diff --git a/Surgical/ucsd/surgical_learning_dataset2/meta/percentile_stats.json b/Surgical/ucsd/surgical_learning_dataset2/meta/percentile_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..f0ec4fc590950e663d311903c40ade0c051c7df1 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_dataset2/meta/percentile_stats.json @@ -0,0 +1,6678 @@ +{ + "state": { + "psm_retraction_pose": { + "q01": [ + 0.038404278457164764, + 0.021827683821320533, + -0.1428253948688507, + -0.22570490181446076, + 0.20846627533435821, + 0.3143294560909271, + 0.34147271633148196 + ], + "q02": [ + 0.04114269614219666, + 0.0222006805986166, + -0.14188196241855622, + -0.20266638875007628, + 0.2261910754442215, + 0.34077890872955324, + 0.3703950834274292 + ], + "q98": [ + 0.06532005965709686, + 0.05675858035683632, + -0.1087692528963089, + 0.39775869011878967, + 0.7715771269798278, + 0.6963053345680237, + 0.8138324618339539 + ], + "q99": [ + 0.06720565259456635, + 0.05796707823872562, + -0.10640755295753479, + 0.4138259613513946, + 0.8067293143272399, + 0.7041915178298949, + 0.8202337193489074 + ], + "mean": [ + 0.05375837907195091, + 0.03925592824816704, + -0.12927933037281036, + 0.06215609610080719, + 0.5132486820220947, + 0.5319039821624756, + 0.6139477491378784 + ], + "std": [ + 0.005886052269488573, + 0.007700319867581129, + 0.008126304484903812, + 0.1635013371706009, + 0.14622530341148376, + 0.10158942639827728, + 0.12009331583976746 + ], + "min": [ + 0.033018145710229874, + 0.02122345380485058, + -0.14598657190799713, + -0.3937004804611206, + 0.15095120668411255, + 0.1998758316040039, + 0.21619907021522522 + ], + "max": [ + 0.07642365992069244, + 0.06167365983128548, + -0.09981051832437515, + 0.45761629939079285, + 0.8561145067214966, + 0.7420669198036194, + 0.8296818733215332 + ] + }, + "psm_retraction_gripper": { + "q01": [ + -0.6235588192939758 + ], + "q02": [ + -0.6225758790969849 + ], + "q98": [ + 1.3271985721588135 + ], + "q99": [ + 1.3410827589035033 + ], + "mean": [ + 0.4843769669532776 + ], + "std": [ + 0.6688477396965027 + ], + "min": [ + -0.6325282454490662 + ], + "max": [ + 1.3790786266326904 + ] + }, + "psm_cutter_pose": { + "q01": [ + -0.06005730852484703, + -0.03649322956800461, + -0.05341727286577225, + -0.3491705358028412, + -0.6815881729125977, + -0.47563821911811827, + -0.6677047181129455 + ], + "q02": [ + -0.05975855886936188, + -0.03627066016197204, + -0.052285097539424896, + -0.2609930634498596, + -0.6727288961410522, + -0.4716636157035828, + -0.6521661281585693 + ], + "q98": [ + -0.0010605524713173508, + 0.012296577915549278, + -0.018310483545064926, + 0.17999352335929877, + 0.9050971269607544, + 0.35877170562744143, + 0.7106622576713562 + ], + "q99": [ + -0.001060489360243082, + 0.012296861037611961, + -0.018309732899069786, + 0.20894189476966857, + 0.9113715887069702, + 0.38123875856399536, + 0.7388047575950623 + ], + "mean": [ + -0.04174629598855972, + -0.015626097097992897, + -0.03695186227560043, + -0.08213304728269577, + 0.6626109480857849, + -0.2958891987800598, + -0.2568630278110504 + ], + "std": [ + 0.021654825657606125, + 0.016864003613591194, + 0.010960699990391731, + 0.1445683091878891, + 0.45076170563697815, + 0.20967136323451996, + 0.36414867639541626 + ], + "min": [ + -0.060416027903556824, + -0.0368068628013134, + -0.05395405739545822, + -0.35478559136390686, + -0.6891308426856995, + -0.4883459508419037, + -0.6831293702125549 + ], + "max": [ + -0.0010593640618026257, + 0.012298391200602055, + -0.01830758899450302, + 0.23302000761032104, + 0.9191564917564392, + 0.4300711452960968, + 0.792475700378418 + ] + }, + "psm_cutter_gripper": { + "q01": [ + -0.24517939984798431 + ], + "q02": [ + 0.29695945978164673 + ], + "q98": [ + 1.3158996105194092 + ], + "q99": [ + 1.3158996105194092 + ], + "mean": [ + 1.105033278465271 + ], + "std": [ + 0.266935259103775 + ], + "min": [ + -0.29450929164886475 + ], + "max": [ + 1.3247201442718506 + ] + } + }, + "action": { + "psm_retraction_pose": { + "q01": [ + [ + -0.06726802855730057, + -0.057922469675540926, + 0.10601557970046997 + ], + [ + -0.06731494903564453, + -0.05798072710633278, + 0.1060185432434082 + ], + [ + -0.06739781051874161, + -0.05798780709505081, + 0.1060062062740326 + ], + [ + -0.06743697822093964, + -0.05798489093780518, + 0.10597469866275787 + ], + [ + -0.06743905007839203, + -0.05800456777215004, + 0.1059742346405983 + ], + [ + -0.06743697822093964, + -0.058017687052488325, + 0.1059742346405983 + ], + [ + -0.06743998765945435, + -0.05799284055829048, + 0.10596647828817368 + ], + [ + -0.06743998765945435, + -0.05793359369039536, + 0.10596227645874023 + ], + [ + -0.06748250544071198, + -0.057925050109624864, + 0.10596484482288361 + ], + [ + -0.06748392432928085, + -0.057951228320598604, + 0.10595461070537567 + ], + [ + -0.06752972364425659, + -0.05793573096394539, + 0.10592839330434799 + ], + [ + -0.06751316606998443, + -0.05791907384991646, + 0.10593031078577042 + ], + [ + -0.06758476257324218, + -0.05791907384991646, + 0.10592697203159332 + ], + [ + -0.06757501929998398, + -0.05791907384991646, + 0.10592767000198364 + ], + [ + -0.06764683127403259, + -0.05792965158820152, + 0.10592683404684067 + ], + [ + -0.06757553249597549, + -0.05795251071453095, + 0.10592057049274445 + ], + [ + -0.0675687125325203, + -0.05793264448642731, + 0.1058768329024315 + ], + [ + -0.0675987583398819, + -0.057920434325933454, + 0.10586574792861939 + ], + [ + -0.06759657889604569, + -0.05791907384991646, + 0.10586870014667511 + ], + [ + -0.06757322400808334, + -0.05794002383947373, + 0.10589321970939636 + ], + [ + -0.06752800464630127, + -0.0579294416308403, + 0.10588904321193696 + ], + [ + -0.06749234944581986, + -0.057920434325933454, + 0.10588524371385574 + ], + [ + -0.06748715668916702, + -0.05791907384991646, + 0.1059051638841629 + ], + [ + -0.06746767491102218, + -0.05791907384991646, + 0.10592067748308182 + ], + [ + -0.06748392432928085, + -0.057942962646484374, + 0.10591861605644226 + ], + [ + -0.06747335225343704, + -0.057925758212804795, + 0.10592808663845062 + ], + [ + -0.06743998765945435, + -0.05791907384991646, + 0.10595872282981872 + ], + [ + -0.06743697822093964, + -0.057925758212804795, + 0.1059742346405983 + ], + [ + -0.06743697822093964, + -0.05791907384991646, + 0.1059725534915924 + ], + [ + -0.06737369388341903, + -0.05791907384991646, + 0.10597945004701614 + ], + [ + -0.06740114510059357, + -0.05791907384991646, + 0.10602191090583801 + ], + [ + -0.06739874601364136, + -0.05792729243636131, + 0.10601894736289978 + ], + [ + -0.06740548074245453, + -0.05792311310768127, + 0.1060185432434082 + ], + [ + -0.06737191081047059, + -0.05792729243636131, + 0.1060185432434082 + ], + [ + -0.0673295646905899, + -0.05791907384991646, + 0.10602171421051025 + ], + [ + -0.06733981132507325, + -0.05791907384991646, + 0.10602415859699249 + ], + [ + -0.06736813873052597, + -0.05792729243636131, + 0.10602419972419738 + ], + [ + -0.0673363173007965, + -0.05791907384991646, + 0.10607324063777923 + ], + [ + -0.06731463849544525, + -0.05791907384991646, + 0.10610000312328338 + ], + [ + -0.06729769736528396, + -0.05791907384991646, + 0.10606972873210907 + ], + [ + -0.06732713162899018, + -0.057919877022504805, + 0.10609803438186645 + ], + [ + -0.06733061254024506, + -0.05793205067515373, + 0.10609333992004394 + ], + [ + -0.06729159533977508, + -0.057951034158468244, + 0.10610315382480622 + ], + [ + -0.06731469750404358, + -0.057949824929237365, + 0.10610995382070541 + ], + [ + -0.06731334239244462, + -0.05796013668179512, + 0.10617708414793015 + ], + [ + -0.06731040596961975, + -0.05793218970298767, + 0.1062492486834526 + ], + [ + -0.06729159533977508, + -0.057931917607784274, + 0.10636089503765106 + ], + [ + -0.06727052867412567, + -0.05791907384991646, + 0.10633286625146866 + ], + [ + -0.06720957517623902, + -0.05792771711945534, + 0.1063633343577385 + ], + [ + -0.0672091406583786, + -0.05794788673520088, + 0.106404168009758 + ] + ], + "q02": [ + [ + -0.06534806817770004, + -0.05662789195775986, + 0.108426254093647 + ], + [ + -0.06544719398021698, + -0.05662666961550713, + 0.10839159667491913 + ], + [ + -0.06548983335494996, + -0.05660806149244309, + 0.10834972977638245 + ], + [ + -0.06553835749626159, + -0.05660454034805298, + 0.10832013189792633 + ], + [ + -0.06562759816646575, + -0.05659658834338188, + 0.10822862327098846 + ], + [ + -0.06564506530761718, + -0.05660854667425155, + 0.1081496986746788 + ], + [ + -0.06568377882242203, + -0.05659658834338188, + 0.10809237450361252 + ], + [ + -0.06574098169803619, + -0.05661667600274086, + 0.1080661427974701 + ], + [ + -0.06577712774276734, + -0.05664135158061981, + 0.1080494499206543 + ], + [ + -0.06580667316913605, + -0.056647301614284516, + 0.10812378346920014 + ], + [ + -0.06589908748865128, + -0.05666576758027077, + 0.10818311899900436 + ], + [ + -0.06589803040027618, + -0.05666710063815117, + 0.10808771103620529 + ], + [ + -0.06592650115489959, + -0.05661322087049484, + 0.10807484596967697 + ], + [ + -0.06593887507915497, + -0.05659611091017723, + 0.1080644553899765 + ], + [ + -0.06590090870857239, + -0.056615497767925266, + 0.10812982559204101 + ], + [ + -0.06593887507915497, + -0.05659652397036553, + 0.10809964805841446 + ], + [ + -0.06593848168849945, + -0.056604156643152236, + 0.10813744187355041 + ], + [ + -0.06592790126800536, + -0.05664567455649376, + 0.10809655249118805 + ], + [ + -0.06583597302436829, + -0.05661172240972519, + 0.10813143670558929 + ], + [ + -0.06578433811664582, + -0.05662514075636864, + 0.10813720166683197 + ], + [ + -0.06577820360660552, + -0.056615367233753204, + 0.10809819847345352 + ], + [ + -0.0658242404460907, + -0.05661354586482048, + 0.10808809727430344 + ], + [ + -0.06582491993904113, + -0.056624458879232405, + 0.10812475264072419 + ], + [ + -0.0658100026845932, + -0.05663633644580841, + 0.10818415910005569 + ], + [ + -0.06579624772071839, + -0.05659658834338188, + 0.10822687208652497 + ], + [ + -0.06577563285827637, + -0.056611219942569735, + 0.1082000708580017 + ], + [ + -0.06576372683048248, + -0.05659658834338188, + 0.10821384191513062 + ], + [ + -0.06569786876440048, + -0.056596008092164994, + 0.10824298977851868 + ], + [ + -0.0656847396492958, + -0.056604032218456266, + 0.10832903265953064 + ], + [ + -0.06565559953451157, + -0.05659992381930351, + 0.10842613905668258 + ], + [ + -0.06564602315425873, + -0.05663219198584556, + 0.10844496011734009 + ], + [ + -0.06565593928098679, + -0.05663039892911911, + 0.10849296718835831 + ], + [ + -0.06561028450727463, + -0.05670109212398529, + 0.10853987067937851 + ], + [ + -0.06555197566747666, + -0.05669109985232353, + 0.10863719135522842 + ], + [ + -0.06554696500301362, + -0.0566649466753006, + 0.10862233310937881 + ], + [ + -0.06551243245601654, + -0.0566772635281086, + 0.10862168759107589 + ], + [ + -0.06548649817705154, + -0.05667155504226685, + 0.10865421622991561 + ], + [ + -0.06548649817705154, + -0.05669340237975121, + 0.10868336945772171 + ], + [ + -0.06548423320055008, + -0.05674369663000107, + 0.10868813127279281 + ], + [ + -0.06547744363546372, + -0.0567325322329998, + 0.10869263857603073 + ], + [ + -0.06547648251056672, + -0.05673056766390801, + 0.10869263857603073 + ], + [ + -0.06546674877405166, + -0.05668224528431892, + 0.10874100238084793 + ], + [ + -0.06542613625526428, + -0.0567068561911583, + 0.10870435267686844 + ], + [ + -0.06542350947856904, + -0.056721059083938596, + 0.10874183475971222 + ], + [ + -0.06541018605232239, + -0.056701835393905636, + 0.10874206900596618 + ], + [ + -0.0654272872209549, + -0.05672203302383423, + 0.1087592026591301 + ], + [ + -0.06542740881443024, + -0.05672903046011925, + 0.10877841234207153 + ], + [ + -0.06542466461658478, + -0.056740027666091916, + 0.10879504531621934 + ], + [ + -0.0654220524430275, + -0.05676638782024383, + 0.10878664195537567 + ], + [ + -0.06542433053255081, + -0.0567561711370945, + 0.1088346141576767 + ] + ], + "q98": [ + [ + -0.04120094686746596, + -0.022202099785208703, + 0.1420055115222931 + ], + [ + -0.04117306113243103, + -0.022202528938651087, + 0.14206479191780091 + ], + [ + -0.04112989842891693, + -0.022201669663190843, + 0.1421042013168335 + ], + [ + -0.04110385969281197, + -0.022200965136289597, + 0.1421539443731308 + ], + [ + -0.04113185480237007, + -0.02220067344605923, + 0.1421623557806015 + ], + [ + -0.041087943911552426, + -0.022200744971632956, + 0.1421676331758499 + ], + [ + -0.041096580624580374, + -0.022200630977749825, + 0.1421822166442871 + ], + [ + -0.04108210772275925, + -0.022200630977749825, + 0.1421873986721039 + ], + [ + -0.04108551740646362, + -0.022200630977749825, + 0.14221193194389342 + ], + [ + -0.04106286063790321, + -0.022200531885027887, + 0.14218919336795807 + ], + [ + -0.04105691790580749, + -0.02219980925321579, + 0.14217905402183534 + ], + [ + -0.04104981318116188, + -0.02219980925321579, + 0.14221939623355864 + ], + [ + -0.04103927254676818, + -0.022200156450271607, + 0.1422208696603775 + ], + [ + -0.041023072004318234, + -0.022200156450271607, + 0.14219148099422455 + ], + [ + -0.04102539747953415, + -0.02219576746225357, + 0.14221489667892456 + ], + [ + -0.04105653196573257, + -0.022195736616849898, + 0.14223500192165375 + ], + [ + -0.04102065771818161, + -0.022196310833096505, + 0.1422552454471588 + ], + [ + -0.041056708246469495, + -0.022195131480693818, + 0.14222884118556978 + ], + [ + -0.04106206253170967, + -0.02219383142888546, + 0.142213574051857 + ], + [ + -0.041076515167951584, + -0.02219383142888546, + 0.14220857977867127 + ], + [ + -0.04108516871929169, + -0.022195131480693818, + 0.14218128919601442 + ], + [ + -0.04107901632785797, + -0.022193800583481787, + 0.14218010008335114 + ], + [ + -0.04107299789786339, + -0.022194519937038422, + 0.14217928111553194 + ], + [ + -0.04106116190552711, + -0.022192820012569427, + 0.14217096030712129 + ], + [ + -0.04106116190552711, + -0.022192820012569427, + 0.14212940037250518 + ], + [ + -0.041066951751708984, + -0.02219257652759552, + 0.14214177608489992 + ], + [ + -0.041036255955696106, + -0.022192541509866714, + 0.14215326488018035 + ], + [ + -0.041041765064001076, + -0.022191515192389488, + 0.1421062684059143 + ], + [ + -0.04106785506010056, + -0.022189768329262734, + 0.142099466919899 + ], + [ + -0.041070509552955624, + -0.022191659584641456, + 0.14204229414463043 + ], + [ + -0.04106803238391876, + -0.022192864716053008, + 0.1420178872346878 + ], + [ + -0.041079228222370145, + -0.02219267562031746, + 0.14202923119068145 + ], + [ + -0.04107989966869354, + -0.022192914336919785, + 0.1420034646987915 + ], + [ + -0.041085698902606965, + -0.022196848541498185, + 0.14204106390476226 + ], + [ + -0.041099861711263654, + -0.022196817696094513, + 0.1419921797513962 + ], + [ + -0.04112785428762436, + -0.022196917906403543, + 0.1419614815711975 + ], + [ + -0.04113185480237007, + -0.022197159975767135, + 0.14196415781974792 + ], + [ + -0.04110645860433578, + -0.022197129130363463, + 0.14195769190788268 + ], + [ + -0.04110229402780532, + -0.02219775542616844, + 0.141963632106781 + ], + [ + -0.041097442805767055, + -0.022197883278131485, + 0.14192834854125977 + ], + [ + -0.04109022915363311, + -0.022197015583515167, + 0.14192634344100952 + ], + [ + -0.041109820306301115, + -0.022200630977749825, + 0.14192677676677704 + ], + [ + -0.04111818000674247, + -0.02219863921403885, + 0.14190208196640014 + ], + [ + -0.041119075119495384, + -0.022200630977749825, + 0.14190208196640014 + ], + [ + -0.0411213019490242, + -0.02220136858522892, + 0.14190036058425903 + ], + [ + -0.041131797581911086, + -0.0222006805986166, + 0.1418933743238449 + ], + [ + -0.04112825736403465, + -0.02220110908150673, + 0.1418986612558365 + ], + [ + -0.04113185480237007, + -0.022201707884669304, + 0.14188442885875702 + ], + [ + -0.041136245280504226, + -0.02220143027603626, + 0.14188442885875702 + ], + [ + -0.04113255754113197, + -0.02220143027603626, + 0.14188442885875702 + ] + ], + "q99": [ + [ + -0.038467321544885635, + -0.021836989894509315, + 0.1428747797012329 + ], + [ + -0.03846069291234017, + -0.021834979578852654, + 0.14287515997886657 + ], + [ + -0.038444507867097855, + -0.02182960003614426, + 0.14290283083915709 + ], + [ + -0.03846069291234017, + -0.02182960003614426, + 0.14294210076332092 + ], + [ + -0.03846069291234017, + -0.021827683821320536, + 0.14295902848243713 + ], + [ + -0.038467321544885635, + -0.0218266374617815, + 0.1429733645915985 + ], + [ + -0.03845203265547753, + -0.021826520562171936, + 0.1429924315214157 + ], + [ + -0.03846069291234017, + -0.021829336732625965, + 0.14299630224704743 + ], + [ + -0.038409105986356766, + -0.021831353083252906, + 0.1430289751291275 + ], + [ + -0.038446341603994384, + -0.021823125928640368, + 0.1430266398191452 + ], + [ + -0.03840825796127322, + -0.021822880282998086, + 0.1430437695980072 + ], + [ + -0.03841414898633959, + -0.02182373754680157, + 0.14302716851234437 + ], + [ + -0.03840508177876473, + -0.02182211481034756, + 0.1430204838514328 + ], + [ + -0.03840508177876473, + -0.02182211481034756, + 0.14302246391773224 + ], + [ + -0.038404525667428975, + -0.02181946769356728, + 0.14300417959690093 + ], + [ + -0.038404525667428975, + -0.021818141043186186, + 0.1430368822813034 + ], + [ + -0.038404525667428975, + -0.021818521320819854, + 0.1430143940448761 + ], + [ + -0.038404278457164764, + -0.02181816227734089, + 0.1430167019367218 + ], + [ + -0.038404278457164764, + -0.02181497409939766, + 0.14300958514213563 + ], + [ + -0.038404278457164764, + -0.02181395560503006, + 0.14300958514213563 + ], + [ + -0.03840446352958679, + -0.02181481666862965, + 0.14302074372768403 + ], + [ + -0.03840446352958679, + -0.02181253604590893, + 0.14301665723323823 + ], + [ + -0.038404278457164764, + -0.021810854077339174, + 0.14300639927387238 + ], + [ + -0.038404278457164764, + -0.021816203370690346, + 0.1430195951461792 + ], + [ + -0.038404278457164764, + -0.021816203370690346, + 0.14300961375236512 + ], + [ + -0.038404278457164764, + -0.021810611486434938, + 0.1430049192905426 + ], + [ + -0.03840189516544342, + -0.021810904368758204, + 0.14300030291080473 + ], + [ + -0.03840189516544342, + -0.021810611486434938, + 0.1429797577857971 + ], + [ + -0.03840189516544342, + -0.021812096014618875, + 0.14296877443790434 + ], + [ + -0.03839345693588258, + -0.0218111351877451, + 0.14296891212463378 + ], + [ + -0.03839345693588258, + -0.021813575699925425, + 0.1429420131444931 + ], + [ + -0.03839345693588258, + -0.02181216508150101, + 0.14294358909130098 + ], + [ + -0.038404278457164764, + -0.021812731698155407, + 0.14294048130512238 + ], + [ + -0.03839345693588258, + -0.02181244179606438, + 0.1429032701253891 + ], + [ + -0.03839198127388954, + -0.021813903748989106, + 0.142893448472023 + ], + [ + -0.03839198127388954, + -0.02181479923427105, + 0.14288650810718537 + ], + [ + -0.03839492604136468, + -0.021812558025121692, + 0.14286622822284697 + ], + [ + -0.03839492604136468, + -0.021812558025121692, + 0.14286280572414398 + ], + [ + -0.038404278457164764, + -0.021816511377692225, + 0.14284581661224366 + ], + [ + -0.038404278457164764, + -0.02181951105594635, + 0.14284581661224366 + ], + [ + -0.038404278457164764, + -0.021819233894348145, + 0.14283475279808044 + ], + [ + -0.038404278457164764, + -0.0218234521150589, + 0.14283468663692475 + ], + [ + -0.038404278457164764, + -0.021818714588880544, + 0.14282939434051514 + ], + [ + -0.038404484093189244, + -0.021826826557517054, + 0.1428253948688507 + ], + [ + -0.038406479954719554, + -0.021827683821320536, + 0.14282993078231812 + ], + [ + -0.03842419251799585, + -0.021827645301818854, + 0.14285825133323668 + ], + [ + -0.03842184856534006, + -0.021826520562171936, + 0.14282872676849365 + ], + [ + -0.03842184856534006, + -0.021827091500163077, + 