202, -0.18353281942881028], "std": [0.0591690717458476, 0.013333405620057436, 0.060964895595454476, 0.00873919022568973, 0.10170299105318634, 0.035300219588200454], "count": [281]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.3701067615658363], "std": [0.48283304216787554], "count": [281]}, "observation.state.tcp_force": {"min": [-1.9974269866943355, -2.1620590686798096, -4.246063232421875], "max": [4.15565299987793, 5.197669982910156, 3.155957937240601], "mean": [0.7630355491425539, 0.6687451855037561, -1.3148292170007285], "std": [1.214985303087149, 1.7836900942556337, 1.0401412513722288], "count": [281]}, "observation.state.tcp_torque": {"min": [-0.0032200000714510545, -1.6283620595932007, -0.8416739702224731], "max": [0.0691099986433983, 1.0988620519638062, 0.9906600117683411], "mean": [0.020141697477539366, 0.04298048013335697, -0.011498205979177363], "std": [0.013226007125012349, 0.20236419868240885, 0.23848664159483204], "count": [281]}, "observation.state.joints": {"min": [-1.9232279062271118, -1.6114646196365356, -2.7562522888183594, -1.8880001306533813, 1.469068169593811, -1.093241572380066], "max": [-1.341537594795227, -1.4231648445129395, -2.576543092727661, -1.1668964624404907, 1.6508777141571045, -0.8234079480171204], "mean": [-1.7371618743468857, -1.5215691192294356, -2.6577992193215256, -1.357038833068359, 1.5222906625143573, -0.9152003087607142], "std": [0.15287885868926054, 0.062050410154184464, 0.050848788238017015, 0.21043562695394877, 0.05625894179829419, 0.07703508063603723], "count": [281]}, "observation.images.side": {"min": [[[0.0]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.392304576632151]], [[0.3995994492178894]], [[0.3992722787691856]]], "std": [[[0.2601716044557741]], [[0.24938554387944015]], [[0.24998573067408617]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2988772774953603]], [[0.2779392673283305]], [[0.2962851399983862]]], "std": [[[0.33325212183728187]], [[0.3179631799264084]], [[0.33724312434932885]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2728467215363512]], [[0.268159038166707]], [[0.29454022916162353]]], "std": [[[0.3208590914119329]], [[0.3123569424555924]], [[0.33893780836703324]]], "count": [100]}, "action.pose": {"min": [-0.00278089288622141, -0.000737711088731885, -0.003075550543144345, -0.0016673912730985696, -0.008004472333659862, -0.002604459430156053], "max": [0.00268197525292635, 0.0012695410987362266, 0.006682539358735084, 0.0011088438257877953, 0.009638915147174076, 0.0014274007842496462], "mean": [4.273268385828153e-05, 0.00014762623842597386, -0.00038958233114282456, 2.4387251053595253e-05, -0.0006830169107913281, -0.0002842792308016021], "std": [0.0013132813791952088, 0.0003659080948681248, 0.001391117898378981, 0.0005301423845915941, 0.002704855159657059, 0.0007864824492973439], "count": [281]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.3701067615658363], "std": [0.48283304216787554], "count": [281]}, "action.joints": {"min": [-0.009193181991577148, -0.0049571990966796875, -0.0032312870025634766, -0.02244912087917328, -0.005034804344177246, -0.0032901763916015625], "max": [0.01849353313446045, 0.005594342947006226, 0.00444793701171875, 0.01081228256225586, 0.005796551704406738, 0.005103111267089844], "mean": [-0.0013365618274729448, 0.0005473420173062336, 0.0005299561388551977, 0.0013709602433379434, -0.0003512457172217318, 0.000830171795502252], "std": [0.003724667777023242, 0.0021654034433699508, 0.0012218375772613725, 0.004850843102989411, 0.001568518897980593, 0.0014615737333809305], "count": [281]}, "timestamp": {"min": [0.0], "max": [5.6], "mean": [2.8000000000000003], "std": [1.6223439832538598], "count": [281]}, "frame_index": {"min": [0], "max": [280], "mean": [140.0], "std": [81.11719916269298], "count": [281]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [281]}, "index": {"min": [10227], "max": [10507], "mean": [10367.0], "std": [81.11719916269298], "count": [281]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [281]}}} -{"episode_index": 25, "stats": {"observation.state.pose": {"min": [-0.1751781851053238, -0.23878243565559387, 0.19620399177074432, -0.04867591504325787, 0.031822926306384725, -0.2980305364548829], "max": [-0.03756840527057648, 0.07023809850215912, 0.4599151611328125, 0.15694761177781136, 0.2647719852477213, 0.02326963316076829], "mean": [-0.11414198765297673, -0.051336220437408805, 0.29297126968643755, 0.024657983959520288, 0.15644470741427263, -0.16688611104133572], "std": [0.043618142098536344, 0.09449639673144405, 0.0833868766962207, 0.054870157006800944, 0.06002405935866915, 0.10158902676407423], "count": [343]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.6559766763848397], "std": [0.4750487095277062], "count": [343]}, "observation.state.tcp_force": {"min": [-1.3881380558013907, 0.2247059941291809, -4.797654151916504], "max": [1.1186690330505378, 6.284791946411133, -0.7510030269622803], "mean": [0.0011105452631619975, 3.7406935820426606, -2.9986617224557057], "std": [0.42315963009342283, 1.2956238176448398, 0.7426022909947482], "count": [343]}, "observation.state.tcp_torque": {"min": [-0.008016999810934188, -0.011892000213265419, 0.005948999896645556], "max": [0.07428699731826777, 0.6508960127830505, 0.5514209866523743], "mean": [0.037830708464185674, 0.2760465713149974, 0.2932396412341049], "std": [0.01729809061822958, 0.14211964480533734, 0.11747697737078214], "count": [343]}, "observation.state.joints": {"min": [-1.6164754629135132, -1.9248162508010864, -2.925567150115967, -1.8878146409988403, 1.547060489654541, -1.3810418844223022], "max": [-1.34193754196167, -1.5342110395431519, -2.6450021266937256, -1.5304609537124634, 1.8193310499191284, -0.8946531414985657], "mean": [-1.4425630089840458, -1.718266166681451, -2.772563640994859, -1.6677023575535321, 1.6692529600493762, -1.0429496900680808], "std": [0.091774059067344, 0.11100690118399627, 0.07707905033516955, 0.1270190444326028, 0.08689376921138678, 0.1518229084445238], "count": [343]}, "observation.images.side": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3952416024087538]], [[0.400990961298377]], [[0.39979962693691706]]], "std": [[[0.25528007039556055]], [[0.24545092992336626]], [[0.24781309298179527]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.18200122811264424]], [[0.16535904623577827]], [[0.20220205599935448]]], "std": [[[0.20649502813194723]], [[0.18525188648760335]], [[0.22545093504133412]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2616232050351005]], [[0.2630975453885258]], [[0.31883543613330106]]], "std": [[[0.26896057857769984]], [[0.25962992449199107]], [[0.29795393653527175]]], "count": [100]}, "action.pose": {"min": [-0.0015742601826786995, -0.004363690037280321, -0.0032038500066846613, -0.005444884183007814, -0.004633684129710991, -0.003661380720483993], "max": [0.003291337983682752, 0.003079555695876479, 0.0021535346750169992, 0.0077128545633699305, 0.00465156730819416, 0.00874140926017504], "mean": [0.0002662314310074703, -0.0004271958025464123, -0.0005321202219208146, 9.858122958783562e-06, 0.0001593083279734497, 0.00034764489854496357], "std": [0.0009220374820459573, 0.0018501764216775137, 0.0010340242406762842, 0.0022791368766490547, 0.0019509935853229403, 0.0025223154960357366], "count": [343]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.6559766763848397], "std": [0.4750487095277062], "count": [343]}, "action.joints": {"min": [-0.005822420120239258, -0.004512786865234375, -0.0037331581115722656, -0.0033022435382008553, -0.004609584808349609, -0.01216268539428711], "max": [0.0032390356063842773, 0.005354404449462891, 0.0028848648071289062, 0.009821414947509766, 0.007028698921203613, 0.005469322204589844], "mean": [-0.0008035300424425665, -0.00018965308527318277, -0.0007260610341330659, 0.0008577480267342343, 9.320567717705107e-06, -0.0010803864926707987], "std": [0.0015545054607522138, 0.0024788072835855214, 0.0015598293149315069, 0.002235365778905926, 0.0023828916221641633, 0.003599445973780462], "count": [343]}, "timestamp": {"min": [0.0], "max": [6.84], "mean": [3.42], "std": [1.98030300711785], "count": [343]}, "frame_index": {"min": [0], "max": [342], "mean": [171.0], "std": [99.0151503558925], "count": [343]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [343]}, "index": {"min": [10508], "max": [10850], "mean": [10679.0], "std": [99.0151503558925], "count": [343]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [343]}}} +{"episode_index": 0, "stats": {"observation.state.pose": {"min": [-0.1579906940460205, -0.20507240295410156, 0.1854439079761505, -0.39460167569337096, -0.1257400143163554, 0.0305685195705806], "max": [0.05333423614501953, 0.140899658203125, 0.3272496461868286, 0.05167050746846884, 0.04506714400810141, 0.3944064526755864], "mean": [-0.01571664536788486, -0.12055930984088907, 0.26284293540649944, -0.17545279226210073, -0.0505178923538256, 0.3302342627164258], "std": [0.05890930986473217, 0.08558184990517159, 0.03946256715418115, 0.15480549484511424, 0.044910306605054455, 0.0661603815115785], "count": [396]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.44696969696969696], "std": [0.4971798336221153], "count": [396]}, "observation.state.tcp_force": {"min": [-9.489736557006836, -9.54681396484375, -24.05263328552246], "max": [5.924936771392822, 10.813289642333984, 8.205580711364746], "mean": [-0.05031291741144025, 0.5033885636884305, -1.558545181431603], "std": [2.730479447110947, 3.8643653712785433, 7.171024835636382], "count": [396]}, "observation.state.tcp_torque": {"min": [-2.7926759719848633, -3.46636700630188, -0.025023000314831734], "max": [3.0524699687957764, 2.4027669429779053, 0.07695899903774261], "mean": [0.03035083499658371, -0.013508712221848346, 0.012835083378046296], "std": [0.9224385647562848, 0.8420280155140504, 0.018539823048028613], "count": [396]}, "observation.state.joints": {"min": [1.5523761510849, -1.7369590997695923, -0.1482723355293274, -1.9223486185073853, -1.9478119611740112, -1.2781652212142944], "max": [1.8779181241989136, -1.4227710962295532, 0.18093731999397278, -1.6860204935073853, -1.5227526426315308, -0.7467249035835266], "mean": [1.6606842098814067, -1.514883632310713, 0.0028186976960201684, -1.8141503707327025, -1.7213169324277626, -1.1187763024460187], "std": [0.10201274612868802, 0.08461319969293518, 0.1148136505437595, 0.058596699661973554, 0.16202441684619656, 0.1533454521774949], "count": [396]}, "observation.images.side": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5223001571564956]], [[0.5255686392009987]], [[0.5281290812954396]]], "std": [[[0.2400825805676521]], [[0.23052022445207918]], [[0.23481784069206366]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2754630501089325]], [[0.26616245299766]], [[0.30979768417655124]]], "std": [[[0.3085752639157455]], [[0.2969441047308662]], [[0.33234863836614537]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.21909340111353184]], [[0.21244936819172114]], [[0.2720161252319858]]], "std": [[[0.24660115943581123]], [[0.23537206430332114]], [[0.27599331440656794]]], "count": [100]}, "action.pose": {"min": [-0.004419452045112848, -0.013985199853777885, -0.002408690983429551, -0.019377816858770883, -0.008510599133944918, -0.004178314540843984], "max": [0.005681843962520359, 0.002727475482970476, 0.006065637804567815, 0.015480821407281638, 0.004444100167614096, 0.01289604486882979], "mean": [-6.455000761039323e-05, -0.0005248408738845518, 0.0002783156826560364, -0.0002624914465441152, -0.00012359064111809522, 0.0005718981050826437], "std": [0.0014893595431406885, 0.0025946143765268738, 0.001696656771810225, 0.0044443961421052215, 0.0018797786246323779, 0.002180354260115972], "count": [396]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.44696969696969696], "std": [0.49717983362211526], "count": [396]}, "action.joints": {"min": [-0.008662223815917969, -0.0036725997924804688, -0.009584903717041016, -0.007176399230957031, -0.014289379119873047, -0.010552406311035156], "max": [0.005644798278808594, 0.003504149615764618, 0.0019655227661132812, 0.009955883026123047, 0.013959884643554688, 0.0019383430480957031], "mean": [-0.0002107295123013583, -0.000404678351560965, -0.0007000616057822951, 0.0005078737181846542, -0.00013571556168373184, -0.0012872050506900056], "std": [0.0030196657134499284, 0.0016978527090139623, 0.001926362555964544, 0.003345983087629977, 0.004370495862680488, 0.0026666779301702226], "count": [396]}, "timestamp": {"min": [0.0], "max": [7.9], "mean": [3.95], "std": [2.28629977620317], "count": [396]}, "frame_index": {"min": [0], "max": [395], "mean": [197.5], "std": [114.31498881015851], "count": [396]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [396]}, "index": {"min": [0], "max": [395], "mean": [197.5], "std": [114.31498881015851], "count": [396]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [396]}}} +{"episode_index": 1, "stats": {"observation.state.pose": {"min": [-0.1950407773256302, -0.27203184366226196, 0.17103683948516846, -0.10239186115619209, -0.1344477725755242, -0.051406456954300433], "max": [0.0028265120927244425, 0.07444456219673157, 0.3347994089126587, 0.1549811356848187, 0.345840216844409, 0.4768940084490616], "mean": [-0.14828570507143013, -0.22809542241157033, 0.26603898050962016, 0.03583945928477926, 0.16909031599013594, 0.34689890323457606], "std": [0.032804651491372724, 0.05314289086447488, 0.024044857360609635, 0.0820774297186077, 0.1510534893977268, 0.14480123437541556], "count": [256]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.33203125], "std": [0.47094213978304966], "count": [256]}, "observation.state.tcp_force": {"min": [-13.22426700592041, -2.714355945587158, -2.81119704246521], "max": [1.3150529861450195, 4.555117130279541, 6.427342891693115], "mean": [-5.932997452302516, 1.1954049876785575, 1.0743421504361095], "std": [3.6158821582185845, 1.5258109978678924, 2.425296752538321], "count": [256]}, "observation.state.tcp_torque": {"min": [-0.8313149809837341, -2.277477979660034, -0.013394000008702278], "max": [0.2817839980125427, 0.09121300280094147, 0.02089500054717064], "mean": [-0.17338425780712896, -0.6685449052572494, 0.00028492577710181877], "std": [0.2529022901452876, 0.5364755977513708, 0.006794934485149891], "count": [256]}, "observation.state.joints": {"min": [1.3859771490097046, -1.7391692399978638, -0.2863958477973938, -1.9851452112197876, -1.699492335319519, -1.504346251487732], "max": [1.7756303548812866, -1.3156299591064453, 0.15653447806835175, -1.3150612115859985, -1.6009186506271362, -0.579212486743927], "mean": [1.540386037901044, -1.4664980960078537, -0.22130406173528172, -1.4850380206480622, -1.660221604630351, -1.3362762415781617], "std": [0.13739326385629247, 0.15164701154036572, 0.06320136893359994, 0.1459224460248303, 0.030642627006932772, 0.19127167366909123], "count": [256]}, "observation.images.side": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5207992215612837]], [[0.5245611940956157]], [[0.5279158184622164]]], "std": [[[0.24165651504135077]], [[0.23154185034933047]], [[0.23445563317329732]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.23402759945130316]], [[0.22782162511094972]], [[0.2820211796982168]]], "std": [[[0.2616847360365257]], [[0.24277276658356609]], [[0.2872372272696921]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2467136205922698]], [[0.24846017106431048]], [[0.31481413378520134]]], "std": [[[0.2306961845140471]], [[0.21985317056128997]], [[0.2591356437248241]]], "count": [100]}, "action.pose": {"min": [-0.0027437095995992418, -0.003797962097451091, -0.002360249869525433, -0.005180847655541457, -0.01598490659094054, -0.004084833877972156], "max": [0.00254315324127674, 0.0027774139307439327, 0.006012553814798594, 0.005879739112200069, 0.007009087473202058, 0.008173745557011345], "mean": [5.257977873185374e-05, -0.00046066169262004575, 0.00015560175410023194, -8.281023314477664e-05, 0.00024090156020611063, 0.001464012092762684], "std": [0.001049446466257606, 0.001306417070351434, 0.0015789241046026126, 0.0024232773389349094, 0.004477831961346769, 0.002590045085012676], "count": [256]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.33203125], "std": [0.47094213978304966], "count": [256]}, "action.joints": {"min": [-0.008646011352539062, -0.016071327030658722, -0.006186962127685547, -0.00798877514898777, -0.006451606750488281, -0.0133514404296875], "max": [0.008855342864990234, 0.007536806166172028, 0.0017986297607421875, 0.008535921573638916, 0.007918357849121094, 0.0038995742797851562], "mean": [-0.0006755292415618896, 0.00043901637945964467, -0.0005339503404684365, 0.0004497263580560684, 2.0738691091537476e-05, -0.0020228810608386993], "std": [0.00333988694736374, 0.0045019072268569545, 0.0018745742184655082, 0.0035323631553037757, 0.002023664103160252, 0.0038826434775650134], "count": [256]}, "timestamp": {"min": [0.0], "max": [5.1], "mean": [2.55], "std": [1.4780054127099804], "count": [256]}, "frame_index": {"min": [0], "max": [255], "mean": [127.5], "std": [73.90027063549903], "count": [256]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [256]}, "index": {"min": [396], "max": [651], "mean": [523.5], "std": [73.90027063549903], "count": [256]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [256]}}} +{"episode_index": 2, "stats": {"observation.state.pose": {"min": [-0.23974645137786865, 0.0006859539425931871, 0.16952228546142578, -0.04839321434346933, -0.15087441847961935, -0.23218728911757755], "max": [0.019714469090104103, 0.19115786254405975, 0.302131712436676, 0.24213243507577192, 0.06510997520904827, 0.28546149477341065], "mean": [-0.14060571204893113, 0.07376654536346905, 0.25227181840510593, 0.11532578559760842, -0.028669104834699956, -0.06826480408623091], "std": [0.08211191169791246, 0.02956934896922024, 0.03463793169694544, 0.09696828671228205, 0.0646331799716993, 0.1301902446944554], "count": [210]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.42857142857142855], "std": [0.49487165930539345], "count": [210]}, "observation.state.tcp_force": {"min": [-12.412493705749512, -6.347836017608643, -1.8962559700012207], "max": [1.1382290124893188, 0.1773499995470047, 8.677449226379395], "mean": [-3.917327786231181, -2.7478714488801503, 1.4865182128690537], "std": [2.3998125375448733, 1.3368150897734488, 2.466328629533325], "count": [210]}, "observation.state.tcp_torque": {"min": [-0.2373020052909851, -3.269922971725464, -0.05060900002717972], "max": [1.2920219898223877, 0.2094939947128296, 0.02203500084578991], "mean": [0.3056435657487739, -0.45846225761176485, -0.013861690482978398], "std": [0.23221998048146944, 0.4348584002591431, 0.010592515227124788], "count": [210]}, "observation.state.joints": {"min": [1.6358379125595093, -1.7312313318252563, -0.06477100402116776, -1.9844995737075806, -1.6185740232467651, -0.9398806691169739], "max": [1.856449007987976, -1.4215058088302612, 0.2749839425086975, -1.6152459383010864, -1.333030104637146, -0.536342442035675], "mean": [1.7754897128968012, -1.6456577232905796, 0.032919659579749266, -1.7400888908477057, -1.464804838952564, -0.6834470209621247], "std": [0.06854444777719511, 0.10670898445331913, 0.07405064980352696, 0.11251404131776468, 0.1034288645573338, 0.1346071938501297], "count": [210]}, "observation.images.side": {"min": [[[0.0]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5231456737901152]], [[0.5265905456414776]], [[0.529631369611515]]], "std": [[[0.23989467522227137]], [[0.22995067235794012]], [[0.23356123771853443]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3083374195110143]], [[0.30530344710723795]], [[0.34055817154845475]]], "std": [[[0.34341179893388885]], [[0.3352727788758114]], [[0.36467671939414836]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.16863781005406278]], [[0.15887062212539335]], [[0.19822835633018637]]], "std": [[[0.2093477523493514]], [[0.19711081868787758]], [[0.24152856822881943]]], "count": [100]}, "action.pose": {"min": [-0.008032755926251411, -0.00364961801096797, -0.0025950120761990547, -0.01076978109851134, -0.00553782468756947, -0.012658118536774846], "max": [0.004053416196256875, 0.0012575362343341112, 0.004779369570314883, 0.009837084845639617, 0.0069857083620177285, 0.008360199065406668], "mean": [-0.0007032178594153309, -0.0005733894849960225, 0.0006631444429840052, -0.00027481675251894515, 0.000651871353117067, 0.0008780819492065705], "std": [0.0021885576850255843, 0.0010465414902214856, 0.0016883201275314284, 0.003530648233495331, 0.002372367506334596, 0.003835338070217456], "count": [210]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.42857142857142855], "std": [0.49487165930539345], "count": [210]}, "action.joints": {"min": [-0.0053234100341796875, -0.00961923599243164, -0.005687817931175232, -0.006693840026855469, -0.007151126861572266, -0.007613182067871094], "max": [0.005720615386962891, 0.002585276961326599, 0.0038807522505521774, 0.01273202896118164, 0.009297370910644531, 0.004549980163574219], "mean": [8.282888503301712e-05, -0.0011419023985841444, -0.00033147214424042475, 0.0013978549412318637, -2.0606177193777902e-05, -0.001310359864007859], "std": [0.0024869256413092007, 0.0027736742546017597, 0.002151807385430752, 0.003742994904856786, 0.0036163782303768968, 0.003260218066776291], "count": [210]}, "timestamp": {"min": [0.0], "max": [4.18], "mean": [2.0900000000000003], "std": [1.2124218187853049], "count": [210]}, "frame_index": {"min": [0], "max": [209], "mean": [104.5], "std": [60.621090939265244], "count": [210]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [210]}, "index": {"min": [652], "max": [861], "mean": [756.5], "std": [60.621090939265244], "count": [210]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [210]}}} +{"episode_index": 3, "stats": {"observation.state.pose": {"min": [-0.2274995893239975, -0.10021744668483734, 0.142985999584198, -0.17158156861503998, -0.050936139918775325, 0.07002739945670766], "max": [-0.03434307500720024, 0.1917443573474884, 0.3222223222255707, 0.07430862434156249, 0.2288820259391755, 0.2948390909842008], "mean": [-0.07917242692410946, -0.04635412653069943, 0.26332184273004533, -0.10805867957983832, 0.12948228097547534, 0.19682431271178008], "std": [0.05198509663476845, 0.09166670716865599, 0.02532971261420158, 0.0709946604093336, 0.0611351933731751, 0.03581600241289191], "count": [250]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.464], "std": [0.4987023160162784], "count": [250]}, "observation.state.tcp_force": {"min": [-7.961968898773193, -1.739400029182434, -1.8693050146102905], "max": [2.064574956893921, 7.869534015655518, 6.868513107299805], "mean": [-3.231681779354811, 2.4611165899559855, 0.944801600381732], "std": [1.2519120432940476, 1.8418047957920654, 2.178902396120588], "count": [250]}, "observation.state.tcp_torque": {"min": [-1.996561050415039, -2.396225929260254, -0.014468999579548836], "max": [0.19842299818992615, 0.3071730136871338, 0.061744000762701035], "mean": [-0.324658983649686, -0.3196063143201172, 0.011770876017137197], "std": [0.3454736002304593, 0.24159581204776873, 0.012608513621292082], "count": [250]}, "observation.state.joints": {"min": [1.3528817892074585, -1.5203310251235962, 0.0394001230597496, -1.876301884651184, -1.7491096258163452, -0.9646089673042297], "max": [1.733801245689392, -1.2593520879745483, 0.2738857567310333, -1.4664758443832397, -1.4987543821334839, -0.6916788220405579], "mean": [1.430644310951233, -1.364645842075348, 0.08654036843776702, -1.5207937035560608, -1.6935000123977662, -0.895487633228302], "std": [0.07750568220061654, 0.08445403026178239, 0.0701147075887349, 0.05102312786407287, 0.07657440141378742, 0.04453879103970309], "count": [250]}, "observation.images.side": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.513126155540868]], [[0.5156979290592641]], [[0.5156195079679812]]], "std": [[[0.23520311394670765]], [[0.22747275079745838]], [[0.23620779188620294]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2662322891955136]], [[0.26127971919632054]], [[0.30742676995077867]]], "std": [[[0.2773993027860956]], [[0.2659446339016101]], [[0.3000937295175922]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3596147938352296]], [[0.35842392156862746]], [[0.4267915032679739]]], "std": [[[0.31868820304641393]], [[0.3093583497347983]], [[0.34414479350271693]]], "count": [100]}, "action.pose": {"min": [-0.0027611299883574243, -0.007946069352328777, -0.0027334049809724092, -0.004579885427103674, -0.00941119602210061, -0.004786532659390137], "max": [0.003216257318854331, 0.002073108684271574, 0.004596848506480455, 0.00482845888985342, 0.00672464821379104, 0.00182315776636724], "mean": [0.00046888839259349877, -0.0011569287416468795, 0.0003508406910532358, -0.0007786307764488846, -0.00047729468710300347, -0.0006651713555359145], "std": [0.0009101198556176257, 0.002484535626219276, 0.0016489607554656279, 0.0016232309538457119, 0.0031252742607481465, 0.0013171118499956435], "count": [250]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.464], "std": [0.4987023160162784], "count": [250]}, "action.joints": {"min": [-0.0045623779296875, -0.009562291204929352, -0.010955959558486938, -0.004500087350606918, -0.006012916564941406, -0.009143352508544922], "max": [0.0048313140869140625, 0.005419217050075531, 0.0007901713252067566, 0.005883216857910156, 0.005535602569580078, 0.0028715133666992188], "mean": [-0.0004532508850097656, 3.955498337745666e-05, -0.0008099742531776428, -0.0001616039276123047, -0.0007859230041503906, -0.0002426471710205078], "std": [0.002267370220404158, 0.002973788647237964, 0.002464812776627702, 0.0018375168246252923, 0.0018410943085538799, 0.002342640787024693], "count": [250]}, "timestamp": {"min": [0.0], "max": [4.98], "mean": [2.49], "std": [1.4433641259224923], "count": [250]}, "frame_index": {"min": [0], "max": [249], "mean": [124.5], "std": [72.16820629612461], "count": [250]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [250]}, "index": {"min": [862], "max": [1111], "mean": [986.5], "std": [72.16820629612461], "count": [250]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [250]}}} +{"episode_index": 4, "stats": {"observation.state.pose": {"min": [-0.3166871666908264, 0.02523873746395111, 0.14264990389347076, -0.10768542213145409, -0.10244865300336903, 0.0670635452065256], "max": [-0.06522151082754135, 0.2337733954191208, 0.3214133083820343, 0.21814672646131225, -0.005629065675344824, 0.5366511091825918], "mean": [-0.22970048038173566, 0.1521491135791999, 0.24487276790680085, 0.09530357613345733, -0.06543732308308325, 0.4017790275652449], "std": [0.08693331840613887, 0.054034713548611786, 0.039050808616124304, 0.10455461922374257, 0.023130885942445244, 0.16423170889169644], "count": [226]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.34513274336283184], "std": [0.4754115404801166], "count": [226]}, "observation.state.tcp_force": {"min": [-9.569290161132812, -6.458450794219971, -1.6035319566726685], "max": [1.4832639694213867, 0.643983006477356, 5.901557922363281], "mean": [-3.045462181115836, -2.871720299948897, 0.6634956462910415], "std": [1.7301234530922076, 1.5534877325463046, 1.5338721985189658], "count": [226]}, "observation.state.tcp_torque": {"min": [-0.15895700454711914, -1.7593270540237427, -0.032228998839855194], "max": [1.0316439867019653, 0.492127001285553, 0.006268000230193138], "mean": [0.3025189113478172, -0.29734015049190315, -0.013406323007976562], "std": [0.20806260342947908, 0.23135716689601035, 0.008764350697200485], "count": [226]}, "observation.state.joints": {"min": [1.6805847883224487, -1.803637146949768, 0.15848436951637268, -1.8857980966567993, -1.6703542470932007, -1.166103720664978], "max": [1.9261349439620972, -1.4286354780197144, 0.355695515871048, -1.663519024848938, -1.3381718397140503, -0.6838663220405579], "mean": [1.8352222579770383, -1.7031730756295467, 0.1798056633071562, -1.731419998987586, -1.4676303937371853, -1.0111510814291187], "std": [0.0757691022022586, 0.11113188905176069, 0.02289574183694479, 0.07046502243685729, 0.10526853284409879, 0.16937459049021172], "count": [226]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5193245501946097]], [[0.522096698244841]], [[0.5226594903429537]]], "std": [[[0.2304465314988445]], [[0.22228234427832846]], [[0.22980723457394248]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3337003001694505]], [[0.31560035181150653]], [[0.37004892923424515]]], "std": [[[0.3506327057513956]], [[0.3272037307121452]], [[0.36536012629621933]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.28262195755668523]], [[0.2719904139433551]], [[0.3401502299685306]]], "std": [[[0.2891016479768259]], [[0.27626083180290867]], [[0.33870127491507157]]], "count": [100]}, "action.pose": {"min": [-0.007273514289408923, -0.010262258350849152, -0.0034484283532947306, -0.016986334891204734, -0.008131646845363827, -0.016444059703772225], "max": [0.005371941719204186, 