0.14283417522907257 + ], + [ + -0.03842184856534006, + -0.021827091500163077, + 0.1428440499305725 + ], + [ + -0.038409105986356766, + -0.021826520562171936, + 0.14285876572132108 + ] + ], + "mean": [ + [ + -0.0537225641310215, + -0.039176251739263535, + 0.1291073113679886 + ], + [ + -0.0537274107336998, + -0.039177339524030685, + 0.12910917401313782 + ], + [ + -0.05373196303844452, + -0.03917893022298813, + 0.12911100685596466 + ], + [ + -0.05373692512512207, + -0.0391799733042717, + 0.1291135996580124 + ], + [ + -0.0537426695227623, + -0.039182089269161224, + 0.12911666929721832 + ], + [ + -0.05374815687537193, + -0.03918401151895523, + 0.12911972403526306 + ], + [ + -0.05375368148088455, + -0.03918559104204178, + 0.1291244477033615 + ], + [ + -0.05375967174768448, + -0.03918856754899025, + 0.12912987172603607 + ], + [ + -0.053766243159770966, + -0.03919206187129021, + 0.12913507223129272 + ], + [ + -0.053771842271089554, + -0.03919466957449913, + 0.12914055585861206 + ], + [ + -0.05377846211194992, + -0.039198338985443115, + 0.12914593517780304 + ], + [ + -0.053785260766744614, + -0.03920105844736099, + 0.1291513293981552 + ], + [ + -0.05379118025302887, + -0.03920399025082588, + 0.12915660440921783 + ], + [ + -0.053798023611307144, + -0.039207082241773605, + 0.12916132807731628 + ], + [ + -0.05380387231707573, + -0.039210543036460876, + 0.12916609644889832 + ], + [ + -0.05380995199084282, + -0.03921332210302353, + 0.12917101383209229 + ], + [ + -0.05381601303815842, + -0.03921528905630112, + 0.12917611002922058 + ], + [ + -0.05382175371050835, + -0.0392179898917675, + 0.12917940318584442 + ], + [ + -0.053826481103897095, + -0.03921998664736748, + 0.12918426096439362 + ], + [ + -0.05383102968335152, + -0.039222266525030136, + 0.1291879564523697 + ], + [ + -0.0538361482322216, + -0.03922438248991966, + 0.1291923075914383 + ], + [ + -0.053840506821870804, + -0.03922722116112709, + 0.1291959434747696 + ], + [ + -0.053845103830099106, + -0.03923030570149422, + 0.12920135259628296 + ], + [ + -0.0538494847714901, + -0.03923311084508896, + 0.12920621037483215 + ], + [ + -0.05385439097881317, + -0.03923661261796951, + 0.1292126625776291 + ], + [ + -0.05385839194059372, + -0.039239753037691116, + 0.12921924889087677 + ], + [ + -0.05386221781373024, + -0.039243508130311966, + 0.12922751903533936 + ], + [ + -0.05386660248041153, + -0.03924713283777237, + 0.12923471629619598 + ], + [ + -0.053870730102062225, + -0.039250489324331284, + 0.12924188375473022 + ], + [ + -0.053874094039201736, + -0.03925419598817825, + 0.1292501837015152 + ], + [ + -0.05387723073363304, + -0.039257537573575974, + 0.12925654649734497 + ], + [ + -0.05388123169541359, + -0.03926108777523041, + 0.1292625218629837 + ], + [ + -0.05388481542468071, + -0.03926597908139229, + 0.12926998734474182 + ], + [ + -0.05388801172375679, + -0.03926954045891762, + 0.12927454710006714 + ], + [ + -0.053890958428382874, + -0.03927275165915489, + 0.12927892804145813 + ], + [ + -0.05389421060681343, + -0.03927573189139366, + 0.1292840987443924 + ], + [ + -0.053896691650152206, + -0.03927929699420929, + 0.12928862869739532 + ], + [ + -0.05389958247542381, + -0.03928317129611969, + 0.12929365038871765 + ], + [ + -0.05390229821205139, + -0.03928589075803757, + 0.12929752469062805 + ], + [ + -0.053904689848423004, + -0.03928939253091812, + 0.12930132448673248 + ], + [ + -0.05390741676092148, + -0.03929266333580017, + 0.12930481135845184 + ], + [ + -0.05391031876206398, + -0.03929617255926132, + 0.12930934131145477 + ], + [ + -0.053912270814180374, + -0.03929852694272995, + 0.12931238114833832 + ], + [ + -0.053913481533527374, + -0.039300158619880676, + 0.1293143928050995 + ], + [ + -0.05391552671790123, + -0.03930231183767319, + 0.12931708991527557 + ], + [ + -0.053916506469249725, + -0.03930399566888809, + 0.1293196827173233 + ], + [ + -0.05391787365078926, + -0.03930627927184105, + 0.12932224571704865 + ], + [ + -0.05391925573348999, + -0.039307910948991776, + 0.12932519614696503 + ], + [ + -0.05392051115632057, + -0.03930967301130295, + 0.12932723760604858 + ], + [ + -0.05392119288444519, + -0.03931150957942009, + 0.1293288767337799 + ] + ], + "std": [ + [ + 0.005912872031331062, + 0.007712874561548233, + 0.008274968713521957 + ], + [ + 0.005925753619521856, + 0.007717723958194256, + 0.008290334604680538 + ], + [ + 0.00593955535441637, + 0.0077237896621227264, + 0.008307485841214657 + ], + [ + 0.00595468794927001, + 0.007730104029178619, + 0.008321750909090042 + ], + [ + 0.005969467107206583, + 0.00773591548204422, + 0.008334378711879253 + ], + [ + 0.005982625298202038, + 0.007741531357169151, + 0.008345079608261585 + ], + [ + 0.00599523913115263, + 0.007746896706521511, + 0.008353331126272678 + ], + [ + 0.0060074483044445515, + 0.007751389406621456, + 0.008359002880752087 + ], + [ + 0.006019539665430784, + 0.00775660527870059, + 0.00836197566241026 + ], + [ + 0.0060291835106909275, + 0.007760507985949516, + 0.008363615721464157 + ], + [ + 0.006039166357368231, + 0.007764535956084728, + 0.008364983834326267 + ], + [ + 0.00604725256562233, + 0.007767391856759787, + 0.008365851826965809 + ], + [ + 0.006054318509995937, + 0.007769216783344746, + 0.008364704437553883 + ], + [ + 0.0060607208870351315, + 0.007771050091832876, + 0.008365148678421974 + ], + [ + 0.0060679614543914795, + 0.007775414269417524, + 0.008368966169655323 + ], + [ + 0.006072156131267548, + 0.007775683421641588, + 0.008368406444787979 + ], + [ + 0.006075218785554171, + 0.007776012644171715, + 0.008367327041924 + ], + [ + 0.006076138466596603, + 0.0077763507142663, + 0.008366579189896584 + ], + [ + 0.006076504476368427, + 0.007776956539601088, + 0.008365093730390072 + ], + [ + 0.006075449287891388, + 0.0077766794711351395, + 0.008362115360796452 + ], + [ + 0.006075059529393911, + 0.007776019163429737, + 0.00835962500423193 + ], + [ + 0.006073334254324436, + 0.007775125093758106, + 0.008356892503798008 + ], + [ + 0.00607100548222661, + 0.007773733232170343, + 0.008351176045835018 + ], + [ + 0.006067573092877865, + 0.00777142308652401, + 0.008344047702848911 + ], + [ + 0.0060650683008134365, + 0.007768210954964161, + 0.008336090482771397 + ], + [ + 0.0060602957382798195, + 0.0077653322368860245, + 0.008328062482178211 + ], + [ + 0.006055343896150589, + 0.007761482149362564, + 0.008315620012581348 + ], + [ + 0.006050555035471916, + 0.007758418098092079, + 0.00830368883907795 + ], + [ + 0.006045560352504253, + 0.007754738908261061, + 0.008292511105537415 + ], + [ + 0.006035482976585627, + 0.007748708128929138, + 0.008277692832052708 + ], + [ + 0.006029007025063038, + 0.007743667345494032, + 0.008264804258942604 + ], + [ + 0.006022261455655098, + 0.007739262655377388, + 0.00825634878128767 + ], + [ + 0.006015356630086899, + 0.007734302431344986, + 0.008244713768362999 + ], + [ + 0.006008555646985769, + 0.007729005999863148, + 0.008235685527324677 + ], + [ + 0.006001816596835852, + 0.0077230194583535194, + 0.008228749968111515 + ], + [ + 0.005994020961225033, + 0.007718205917626619, + 0.008219119161367416 + ], + [ + 0.005986799020320177, + 0.007713070139288902, + 0.008210800588130951 + ], + [ + 0.005979445297271013, + 0.007707472890615463, + 0.008202297613024712 + ], + [ + 0.005972206126898527, + 0.007702239789068699, + 0.008194955997169018 + ], + [ + 0.005965272895991802, + 0.007696531247347593, + 0.008187447674572468 + ], + [ + 0.0059577301144599915, + 0.007691084407269955, + 0.008180313743650913 + ], + [ + 0.0059502930380403996, + 0.007686424534767866, + 0.00817251019179821 + ], + [ + 0.005943600088357925, + 0.007682250812649727, + 0.008166308514773846 + ], + [ + 0.00593770993873477, + 0.00767909362912178, + 0.008160492405295372 + ], + [ + 0.005928657948970795, + 0.0076744090765714645, + 0.008152841590344906 + ], + [ + 0.005921914707869291, + 0.007670332212001085, + 0.008147114887833595 + ], + [ + 0.00591638358309865, + 0.0076668583787977695, + 0.00814261008054018 + ], + [ + 0.0059111290611326694, + 0.00766377616673708, + 0.00813728105276823 + ], + [ + 0.005904927849769592, + 0.007660312578082085, + 0.00813191570341587 + ], + [ + 0.0058995638974010944, + 0.007656481117010117, + 0.00812824722379446 + ] + ], + "min": [ + [ + -0.07662820816040039, + -0.06243989244103432, + 0.0995490550994873 + ], + [ + -0.07662820816040039, + -0.06243989244103432, + 0.09950880706310272 + ], + [ + -0.07666751742362976, + -0.06243989244103432, + 0.09933629631996155 + ], + [ + -0.07666751742362976, + -0.06307660788297653, + 0.09912366420030594 + ], + [ + -0.07666751742362976, + -0.06307660788297653, + 0.09886690974235535 + ], + [ + -0.0768628641963005, + -0.06307660788297653, + 0.09858251363039017 + ], + [ + -0.0768628641963005, + -0.06307660788297653, + 0.09832105040550232 + ], + [ + -0.0768628641963005, + -0.06307660788297653, + 0.09810841828584671 + ], + [ + -0.07702504843473434, + -0.06308069825172424, + 0.09826723486185074 + ], + [ + -0.0771634504199028, + -0.06283973902463913, + 0.09805460274219513 + ], + [ + -0.07738951593637466, + -0.06283973902463913, + 0.09785640984773636 + ], + [ + -0.07738951593637466, + -0.061975106596946716, + 0.09836063534021378 + ], + [ + -0.07738951593637466, + -0.061975106596946716, + 0.09822405874729156 + ], + [ + -0.07741103321313858, + -0.06192377582192421, + 0.09850207716226578 + ], + [ + -0.07812226563692093, + -0.06192786619067192, + 0.09850993007421494 + ], + [ + -0.07812226563692093, + -0.06168690696358681, + 0.09871533513069153 + ], + [ + -0.07812226563692093, + -0.06168690696358681, + 0.09915672987699509 + ], + [ + -0.07812226563692093, + -0.06167365983128548, + 0.099189892411232 + ], + [ + -0.07812226563692093, + -0.06167365983128548, + 0.09934375435113907 + ], + [ + -0.07858298718929291, + -0.061669569462537766, + 0.09957171976566315 + ], + [ + -0.07858298718929291, + -0.0616975873708725, + 0.09984143078327179 + ], + [ + -0.07858298718929291, + -0.0616975873708725, + 0.0997016578912735 + ], + [ + -0.07884836196899414, + -0.061763592064380646, + 0.09944019466638565 + ], + [ + -0.07903074473142624, + -0.061763592064380646, + 0.09922756254673004 + ], + [ + -0.0791691467165947, + -0.061763592064380646, + 0.09928055852651596 + ], + [ + -0.07939521223306656, + -0.061763592064380646, + 0.09906792640686035 + ], + [ + -0.07939521223306656, + -0.061763592064380646, + 0.09892293065786362 + ], + [ + -0.07939521223306656, + -0.06176768243312836, + 0.09871029853820801 + ], + [ + -0.07941672950983047, + -0.061669569462537766, + 0.09858135879039764 + ], + [ + -0.07900100946426392, + -0.061669569462537766, + 0.09885745495557785 + ], + [ + -0.07900100946426392, + -0.061669569462537766, + 0.09906972199678421 + ], + [ + -0.07900100946426392, + -0.06167365983128548, + 0.09938617795705795 + ], + [ + -0.07900100946426392, + -0.061669569462537766, + 0.09962541610002518 + ], + [ + -0.07900100946426392, + -0.06167365983128548, + 0.09968278557062149 + ], + [ + -0.07866056263446808, + -0.06169617176055908, + 0.09972736984491348 + ], + [ + -0.07846836745738983, + -0.06169617176055908, + 0.0997091606259346 + ], + [ + -0.07846836745738983, + -0.06169617176055908, + 0.09973616153001785 + ], + [ + -0.07831442356109619, + -0.06169617176055908, + 0.0997609868645668 + ], + [ + -0.078157439827919, + -0.06169617176055908, + 0.09966590255498886 + ], + [ + -0.078157439827919, + -0.06170026212930679, + 0.09964462369680405 + ], + [ + -0.078157439827919, + -0.06167590245604515, + 0.09958603233098984 + ], + [ + -0.07796364277601242, + -0.06167365983128548, + 0.09951434284448624 + ], + [ + -0.07796364277601242, + -0.061669569462537766, + 0.09950084239244461 + ], + [ + -0.07821037620306015, + -0.061669569462537766, + 0.09946910291910172 + ], + [ + -0.0783359631896019, + -0.061669569462537766, + 0.09954728931188583 + ], + [ + -0.0783359631896019, + -0.06167365983128548, + 0.09968958050012589 + ], + [ + -0.07818632572889328, + -0.06167365983128548, + 0.09983090311288834 + ], + [ + -0.07818632572889328, + -0.061669569462537766, + 0.09981820732355118 + ], + [ + -0.0781407579779625, + -0.061679668724536896, + 0.09978679567575455 + ], + [ + -0.0781407579779625, + -0.061679668724536896, + 0.09980232268571854 + ] + ], + "max": [ + [ + -0.03301510959863663, + -0.02122345380485058, + 0.14779692888259888 + ], + [ + -0.03301510959863663, + -0.02122345380485058, + 0.14779692888259888 + ], + [ + -0.03301430121064186, + -0.02122345380485058, + 0.14779692888259888 + ], + [ + -0.033011265099048615, + -0.021243060007691383, + 0.14779692888259888 + ], + [ + -0.033011265099048615, + -0.020674027502536774, + 0.14789792895317078 + ], + [ + -0.033011265099048615, + -0.020674027502536774, + 0.14842088520526886 + ], + [ + -0.03295452892780304, + -0.02062341943383217, + 0.14842088520526886 + ], + [ + -0.03295149281620979, + -0.019851302728056908, + 0.14842088520526886 + ], + [ + -0.03295149281620979, + -0.018808234483003616, + 0.14714504778385162 + ], + [ + -0.03295149281620979, + -0.018808234483003616, + 0.14730320870876312 + ], + [ + -0.03296153247356415, + -0.018808234483003616, + 0.14777493476867676 + ], + [ + -0.03296153247356415, + -0.018808234483003616, + 0.14777493476867676 + ], + [ + -0.03296153247356415, + -0.018605191260576248, + 0.14788049459457397 + ], + [ + -0.03293297439813614, + -0.018605191260576248, + 0.14783765375614166 + ], + [ + -0.03292993828654289, + -0.0184492040425539, + 0.1473931074142456 + ], + [ + -0.03292993828654289, + -0.0184492040425539, + 0.1473931074142456 + ], + [ + -0.03292993828654289, + -0.0184492040425539, + 0.1473931074142456 + ], + [ + -0.03293997794389725, + -0.0184492040425539, + 0.1473931074142456 + ], + [ + -0.03293997794389725, + -0.0184492040425539, + 0.1467747688293457 + ], + [ + -0.03293997794389725, + -0.018441475927829742, + 0.1467747688293457 + ], + [ + -0.03294389694929123, + -0.018393466249108315, + 0.1467733383178711 + ], + [ + -0.03298814222216606, + -0.018354807049036026, + 0.1465073823928833 + ], + [ + -0.03298814222216606, + -0.018313460052013397, + 0.1461549997329712 + ], + [ + -0.03298814222216606, + -0.01828049123287201, + 0.14606283605098724 + ], + [ + -0.03298814222216606, + -0.01828049123287201, + 0.14606283605098724 + ], + [ + -0.0329996719956398, + -0.01828049123287201, + 0.146238774061203 + ], + [ + -0.032996635884046555, + -0.01828049123287201, + 0.146238774061203 + ], + [ + -0.032996635884046555, + -0.01828717812895775, + 0.14634433388710022 + ], + [ + -0.032923366874456406, + -0.01966920867562294, + 0.14665918052196503 + ], + [ + -0.03292033076286316, + -0.019636239856481552, + 0.14665918052196503 + ], + [ + -0.03292033076286316, + -0.019636239856481552, + 0.14676474034786224 + ], + [ + -0.03292033076286316, + -0.019636239856481552, + 0.14672189950942993 + ], + [ + -0.032930370420217514, + -0.019636239856481552, + 0.14627735316753387 + ], + [ + -0.032930370420217514, + -0.01964292675256729, + 0.14627735316753387 + ], + [ + -0.032930370420217514, + -0.020720480009913445, + 0.14627735316753387 + ], + [ + -0.032934289425611496, + -0.020611871033906937, + 0.14627735316753387 + ], + [ + -0.03297853469848633, + -0.020611871033906937, + 0.1462225615978241 + ], + [ + -0.03297853469848633, + -0.02060553804039955, + 0.14598657190799713 + ], + [ + -0.03297853469848633, + -0.020585529506206512, + 0.14598657190799713 + ], + [ + -0.03297853469848633, + -0.020585529506206512, + 0.14598657190799713 + ], + [ + -0.03299471363425255, + -0.020705701783299446, + 0.14598657190799713 + ], + [ + -0.033018145710229874, + -0.020705701783299446, + 0.14594373106956482 + ], + [ + -0.033017005771398544, + -0.020705701783299446, + 0.14588101208209991 + ], + [ + -0.033017005771398544, + -0.020705701783299446, + 0.14598657190799713 + ], + [ + -0.033017005771398544, + -0.021212222054600716, + 0.14598657190799713 + ], + [ + -0.033017780631780624, + -0.02122345380485058, + 0.14594373106956482 + ], + [ + -0.033017780631780624, + -0.02122345380485058, + 0.14598657190799713 + ], + [ + -0.033018145710229874, + -0.021204018965363503, + 0.14598657190799713 + ], + [ + -0.033018145710229874, + -0.02122345380485058, + 0.14598657190799713 + ], + [ + -0.033018145710229874, + -0.021227864548563957, + 0.14598657190799713 + ] + ] + }, + "psm_retraction_gripper": { + "q01": [ + [ + -0.47484834432601924 + ], + [ + -0.48648648023605345 + ], + [ + -0.4882705330848694 + ], + [ + -0.47992036223411555 + ], + [ + -0.47484834432601924 + ], + [ + -0.47992036223411555 + ], + [ + -0.47071994304656983 + ], + [ + -0.47071994304656983 + ], + [ + -0.47484834432601924 + ], + [ + -0.47992036223411555 + ], + [ + -0.47992036223411555 + ], + [ + -0.47484834432601924 + ], + [ + -0.47484834432601924 + ], + [ + -0.47484834432601924 + ], + [ + -0.47071994304656983 + ], + [ + -0.46891624689102174 + ], + [ + -0.46490581274032594 + ], + [ + -0.46490581274032594 + ], + [ + -0.4645863449573517 + ], + [ + -0.4631315684318542 + ], + [ + -0.4615441060066223 + ], + [ + -0.4594062030315399 + ], + [ + -0.4594062030315399 + ], + [ + -0.4594062030315399 + ], + [ + -0.4594062030315399 + ], + [ + -0.4594062030315399 + ], + [ + -0.4594062030315399 + ], + [ + -0.45392624497413636 + ], + [ + -0.45392624497413636 + ], + [ + -0.45392624497413636 + ], + [ + -0.45392624497413636 + ], + [ + -0.4529727828502655 + ], + [ + -0.4529727828502655 + ], + [ + -0.4529727828502655 + ], + [ + -0.44905574560165407 + ], + [ + -0.44794499993324277 + ], + [ + -0.44794499993324277 + ], + [ + -0.4417917263507843 + ], + [ + -0.4370981597900391 + ], + [ + -0.43560408234596254 + ], + [ + -0.4348226308822632 + ], + [ + -0.4254698646068573 + ], + [ + -0.42160196065902705 + ], + [ + -0.4167166984081268 + ], + [ + -0.4138808739185333 + ], + [ + -0.4043659198284149 + ], + [ + -0.39465436339378357 + ], + [ + -0.39465436339378357 + ], + [ + -0.39098797798156737 + ], + [ + -0.37124051094055177 + ] + ], + "q02": [ + [ + -0.2711565482616424 + ], + [ + -0.2730782318115234 + ], + [ + -0.2779683947563171 + ], + [ + -0.273230574131012 + ], + [ + -0.273230574131012 + ], + [ + -0.2779683947563171 + ], + [ + -0.273230574131012 + ], + [ + -0.2763416028022766 + ], + [ + -0.27836158752441403 + ], + [ + -0.2787940847873688 + ], + [ + -0.2787940847873688 + ], + [ + -0.27836158752441403 + ], + [ + -0.2787940847873688 + ], + [ + -0.27909878492355344 + ], + [ + -0.2787940847873688 + ], + [ + -0.27836158752441403 + ], + [ + -0.273230574131012 + ], + [ + -0.27271452903747556 + ], + [ + -0.27200679898262026 + ], + [ + -0.2711565482616424 + ], + [ + -0.2694216513633728 + ], + [ + -0.2688761007785797 + ], + [ + -0.2688761007785797 + ], + [ + -0.2676130282878876 + ], + [ + -0.26613858819007874 + ], + [ + -0.2656176280975342 + ], + [ + -0.26423168063163754 + ], + [ + -0.26376967787742617 + ], + [ + -0.2624181354045868 + ], + [ + -0.2622657704353332 + ], + [ + -0.2618136048316955 + ], + [ + -0.26082574248313906 + ], + [ + -0.26008363008499147 + ], + [ + -0.2589286494255066 + ], + [ + -0.2569185197353363 + ], + [ + -0.256063346862793 + ], + [ + -0.2527164113521576 + ], + [ + -0.2483816021680832 + ], + [ + -0.24561460316181183 + ], + [ + -0.2435012650489807 + ], + [ + -0.2391123867034912 + ], + [ + -0.23716123580932616 + ], + [ + -0.23117998480796814 + ], + [ + -0.22890445590019226 + ], + [ + -0.2228937208652496 + ], + [ + -0.2180330330133438 + ], + [ + -0.211186785697937 + ], + [ + -0.20860162317752837 + ], + [ + -0.20525468230247496 + ], + [ + -0.19128696024417877 + ] + ], + "q98": [ + [ + 0.1499047738313676 + ], + [ + 0.13466905176639568 + ], + [ + 0.1236698409914971 + ], + [ + 0.11805227816104902 + ], + [ + 0.11313261777162555 + ], + [ + 0.10870934396982196 + ], + [ + 0.10431555658578873 + ], + [ + 0.10099810361862183 + ], + [ + 0.10010852783918384 + ], + [ + 0.09728255063295367 + ], + [ + 0.09556238472461703 + ], + [ + 0.09203851252794287 + ], + [ + 0.0907754194736482 + ], + [ + 0.08954181641340259 + ], + [ + 0.08773319154977809 + ], + [ + 0.08720731109380725 + ], + [ + 0.08619487524032599 + ], + [ + 0.0859196501970292 + ], + [ + 0.08422897249460226 + ], + [ + 0.08305926620960236 + ], + [ + 0.08164873212575918 + ], + [ + 0.07955996185541159 + ], + [ + 0.07750068545341494 + ], + [ + 0.07418322682380679 + ], + [ + 0.07077239453792572 + ], + [ + 0.066904485821724 + ], + [ + 0.06386225044727328 + ], + [ + 0.06196515917778034 + ], + [ + 0.060942891985177994 + ], + [ + 0.05651961639523506 + ], + [ + 0.05390988692641261 + ], + [ + 0.05283355712890625 + ], + [ + 0.052160234749317226 + ], + [ + 0.051083904951810866 + ], + [ + 0.05000757426023483 + ], + [ + 0.04785983040928846 + ], + [ + 0.043407066613435824 + ], + [ + 0.041839262098074016 + ], + [ + 0.03950475677847868 + ], + [ + 0.036860618740320206 + ], + [ + 0.03277646407485011 + ], + [ + 0.028476058319211035 + ], + [ + 0.025895814225077658 + ], + [ + 0.024052783176302935 + ], + [ + 0.021811658143997246 + ], + [ + 0.019324795231223185 + ], + [ + 0.01815508425235751 + ], + [ + 0.016218673437833786 + ], + [ + 0.014744248241186142 + ], + [ + 0.013456583805382305 + ] + ], + "q99": [ + [ + 0.2735500299930551 + ], + [ + 0.24881410896778028 + ], + [ + 0.21580664277076672 + ], + [ + 0.2052546763420101 + ], + [ + 0.1932626932859412 + ], + [ + 0.18000760972499769 + ], + [ + 0.17298443019390097 + ], + [ + 0.1632925420999527 + ], + [ + 0.16122343719005516 + ], + [ + 0.1542346662282938 + ], + [ + 0.15133496761321913 + ], + [ + 0.1495017570257185 + ], + [ + 0.14877929508686055 + ], + [ + 0.14755060493946065 + ], + [ + 0.1465529066324232 + ], + [ + 0.1465529066324232 + ], + [ + 0.1443265312910077 + ], + [ + 0.14501950502395572 + ], + [ + 0.14391368985176028 + ], + [ + 0.14142191410064697 + ], + [ + 0.13965752065181702 + ], + [ + 0.1385811936855315 + ], + [ + 0.13682170748710515 + ], + [ + 0.13331258296966553 + ], + [ + 0.12798499405384034 + ], + [ + 0.12330123186111411 + ], + [ + 0.12093723833560885 + ], + [ + 0.12013613551855068 + ], + [ + 0.11812599956989239 + ], + [ + 0.11202679693698864 + ], + [ + 0.1087240880727767 + ], + [ + 0.10671395301818808 + ], + [ + 0.10500853598117799 + ], + [ + 0.1009391263127323 + ], + [ + 0.09654533892869929 + ], + [ + 0.0909081181883811 + ], + [ + 0.08679447531700085 + ], + [ + 0.08364903599023721 + ], + [ + 0.07851312309503555 + ], + [ + 0.07395223587751379 + ], + [ + 0.07183397740125627 + ], + [ + 0.06871802628040255 + ], + [ + 0.06693397492170314 + ], + [ + 0.06421611547470063 + ], + [ + 0.059655228704213706 + ], + [ + 0.055030450373887915 + ], + [ + 0.05469624653458526 + ], + [ + 0.05278932437300653 + ], + [ + 0.05108390495181064 + ], + [ + 0.05059243068099002 + ] + ], + "mean": [ + [ + -0.013989626429975033 + ], + [ + -0.015225253067910671 + ], + [ + -0.016586728394031525 + ], + [ + -0.017256205901503563 + ], + [ + -0.017700394615530968 + ], + [ + -0.018109172582626343 + ], + [ + -0.01829451695084572 + ], + [ + -0.018591618165373802 + ], + [ + -0.01876894198358059 + ], + [ + -0.019221778959035873 + ], + [ + -0.01930413953959942 + ], + [ + -0.019395317882299423 + ], + [ + -0.019467324018478394 + ], + [ + -0.019532514736056328 + ], + [ + -0.019413596019148827 + ], + [ + -0.0192891713231802 + ], + [ + -0.019217392429709435 + ], + [ + -0.019067583605647087 + ], + [ + -0.018935028463602066 + ], + [ + -0.01881556399166584 + ], + [ + -0.0186748206615448 + ], + [ + -0.01857842691242695 + ], + [ + -0.01851698011159897 + ], + [ + -0.01845453679561615 + ], + [ + -0.018773812800645828 + ], + [ + -0.01880180463194847 + ], + [ + -0.01875247061252594 + ], + [ + -0.018595727160573006 + ], + [ + -0.01842498779296875 + ], + [ + -0.01819092594087124 + ], + [ + -0.01808316260576248 + ], + [ + -0.01785648800432682 + ], + [ + -0.01760285161435604 + ], + [ + -0.01740417629480362 + ], + [ + -0.017140749841928482 + ], + [ + -0.01688993349671364 + ], + [ + -0.016672417521476746 + ], + [ + -0.016396597027778625 + ], + [ + -0.016102652996778488 + ], + [ + -0.015893371775746346 + ], + [ + -0.015636462718248367 + ], + [ + -0.01536734588444233 + ], + [ + -0.015042266808450222 + ], + [ + -0.014733885414898396 + ], + [ + -0.014336668886244297 + ], + [ + -0.01380086038261652 + ], + [ + -0.013381405733525753 + ], + [ + -0.013159018941223621 + ], + [ + -0.012775709852576256 + ], + [ + -0.012322713620960712 + ] + ], + "std": [ + [ + 0.13369478285312653 + ], + [ + 0.13094447553157806 + ], + [ + 0.1261841058731079 + ], + [ + 0.12381526082754135 + ], + [ + 0.12287943065166473 + ], + [ + 0.12129901349544525 + ], + [ + 0.11952553689479828 + ], + [ + 0.11795394867658615 + ], + [ + 0.11794278770685196 + ], + [ + 0.11611751466989517 + ], + [ + 0.11596905440092087 + ], + [ + 0.11412899196147919 + ], + [ + 0.11410611122846603 + ], + [ + 0.1140536367893219 + ], + [ + 0.11306313425302505 + ], + [ + 0.11219567060470581 + ], + [ + 0.11015865951776505 + ], + [ + 0.11003858596086502 + ], + [ + 0.10903305560350418 + ], + [ + 0.10842956602573395 + ], + [ + 0.10785985738039017 + ], + [ + 0.10665571689605713 + ], + [ + 0.10577299445867538 + ], + [ + 0.1053309217095375 + ], + [ + 0.10235118120908737 + ], + [ + 0.10158602148294449 + ], + [ + 0.1008862629532814 + ], + [ + 0.1006600633263588 + ], + [ + 0.10049361735582352 + ], + [ + 0.10021480917930603 + ], + [ + 0.0999903678894043 + ], + [ + 0.09978659451007843 + ], + [ + 0.09952486306428909 + ], + [ + 0.09923534095287323 + ], + [ + 0.09873704612255096 + ], + [ + 0.09817323833703995 + ], + [ + 0.09774632751941681 + ], + [ + 0.09702428430318832 + ], + [ + 0.09657815098762512 + ], + [ + 0.09616626054048538 + ], + [ + 0.09581797569990158 + ], + [ + 0.09485376626253128 + ], + [ + 0.09436532855033875 + ], + [ + 0.09381769597530365 + ], + [ + 0.0930541381239891 + ], + [ + 0.09171908348798752 + ], + [ + 0.09102018177509308 + ], + [ + 0.09072652459144592 + ], + [ + 0.09016957879066467 + ], + [ + 0.0894770547747612 + ] + ], + "min": [ + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.8191944360733032 + ], + [ + -1.7296231985092163 + ], + [ + -1.7296231985092163 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ], + [ + -1.5529379844665527 + ] + ], + "max": [ + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.9040968418121338 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.889229655265808 + ], + [ + 1.238025426864624 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ], + [ + 1.172659158706665 + ] + ] + }, + "psm_cutter_pose": { + "q01": [ + [ + 0.0010604105331003665, + -0.012296861037611961, + 0.018309726119041442 + ], + [ + 0.001060297777876258, + -0.012296861037611961, + 0.018309731036424637 + ], + [ + 0.0010603762045502663, + -0.012296861037611961, + 0.01830972544848919 + ], + [ + 0.0010603307746350765, + -0.012296861037611961, + 0.018309731036424637 + ], + [ + 0.001060367445461452, + -0.012296861037611961, + 0.01830972544848919 + ], + [ + 0.0010603643814101815, + -0.012296861037611961, + 0.018309726119041442 + ], + [ + 0.001060367445461452, + -0.012296861037611961, + 0.018309731036424637 + ], + [ + 0.0010603742627426983, + -0.012296861037611961, + 0.01830972358584404 + ], + [ + 0.0010603823466226459, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.0010603827377781271, + -0.012296861037611961, + 0.018309731036424637 + ], + [ + 0.0010603789705783129, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.001060405746102333, + -0.012296861037611961, + 0.01830972544848919 + ], + [ + 0.001060379478149116, + -0.012296861037611961, + 0.01830972544848919 + ], + [ + 0.001060405746102333, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.0010603873524814844, + -0.012296861037611961, + 0.018309723809361456 + ], + [ + 0.0010604173876345158, + -0.012296861037611961, + 0.01830972544848919 + ], + [ + 0.001060385606251657, + -0.012296861037611961, + 0.018309731259942053 + ], + [ + 0.0010604123817756772, + -0.012296861037611961, + 0.018309731259942053 + ], + [ + 0.001060404391027987, + -0.012296861037611961, + 0.01830972544848919 + ], + [ + 0.001060413895174861, + -0.012296861037611961, + 0.01830972358584404 + ], + [ + 0.0010604073759168386, + -0.012296861037611961, + 0.01830972358584404 + ], + [ + 0.0010604106495156883, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.0010604009358212351, + -0.012296861037611961, + 0.01830972544848919 + ], + [ + 0.001060413895174861, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.00106040277518332, + -0.012296861037611961, + 0.018309731036424637 + ], + [ + 0.0010604107519611716, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.0010604075714945793, + -0.012296861037611961, + 0.01830972544848919 + ], + [ + 0.0010604041954502463, + -0.012296861037611961, + 0.018309731036424637 + ], + [ + 0.001060400833375752, + -0.012296861037611961, + 0.018309731036424637 + ], + [ + 0.001060402370058, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.0010604023840278386, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.001060385606251657, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.001060392656363547, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.0010603857226669788, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.0010603973641991615, + -0.012296861037611961, + 0.018309732899069786 + ], + [ + 0.0010603973641991615, + -0.012296861037611961, + 0.018309726119041442 + ], + [ + 0.0010603943932801486, + -0.012296861037611961, + 0.01830972358584404 + ], + [ + 0.001060397573746741, + -0.012296861037611961, + 0.01830972358584404 + ], + [ + 0.001060402370058, + -0.012296861037611961, + 0.018309716135263443 + ], + [ + 0.001060394002124667, + -0.012296861037611961, + 0.018309716135263443 + ], + [ + 0.0010604072595015168, + -0.012296861037611961, + 0.018309716135263443 + ], + [ + 0.0010603973641991615, + -0.012296861037611961, + 0.018309705182909964 + ], + [ + 