0.00789098720997572, 0.006330943200737239, 0.012861225595992728, 0.005176513245456871, 0.014908821665509126], "mean": [-0.00033626485303084417, -0.00031109358779613747, 0.0007751537096552474, -0.00040966570714600584, -0.0001793824646289428, 0.0005609031011381918], "std": [0.002124598904737755, 0.0028436821370636423, 0.0017417604741600465, 0.004279800840263381, 0.0019975027777243675, 0.005626747760863546], "count": [226]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.34513274336283184], "std": [0.4754115404801166], "count": [226]}, "action.joints": {"min": [-0.009912490844726562, -0.009941577911376953, -0.004836603999137878, -0.007837772369384766, -0.011797428131103516, -0.009604454040527344], "max": [0.006060123443603516, 0.004541873931884766, 0.0038042068481445312, 0.00844717025756836, 0.010039329528808594, 0.014676570892333984], "mean": [-0.00020232875790216227, -0.0010049993407179032, -2.5268017718222287e-06, 0.000768218420248116, -0.00043101437323916274, -0.0005924617294716624], "std": [0.0030404346262780935, 0.0033800960142491353, 0.0017254340292799032, 0.0024678501159376733, 0.0039028743471095366, 0.0052619934421778295], "count": [226]}, "timestamp": {"min": [0.0], "max": [4.5], "mean": [2.25], "std": [1.3047988350699888], "count": [226]}, "frame_index": {"min": [0], "max": [225], "mean": [112.5], "std": [65.23994175349944], "count": [226]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [226]}, "index": {"min": [1112], "max": [1337], "mean": [1224.5], "std": [65.23994175349944], "count": [226]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [226]}}} +{"episode_index": 5, "stats": {"observation.state.pose": {"min": [-0.17625871300697327, -0.056129660457372665, 0.1765662431716919, -0.15790242721569653, -0.41831214881935086, 0.26080482486341644], "max": [-0.007271450012922287, 0.2360808402299881, 0.3812251687049866, 0.03074828000405566, -0.001136117454620722, 0.543393130341651], "mean": [-0.09197610761469402, 0.05791664978392919, 0.2953333589209228, -0.10263861781037857, -0.05963909022573412, 0.4588004532725051], "std": [0.05471234181279265, 0.09299455685422996, 0.04511282214834283, 0.04719191179693133, 0.041977166719564106, 0.07901074581252358], "count": [238]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.40756302521008403], "std": [0.4913811206097446], "count": [238]}, "observation.state.tcp_force": {"min": [-4.006800174713135, -6.073585033416748, -2.6124610900878906], "max": [2.423207998275757, 2.915069103240967, 6.767918109893799], "mean": [-0.6735608417172956, -0.15499616164847144, 0.897580441266265], "std": [0.9855699671007372, 1.2697160604984377, 1.714194077722824], "count": [238]}, "observation.state.tcp_torque": {"min": [-0.8178960084915161, -0.42932701110839844, -0.031640999019145966], "max": [0.5402989983558655, 0.7141910195350647, 0.021324999630451202], "mean": [-0.0048138069969278115, -0.013752659790364252, 0.000655176467201066], "std": [0.1584039355791773, 0.16143016871981103, 0.007464538299124176], "count": [238]}, "observation.state.joints": {"min": [1.4847697019577026, -1.7129584550857544, 0.0519624762237072, -2.317034959793091, -1.6943868398666382, -1.2143357992172241], "max": [2.0854413509368896, -1.4398412704467773, 0.3553037941455841, -1.5464903116226196, -1.3781450986862183, -0.691183865070343], "mean": [1.6316401682981925, -1.5652460921712283, 0.19454042821684303, -1.72590535979311, -1.654411076497631, -1.0506272856928722], "std": [0.06501670987584687, 0.05287739613201348, 0.11131754786796362, 0.08999060304367723, 0.041538353529954844, 0.1564278981212048], "count": [238]}, "observation.images.side": {"min": [[[0.0]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5089055562899317]], [[0.511586986854667]], [[0.5103115825805977]]], "std": [[[0.2314155677479232]], [[0.22394856408827774]], [[0.2349069714141799]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24236886790930365]], [[0.2312538255466796]], [[0.29876025014120877]]], "std": [[[0.2587619584064061]], [[0.23939570671288452]], [[0.3027411051049174]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3087037037037037]], [[0.29499255547486486]], [[0.3628028871136932]]], "std": [[[0.29309418461907943]], [[0.27329318379540485]], [[0.3317839857508998]]], "count": [100]}, "action.pose": {"min": [-0.0023180905263870963, -0.01129224430769682, -0.005137522239238024, -0.0050135824530713234, -0.006709634170624534, -0.00932064254261306], "max": [0.0038916203193366515, 0.009246263653039932, 0.010768246836960316, 0.0022673623360536486, 0.005006293043930299, 0.011458986091965303], "mean": [-0.00011655412263452574, -0.0006701265396175188, 0.0008383213225591922, -0.00037647956785253527, 5.299429429723873e-05, 0.0008305076283398325], "std": [0.0010389831235893246, 0.003598682113995526, 0.002764871944143685, 0.0013132360801081417, 0.0019139160014972122, 0.003074960682525268], "count": [238]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.40756302521008403], "std": [0.4913811206097446], "count": [238]}, "action.joints": {"min": [-0.008235454559326172, -0.0071830227971076965, -0.007511749863624573, -0.007459163665771484, -0.002597808837890625, -0.014586925506591797], "max": [0.005344867706298828, 0.004768848419189453, 0.007127866148948669, 0.009922981262207031, 0.0015530586242675781, 0.006679058074951172], "mean": [-0.0008351402122433446, -0.0005630611191589792, -0.0005021596937870779, 0.001392786909567834, -0.0003842706439875755, -0.0013021100468996192], "std": [0.0036342155085250733, 0.0029310374608288374, 0.00372177205441132, 0.004378118336252877, 0.0008794066386016247, 0.005105798839106967], "count": [238]}, "timestamp": {"min": [0.0], "max": [4.74], "mean": [2.3699999999999997], "std": [1.3740815114104403], "count": [238]}, "frame_index": {"min": [0], "max": [237], "mean": [118.5], "std": [68.70407557052202], "count": [238]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [238]}, "index": {"min": [1338], "max": [1575], "mean": [1456.5], "std": [68.70407557052202], "count": [238]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [238]}}} +{"episode_index": 6, "stats": {"observation.state.pose": {"min": [-0.21365776658058167, 0.14311553537845612, 0.20189477503299713, -0.06426024937418182, -0.4328870878206219, 0.31105067563492195], "max": [-0.00922535452991724, 0.3339076638221741, 0.32576465606689453, 0.3888435006868406, 0.14365666803049137, 0.6855317399013952], "mean": [-0.14177774479361, 0.2608973536439039, 0.24862660814982815, 0.20697264564313655, -0.00946435852933802, 0.5544037153471578], "std": [0.06660004681238987, 0.06390381120421608, 0.02915376270035872, 0.15229295809108973, 0.1489079879354505, 0.11299499215625716], "count": [296]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.46283783783783783], "std": [0.49861706118366345], "count": [296]}, "observation.state.tcp_force": {"min": [-12.912912368774414, -9.768925666809082, -2.9566800594329834], "max": [4.581404209136963, 2.0564188957214355, 4.57981014251709], "mean": [-5.12752155218953, -3.7061020525524744, 0.038879016986922234], "std": [3.878725924172645, 2.087659203261216, 1.5220460258581816], "count": [296]}, "observation.state.tcp_torque": {"min": [-0.20036299526691437, -2.0269711017608643, -0.06427499651908875], "max": [3.250694990158081, 2.217581033706665, 0.012292000465095043], "mean": [0.4622926157519671, -0.4625456494026907, -0.027471723000466276], "std": [0.45303791169428337, 0.544724177237934, 0.014510430349126345], "count": [296]}, "observation.state.joints": {"min": [1.355056643486023, -1.7124630212783813, 0.04387475922703743, -2.346954107284546, -1.621785044670105, -1.2449530363082886], "max": [2.100092649459839, -1.2330076694488525, 0.3028428256511688, -1.4001080989837646, -1.2497109174728394, -0.8988421559333801], "mean": [1.5247911891421757, -1.3933624963502627, 0.2269869238968838, -1.6332294026742111, -1.381521640597163, -1.1194404061581638], "std": [0.19523086283713875, 0.13878942947010536, 0.06985803251090626, 0.24657139511109885, 0.113235734265069, 0.11181198763155548], "count": [296]}, "observation.images.side": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5086884453256959]], [[0.5115819842843505]], [[0.5106973973709333]]], "std": [[[0.23272784662441598]], [[0.2247542839017728]], [[0.23405572432921962]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3834532348906641]], [[0.3570646235778262]], [[0.4122435035907367]]], "std": [[[0.3364339501260954]], [[0.3122304632816105]], [[0.35753127558936976]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29415411603324454]], [[0.2742991075607198]], [[0.3169230581780037]]], "std": [[[0.2576500576739249]], [[0.24178029407203824]], [[0.28699483551264093]]], "count": [100]}, "action.pose": {"min": [-0.00426878035068512, -0.00430777482688427, -0.0030388617888092995, -0.01140981943021568, -0.005952693149903654, -0.009573090589438683], "max": [0.0025118514895439152, 0.005380762740969658, 0.0056334505788981915, 0.007822973356213224, 0.019364770445605917, 0.010101606135918227], "mean": [-0.00014833524773899396, -3.133416940401632e-06, 0.00042360616445547304, -0.0006188929500182013, 0.001164353603264608, -0.00043192381513091824], "std": [0.001331179443971522, 0.0023311333583396153, 0.0016936130398848561, 0.0038042960360205914, 0.005028406380564609, 0.003800723794119181], "count": [296]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.46283783783783783], "std": [0.49861706118366345], "count": [296]}, "action.joints": {"min": [-0.016519546508789062, -0.00792442262172699, -0.004021286964416504, -0.014006614685058594, -0.009308815002441406, -0.01025533676147461], "max": [0.011952877044677734, 0.012327559292316437, 0.007842570543289185, 0.023534297943115234, 0.00685882568359375, 0.009524822235107422], "mean": [-0.0017584852270177893, 0.0006891805316774628, 0.0007508237267265449, 0.0019174475896147054, -0.0008217917906271445, 0.0009215860753446012], "std": [0.0057296314605722, 0.0038501227150485587, 0.002630219898686902, 0.007790655526482795, 0.0030586602157857295, 0.004151457557682937], "count": [296]}, "timestamp": {"min": [0.0], "max": [5.9], "mean": [2.95], "std": [1.7089470442351338], "count": [296]}, "frame_index": {"min": [0], "max": [295], "mean": [147.5], "std": [85.44735221175668], "count": [296]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [296]}, "index": {"min": [1576], "max": [1871], "mean": [1723.5], "std": [85.44735221175668], "count": [296]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [296]}}} +{"episode_index": 7, "stats": {"observation.state.pose": {"min": [-0.2963975667953491, -0.018044477328658104, 0.17789360880851746, -0.057348185318466055, -0.36927414314903273, 0.28543092609767856], "max": [0.10883282124996185, 0.22953678667545319, 0.3648054897785187, 0.001797145709424658, 0.11046223639946695, 0.4462636912967216], "mean": [-0.0736427342396581, 0.131256258553079, 0.3074610260938177, -0.03755722462528245, -0.05043796839481932, 0.3514899187574852], "std": [0.14146560499788494, 0.040725173372431436, 0.05283621600878399, 0.01424334114264774, 0.12077333114479469, 0.04574335667651645], "count": [302]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.44370860927152317], "std": [0.49682117439764373], "count": [302]}, "observation.state.tcp_force": {"min": [-5.608760833740234, -6.80979585647583, -2.8921990394592285], "max": [4.254723072052002, 3.1257219314575195, 7.615420818328857], "mean": [-1.4366988913057408, -0.8582370894874711, 1.955311466330687], "std": [1.9615531768134638, 2.0062721058282866, 2.8629716034084782], "count": [302]}, "observation.state.tcp_torque": {"min": [-0.7812119722366333, -0.9167749881744385, -0.03286600112915039], "max": [0.6175169944763184, 0.7314170002937317, 0.018848000094294548], "mean": [0.03917682807644311, -0.10291957372679246, -0.00556876493424441], "std": [0.2618206783505213, 0.28204850437330453, 0.009086903962788453], "count": [302]}, "observation.state.joints": {"min": [1.1097172498703003, -1.6962629556655884, 0.04788799211382866, -2.10034441947937, -1.6195439100265503, -1.06035315990448], "max": [1.8606294393539429, -1.176648497581482, 0.33303022384643555, -1.492880940437317, -1.5272620916366577, -0.8247979283332825], "mean": [1.4769431936819821, -1.462605854533366, 0.243811389357345, -1.6377699177786214, -1.6023230307939036, -0.8922921740850865], "std": [0.2742496782994449, 0.188279866415591, 0.06694021524275101, 0.1571486442751782, 0.024949817809556983, 0.03278960648697441], "count": [302]}, "observation.images.side": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5047049776015275]], [[0.5071944613350958]], [[0.5057145142101784]]], "std": [[[0.2336775593796981]], [[0.2263286311740413]], [[0.23733907343819155]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29392075687888325]], [[0.27524637618010167]], [[0.3073491955135964]]], "std": [[[0.312598202585255]], [[0.29243752390464106]], [[0.3373814104165848]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.23559131606552086]], [[0.22210083595578148]], [[0.27303953522149604]]], "std": [[[0.24410536404714586]], [[0.22960761928559234]], [[0.28743966006296084]]], "count": [100]}, "action.pose": {"min": [-0.0088289063423872, -0.0038180844858288765, -0.004028291907161475, -0.002604679728934177, -0.009860231177459378, -0.005507562847347706], "max": [0.004944776650518177, 0.005787759553641081, 0.006983441300690175, 0.0008833455926226295, 0.010467080985704147, 0.0049186670858700375], "mean": [-0.00029613481259224234, -0.00019077484904264806, -1.0293700082706797e-05, -0.0001934623541220505, 0.0009068811641803958, -0.0002606922607405834], "std": [0.003196061278355042, 0.0020063329234734, 0.002407018237443165, 0.0006635060015193184, 0.0036121483791285982, 0.0021344855108927116], "count": [302]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.44370860927152317], "std": [0.49682117439764373], "count": [302]}, "action.joints": {"min": [-0.014184951782226562, -0.013309739530086517, -0.004289641976356506, -0.011699199676513672, -0.003128528594970703, -0.004971981048583984], "max": [0.018776416778564453, 0.009362861514091492, 0.006461799144744873, 0.018738746643066406, 0.0013990402221679688, 0.004452705383300781], "mean": [-0.0006853981523324322, 0.0003134777972980446, -6.618763980091802e-05, 0.001264960559421151, -0.00025938046689065084, 0.00019897846196660933], "std": [0.00717033825063161, 0.005079016924711356, 0.0019517581241083326, 0.0052895076327309064, 0.0007859379852879943, 0.002071152934237333], "count": [302]}, "timestamp": {"min": [0.0], "max": [6.02], "mean": [3.01], "std": [1.7435882541471768], "count": [302]}, "frame_index": {"min": [0], "max": [301], "mean": [150.5], "std": [87.17941270735884], "count": [302]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [302]}, "index": {"min": [1872], "max": [2173], "mean": [2022.5], "std": [87.17941270735884], "count": [302]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [302]}}} +{"episode_index": 8, "stats": {"observation.state.pose": {"min": [-0.3786015808582306, -0.01841149479150772, 0.15231506526470184, -0.3967595169015318, -0.15436345477847957, 0.2526355415652357], "max": [-0.08669593185186386, 0.23211482167243958, 0.3682664930820465, 0.28455718127398166, 0.36625281494340123, 0.7690007973736419], "mean": [-0.20116270691448568, 0.14068006238218372, 0.27977175586948205, 0.021385709272911092, 0.18671506311049837, 0.6199761769524227], "std": [0.09610057541973223, 0.060469096648831114, 0.04442192216000466, 0.10218491768048854, 0.1756399862152214, 0.12316424602422323], "count": [306]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.35947712418300654], "std": [0.47984718543732424], "count": [306]}, "observation.state.tcp_force": {"min": [-12.36594009399414, -3.69783091545105, -17.87702178955078], "max": [2.6328539848327637, 7.0615692138671875, 2.468393087387085], "mean": [-4.477639771937058, 1.484648093197714, -3.079814026278506], "std": [3.0350305755984834, 2.4599283353206927, 5.2153565251637435], "count": [306]}, "observation.state.tcp_torque": {"min": [-1.2676160335540771, -1.2044620513916016, -0.06257099658250809], "max": [0.3615559935569763, 2.271228075027466, 0.02883400022983551], "mean": [-0.19737720291438973, -0.18017326434684258, -0.012930274511650554], "std": [0.33156086062204787, 0.7234168187502064, 0.015085728922876795], "count": [306]}, "observation.state.joints": {"min": [1.208821177482605, -1.6854459047317505, 0.04778042808175087, -1.676399827003479, -1.913873553276062, -1.2041672468185425], "max": [1.6402209997177124, -1.1807833909988403, 0.6394426226615906, -1.2875722646713257, -1.4303239583969116, -0.3748944401741028], "mean": [1.4182201031765906, -1.3793573317184946, 0.30728034273374316, -1.4207584086586447, -1.6123903226229102, -1.0884537583862255], "std": [0.14945803300074598, 0.16058348584105508, 0.09664548729919646, 0.13866306587063718, 0.08392847646107211, 0.06585750960568704], "count": [306]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5040762120878314]], [[0.506597325402071]], [[0.5060058955717118]]], "std": [[[0.23421597947484735]], [[0.2273844213175805]], [[0.23609124074238885]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.23126328572581295]], [[0.21857336076817557]], [[0.2800984652626483]]], "std": [[[0.2701291825455368]], [[0.24673463753621658]], [[0.3000625963917697]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2233462648269184]], [[0.20516400387315423]], [[0.25480622448156215]]], "std": [[[0.22789510610311478]], [[0.2072954396583827]], [[0.25381304839138574]]], "count": [100]}, "action.pose": {"min": [-0.0024023030418902636, -0.0068571423180401325, -0.002030598698183894, -0.013345185490921521, -0.02228740470646673, -0.009179014347099303], "max": [0.0073880678974092, 0.0060606966726481915, 0.0053981076925992974, 0.007908082731739, 0.010964525277777248, 0.009827639928236334], "mean": [0.00023923366154799712, 0.0007139988606810054, -1.444836564236879e-05, 3.644985050505135e-05, -0.0003893749424863138, 0.000591376428658896], "std": [0.0017827667837718635, 0.0024781640794474045, 0.0016282058485888031, 0.003685650927153614, 0.005593438747623467, 0.003929313791923099], "count": [306]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.35947712418300654], "std": [0.47984718543732424], "count": [306]}, "action.joints": {"min": [-0.011049270629882812, -0.013362610712647438, -0.003086388111114502, -0.020582687109708786, -0.006910800933837891, -0.005499839782714844], "max": [0.010529041290283203, 0.009659886360168457, 0.007373332977294922, 0.01303563266992569, 0.0066375732421875, 0.009009838104248047], "mean": [3.254024031894659e-05, -0.00014616777736912756, 0.0006847988351497775, -0.00011456713956945082, 0.00012499366710388583, 0.000375725864584929], "std": [0.004082812555324458, 0.004537994719158934, 0.002238262106049296, 0.005198800725729285, 0.0024590074562424067, 0.002974842361345068], "count": [306]}, "timestamp": {"min": [0.0], "max": [6.1], "mean": [3.05], "std": [1.7666823898671393], "count": [306]}, "frame_index": {"min": [0], "max": [305], "mean": [152.5], "std": [88.33411949335697], "count": [306]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [306]}, "index": {"min": [2174], "max": [2479], "mean": [2326.5], "std": [88.33411949335697], "count": [306]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [306]}}} +{"episode_index": 9, "stats": {"observation.state.pose": {"min": [-0.2293512225151062, -0.1834443062543869, 0.14694739878177643, -0.39858671356722936, -0.6683300444946, 0.2558267398115435], "max": [0.08469242602586746, 0.15877075493335724, 0.36052206158638, 0.06904035776964543, 0.06014817754335655, 0.5088841903129756], "mean": [-0.011924926625861821, -0.1123373715576148, 0.27087091837815425, -0.10531052071158722, -0.4442145927671642, 0.43669332713940257], "std": [0.08324549859545254, 0.10612245825825523, 0.03728981026098177, 0.08752365720285062, 0.20824634054347238, 0.07514525361162595], "count": [374]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.45454545454545453], "std": [0.49792959773196915], "count": [374]}, "observation.state.tcp_force": {"min": [-5.635554790496826, -11.775877952575684, -24.860254287719727], "max": [10.100790977478027, 7.166861057281494, 7.218259811401367], "mean": [4.067918876300561, -5.484543933428545, -1.4003954973211263], "std": [2.9159163385735485, 3.542826938920516, 5.742724263152], "count": [374]}, "observation.state.tcp_torque": {"min": [-1.1417380571365356, -3.070389986038208, -0.03186900168657303], "max": [2.399851083755493, 2.028409004211426, 0.03777699917554855], "mean": [0.6938123145006239, 0.5126812894278291, -0.005325735340626066], "std": [0.6328253430218274, 0.8004591680389856, 0.012584003156079989], "count": [374]}, "observation.state.joints": {"min": [1.4986690282821655, -2.0168097019195557, -0.5936587452888489, -2.5323092937469482, -1.927726149559021, -1.7450045347213745], "max": [2.2993876934051514, -1.3324133157730103, 0.6414663195610046, -1.4744764566421509, -1.0754154920578003, -0.37686043977737427], "mean": [2.07825394078372, -1.8232104179055932, -0.3095054693014565, -2.1578564200809294, -1.3199888314792816, -1.4487695901151647], "std": [0.1929478234316324, 0.14842737172806783, 0.34879952723100555, 0.23971486067824158, 0.24421233709629023, 0.3781420265190549], "count": [374]}, "observation.images.side": {"min": [[[0.0]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5016307130792392]], [[0.5051305808915327]], [[0.5052458852904457]]], "std": [[[0.24353367763646147]], [[0.23448417338956895]], [[0.24131569962334354]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.14985738400710077]], [[0.14504475268296618]], [[0.1975444396030017]]], "std": [[[0.22276352790447695]], [[0.20583132666945114]], [[0.25176793781919654]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.1523174066005003]], [[0.15103682239974178]], [[0.2081968804970548]]], "std": [[[0.2067207161105571]], [[0.19545617627451323]], [[0.2437312807919309]]], "count": [100]}, "action.pose": {"min": [-0.0027946743648499263, -0.00722492253407836, -0.0019762853626161814, -0.002854115447955263, -0.014269072288444873, -0.0065252667942791], "max": [0.004329647403210401, 0.00523017393425107, 0.00741001684218645, 0.012222253768735746, 0.01294110760227074, 0.003957237766694539], "mean": [0.00010122020195075965, -0.0008973372517456322, 0.0004085617218803761, 0.0014273106975522323, -0.00030196623517829923, -0.00013534829285497614], "std": [0.001361197542139373, 0.002258335406109823, 0.0017319982237273153, 0.002796968786038785, 0.0049551530544891, 0.0018804801555282792], "count": [374]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.45454545454545453], "std": [0.49792959773196915], "count": [374]}, "action.joints": {"min": [-0.020446300506591797, -0.01707315444946289, -0.016631603240966797, -0.013440132141113281, -0.0055084228515625, -0.017903804779052734], "max": [0.011476516723632812, 0.006622791290283203, 0.005150794982910156, 0.026424884796142578, 0.014368534088134766, 0.00859212875366211], "mean": [-0.0004431206912280404, -0.0006462547674097798, -0.0023414650483724268, 0.0005971648416576538, 0.0011229056088044682, -0.002628146645857051], "std": [0.005603516963895733, 0.0048939251449472195, 0.006107567902404201, 0.007032093797454491, 0.004579780655320513, 0.006537934669769235], "count": [374]}, "timestamp": {"min": [0.0], "max": [7.46], "mean": [3.7300000000000004], "std": [2.159282288168918], "count": [374]}, "frame_index": {"min": [0], "max": [373], "mean": [186.5], "std": [107.96411440844592], "count": [374]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [374]}, "index": {"min": [2480], "max": [2853], "mean": [2666.5], "std": [107.96411440844592], "count": [374]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [374]}}} +{"episode_index": 10, "stats": {"observation.state.pose": {"min": [-0.27468761801719666, -0.20059223473072052, 0.15992029011249542, -0.3815259146209591, -0.18349147981409364, -0.1897908069137215], "max": [-0.04463764652609825, 0.031929802149534225, 0.27269452810287476, -0.027832435116929385, 0.257044000212016, 0.38849033821053053], "mean": [-0.21060783047156006, -0.011528701695508561, 0.2281422712200997, -0.10948723731372645, 0.09846430806829759, 0.26301453503128464], "std": [0.06738728092963207, 0.06183483101563853, 0.02507155055793391, 0.10563884323372623, 0.10835000858133169, 0.05593740268627611], "count": [204]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.47058823529411764], "std": [0.4991341984846218], "count": [204]}, "observation.state.tcp_force": {"min": [-8.082921981811523, -1.447085976600647, -4.57716178894043], "max": [3.6601219177246094, 6.464148998260498, 4.4018378257751465], "mean": [-2.6609371045430867, 1.9694770075399064, 0.3366633661864006], "std": [2.8258650574596413, 1.6183213551503772, 1.7328393418070136], "count": [204]}, "observation.state.tcp_torque": {"min": [-1.5075010061264038, -1.4112880229949951, -0.011349000036716461], "max": [0.7250139713287354, 0.4682430028915405, 0.04455899819731712], "mean": [-0.2551781819147793, -0.30609662209605504, 0.004280710796343092], "std": [0.29098609910825046, 0.3533255184955856, 0.008766732333904995], "count": [204]}, "observation.state.joints": {"min": [1.6241697072982788, -1.714603066444397, -0.10310012847185135, -2.089428186416626, -1.9323786497116089, -1.0599197149276733], "max": [1.946778655052185, -1.4955859184265137, 0.17298611998558044, -1.4787958860397339, -1.6208571195602417, -0.6994851231575012], "mean": [1.7570378079133875, -1.5935011371677996, 0.15138657230372524, -1.6521549178104775, -1.6845560845206766, -0.8980888513957753], "std": [0.08565064294361568, 0.06121036533763391, 0.026557444970426093, 0.1628850449894616, 0.09324004474454547, 0.063289485970879], "count": [204]}, "observation.images.side": {"min": [[[0.0]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5302222795035617]], [[0.534421085407946]], [[0.5369352867738856]]], "std": [[[0.2500970726753499]], [[0.23837163397583222]], [[0.2416822223755407]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.285561387880255]], [[0.2495283660130719]], [[0.2884595465181958]]], "std": [[[0.2818112274616439]], [[0.2564641846354988]], [[0.2887191148637424]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.1798558347454208]], [[0.15909659807956106]], [[0.20876559025256192]]], "std": [[[0.22227298518219596]], [[0.19314764648340524]], [[0.24666602829283246]]], "count": [100]}, "action.pose": {"min": [-0.006098254583775997, -0.0007426878437399864, -0.002816485706716776, -0.0018835749313437073, -0.011994202971741474, -0.007870044389739733], "max": [0.0027090865187346935, 0.007813838310539722, 0.006471677683293819, 0.014815699324951352, 0.015651803980619272, 0.00229580186659142], "mean": [-0.0002400718912403644, 0.0009437072299691881, 0.0005442445690679212, 0.001421833909526478, 6.283342262168671e-06, -0.0007250094135073783], "std": [0.0017683819208663307, 0.002152059321430509, 0.0022376129068414265, 0.004102466366505781, 0.00507312784651844, 0.001870391325879808], "count": [204]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.47058823529411764], "std": [0.4991341984846218], "count": [204]}, "action.joints": {"min": [-0.012569904327392578, -0.006681262515485287, -0.002474546432495117, -0.006808757781982422, -0.0013966560363769531, -0.0017805099487304688], "max": [0.005649089813232422, 0.008050918579101562, 0.003264397382736206, 0.0255889892578125, 0.015909671783447266, 0.00789499282836914], "mean": [-0.0004685369192385206, -0.0007101978373932926, 0.00018148993452390036, 0.001441301086314899, 0.0014006366916731292, 0.000984523810592352], "std": [0.00409908470295321, 0.0030359470003436715, 0.000896506554264478, 0.006838132412063453, 0.0036155814782749133, 0.001966227977720709], "count": [204]}, "timestamp": {"min": [0.0], "max": [4.06], "mean": [2.03], "std": [1.1777803983199358], "count": [204]}, "frame_index": {"min": [0], "max": [203], "mean": [101.5], "std": [58.88901991599679], "count": [204]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [204]}, "index": {"min": [2854], "max": [3057], "mean": [2955.5], "std": [58.88901991599679], "count": [204]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [204]}}} +{"episode_index": 11, "stats": {"observation.state.pose": {"min": [-0.1349596232175827, -0.20631903409957886, 0.15564484894275665, -0.13944728558213898, -0.24199669112628386, -0.18814929888719112], "max": [-0.01793254166841507, 