0.0010603973641991615, + -0.012296861037611961, + 0.01830969750881195 + ], + [ + 0.0010603975597769022, + -0.012296861037611961, + 0.018309690058231354 + ], + [ + 0.0010604025656357407, + -0.012296988628804684, + 0.018309690058231354 + ], + [ + 0.001060400833375752, + -0.012297002598643303, + 0.018309682607650757 + ], + [ + 0.0010603876505047084, + -0.012297002598643303, + 0.018309690058231354 + ], + [ + 0.0010604006377980112, + -0.012297105081379413, + 0.018309673517942427 + ], + [ + 0.0010603856202214955, + -0.012297130189836025, + 0.01830967515707016 + ], + [ + 0.0010604006238281727, + -0.012297144047915936, + 0.018309676051139832 + ] + ], + "q02": [ + [ + 0.0010604956187307835, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604178393259645, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604755952954292, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604405542835593, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604639770463108, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604448290541769, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604559630155563, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604559630155563, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604635858908295, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.001060474356636405, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604560514912008, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604823473840952, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604538256302476, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604955023154616, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604688432067633, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604955023154616, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.001060468959622085, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604921262711287, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604738490656018, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604956187307835, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604755952954292, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604960098862647, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604755952954292, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604960098862647, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604822589084506, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604925733059645, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604823473840952, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604822589084506, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.001060488778166473, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604822309687734, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604854905977845, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604759864509105, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604823473840952, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604756232351065, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604888666421175, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604863613843918, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.001060495413839817, + -0.012296577915549278, + 0.018310483545064926 + ], + [ + 0.0010604823473840952, + -0.012296577915549278, + 0.018310477882623674 + ], + [ + 0.001060495530255139, + -0.012296577915549278, + 0.018310474678874016 + ], + [ + 0.001060468959622085, + -0.012296577915549278, + 0.018310468569397928 + ], + [ + 0.0010604822589084506, + -0.012296577915549278, + 0.018310438469052316 + ], + [ + 0.0010604755952954292, + -0.012296577915549278, + 0.01831032268702984 + ], + [ + 0.0010604854905977845, + -0.012296577915549278, + 0.01831021934747696 + ], + [ + 0.001060495530255139, + -0.012296577915549278, + 0.018310123905539512 + ], + [ + 0.001060479753650725, + -0.012296705506742, + 0.018310114666819574 + ], + [ + 0.0010604888666421175, + -0.012296705506742, + 0.018310105353593828 + ], + [ + 0.0010604822309687734, + -0.012296705506742, + 0.018310103565454483 + ], + [ + 0.0010604831017553807, + -0.012296705506742, + 0.018310080170631408 + ], + [ + 0.0010604689875617624, + -0.01229671947658062, + 0.01831006072461605 + ], + [ + 0.001060488778166473, + -0.01229671947658062, + 0.018310114666819574 + ] + ], + "q98": [ + [ + 0.05975899770855904, + 0.036272537261247635, + 0.05230721741914749 + ], + [ + 0.05975855886936188, + 0.03627470687031746, + 0.05230721741914749 + ], + [ + 0.05975855886936188, + 0.03627003446221352, + 0.05230792984366417 + ], + [ + 0.05975910812616348, + 0.03627283677458763, + 0.052307915538549424 + ], + [ + 0.05975855886936188, + 0.03627113565802574, + 0.05230753198266029 + ], + [ + 0.05975915908813476, + 0.03626826018095017, + 0.05230792984366417 + ], + [ + 0.05975872024893761, + 0.03626955941319466, + 0.05230792984366417 + ], + [ + 0.05975910812616348, + 0.03626837208867073, + 0.052306992262601854 + ], + [ + 0.05975855886936188, + 0.036269669085741044, + 0.05230840265750885 + ], + [ + 0.0597586664557457, + 0.03626968339085579, + 0.05230840265750885 + ], + [ + 0.05975819379091263, + 0.03626968339085579, + 0.05230792984366417 + ], + [ + 0.05975819379091263, + 0.03627011090517044, + 0.052305065393447876 + ], + [ + 0.05975819379091263, + 0.03627011090517044, + 0.05230469450354576 + ], + [ + 0.05975847125053406, + 0.03627011090517044, + 0.0523039810359478 + ], + [ + 0.05975855886936188, + 0.036271925419569015, + 0.052302586287260054 + ], + [ + 0.059759221374988555, + 0.036270062774419784, + 0.052302571088075636 + ], + [ + 0.05975934311747551, + 0.036269549280405045, + 0.052302571088075636 + ], + [ + 0.05975934311747551, + 0.03627121224999428, + 0.05230607330799103 + ], + [ + 0.05975934311747551, + 0.03627208858728409, + 0.05230764284729958 + ], + [ + 0.059759389609098434, + 0.036270784437656405, + 0.052306298613548276 + ], + [ + 0.05975969821214676, + 0.03626950308680534, + 0.05230764284729958 + ], + [ + 0.05975894793868065, + 0.0362693502008915, + 0.05230840265750885 + ], + [ + 0.059759112149477, + 0.03626939550042153, + 0.052307552546262744 + ], + [ + 0.059760202467441556, + 0.03626943752169609, + 0.05230840265750885 + ], + [ + 0.059760438352823256, + 0.036269669085741044, + 0.05230789497494698 + ], + [ + 0.059760438352823256, + 0.036268982738256454, + 0.05230792984366417 + ], + [ + 0.0597606635093689, + 0.03626860812306404, + 0.05230855196714401 + ], + [ + 0.0597606635093689, + 0.03626925453543663, + 0.05230855196714401 + ], + [ + 0.05976067692041397, + 0.03626847490668297, + 0.052308525145053866 + ], + [ + 0.05976048082113266, + 0.03626763507723808, + 0.05230840265750885 + ], + [ + 0.05976036190986633, + 0.036269224286079406, + 0.05230840265750885 + ], + [ + 0.05976072698831558, + 0.036268898844718934, + 0.05230840265750885 + ], + [ + 0.059761276245117186, + 0.0362696485221386, + 0.05230792984366417 + ], + [ + 0.059761449694633484, + 0.03626960322260857, + 0.05230785295367241 + ], + [ + 0.059761276245117186, + 0.0362696485221386, + 0.05230840265750885 + ], + [ + 0.059761752635240556, + 0.03626953586935997, + 0.05230840265750885 + ], + [ + 0.05976260706782341, + 0.03626968339085579, + 0.05230855196714401 + ], + [ + 0.05976202383637428, + 0.036269751340150834, + 0.05230855196714401 + ], + [ + 0.059762719720602035, + 0.036269495636224745, + 0.05230840265750885 + ], + [ + 0.05976342499256134, + 0.036264702677726746, + 0.05230840265750885 + ], + [ + 0.05976339906454086, + 0.03626900419592857, + 0.05230855196714401 + ], + [ + 0.05976288706064224, + 0.03626327157020569, + 0.05230855196714401 + ], + [ + 0.05976413786411285, + 0.03626327157020569, + 0.05230840265750885 + ], + [ + 0.059764391332864764, + 0.03626690253615379, + 0.05230792984366417 + ], + [ + 0.05976548671722412, + 0.03626886874437332, + 0.05230757042765617 + ], + [ + 0.05976548671722412, + 0.036269669085741044, + 0.05230469450354576 + ], + [ + 0.05976408943533897, + 0.036269669085741044, + 0.05230469450354576 + ], + [ + 0.059764463156461715, + 0.03626950308680534, + 0.05230469450354576 + ], + [ + 0.05976451143622399, + 0.03626954838633537, + 0.05230792984366417 + ], + [ + 0.059764369875192645, + 0.03626899138092995, + 0.05230723515152931 + ] + ], + "q99": [ + [ + 0.060061350762844086, + 0.0364940170943737, + 0.0534173946082592 + ], + [ + 0.06005730852484703, + 0.03646964058279991, + 0.05341728925704956 + ], + [ + 0.06005730852484703, + 0.036472220569849015, + 0.05341785505414009 + ], + [ + 0.06005948528647423, + 0.0364871160686016, + 0.053417864441871646 + ], + [ + 0.06005948528647423, + 0.03647067323327065, + 0.053417864441871646 + ], + [ + 0.06006235390901565, + 0.03646994516253471, + 0.05341789305210114 + ], + [ + 0.060061678439378735, + 0.03647063255310059, + 0.05341789305210114 + ], + [ + 0.060057436376810075, + 0.03646973192691803, + 0.05341789305210114 + ], + [ + 0.06005730852484703, + 0.03647314593195915, + 0.05341790065169334 + ], + [ + 0.06005970656871796, + 0.036473114192485806, + 0.05341789305210114 + ], + [ + 0.06005730852484703, + 0.036470954716205595, + 0.05341789305210114 + ], + [ + 0.06005730852484703, + 0.03647363871335983, + 0.05341792479157448 + ], + [ + 0.06005730852484703, + 0.03647012084722519, + 0.05341792479157448 + ], + [ + 0.06005730852484703, + 0.03646874278783798, + 0.05341727286577225 + ], + [ + 0.06005730852484703, + 0.03646448612213135, + 0.053417864441871646 + ], + [ + 0.06005730852484703, + 0.03646770536899566, + 0.05341792479157448 + ], + [ + 0.06005730852484703, + 0.0364644093811512, + 0.05341792479157448 + ], + [ + 0.06005730852484703, + 0.036467151343822474, + 0.05341740980744362 + ], + [ + 0.06005730852484703, + 0.0364644093811512, + 0.05341792166233063 + ], + [ + 0.06005730852484703, + 0.03646719828248024, + 0.05341792479157448 + ], + [ + 0.06005730852484703, + 0.036467151343822474, + 0.05341792479157448 + ], + [ + 0.06005730852484703, + 