0.1466851681470871, 0.35164541006088257, 0.3172188246296066, 0.044383305327929445, 0.2910531472587252], "mean": [-0.08699868275271568, 0.05506284319502414, 0.26238000918837157, 0.13798025644366926, -0.04732966985804914, 0.17611093013921997], "std": [0.03273392219709528, 0.10173415689960233, 0.040581875551820294, 0.14092115811396344, 0.08713919245418453, 0.11734934303486715], "count": [289]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.48788927335640137], "std": [0.4998533087818506], "count": [289]}, "observation.state.tcp_force": {"min": [-8.982178688049316, -6.691573143005371, -2.0907089710235596], "max": [2.9643518924713135, -0.2933250069618225, 5.593376159667969], "mean": [-3.961591217270488, -3.1292978184858407, 0.8637058455198938], "std": [2.7389391754987744, 1.5685815647034642, 1.6292312334916734], "count": [289]}, "observation.state.tcp_torque": {"min": [-0.03707699850201607, -1.5878939628601074, -0.0545089989900589], "max": [1.1875799894332886, 0.49681198596954346, 0.023408999666571617], "mean": [0.31717081638020833, -0.42579644074048006, -0.023143231817535255], "std": [0.1946841976768379, 0.31764669838929493, 0.012393930766623065], "count": [289]}, "observation.state.joints": {"min": [1.4979971647262573, -1.693057656288147, -0.37560397386550903, -2.1132266521453857, -1.7201427221298218, -1.4420279264450073], "max": [1.9586824178695679, -1.4161020517349243, 0.09956550598144531, -1.5882488489151, -1.2555168867111206, -0.7012656331062317], "mean": [1.658090038283061, -1.535490344139944, -0.016657030201842525, -1.698657318382527, -1.4338809161037722, -0.9831599100238312], "std": [0.12005024148300757, 0.07909022717911737, 0.06475636656992181, 0.1490392969085116, 0.13876500916086662, 0.10766672897088372], "count": [289]}, "observation.images.side": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5334684923257692]], [[0.5374593287802012]], [[0.5396468047293824]]], "std": [[[0.251483306227785]], [[0.2401459239188837]], [[0.24362123299345087]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45921857500201724]], [[0.44453698700879524]], [[0.48543264262083435]]], "std": [[[0.4062081042129981]], [[0.3938355021381225]], [[0.40253603902915847]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2633073912692649]], [[0.24258488985717744]], [[0.28849088840474457]]], "std": [[[0.3113538062810362]], [[0.286600664295919]], [[0.33024484448287794]]], "count": [100]}, "action.pose": {"min": [-0.001543939928524197, -0.0032539500389248133, -0.0029428179841488604, -0.005549751331827101, -0.0044833902376633095, -0.0016903236984148185], "max": [0.0024432507343590247, 0.008808281272649765, 0.008330964483320713, 0.0132323146622281, 0.005810562372403849, 0.013871413653102814], "mean": [4.023061876744849e-05, 0.0007493944421177925, 0.0006791495240819527, 0.0006281124601881948, 0.000384360791495917, 0.0011043501588747123], "std": [0.0007556076669133191, 0.0027798605767154127, 0.002014149344462882, 0.004468681792114867, 0.0021160323744995103, 0.0030057821575759395], "count": [289]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.48788927335640137], "std": [0.4998533087818506], "count": [289]}, "action.joints": {"min": [-0.007659912109375, -0.004039764404296875, -0.0011453628540039062, -0.0051059722900390625, -0.005077362060546875, -0.011173248291015625], "max": [0.0027108192443847656, 0.004818916320800781, 0.0028257369995117188, 0.01149749755859375, 0.012506484985351562, 0.0032668113708496094], "mean": [-0.0015591964589683242, 0.0002114204987948019, 0.0007016974473919938, 0.0017176664411815393, 0.00043140893163978023, -0.0006173209748053634], "std": [0.0018510301633220903, 0.0021660033076894513, 0.0007641798606759467, 0.003330763182559566, 0.004111877767885542, 0.003045021626777458], "count": [289]}, "timestamp": {"min": [0.0], "max": [5.76], "mean": [2.88], "std": [1.668532289169137], "count": [289]}, "frame_index": {"min": [0], "max": [288], "mean": [144.0], "std": [83.42661445845684], "count": [289]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [289]}, "index": {"min": [3058], "max": [3346], "mean": [3202.0], "std": [83.42661445845684], "count": [289]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [289]}}} +{"episode_index": 12, "stats": {"observation.state.pose": {"min": [-0.2724645435810089, -0.19980861246585846, 0.23721669614315033, -0.14493964163155418, -0.2642347238510856, 0.11168415938171405], "max": [-0.015787921845912933, 0.14728212356567383, 0.34761500358581543, 0.08349208925714277, -0.033101689264803724, 0.365395272112663], "mean": [-0.19891133079244222, 0.015017393147110076, 0.28862534310729776, -0.04254402658360303, -0.09871589208363821, 0.28990941674997], "std": [0.08949110444336164, 0.10840951308498485, 0.033968377797272, 0.053321881770568534, 0.0847231707677194, 0.05573229916557306], "count": [244]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.3975409836065574], "std": [0.48938956870747496], "count": [244]}, "observation.state.tcp_force": {"min": [-4.889678001403809, -6.8833208084106445, -20.2803955078125], "max": [3.0251080989837646, 1.7606780529022217, 4.102906227111816], "mean": [-1.5289790995541166, -1.9984093407840757, -4.1231298848631655], "std": [1.5413785914809446, 2.026771415262617, 7.491728659665701], "count": [244]}, "observation.state.tcp_torque": {"min": [-0.253713995218277, -1.4738249778747559, -0.039301998913288116], "max": [2.4314370155334473, 0.34012898802757263, 0.028239000588655472], "mean": [0.32326478411808046, -0.2937101069522915, -0.005212659848573404], "std": [0.5035047926271906, 0.3981395817703928, 0.01240267545219695], "count": [244]}, "observation.state.joints": {"min": [1.7039073705673218, -1.8364959955215454, -0.3762720227241516, -1.9442445039749146, -1.7076915502548218, -1.4525727033615112], "max": [1.9477561712265015, -1.636388897895813, 0.29652976989746094, -1.6017333269119263, -1.4015086889266968, -0.8458879590034485], "mean": [1.8348320663952438, -1.7756657209552702, 0.10188917038565287, -1.7241664479990475, -1.5838600064887376, -0.9711075261479518], "std": [0.06040936311176241, 0.036953139332316934, 0.20621989748167135, 0.0966566484204118, 0.08783152977391093, 0.18214529049701075], "count": [244]}, "observation.images.side": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.530807534699273]], [[0.5352262113534553]], [[0.5370757934934273]]], "std": [[[0.2508849589342474]], [[0.238721489856231]], [[0.24267808680628533]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3280058097312999]], [[0.3142651916404422]], [[0.361700800451868]]], "std": [[[0.35775736424941806]], [[0.33445913309892844]], [[0.36323707398226485]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2498995319938675]], [[0.24381433873961106]], [[0.2973293036391511]]], "std": [[[0.3287164926500436]], [[0.30514831186116514]], [[0.3368651107038992]]], "count": [100]}, "action.pose": {"min": [-0.005531943868845701, -0.005197983235120773, -0.0020998141262680296, -0.004434132080408068, -0.002428419433964546, -0.005027793368827213], "max": [0.0028875581920146933, 0.009366445243358612, 0.005022466182708741, 0.006110692566063848, 0.008130457281690928, 0.006888890652905174], "mean": [-0.0003863093226147582, 0.00053770177305896, 0.0004384795174207254, -0.0005186218599648213, 0.0008281362917723506, -0.0005021416252624526], "std": [0.0018666260308587493, 0.0038157759321659946, 0.0018087217870890544, 0.0018030146785682575, 0.0022035821853884792, 0.002501718883151556], "count": [244]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.3975409836065574], "std": [0.48938956870747496], "count": [244]}, "action.joints": {"min": [-0.010643959045410156, -0.0056247711181640625, -0.0062367841601371765, -0.003013134002685547, -0.009401798248291016, -0.005995750427246094], "max": [0.004288673400878906, 0.0038857460021972656, 0.019130706787109375, 0.011340141296386719, 0.006763458251953125, 0.02083730697631836], "mean": [-0.0007766113906610208, -0.0002428820875824475, 0.0014171737129800022, 0.0014228390865638609, -0.0009998493507260182, 0.0018893988406071898], "std": [0.0034099631209407602, 0.0019463353569147256, 0.006203380362748083, 0.003420567579503191, 0.0024349890232065047, 0.005907988797282691], "count": [244]}, "timestamp": {"min": [0.0], "max": [4.86], "mean": [2.43], "std": [1.4087228258248674], "count": [244]}, "frame_index": {"min": [0], "max": [243], "mean": [121.5], "std": [70.43614129124337], "count": [244]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [244]}, "index": {"min": [3347], "max": [3590], "mean": [3468.5], "std": [70.43614129124337], "count": [244]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [244]}}} +{"episode_index": 13, "stats": {"observation.state.pose": {"min": [-0.1406259983778, -0.4553949236869812, 0.174258291721344, -0.5986441036784341, -0.19248177713602943, -0.5722231390707051], "max": [-0.018567519262433052, 0.013036802411079407, 0.3185282349586487, 0.24629804814864614, 0.27286930182433733, 0.40236169917445225], "mean": [-0.10236751798435416, -0.29630769801436874, 0.272340056079794, -0.33232063740930096, 0.04633561968026825, 0.01016031081819219], "std": [0.03678918713765982, 0.13674955505362577, 0.035919758232448924, 0.21379496343207013, 0.15464732915407256, 0.249116761115634], "count": [284]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.5140845070422535], "std": [0.49980158729377466], "count": [284]}, "observation.state.tcp_force": {"min": [-5.831064224243164, -6.105012893676758, -8.796403884887695], "max": [4.583573818206787, 12.8104248046875, 2.5390000343322754], "mean": [0.8335990478763435, 3.9253143791148677, -0.7400582913230632], "std": [1.5608501317612669, 4.433966966806348, 1.9451167268979939], "count": [284]}, "observation.state.tcp_torque": {"min": [-1.56979501247406, -0.4892500042915344, -0.04080300033092499], "max": [0.5977020263671875, 1.2297470569610596, 0.0941540002822876], "mean": [-0.4388571071449662, 0.144446714289329, 0.025548380291094335], "std": [0.4899973423822905, 0.2440246497537246, 0.022162260696002765], "count": [284]}, "observation.state.joints": {"min": [1.6281322240829468, -1.761518120765686, -0.3930400013923645, -1.911014199256897, -2.2107183933258057, -1.6078957319259644], "max": [1.8853415250778198, -1.4144728183746338, -0.010783497244119644, -1.5982733964920044, -1.3194893598556519, -0.3081205487251282], "mean": [1.7210331836216886, -1.5402391683047927, -0.07018370489576753, -1.7475937974285072, -1.915457309131891, -0.879735249029079], "std": [0.05873469458378763, 0.05656725765069731, 0.0532218462103746, 0.08217927680600753, 0.2330714795867502, 0.2514647723107503], "count": [284]}, "observation.images.side": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5300736447088198]], [[0.5344886773885584]], [[0.5366468869795109]]], "std": [[[0.2543484531552485]], [[0.2422916787020002]], [[0.24581178617989743]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.13596121520213023]], [[0.13587933026708626]], [[0.19524606794157992]]], "std": [[[0.19123088382568926]], [[0.17606923015271306]], [[0.22702705658724148]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.1562833648027112]], [[0.16022550310659245]], [[0.22393545388525782]]], "std": [[[0.16926239828559572]], [[0.16116245074449465]], [[0.20252991417271451]]], "count": [100]}, "action.pose": {"min": [-0.005120428744703531, -0.007138102315366268, -0.001655532862059772, -0.012533096877377033, -0.01499867602428373, -0.020093888741156286], "max": [0.004813743755221366, 0.006322768051177263, 0.006390271242707969, 0.013154071655074713, 0.007838398359724108, 0.05327617728863621], "mean": [-0.0002110576306014197, -0.0006099618999478095, 0.00011191538094504381, -0.0003021371688931493, 0.0003957940457948274, 0.0002652975615840698], "std": [0.001739406079463564, 0.0033555057149380614, 0.0014664842408506165, 0.005628781496370359, 0.003930445837939161, 0.011174240372195865], "count": [284]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.5140845070422535], "std": [0.49980158729377466], "count": [284]}, "action.joints": {"min": [-0.004844188690185547, -0.011607170104980469, -0.005836963653564453, -0.0089111328125, -0.013949871063232422, -0.053554534912109375], "max": [0.0063419342041015625, 0.00492095947265625, 0.003566265106201172, 0.005974292755126953, 0.016132354736328125, 0.016308307647705078], "mean": [0.00028658752710046905, -0.0004679789417423308, -0.0006267957284416951, -1.331953935220208e-05, -0.00036704708153093365, -0.0009898132001849966], "std": [0.0024982727211576962, 0.002823702252700621, 0.0022225452001037823, 0.003519966537944489, 0.006200287492864075, 0.011944032029933018], "count": [284]}, "timestamp": {"min": [0.0], "max": [5.66], "mean": [2.83], "std": [1.6396645998496153], "count": [284]}, "frame_index": {"min": [0], "max": [283], "mean": [141.5], "std": [81.98322999248077], "count": [284]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [284]}, "index": {"min": [3591], "max": [3874], "mean": [3732.5], "std": [81.98322999248077], "count": [284]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [284]}}} +{"episode_index": 14, "stats": {"observation.state.pose": {"min": [-0.24173645675182343, -0.37594807147979736, 0.17470356822013855, -0.32743230661545825, -0.128295697939647, 0.14452264728884445], "max": [-0.01799401082098484, 0.1872335970401764, 0.3269701302051544, 0.24825903418345707, 0.12318283238803995, 1.1874907798314154], "mean": [-0.11638351093898429, 0.06824975373002153, 0.2727025962362053, 0.1076366921253952, -0.06752359554498259, 0.4722959703291329], "std": [0.06774409109911694, 0.11383612492907733, 0.031752789219388206, 0.11313746102730106, 0.07364680907790164, 0.27211957939181297], "count": [282]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.31560283687943264], "std": [0.46475551232135687], "count": [282]}, "observation.state.tcp_force": {"min": [-6.361431121826172, -7.088143825531006, -17.01506996154785], "max": [1.8521000146865845, 4.211635112762451, 4.331977844238281], "mean": [-3.26310546799226, -2.3220450963281305, -1.662759866126225], "std": [1.2923401106727863, 2.498950757026849, 4.883874634023615], "count": [282]}, "observation.state.tcp_torque": {"min": [-1.613435983657837, -0.8745620250701904, -0.07022199779748917], "max": [0.6840469837188721, 0.18434399366378784, 0.041825998574495316], "mean": [0.08483222647465218, -0.304731805186722, -0.018887854629304566], "std": [0.5266384920681775, 0.18865952025305152, 0.017889860044439203], "count": [282]}, "observation.state.joints": {"min": [1.5472530126571655, -1.7693644762039185, -0.39295607805252075, -1.8983713388442993, -1.8796523809432983, -1.8487805128097534], "max": [1.8469899892807007, -1.4150923490524292, 0.13718585669994354, -1.5978533029556274, -1.3194078207015991, -0.8719967007637024], "mean": [1.6932107852705827, -1.5935707371285621, 0.02819401467159549, -1.7014321071881775, -1.4544923618330177, -1.2336578793982242], "std": [0.08161519998242185, 0.0967775523890018, 0.15787102635403766, 0.06186454169153154, 0.1311336523259816, 0.29018681156472376], "count": [282]}, "observation.images.side": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.53174920320188]], [[0.5359390614672835]], [[0.5379813615333774]]], "std": [[[0.2516823906538204]], [[0.23988748586787054]], [[0.24368817323095346]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3897600032276285]], [[0.3827107915758896]], [[0.431722143145324]]], "std": [[[0.37814523369347464]], [[0.3637496994109922]], [[0.38332446677474435]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33677944000645527]], [[0.32321643347050755]], [[0.36961749051884124]]], "std": [[[0.3779188323043584]], [[0.354505708969149]], [[0.3777283550011755]]], "count": [100]}, "action.pose": {"min": [-0.008030709810554981, -0.0037813447415828705, -0.0024101499002426867, -0.010685182808199238, -0.006120319331599733, -0.06025731277388454], "max": [0.004047587048262357, 0.011311949230730534, 0.005341551266610623, 0.003699041363841169, 0.011365700130787415, 0.03223685091071188], "mean": [-0.0004400648233594122, 0.0007058567433646492, 0.00031546509912172403, -0.0009971552839348162, 0.0006544064457611288, -0.0009678136198839755], "std": [0.0022641190188067485, 0.002740547941291484, 0.0016575037098659348, 0.0021971360756387662, 0.0025224916130543625, 0.014191367150184856], "count": [282]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.31560283687943264], "std": [0.46475551232135687], "count": [282]}, "action.joints": {"min": [-0.0091094970703125, -0.006548881530761719, -0.004546761512756348, -0.004450798034667969, -0.014250755310058594, -0.019172191619873047], "max": [0.007439613342285156, 0.007610797882080078, 0.012259483337402344, 0.006982326507568359, 0.005739688873291016, 0.0669412612915039], "mean": [-7.299835800279117e-05, -0.0008787998012333105, 0.0015781364479624, 0.0004260996554760223, -0.0011069757718566461, 0.0026091852932111593], "std": [0.0033430002634176497, 0.0025306314539979783, 0.003626227456496734, 0.002720921633755325, 0.0029232918010376045, 0.013800516030154109], "count": [282]}, "timestamp": {"min": [0.0], "max": [5.62], "mean": [2.81], "std": [1.6281175223756628], "count": [282]}, "frame_index": {"min": [0], "max": [281], "mean": [140.5], "std": [81.40587611878314], "count": [282]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [282]}, "index": {"min": [3875], "max": [4156], "mean": [4015.5], "std": [81.40587611878314], "count": [282]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [282]}}} +{"episode_index": 15, "stats": {"observation.state.pose": {"min": [-0.13551504909992218, -0.3888017237186432, 0.2037705034017563, -0.3340057277842575, -0.128604326300497, 0.24869832700780214], "max": [-0.0014445320703089237, 0.08854798972606659, 0.3535629212856293, 0.014947507648610525, 0.07723479165930769, 0.4627357939455702], "mean": [-0.055449460429176936, -0.10542064858107295, 0.29146818971673916, -0.09351192003495083, -0.03457713321670375, 0.37288176424196157], "std": [0.019944540067469794, 0.1547668998826917, 0.040264823677469856, 0.11188481541220653, 0.06472434427905181, 0.056849199785571305], "count": [298]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.4664429530201342], "std": [0.49887265368828454], "count": [298]}, "observation.state.tcp_force": {"min": [-4.403152942657471, -3.316905975341797, -2.6149580478668213], "max": [2.2300119400024414, 4.4253740310668945, 12.611594200134277], "mean": [-1.1122627550417294, 0.0874532580550685, 3.5288512273340005], "std": [1.3996425464283255, 1.8060334846795598, 5.000433134701984], "count": [298]}, "observation.state.tcp_torque": {"min": [-1.301838994026184, -0.6028429865837097, -0.014667999930679798], "max": [0.6010209918022156, 0.4978879988193512, 0.029523000121116638], "mean": [-0.05674873799692696, -0.05590289251506954, 0.0031081543657093193], "std": [0.2781948413717653, 0.19490403993171276, 0.010155156836184261], "count": [298]}, "observation.state.joints": {"min": [1.5436257123947144, -1.712034821510315, -0.21305018663406372, -1.9094377756118774, -1.8801192045211792, -1.4440211057662964], "max": [1.8895405530929565, -1.4899872541427612, 0.1254451721906662, -1.599171757698059, -1.5315402746200562, -0.9332059025764465], "mean": [1.6292294247838475, -1.5519599106487811, -0.04087127783592015, -1.7287772973911875, -1.647187419385718, -1.203664523243104], "std": [0.07043170410345591, 0.029693449246616297, 0.13195565134096426, 0.08291605078649117, 0.10582565680430368, 0.18742422754466997], "count": [298]}, "observation.images.side": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5379869795109056]], [[0.5421760167437761]], [[0.5444372754644929]]], "std": [[[0.2515494646238957]], [[0.23967714740310142]], [[0.24297410278154571]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2648566965222303]], [[0.2601099265714516]], [[0.3225554700234003]]], "std": [[[0.3086362222956583]], [[0.29444218556175766]], [[0.33432782538541034]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.18513502622448155]], [[0.1845926668280481]], [[0.23611839748244978]]], "std": [[[0.2441956124311804]], [[0.23352497619214987]], [[0.2757946168605319]]], "count": [100]}, "action.pose": {"min": [-0.003355747554451227, -0.005070925690233707, -0.005586825776845217, -0.003304886433222105, -0.005971682718679983, -0.00767404268961675], "max": [0.006402363069355487, 0.011670740321278572, 0.00575550040230155, 0.011480421930746419, 0.003204455649950866, 0.004215234747572941], "mean": [9.633800929069605e-05, 0.0005282346489592166, 0.0005274857992028554, 0.0009830815888761555, -0.00021652386503110023, -0.00036549253687623556], "std": [0.0017275153585082743, 0.0036933912312176525, 0.0024072541790598947, 0.003128421358160642, 0.0021267515872126093, 0.002518145120385229], "count": [298]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.4664429530201342], "std": [0.49887265368828454], "count": [298]}, "action.joints": {"min": [-0.007843971252441406, -0.005570758134126663, -0.007642269134521484, -0.007656574249267578, -0.003902435302734375, -0.0113525390625], "max": [0.005845069885253906, 0.00408935546875, 0.011165142059326172, 0.011174678802490234, 0.011646747589111328, 0.02055644989013672], "mean": [-0.0006818083308687146, -8.856459214483332e-05, 2.1043238261302047e-05, 0.0010429228712248322, 0.0009952807586465105, 0.00031227393438352033], "std": [0.0028898233640118768, 0.001789826091337124, 0.003713380068500133, 0.003441078119731429, 0.0031994281323685842, 0.005727172906829331], "count": [298]}, "timestamp": {"min": [0.0], "max": [5.94], "mean": [2.9699999999999998], "std": [1.7204941150727602], "count": [298]}, "frame_index": {"min": [0], "max": [297], "mean": [148.5], "std": [86.024705753638], "count": [298]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [298]}, "index": {"min": [4157], "max": [4454], "mean": [4305.5], "std": [86.024705753638], "count": [298]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [298]}}} +{"episode_index": 16, "stats": {"observation.state.pose": {"min": [-0.3086240589618683, -0.41097041964530945, 0.1482514888048172, -0.45743775882960724, -0.05197978886895971, -0.011293990233767148], "max": [-0.13175053894519806, -0.17130893468856812, 0.3339850604534149, 0.1050376383666074, 0.43090049657982155, 0.4784536288721899], "mean": [-0.2524621382965679, -0.32889325790412244, 0.26885832131606097, -0.016590364375618335, 0.2581509303474128, 0.38816456821837503], "std": [0.05167464615778339, 0.07409007567754003, 0.04861138137914342, 0.07592387928043132, 0.146324007338625, 0.06717070153029234], "count": [342]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.5847953216374269], "std": [0.49275729667698004], "count": [342]}, "observation.state.tcp_force": {"min": [-17.528614044189453, -2.233829975128174, -10.974164962768555], "max": [3.6771419048309326, 9.038540840148926, 11.480009078979492], "mean": [-6.739271990747915, 3.469291898863096, 2.0615450479907165], "std": [3.8171023359773515, 2.3292129636190144, 4.800566925442462], "count": [342]}, "observation.state.tcp_torque": {"min": [-2.389019012451172, -3.599246025085449, -0.024542000144720078], "max": [0.8089950084686279, 0.3319709897041321, 0.02429099939763546], "mean": [-0.5747785751962468, -0.9196347814265704, 0.001445517536305158], "std": [0.6562883610895078, 0.832781656559018, 0.008642245602949603], "count": [342]}, "observation.state.joints": {"min": [1.479028582572937, -1.7902847528457642, -0.4503324627876282, -1.8315078020095825, -2.0278899669647217, -1.6113280057907104], "max": [1.8941744565963745, -1.4220523834228516, -0.01734859123826027, -1.2684656381607056, -1.5753740072250366, -0.7928889393806458], "mean": [1.6637348717416238, -1.5667118890243663, -0.3128308228690896, -1.4814873466714782, -1.7658353524598462, -1.4620694645315584], "std": [0.1335474466356304, 0.09668629820299336, 0.09175107162803539, 0.16791180940366993, 0.06261512537146521, 0.12957496033343344], "count": [342]}, "observation.images.side": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5501933994271867]], [[0.5546540853345083]], [[0.5580011118454873]]], "std": [[[0.252023226142709]], [[0.23887655564353472]], [[0.23997567952633217]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.14801868474138627]], [[0.14515118373275235]], [[0.218579122085048]]], "std": [[[0.19424145239116664]], [[0.17281218549852684]], [[0.2414801450068216]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.14386487049140645]], [[0.14270625514403293]], [[0.19578982328733963]]], "std": [[[0.1626876009265946]], [[0.15385334448266486]], [[0.20127058762015462]]], "count": [100]}, "action.pose": {"min": [-0.005218787584453822, -0.004221983719617128, -0.004481854382902384, -0.005240580185944095, -0.01023887259512235, -0.002554131345817951], "max": [0.0032153914216905824, 0.0024527236819267273, 0.00797621626406908, 0.005135534671537071, 0.007426831245894494, 0.006102357064081705], "mean": [-8.511407346751392e-05, -0.00011789756658081867, 0.0002817152180008426, 0.00017296583161614403, 2.77294375239054e-05, 0.00048732315958413736], "std": [0.0016861088754974894, 0.0015076167783015537, 0.002377443506235483, 0.001963193089269808, 0.0036037214914513543, 0.0018823717184091502], "count": [342]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.5847953216374269], "std": [0.49275729667698004], "count": [342]}, "action.joints": {"min": [-0.007265567779541016, -0.008218765258789062, -0.0049076080322265625, -0.014163434505462646, -0.004847049713134766, -0.01007986068725586], "max": [0.012335777282714844, 0.0046520233154296875, 0.00399017333984375, 0.011537551879882812, 0.008016586303710938, 0.0040378570556640625], "mean": [-0.0003882555933723673, -0.00024004986377607225, -0.0004553906401695564, 0.0007590801381555043, 0.00018907708731311107, -0.0009088307096247087], "std": [0.0037184682098396777, 0.0026303977917855118, 0.002200159143262358, 0.004437816596211247, 0.0023387964247153087, 0.0033072302440090694], "count": [342]}, "timestamp": {"min": [0.0], "max": [6.82], "mean": [3.41], "std": [1.9745294798170694], "count": [342]}, "frame_index": {"min": [0], "max": [341], "mean": [170.5], "std": [98.72647399085346], "count": [342]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [342]}, "index": {"min": [4455], "max": [4796], "mean": [4625.5], "std": [98.72647399085346], "count": [342]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [342]}}} +{"episode_index": 17, "stats": {"observation.state.pose": {"min": [-0.3411578834056854, -0.3341584801673889, 0.08361825346946716, -0.45683417945909804, 0.013231263705248963, -0.10209330007119555], "max": [-0.14279308915138245, 0.3911282420158386, 0.33429211378097534, -0.028842334343529397, 0.365181412045563, 0.326040118982481], "mean": [-0.25668001766669624, -0.07760224065409586, 0.2625764500793567, -0.14997343765147245, 0.2418796707399328, 0.2207949481733959], "std": [0.0609127970530417, 0.10905754741062675, 0.030907009980846015, 0.12278621983809976, 0.11520629793824932, 0.09363629628093748], "count": [277]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.36462093862815886], "std": [0.4813237057761432], "count": [277]}, "observation.state.tcp_force": {"min": [-9.640606880187988, -1.2135599851608276, -17.222797393798828], "max": [3.4149389266967773, 7.943833827972412, 7.247323036193848], "mean": [-3.7344897408441837, 3.780324016640548, -3.7286899148584056], "std": [2.8534085588058953, 1.7139156041374508, 5.953507786257065], "count": [277]}, "observation.state.tcp_torque": {"min": [-1.5282080173492432, -1.9423340559005737, -0.050714001059532166], "max": [1.2585959434509277, 1.308506965637207, 0.06572899967432022], "mean": [-0.29365115188438756, -0.2817693856487636, 0.009081324891665823], "std": [0.3988124565191065, 0.5539447724310126, 0.013472371547570697], "count": [277]}, "observation.state.joints": {"min": [1.5385788679122925, -1.6998106241226196, -0.04549533501267433, -1.759329915046692, -2.027402639389038, -1.0052803754806519], "max": [1.826987624168396, -1.2120451927185059, 0.7632885575294495, -1.3328313827514648, -1.6026891469955444, 0.08383477479219437], "mean": [1.6322825716721021, -1.5229283067723904, 0.12125920502104147, -1.4491303457680162, -1.7455676114085779, -0.8824171189097721], "std": [0.06790953717530679, 0.05518965374688917, 0.08054620970410696, 0.11093375069549569, 0.11399053281748371, 