0.036467866599559785, + 0.05341792479157448 + ], + [ + 0.06005730852484703, + 0.036467866599559785, + 0.05341913133859634 + ], + [ + 0.06005730852484703, + 0.036467151343822474, + 0.053419167548418044 + ], + [ + 0.06005730852484703, + 0.03646681278944015, + 0.053419167548418044 + ], + [ + 0.06005730852484703, + 0.0364674910902977, + 0.05341930508613586 + ], + [ + 0.06005730852484703, + 0.0364674910902977, + 0.05341874435544014 + ], + [ + 0.06005730852484703, + 0.03646881729364395, + 0.05341926261782646 + ], + [ + 0.06005730852484703, + 0.036467243880033494, + 0.05341944262385368 + ], + [ + 0.06005730852484703, + 0.03646907299757004, + 0.053419450223445894 + ], + [ + 0.06005730852484703, + 0.03646739363670349, + 0.053419459611177444 + ], + [ + 0.06005730852484703, + 0.03646907299757004, + 0.05342051446437836 + ], + [ + 0.06005730852484703, + 0.03646734938025475, + 0.05342084661126137 + ], + [ + 0.06005730852484703, + 0.03646781742572784, + 0.053421472758054735 + ], + [ + 0.060057284384965895, + 0.03646781742572784, + 0.053421711325645445 + ], + [ + 0.06005730852484703, + 0.0364674074947834, + 0.05342211604118347 + ], + [ + 0.06005730852484703, + 0.03646813869476318, + 0.05342196375131607 + ], + [ + 0.06005730852484703, + 0.03646813869476318, + 0.05342196106910706 + ], + [ + 0.060059226751327514, + 0.036467522382736206, + 0.05342162773013115 + ], + [ + 0.060059226751327514, + 0.036467129886150355, + 0.05342162773013115 + ], + [ + 0.06005974099040031, + 0.036467522382736206, + 0.053421030193567275 + ], + [ + 0.06005927264690399, + 0.03646574318408966, + 0.05342015877366066 + ], + [ + 0.06005957424640655, + 0.03646582812070846, + 0.05342064961791038 + ], + [ + 0.06005948528647423, + 0.03646420508623123, + 0.053422558456659316 + ], + [ + 0.060058924704790115, + 0.036465895175933835, + 0.053421947211027145 + ], + [ + 0.06005970567464829, + 0.036469354927539825, + 0.053421781063079835 + ], + [ + 0.06005788877606392, + 0.036469354927539825, + 0.05342262119054794 + ], + [ + 0.06005956441164017, + 0.036463864147663116, + 0.05342264220118523 + ], + [ + 0.06005978211760521, + 0.036463864147663116, + 0.05342254161834717 + ], + [ + 0.06005948528647423, + 0.036463864147663116, + 0.05342105224728584 + ] + ], + "mean": [ + [ + 0.0417480394244194, + 0.015624000690877438, + 0.0369533970952034 + ], + [ + 0.04174790158867836, + 0.015623967163264751, + 0.03695320338010788 + ], + [ + 0.04174792394042015, + 0.015623852610588074, + 0.03695334866642952 + ], + [ + 0.04174788296222687, + 0.015623843297362328, + 0.03695331886410713 + ], + [ + 0.04174795001745224, + 0.015623833984136581, + 0.036953460425138474 + ], + [ + 0.04174775257706642, + 0.015623878687620163, + 0.03695377707481384 + ], + [ + 0.041747916489839554, + 0.015623696148395538, + 0.03695373982191086 + ], + [ + 0.04174787551164627, + 0.015623696148395538, + 0.03695376217365265 + ], + [ + 0.041747864335775375, + 0.015623805113136768, + 0.03695378452539444 + ], + [ + 0.04174783080816269, + 0.015623764134943485, + 0.03695385530591011 + ], + [ + 0.04174785315990448, + 0.015623806975781918, + 0.03695385158061981 + ], + [ + 0.04174785315990448, + 0.015623860992491245, + 0.03695390745997429 + ], + [ + 0.0417478047311306, + 0.01562384981662035, + 0.03695383667945862 + ], + [ + 0.04174777492880821, + 0.015623909421265125, + 0.036953914910554886 + ], + [ + 0.041747767478227615, + 0.015623964369297028, + 0.03695395216345787 + ], + [ + 0.04174767807126045, + 0.01562400534749031, + 0.036953993141651154 + ], + [ + 0.04174746572971344, + 0.015624037943780422, + 0.0369541272521019 + ], + [ + 0.041747450828552246, + 0.015624074265360832, + 0.03695403039455414 + ], + [ + 0.04174749180674553, + 0.015624037012457848, + 0.03695406764745712 + ], + [ + 0.041747499257326126, + 0.015624066814780235, + 0.036954160779714584 + ], + [ + 0.04174744710326195, + 0.015624068677425385, + 0.03695426508784294 + ], + [ + 0.041747432202100754, + 0.015624048188328743, + 0.03695425018668175 + ], + [ + 0.04174735024571419, + 0.015624098479747772, + 0.03695432096719742 + ], + [ + 0.041747432202100754, + 0.01562409196048975, + 0.03695431724190712 + ], + [ + 0.04174742475152016, + 0.01562415063381195, + 0.036954328417778015 + ], + [ + 0.04174741730093956, + 0.015624234452843666, + 0.03695434331893921 + ], + [ + 0.04174724593758583, + 0.015624361112713814, + 0.036954257637262344 + ], + [ + 0.0417470820248127, + 0.01562450546771288, + 0.03695423901081085 + ], + [ + 0.04174712672829628, + 0.015624672174453735, + 0.03695419803261757 + ], + [ + 0.041747283190488815, + 0.015624765306711197, + 0.03695407137274742 + ], + [ + 0.04174729436635971, + 0.01562480814754963, + 0.036953818053007126 + ], + [ + 0.04174774885177612, + 0.015624863095581532, + 0.036953605711460114 + ], + [ + 0.04174819961190224, + 0.015624933876097202, + 0.03695320710539818 + ], + [ + 0.04174846410751343, + 0.01562498789280653, + 0.0369529165327549 + ], + [ + 0.04174892604351044, + 0.015624994412064552, + 0.036952655762434006 + ], + [ + 0.04174959287047386, + 0.01562497764825821, + 0.036952558904886246 + ], + [ + 0.04174947738647461, + 0.015625208616256714, + 0.03695274516940117 + ], + [ + 0.041749488562345505, + 0.015625348314642906, + 0.03695312887430191 + ], + [ + 0.041749466210603714, + 0.015625519677996635, + 0.0369529165327549 + ], + [ + 0.041749630123376846, + 0.015625575557351112, + 0.036952514201402664 + ], + [ + 0.04175008833408356, + 0.0156256090849638, + 0.036951858550310135 + ], + [ + 0.04175002500414848, + 0.01562568172812462, + 0.03695176914334297 + ], + [ + 0.04174961522221565, + 0.015625588595867157, + 0.03695220127701759 + ], + [ + 0.04174960032105446, + 0.015625614672899246, + 0.036952171474695206 + ], + [ + 0.04175005480647087, + 0.015625357627868652, + 0.03695147857069969 + ], + [ + 0.041749969124794006, + 0.015625912696123123, + 0.03695163130760193 + ], + [ + 0.04174989089369774, + 0.015625853091478348, + 0.03695162385702133 + ], + [ + 0.04175008088350296, + 0.015625694766640663, + 0.03695079684257507 + ], + [ + 0.041750337928533554, + 0.015625784173607826, + 0.03695051372051239 + ], + [ + 0.041750095784664154, + 0.01562594622373581, + 0.03695087134838104 + ] + ], + "std": [ + [ + 0.02165665291249752, + 0.016862777993083, + 0.01096194889396429 + ], + [ + 0.021656623110175133, + 0.01686275750398636, + 0.010961786843836308 + ], + [ + 0.021656600758433342, + 0.01686267927289009, + 0.010961953550577164 + ], + [ + 0.021656595170497894, + 0.016862653195858, + 0.010961935855448246 + ], + [ + 0.02165660820901394, + 0.016862699761986732, + 0.010961939580738544 + ], + [ + 0.021656543016433716, + 0.016862692311406136, + 0.010962133295834064 + ], + [ + 0.021656543016433716, + 0.016862528398633003, + 0.010962102562189102 + ], + [ + 0.021656565368175507, + 0.016862530261278152, + 0.010962115600705147 + ], + [ + 0.02165655978024006, + 0.0168626606464386, + 0.010962146334350109 + ], + [ + 0.021656567230820656, + 0.01686263643205166, + 0.010962164960801601 + ], + [ + 0.021656546741724014, + 0.016862643882632256, + 0.010962114669382572 + ], + [ + 0.021656539291143417, + 0.016862692311406136, + 0.010962160304188728 + ], + [ + 0.021656570956110954, + 0.0168626569211483, + 0.010962159372866154 + ], + [ + 0.021656544879078865, + 0.016862735152244568, + 0.010962141677737236 + ], + [ + 0.02165653370320797, + 0.016862694174051285, + 0.01096218079328537 + ], + [ + 0.02165650576353073, + 0.016862716525793076, + 0.010962183587253094 + ], + [ + 0.021656464785337448, + 0.01686272770166397, + 0.01096225343644619 + ], + [ + 0.021656479686498642, + 0.016862723976373672, + 0.01096223946660757 + ], + [ + 0.021656453609466553, + 0.01686272583901882, + 0.010962272994220257 + ], + [ + 0.02165646106004715, + 0.01686275005340576, + 0.010962300933897495 + ], + [ + 0.021656459197402, + 0.01686275750398636, + 0.010962308384478092 + ], + [ + 0.021656444296240807, + 0.016862763091921806, + 0.010962311178445816 + ], + [ + 0.021656466647982597, + 0.016862759366631508, + 0.010962284170091152 + ], + [ + 0.02165643870830536, + 0.016862746328115463, + 0.010962278582155704 + ], + [ + 0.02165643870830536, + 0.0168627742677927, + 0.010962245985865593 + ], + [ + 0.02165640890598297, + 0.016862809658050537, + 0.010962245985865593 + ], + [ + 0.021656395867466927, + 0.016862960532307625, + 0.010962207801640034 + ], + [ + 0.021656353026628494, + 0.016863025724887848, + 0.010962260887026787 + ], + [ + 0.021656382828950882, + 0.016863055527210236, + 0.010962286032736301 + ], + [ + 0.021656397730112076, + 0.016863122582435608, + 0.010962317697703838 + ], + [ + 0.021656380966305733, + 0.016863228753209114, + 0.010962209664285183 + ], + [ + 0.021656492725014687, + 0.01686333864927292, + 0.010962307453155518 + ], + [ + 0.021656734868884087, + 0.016863347962498665, + 0.010962235741317272 + ], + [ + 0.021656883880496025, + 0.01686345413327217, + 0.010962228290736675 + ], + [ + 0.02165706269443035, + 0.016863470897078514, + 0.010962183587253094 + ], + [ + 0.02165720984339714, + 0.01686355285346508, + 0.010962274856865406 + ], + [ + 0.02165723592042923, + 0.016863681375980377, + 0.010962383821606636 + ], + [ + 0.021657224744558334, + 0.016863664612174034, + 0.010962563566863537 + ], + [ + 0.02165728621184826, + 0.016863880679011345, + 0.010962753556668758 + ], + [ + 0.021657366305589676, + 0.0168637502938509, + 0.010962688364088535 + ], + [ + 0.02165757305920124, + 0.01686396636068821, + 0.01096245739609003 + ], + [ + 0.021657584235072136, + 0.016863971948623657, + 0.01096247136592865 + ], + [ + 0.021657440811395645, + 0.016863791272044182, + 0.010962646454572678 + ], + [ + 0.02165745571255684, + 0.01686386950314045, + 0.010962766595184803 + ], + [ + 0.021657641977071762, + 0.01686391420662403, + 0.01096242293715477 + ], + [ + 0.021657602861523628, + 0.01686430349946022, + 0.010962746106088161 + ], + [ + 0.021657582372426987, + 0.016864318400621414, + 