0.07799431325808913], "count": [277]}, "observation.images.side": {"min": [[[0.0]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5522380553719615]], [[0.5566999265623852]], [[0.5600518190497172]]], "std": [[[0.25127078159499283]], [[0.23810838781839289]], [[0.23914733018115]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2671506414911644]], [[0.257524628419269]], [[0.33468314855160175]]], "std": [[[0.2784109634365133]], [[0.2521361781583094]], [[0.2991274883021092]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25113484224965704]], [[0.24631276688453158]], [[0.33897952876623905]]], "std": [[[0.2778241561542588]], [[0.25098340080721593]], [[0.31492383315341]]], "count": [100]}, "action.pose": {"min": [-0.002467504004016518, -0.003097432665526867, -0.001686160336248577, -0.004054914375435117, -0.017141417634548572, -0.007001298223313039], "max": [0.003918142989277839, 0.008464221842586994, 0.006000833120197059, 0.011835113303406232, 0.004036256131930482, 0.008515577575792974], "mean": [-4.9470746463265764e-05, 0.000822618868316784, 0.0005005522176092173, 0.0015222652659032281, -0.0002395097336525837, 0.0006424651482579093], "std": [0.0012682512787456249, 0.0030089134969353043, 0.0018572936161950755, 0.0038778991670434773, 0.003994314019049179, 0.0029952737521571886], "count": [277]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.36462093862815886], "std": [0.4813237057761432], "count": [277]}, "action.joints": {"min": [-0.00962972640991211, -0.012259960174560547, -0.007426707074046135, -0.0062095895409584045, -0.0037627220153808594, -0.005964756011962891], "max": [0.0032563209533691406, 0.0051826611161231995, 0.005474667996168137, 0.009571278467774391, 0.014140129089355469, 0.004147052764892578], "mean": [-0.0005890488194214308, -0.0003023842611898154, -0.00010535153324988129, 0.0008397013359175262, 0.001549326555823591, -0.000755587101843383], "std": [0.00324510184273463, 0.0030264713411527213, 0.0024899564389242513, 0.0032910080670652533, 0.00424811293126187, 0.002293179213348354], "count": [277]}, "timestamp": {"min": [0.0], "max": [5.52], "mean": [2.76], "std": [1.5992498241363042], "count": [277]}, "frame_index": {"min": [0], "max": [276], "mean": [138.0], "std": [79.96249120681522], "count": [277]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [277]}, "index": {"min": [4797], "max": [5073], "mean": [4935.0], "std": [79.96249120681522], "count": [277]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [277]}}} +{"episode_index": 18, "stats": {"observation.state.pose": {"min": [-0.3482241630554199, -0.44636908173561096, 0.08166249841451645, -0.5945638291576419, -0.13117105145936714, -0.1014821319315249], "max": [-0.08397598564624786, 0.4020857512950897, 0.3488643169403076, 0.051231332160958314, 0.07753446472866843, 1.4442263121020193], "mean": [-0.1755179161138267, 0.03801243929515159, 0.2673230564387718, -0.006216119336782408, -0.009865151031633363, 0.4456484230197044], "std": [0.06210291222016204, 0.2202574809646973, 0.06974654829193248, 0.07223070110855544, 0.052159273496243226, 0.4961951324404313], "count": [303]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.5313531353135313], "std": [0.4990160126749556], "count": [303]}, "observation.state.tcp_force": {"min": [-6.664816856384277, -4.817202091217041, -11.368133544921875], "max": [4.4116339683532715, 5.515665054321289, 13.710211753845215], "mean": [-2.6247617213282943, -1.0754017600906465, 3.7006348675899146], "std": [1.6810706544014464, 1.4558314528068228, 5.5241349313566825], "count": [303]}, "observation.state.tcp_torque": {"min": [-0.6526179909706116, -1.1105339527130127, -0.06943999975919724], "max": [1.1165289878845215, 0.9718700051307678, 0.07052399963140488], "mean": [0.1112237725492948, -0.22588345463957835, 0.005217237595811954], "std": [0.2674698842486374, 0.29177035202098883, 0.019498989560491627], "count": [303]}, "observation.state.joints": {"min": [1.4882887601852417, -1.8205844163894653, -0.3066280484199524, -1.8699756860733032, -2.1527888774871826, -2.5292840003967285], "max": [1.9599117040634155, -1.213926911354065, 0.7672996520996094, -1.491312861442566, -1.5192221403121948, 0.08487744629383087], "mean": [1.675424569904214, -1.5940598615325323, 0.087642971838889, -1.664725645540571, -1.5815394074216533, -1.143952560195355], "std": [0.12767952065948274, 0.16028673084474152, 0.32880270981216436, 0.08887422205825597, 0.055240342569532995, 0.7862854453944323], "count": [303]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5512338503341412]], [[0.5553812631269737]], [[0.5583800308437983]]], "std": [[[0.25041062148849913]], [[0.23753392772765825]], [[0.23880481312217378]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4086838812232712]], [[0.4059855482933914]], [[0.47027907851206324]]], "std": [[[0.373048616528114]], [[0.3628215326974886]], [[0.38172128197616995]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29621964657467925]], [[0.28827185185185183]], [[0.35110773662551437]]], "std": [[[0.28595032758209904]], [[0.27295620886185257]], [[0.3155902010917345]]], "count": [100]}, "action.pose": {"min": [-0.004983857274055481, -0.00740386825054884, -0.004556751344352961, -0.00334200492272297, -0.006354916889303119, -0.05661878836650957], "max": [0.0075823836959898454, 0.004111707676202059, 0.006761904805898668, 0.010458298039391642, 0.004117051521602244, 0.023145332257154407], "mean": [0.000117300675324574, -0.00171287722038232, 0.0008375564272019462, 0.000524481580955485, -0.00012353691217958378, 0.000893397716565421], "std": [0.0027204619639274014, 0.002463553166902032, 0.002782174783194662, 0.002623972573090551, 0.0024541192606257504, 0.015371147987054483], "count": [303]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.5313531353135313], "std": [0.4990160126749556], "count": [303]}, "action.joints": {"min": [-0.0074405670166015625, -0.007030799984931946, -0.009255394339561462, -0.00908660888671875, -0.003406047821044922, -0.029183387756347656], "max": [0.007866382598876953, 0.006444454193115234, 0.008957386016845703, 0.01177358627319336, 0.0054683685302734375, 0.06076240539550781], "mean": [0.0006908772408765535, -0.0018436082649557995, -0.003079030198650588, 0.00021920188271714122, 0.00022462807079352956, -0.004031219046329311], "std": [0.0037352226754248396, 0.002584822462649092, 0.004204948200086619, 0.004464166764640147, 0.0017060451331410793, 0.0179672275183576], "count": [303]}, "timestamp": {"min": [0.0], "max": [6.04], "mean": [3.02], "std": [1.749361788386458], "count": [303]}, "frame_index": {"min": [0], "max": [302], "mean": [151.0], "std": [87.46808941932291], "count": [303]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [303]}, "index": {"min": [5074], "max": [5376], "mean": [5225.0], "std": [87.46808941932291], "count": [303]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [303]}}} +{"episode_index": 19, "stats": {"observation.state.pose": {"min": [-0.362998366355896, -0.4480917751789093, 0.2217443287372589, -0.6026346372998662, -0.14397498614359017, 0.1397394873384077], "max": [0.05694697052240372, 0.010368231683969498, 0.4909323453903198, -0.0006023859146404714, 0.38433828546039206, 0.31441857859464567], "mean": [-0.2666613599948222, -0.11771025946044428, 0.271051611681556, -0.11766778923671194, 0.18135476103941295, 0.19623166759797392], "std": [0.0823773423678331, 0.1370364047748706, 0.04045271704777064, 0.16273428753761865, 0.13299231976684187, 0.03542191806009327], "count": [267]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.550561797752809], "std": [0.4974369353073855], "count": [267]}, "observation.state.tcp_force": {"min": [-10.022072792053223, -1.4459329843521118, -3.1828880310058594], "max": [5.482616901397705, 6.4829888343811035, 3.436793088912964], "mean": [-3.737843788197536, 2.954217015022642, 0.2337469132303187], "std": [3.320891197775361, 1.3263275308824622, 1.5515418099964384], "count": [267]}, "observation.state.tcp_torque": {"min": [-0.9957460165023804, -1.2319029569625854, -0.0026489999145269394], "max": [0.1366100013256073, 0.5173230171203613, 0.05082299932837486], "mean": [-0.30936477177040406, -0.33746479346664543, 0.01358649816393835], "std": [0.1618773035704114, 0.3224936582995436, 0.01182984466097266], "count": [267]}, "observation.state.joints": {"min": [1.141391634941101, -1.801162838935852, -0.4822104573249817, -1.9147359132766724, -2.15568470954895, -1.5739468336105347], "max": [1.9724172353744507, -1.4189730882644653, 0.11067520081996918, -1.3335503339767456, -1.5050190687179565, -0.8469403386116028], "mean": [1.7372713932830297, -1.6393018800221133, 0.005996163888687916, -1.5205667032284682, -1.7040516330061781, -0.9793845714254772], "std": [0.08682132401842874, 0.07861115961437329, 0.11958791222555504, 0.16632079457387738, 0.14692181861510556, 0.13280111796461655], "count": [267]}, "observation.images.side": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.553833889990453]], [[0.558211902768598]], [[0.5616019960343688]]], "std": [[[0.2503800460609583]], [[0.23722744635965676]], [[0.23842812054601095]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24843580408295007]], [[0.2386387896393125]], [[0.3064585879125313]]], "std": [[[0.2462611280638928]], [[0.2206234826208611]], [[0.2683020382089763]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.20561179375453886]], [[0.20434655531348342]], [[0.2845667296054224]]], "std": [[[0.21642211018944624]], [[0.1973412455805221]], [[0.2609461160871044]]], "count": [100]}, "action.pose": {"min": [-0.0031498589087277646, -0.006268385332077742, -0.002837362932041288, -0.004174755567949383, -0.008253350557565264, -0.0029717804055702677], "max": [0.004339616745710372, 0.011946745216846466, 0.004677124321460724, 0.013525103142859894, 0.008621260028917943, 0.004804123354768165], "mean": [0.00021774416221051547, 0.0007221980100430455, 0.00035379925408078605, 0.0019164871992008573, 0.00016747029181062912, 0.0002321171122318937], "std": [0.0018717245018048895, 0.004488767767835757, 0.0020111346546333, 0.004800092943778383, 0.0039307910657255, 0.0017374304281435407], "count": [267]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.550561797752809], "std": [0.4974369353073855], "count": [267]}, "action.joints": {"min": [-0.009621620178222656, -0.006272315979003906, -0.009206771850585938, -0.007864043116569519, -0.00286865234375, -0.009465217590332031], "max": [0.005068302154541016, 0.006188303232192993, 0.007539412006735802, 0.013642311096191406, 0.012838363647460938, 0.00898122787475586], "mean": [-0.0012440056390083684, 0.0006031147317702739, -0.00043315744404210136, 0.0014380837358143668, 0.0016830137159940454, -0.0006123267755972759], "std": [0.003222709366565464, 0.00265007634635131, 0.003402539204981266, 0.005359781292794871, 0.0044104182784666796, 0.003996423987400317], "count": [267]}, "timestamp": {"min": [0.0], "max": [5.32], "mean": [2.66], "std": [1.5415144068955915], "count": [267]}, "frame_index": {"min": [0], "max": [266], "mean": [133.0], "std": [77.07572034477957], "count": [267]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [267]}, "index": {"min": [5377], "max": [5643], "mean": [5510.0], "std": [77.07572034477957], "count": [267]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [267]}}} +{"episode_index": 20, "stats": {"observation.state.pose": {"min": [-0.3214087188243866, -0.4013552963733673, 0.19305306673049927, -0.062303526245594765, -0.25055399330901484, -0.3026489462112535], "max": [0.08521018922328949, 0.3735226094722748, 0.5002215504646301, 0.11369332583010297, 0.07340904450738983, 0.33743697655474403], "mean": [-0.16892261652680954, -0.01091584064854229, 0.30622783934805864, 0.025318122959898545, -0.043174568545320015, 0.23669630306022366], "std": [0.14028248232007307, 0.1432713774395799, 0.09068401219503865, 0.05424913816617797, 0.08796924024264688, 0.08691087545924522], "count": [361]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.592797783933518], "std": [0.49131310922570354], "count": [361]}, "observation.state.tcp_force": {"min": [-5.389920234680176, -8.566489219665527, -11.405134201049805], "max": [3.0488829612731934, 0.8784610033035278, 4.116176128387451], "mean": [-2.137952440062285, -2.0077522625047663, 0.37172730564955014], "std": [1.6044895839838589, 1.756259045804213, 2.439362774558332], "count": [361]}, "observation.state.tcp_torque": {"min": [-0.240557000041008, -0.7546740174293518, -0.042410001158714294], "max": [3.1433470249176025, 1.8824059963226318, 0.049281999468803406], "mean": [0.28523122221905844, -0.12405092230266918, -0.009935559594087559], "std": [0.47968216660629925, 0.39230451874778144, 0.011926380359577264], "count": [361]}, "observation.state.joints": {"min": [1.065642237663269, -1.8330389261245728, -0.4858868718147278, -1.7268158197402954, -1.6687558889389038, -1.6014527082443237], "max": [1.9685057401657104, -1.3517875671386719, 0.7086625695228577, -1.3742432594299316, -1.4597653150558472, 0.209378182888031], "mean": [1.697949555772163, -1.6808982747413446, 0.00949556710923457, -1.6261589220025863, -1.532668790988975, -1.0116257305951], "std": [0.2702293358073779, 0.14641129639730147, 0.17987960561051142, 0.0883388467792373, 0.0575161015065697, 0.22428853177945762], "count": [361]}, "observation.images.side": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.554081434970992]], [[0.5580721054564147]], [[0.5615301432033488]]], "std": [[[0.24946646444605283]], [[0.23666311603652457]], [[0.23812690255421612]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.35712359557814893]], [[0.34588301137739047]], [[0.39206867909303644]]], "std": [[[0.32585385989700927]], [[0.31152065502062354]], [[0.34542130423777834]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3489142741870411]], [[0.33998130557572825]], [[0.3865636101024772]]], "std": [[[0.3428649769263175]], [[0.32722132164037643]], [[0.35759980261530544]]], "count": [100]}, "action.pose": {"min": [-0.003925320226699113, -0.0028492826968431473, -0.0035738267470151195, -0.00544412829014671, -0.009338136226984206, -0.010392960083113998], "max": [0.005144028924405574, 0.012085800990462303, 0.007592394948005677, 0.004898103691893479, 0.0075390740160370395, 0.004108305685329357], "mean": [-0.0005174855723075314, 0.0011227865912893835, -0.00034681475505952215, -0.00017088313635003278, 0.0001292662872776941, -0.0005208757126067984], "std": [0.00196397388460005, 0.0035013249293020694, 0.001993508066285839, 0.0016133186424609385, 0.0027665373123454016, 0.002840802754815592], "count": [361]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.592797783933518], "std": [0.49131310922570354], "count": [361]}, "action.joints": {"min": [-0.009272575378417969, -0.008778516203165054, -0.004687163978815079, -0.014556884765625, -0.005550861358642578, -0.008820533752441406], "max": [0.015655040740966797, 0.006354540586471558, 0.011089324951171875, 0.008018285036087036, 0.0017399787902832031, 0.01782512664794922], "mean": [0.0016874540545603574, -0.0010972313319753413, 0.0016524239734764575, -0.0005273143386783031, -0.0003411750053765041, 0.0020785304070179483], "std": [0.004541766339374801, 0.0028512452588690417, 0.0037006160807550197, 0.003909363950513632, 0.0011399509762275626, 0.005702916073471828], "count": [361]}, "timestamp": {"min": [0.0], "max": [7.2], "mean": [3.5999999999999996], "std": [2.0842264752180846], "count": [361]}, "frame_index": {"min": [0], "max": [360], "mean": [180.0], "std": [104.21132376090422], "count": [361]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [361]}, "index": {"min": [5644], "max": [6004], "mean": [5824.0], "std": [104.21132376090422], "count": [361]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [361]}}} +{"episode_index": 21, "stats": {"observation.state.pose": {"min": [-0.3202532231807709, -0.36051473021507263, 0.19995498657226562, -0.14182597203908315, -0.19960052391283267, -0.30256903911479555], "max": [0.23190033435821533, 0.37329843640327454, 0.5001452565193176, 0.0885077635929722, 0.29328858460106555, 0.3830169559274036], "mean": [-0.23317388604253025, -0.10973747373298126, 0.32377601144677504, -0.037762311545771574, 0.04560267027353854, 0.15154919217189478], "std": [0.05701975641321346, 0.24715723877494494, 0.07503273625815911, 0.05335261173208285, 0.1484870407001252, 0.1956761777288235], "count": [295]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.2440677966101695], "std": [0.4295331270903636], "count": [295]}, "observation.state.tcp_force": {"min": [-8.846759796142578, -5.755148887634277, -2.494752883911133], "max": [1.8386019468307495, 4.352066993713379, 3.5824570655822754], "mean": [-2.991400889416178, 0.28669258066871345, 0.3999544093701041], "std": [2.6365815420894085, 2.1178136391367746, 1.1574077009369945], "count": [295]}, "observation.state.tcp_torque": {"min": [-0.9248620271682739, -1.043347954750061, -0.014538000337779522], "max": [0.5273529887199402, 0.17983800172805786, 0.055351998656988144], "mean": [-0.06052327085191668, -0.2936939222641956, 0.005324708493257492], "std": [0.21613484413541456, 0.28291325035949244, 0.011790663094506283], "count": [295]}, "observation.state.joints": {"min": [1.1139663457870483, -1.7814055681228638, -0.4558470845222473, -1.8150144815444946, -1.7726720571517944, -1.4889463186264038], "max": [1.884844183921814, -1.0084195137023926, 0.714948832988739, -1.424631953239441, -1.591807246208191, 0.21494653820991516], "mean": [1.651809230497328, -1.6590197542966423, -0.047596707043111704, -1.5343853582770137, -1.6826044167502452, -0.9824272531274137], "std": [0.14800164900061813, 0.06868918157882384, 0.394630413330511, 0.08192402982046719, 0.03175531170659116, 0.5734857625990347], "count": [295]}, "observation.images.side": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5548417155026805]], [[0.5588221414408461]], [[0.5615485951384298]]], "std": [[[0.2495781968886942]], [[0.23689202344504975]], [[0.2389022500132024]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33562011296699745]], [[0.3346846042120552]], [[0.4012131235374808]]], "std": [[[0.36375848020249835]], [[0.3503542457728756]], [[0.3670843550150127]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.27634973614137015]], [[0.27356918098926813]], [[0.3313904171709836]]], "std": [[[0.31366640634447795]], [[0.3012587962613213]], [[0.3256438002934602]]], "count": [100]}, "action.pose": {"min": [-0.005329408682882786, -0.011870333924889565, -0.006727412343025207, -0.006849674990082447, -0.01196931637976717, -0.0052716107817912874], "max": [0.007715336512774228, 0.005148382391780615, 0.006475586444139482, 0.005544727777041358, 0.01600954429026369, 0.01289021235148671], "mean": [0.0006458503656877044, -0.001882330941358089, -0.0006373234774431602, -0.0005256511084771186, 0.0001899738818847714, 0.002125859837812154], "std": [0.0023669635818745543, 0.0031920690712508703, 0.002409267569859942, 0.002112701968766119, 0.004092215224221147, 0.002998797952768528], "count": [295]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.2440677966101695], "std": [0.4295331270903636], "count": [295]}, "action.joints": {"min": [-0.011079788208007812, -0.0067386627197265625, -0.013532862067222595, -0.008074283599853516, -0.004864692687988281, -0.019138336181640625], "max": [0.007677555084228516, 0.006924740970134735, 0.007530689239501953, 0.0076045989990234375, 0.007384777069091797, 0.005626678466796875], "mean": [0.001153983099985931, -0.0005089616371413408, -0.003023043641094434, -0.0005040495717598093, 0.00026151689432435117, -0.005103147497116509], "std": [0.0037878399763399207, 0.0024973696490776047, 0.005342190917669354, 0.0033822832175812697, 0.002207917421568143, 0.00669669476346225], "count": [295]}, "timestamp": {"min": [0.0], "max": [5.88], "mean": [2.94], "std": [1.7031735084835016], "count": [295]}, "frame_index": {"min": [0], "max": [294], "mean": [147.0], "std": [85.15867542417507], "count": [295]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [295]}, "index": {"min": [6005], "max": [6299], "mean": [6152.0], "std": [85.15867542417507], "count": [295]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [295]}}} +{"episode_index": 22, "stats": {"observation.state.pose": {"min": [-0.08513948321342468, -0.01550680585205555, 0.19445475935935974, -0.15990818046776495, -0.3295383172273483, -0.015330152185038873], "max": [0.2397310733795166, 0.2326180785894394, 0.36045345664024353, 0.10083345421078584, -0.0011021844136624992, 0.3193610859049225], "mean": [0.09869586424928145, 0.08316460756588043, 0.2830745668998405, -0.011900940870397654, -0.18501355663350166, 0.20458892846734195], "std": [0.08463879085357202, 0.0952125918012013, 0.047220568306654616, 0.0858523416823547, 0.058620356393937596, 0.10568492337432678], "count": [335]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.23283582089552238], "std": [0.4226384996701444], "count": [335]}, "observation.state.tcp_force": {"min": [-6.6268229484558105, -6.954822063446045, -17.109865188598633], "max": [4.058950901031494, 1.7720979452133179, 4.684916019439697], "mean": [-0.4794664163531652, -2.9555372677632232, -1.9887584300489345], "std": [2.404875073272604, 1.0194325583339632, 4.6246850738842], "count": [335]}, "observation.state.tcp_torque": {"min": [-0.18151700496673584, -1.8064630031585693, -0.035916998982429504], "max": [1.783352017402649, 1.2266819477081299, 0.013906000182032585], "mean": [0.24926753150691877, -0.1045147828271251, -0.004287826853760635], "std": [0.1780904892846723, 0.5011387325928781, 0.007345411971868629], "count": [335]}, "observation.state.joints": {"min": [1.116641879081726, -1.630271077156067, -0.08719427138566971, -1.9543448686599731, -1.7725428342819214, -1.1468700170516968], "max": [1.7190407514572144, -1.009137749671936, 0.3674612045288086, -1.7007123231887817, -1.43150794506073, -0.43988877534866333], "mean": [1.4287671989469386, -1.347587063419285, 0.10933827081940192, -1.808024491480927, -1.5794458236267317, -0.8816123473110483], "std": [0.15367238020245197, 0.1488079100856324, 0.18273306238811723, 0.06023212643620968, 0.13070967897073402, 0.27655235280400264], "count": [335]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49499970478078875]], [[0.49725496952338993]], [[0.4947523580818095]]], "std": [[[0.24274709715572212]], [[0.2358241932820952]], [[0.2463673012378835]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2049726410070201]], [[0.20770162349713547]], [[0.2425356281771968]]], "std": [[[0.2894449038632336]], [[0.2823945570864125]], [[0.3163316092843985]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25929423545549907]], [[0.25830148793673846]], [[0.2943056499636892]]], "std": [[[0.3255561869397083]], [[0.3180093264494022]], [[0.3546995452081412]]], "count": [100]}, "action.pose": {"min": [-0.006293689366430045, -0.007016011979430914, -0.0031307274475693703, -0.001966656415551222, -0.006719633514455703, -0.0028104718571622007], "max": [0.003862224053591489, 0.0019526310497894883, 0.006374997086822986, 0.006127166737116085, 0.006208534950411959, 0.006227300672573268], "mean": [-0.0008735038100604443, -0.0005175025686388726, 0.0004941356869426611, 0.0008113775038521133, 0.00012941466659891935, 0.0008702874690473951], "std": [0.001858097081489316, 0.0014676711858717423, 0.0017502030565134355, 0.0013201490576385054, 0.0019769831827983436, 0.0015939927415113964], "count": [335]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.23283582089552238], "std": [0.4226384996701444], "count": [335]}, "action.joints": {"min": [-0.006663799285888672, -0.006406992673873901, -0.008421801030635834, -0.005255699157714844, -0.0021457672119140625, -0.010825157165527344], "max": [0.007190704345703125, 0.003589153289794922, 0.0013702809810638428, 0.008331775665283203, 0.006511211395263672, 0.002696990966796875], "mean": [0.0015532977545439307, -0.0017835870287867624, -0.0012042925991951974, 0.00035651477415170243, 0.0009101938845506355, -0.00211244697001443], "std": [0.0023509459127852694, 0.0025267312455204316, 0.0020445874553049206, 0.002939517997638189, 0.0014782697864781425, 0.002954311680514021], "count": [335]}, "timestamp": {"min": [0.0], "max": [6.68], "mean": [3.3400000000000003], "std": [1.9341147845978532], "count": [335]}, "frame_index": {"min": [0], "max": [334], "mean": [167.0], "std": [96.70573922989266], "count": [335]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [335]}, "index": {"min": [6300], "max": [6634], "mean": [6467.0], "std": [96.70573922989266], "count": [335]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [335]}}} +{"episode_index": 23, "stats": {"observation.state.pose": {"min": [-0.21238811314105988, -0.015432012267410755, 0.19775404036045074, -0.16207392751595243, -0.08463744246211813, 0.20167250129567293], "max": [-0.054325517266988754, 0.30900534987449646, 0.34623003005981445, 0.00649701397887581, 0.19197511686528146, 0.3059985913254023], "mean": [-0.13793128935239193, 0.14296508076123163, 0.26372284776615823, -0.10330166636902029, 0.03247469532565315, 0.26558119197284197], "std": [0.04630607128972878, 0.10395921692801499, 0.04028247411853831, 0.06004272818627764, 0.06809206637245792, 0.021592957265391507], "count": [352]}, "observation.state.tool": {"min": [0.0], "max": [1.0], "mean": [0.5795454545454546], "std": [0.49363196884030625], "count": [352]}, "observation.state.tcp_force": {"min": [-5.597115993499756, -1.3965239524841309, -1.6880680322647095], "max": [1.5763319730758667, 4.0554351806640625, 2.5842959880828857], "mean": [-1.8667408247525932, 1.0826095461538485, 0.6681235214742959], "std": [1.5624340542066406, 1.1464859542175851, 0.8870391158978764], "count": [352]}, "observation.state.tcp_torque": {"min": [-0.9332919716835022, -0.6889579892158508, -0.009461999870836735], "max": [0.19883699715137482, 0.23107199370861053, 0.030494000762701035], "mean": [-0.16470321299639387, -0.16690177008852267, 0.008220508508719087], "std": [0.22859186223990294, 0.19719318793959456, 0.008360656291439466], "count": [352]}, "observation.state.joints": {"min": [1.3006118535995483, -1.5448638200759888, 0.15659098327159882, -1.7646247148513794, -1.7297433614730835, -0.9243524670600891], "max": [1.7399648427963257, -1.2427704334259033, 0.47378847002983093, -1.4352442026138306, -1.5476139783859253, -0.5536273121833801], "mean": [1.5238274931907654, -1.4387581358579071, 0.32865350384434516, -1.6207318600605836, -1.6670319763096897, -0.7227421998977661], "std": [0.14509869572119546, 0.09080921592375993, 0.08737855546198436, 0.10586903373393995, 0.06887543531278305, 0.09404443663173014], "count": [352]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5053358493060146]], [[0.507659168686201]], [[0.5054834780054344]]], "std": [[[0.23825207035961626]], [[0.2310471084376874]], [[0.24141765142198918]]], "count": [100]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.28461156459291537]], [[0.25755886710239656]], [[0.29715295731461305]]], "std": [[[0.3394589116965244]], [[0.30921218188542837]], [[0.33646951068189385]]], "count": [100]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25245273783587513]], [[0.22515042685386913]], [[0.2642894634067619]]], "std": [[[0.3028389708401848]], [[0.2716583850350305]], [[0.3175565931686019]]], "count": [100]}, "action.pose": {"min": [-0.0018895311513915656, -0.0052950880490243435, -0.002681560581550002, -0.004914296122935414, -0.0044253650553911505, -0.0056438620104116086], "max": [0.0026289867237210265, 0.007543886546045542, 0.004147408530116081, 0.004639971117061277, 0.0052666774500764735, 0.0022713736554797635], "mean": [3.690019477563637e-05, 0.0002525691246078245, 0.00031128371966815394, 0.00012405905921810716, -0.00018859963592981465, -0.00032534088702981654], "std": [0.0012048097912313155, 0.002733987640406942, 0.001968475545878449, 0.0019207599916019813, 0.002517890035558951, 0.0014543073863257413], "count": [352]}, "action.tool": {"min": [0.0], "max": [1.0], "mean": [0.5795454545454546], "std": [0.49363196884030625], "count": [352]}, "action.joints": {"min": [-0.006626129150390625, -0.0042321085929870605, -0.005818665027618408, -0.008845806121826172, -0.0050563812255859375, -0.007087230682373047], "max": [0.009752750396728516, 0.005185924470424652, 0.007739931344985962, 0.006427288055419922, 0.005087852478027344, 0.007037639617919922], "mean": [-0.00027792155742645264, -0.00012961272361942312, 0.0002837786874310537, 0.0002767877145247026, 0.00011035258119756526, 0.0005583316087722778], "std": [0.0035578982978294116, 0.002140593892914443, 0.002524811374188954, 0.003147708353654515, 0.0019266283644608522, 0.002722677025456215], "count": [352]}, "timestamp": {"min": [0.0], "max": [7.02], "mean": [3.51], "std": [2.0322647465327934], "count": [352]}, "frame_index": {"min": [0], "max": [351], "mean": [175.5], "std": [101.61323732663968], "count": [352]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [352]}, "index": {"min": [6635], "max": [6986], "mean": [6810.5], "std": [101.61323732663968], "count": [352]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [352]}}}