0.010962891392409801 + ], + [ + 0.021657641977071762, + 0.01686420664191246, + 0.010962593369185925 + ], + [ + 0.021657703444361687, + 0.016864322125911713, + 0.010962489992380142 + ], + [ + 0.021657634526491165, + 0.01686456985771656, + 0.01096276380121708 + ] + ], + "min": [ + [ + 0.0010579529916867614, + -0.012299638241529465, + 0.018306590616703033 + ], + [ + 0.001057516084983945, + -0.012299779802560806, + 0.018306676298379898 + ], + [ + 0.0010587950237095356, + -0.012299779802560806, + 0.018306778743863106 + ], + [ + 0.0010579811641946435, + -0.012299638241529465, + 0.0183066688477993 + ], + [ + 0.0010588082950562239, + -0.012299779802560806, + 0.018306581303477287 + ], + [ + 0.0010583956027403474, + -0.012298944406211376, + 0.01830657385289669 + ], + [ + 0.001058505498804152, + -0.012298944406211376, + 0.018306581303477287 + ], + [ + 0.0010588199365884066, + -0.012299085967242718, + 0.01830657385289669 + ], + [ + 0.0010588265722617507, + -0.012298944406211376, + 0.018306676298379898 + ], + [ + 0.0010586751159280539, + -0.012298944406211376, + 0.0183066688477993 + ], + [ + 0.0010591027094051242, + -0.012298944406211376, + 0.018306683748960495 + ], + [ + 0.0010585403069853783, + -0.012298391200602055, + 0.018306763842701912 + ], + [ + 0.0010594987543299794, + -0.012298532761633396, + 0.01830677129328251 + ], + [ + 0.0010588199365884066, + -0.012298532761633396, + 0.0183066688477993 + ], + [ + 0.0010593606857582927, + -0.012298391200602055, + 0.018307477235794067 + ], + [ + 0.001059222617186606, + -0.012298532761633396, + 0.018307572230696678 + ], + [ + 0.0010592408943921328, + -0.012298391200602055, + 0.018307508900761604 + ], + [ + 0.0010595021303743124, + -0.012298391200602055, + 0.018307501450181007 + ], + [ + 0.0010587983997538686, + -0.012298391200602055, + 0.018307508900761604 + ], + [ + 0.0010593857150524855, + -0.012298391200602055, + 0.018306581303477287 + ], + [ + 0.001059074653312564, + -0.012298532761633396, + 0.01830650307238102 + ], + [ + 0.0010595021303743124, + -0.012298532761633396, + 0.018306588754057884 + ], + [ + 0.0010589613812044263, + -0.012298391200602055, + 0.018306691199541092 + ], + [ + 0.001059222617186606, + -0.012298532761633396, + 0.018306581303477287 + ], + [ + 0.0010589497396722436, + -0.012298532761633396, + 0.018306493759155273 + ], + [ + 0.0010588082950562239, + -0.012298532761633396, + 0.018306486308574677 + ], + [ + 0.0010589497396722436, + -0.012299638241529465, + 0.018306493759155273 + ], + [ + 0.0010588082950562239, + -0.012299638241529465, + 0.018306486308574677 + ], + [ + 0.0010590910678729415, + -0.012299779802560806, + 0.018306588754057884 + ], + [ + 0.0010589497396722436, + -0.012299779802560806, + 0.018306581303477287 + ], + [ + 0.0010590910678729415, + -0.012299638241529465, + 0.01830659620463848 + ], + [ + 0.0010588082950562239, + -0.012299779802560806, + 0.018306676298379898 + ], + [ + 0.0010590910678729415, + -0.012298532761633396, + 0.018306683748960495 + ], + [ + 0.0010588082950562239, + -0.01229921355843544, + 0.018306581303477287 + ], + [ + 0.0010589529993012547, + -0.01229921355843544, + 0.01830621063709259 + ], + [ + 0.0010589563753455877, + -0.01229921355843544, + 0.018306218087673187 + ], + [ + 0.0010590977035462856, + -0.012299779802560806, + 0.018304968252778053 + ], + [ + 0.0010590977035462856, + -0.012299638241529465, + 0.018306046724319458 + ], + [ + 0.0010590977035462856, + -0.012299638241529465, + 0.01830303855240345 + ], + [ + 0.0010590977035462856, + -0.012299779802560806, + 0.018303047865629196 + ], + [ + 0.0010590811725705862, + -0.012299638241529465, + 0.01830303855240345 + ], + [ + 0.0010590977035462856, + -0.012299638241529465, + 0.018303047865629196 + ], + [ + 0.0010590977035462856, + -0.012299638241529465, + 0.01830303855240345 + ], + [ + 0.0010590977035462856, + -0.012299907393753529, + 0.018303047865629196 + ], + [ + 0.0010590977035462856, + -0.012300203554332256, + 0.01830303855240345 + ], + [ + 0.0010589563753455877, + -0.0123013099655509, + 0.018303047865629196 + ], + [ + 0.0010590977035462856, + -0.0123013099655509, + 0.01830303855240345 + ], + [ + 0.0010590977035462856, + -0.0123013099655509, + 0.01830303855240345 + ], + [ + 0.0010590977035462856, + -0.0123013099655509, + 0.018303047865629196 + ], + [ + 0.0010590977035462856, + -0.012301593087613583, + 0.018303047865629196 + ] + ], + "max": [ + [ + 0.06069134175777435, + 0.0371490940451622, + 0.05399990826845169 + ], + [ + 0.06069134175777435, + 0.037352509796619415, + 0.05399990826845169 + ], + [ + 0.06069134175777435, + 0.037352509796619415, + 0.05399990826845169 + ], + [ + 0.06069134175777435, + 0.0373203307390213, + 0.05399990826845169 + ], + [ + 0.06069134175777435, + 0.037399016320705414, + 0.05442151427268982 + ], + [ + 0.060696426779031754, + 0.037399016320705414, + 0.05442151427268982 + ], + [ + 0.06069785729050636, + 0.037258680909872055, + 0.05442151427268982 + ], + [ + 0.060704365372657776, + 0.037258680909872055, + 0.05422231927514076 + ], + [ + 0.060704365372657776, + 0.037258680909872055, + 0.05415140837430954 + ], + [ + 0.06072472780942917, + 0.037258680909872055, + 0.054133109748363495 + ], + [ + 0.06072472780942917, + 0.03727588430047035, + 0.05401035398244858 + ], + [ + 0.06072472780942917, + 0.03726298362016678, + 0.054114025086164474 + ], + [ + 0.06074767932295799, + 0.037255723029375076, + 0.05409051105380058 + ], + [ + 0.060746755450963974, + 0.037255723029375076, + 0.05409051105380058 + ], + [ + 0.06077069416642189, + 0.03725293278694153, + 0.05413711071014404 + ], + [ + 0.06077069416642189, + 0.037295687943696976, + 0.05413711071014404 + ], + [ + 0.06077069416642189, + 0.037295687943696976, + 0.05413711071014404 + ], + [ + 0.06077069416642189, + 0.0372454933822155, + 0.05413711071014404 + ], + [ + 0.06077069416642189, + 0.037241529673337936, + 0.05413711071014404 + ], + [ + 0.06077069416642189, + 0.037241529673337936, + 0.05415912717580795 + ], + [ + 0.06077577918767929, + 0.037241529673337936, + 0.05415912717580795 + ], + [ + 0.0607772096991539, + 0.03724198415875435, + 0.05415912717580795 + ], + [ + 0.06078371778130531, + 0.03724198415875435, + 0.05415912717580795 + ], + [ + 0.06078371778130531, + 0.03724198415875435, + 0.05419984832406044 + ], + [ + 0.060804080218076706, + 0.03724198415875435, + 0.05424054339528084 + ], + [ + 0.060804080218076706, + 0.03724198415875435, + 0.05424054339528084 + ], + [ + 0.060804080218076706, + 0.03724253922700882, + 0.05425579845905304 + ], + [ + 0.06082703173160553, + 0.03724253922700882, + 0.05426068976521492 + ], + [ + 0.06082610785961151, + 0.03723974898457527, + 0.05426156893372536 + ], + [ + 0.0608467198908329, + 0.03723974898457527, + 0.05433514714241028 + ], + [ + 0.0608467198908329, + 0.0372391901910305, + 0.05433514714241028 + ], + [ + 0.0608467198908329, + 0.037236396223306656, + 0.05433514714241028 + ], + [ + 0.0608467198908329, + 0.037236396223306656, + 0.05433514714241028 + ], + [ + 0.0608467198908329, + 0.037233300507068634, + 0.05433514714241028 + ], + [ + 0.0608467198908329, + 0.037232741713523865, + 0.05433514714241028 + ], + [ + 0.0608467198908329, + 0.03722994774580002, + 0.05433514714241028 + ], + [ + 0.06084665656089783, + 0.03723050653934479, + 0.05433514714241028 + ], + [ + 0.06084665656089783, + 0.03723050653934479, + 0.05433514714241028 + ], + [ + 0.06084665656089783, + 0.03769126534461975, + 0.05433570221066475 + ], + [ + 0.06084665656089783, + 0.03769740089774132, + 0.054334674030542374 + ], + [ + 0.06084665656089783, + 0.03769740089774132, + 0.05432867631316185 + ], + [ + 0.06084665656089783, + 0.03769740089774132, + 0.05434387922286987 + ], + [ + 0.06084635481238365, + 0.03769740089774132, + 0.05434281751513481 + ], + [ + 0.060847364366054535, + 0.03770245611667633, + 0.054522555321455 + ], + [ + 0.06084875389933586, + 0.03770245611667633, + 0.05452051758766174 + ], + [ + 0.06084875389933586, + 0.037704478949308395, + 0.05452201887965202 + ], + [ + 0.06084875389933586, + 0.037704478949308395, + 0.05452554300427437 + ], + [ + 0.06084875389933586, + 0.037704478949308395, + 0.05452554300427437 + ], + [ + 0.06084875389933586, + 0.03770504519343376, + 0.05452468991279602 + ], + [ + 0.06084875389933586, + 0.037704478949308395, + 0.05452468991279602 + ] + ] + }, + "psm_cutter_gripper": { + "q01": [ + [ + -0.03328298255801201 + ], + [ + -0.0334659269452095 + ], + [ + -0.033792615830898286 + ], + [ + -0.03520390838384628 + ], + [ + -0.03634731590747833 + ], + [ + -0.038836678862571715 + ], + [ + -0.040822941362857815 + ], + [ + -0.0412868395447731 + ], + [ + -0.041901012212038034 + ], + [ + -0.042266903817653655 + ], + [ + -0.042266903817653655 + ], + [ + -0.04244984820485115 + ], + [ + -0.043534451425075525 + ], + [ + -0.04473666563630104 + ], + [ + -0.04473666563630104 + ], + [ + -0.04619369372725486 + ], + [ + -0.04619369372725486 + ], + [ + -0.04710842132568359 + ], + [ + -0.04710842132568359 + ], + [ + -0.050362234711647025 + ], + [ + -0.050362234711647025 + ], + [ + -0.05394273415207861 + ], + [ + -0.05739256039261814 + ], + [ + -0.05975125029683112 + ], + [ + -0.05975125029683112 + ], + [ + -0.061770182698965066 + ], + [ + -0.06591258645057678 + ], + [ + -0.08109051764011382 + ], + [ + -0.09396855503320693 + ], + [ + -0.15973739743232726 + ], + [ + -0.25243188858032223 + ], + [ + -0.3611994016170501 + ], + [ + -0.4833807504177093 + ], + [ + -0.5839026665687561 + ], + [ + -0.6418702220916748 + ], + [ + -0.7447312188148498 + ], + [ + -0.7683376717567444 + ], + [ + -0.8040381789207458 + ], + [ + -0.8454099512100219 + ], + [ + -0.8735312271118164 + ], + [ + -0.9369675540924072 + ], + [ + -0.9494862198829651 + ], + [ + -0.9519690275192261 + ], + [ + -0.9678852891921996 + ], + [ + -0.9838015484809876 + ], + [ + -0.9935825634002685 + ], + [ + -0.996346390247345 + ], + [ + -1.0096818113327026 + ], + [ + -1.0376854515075684 + ], + [ + -1.052131609916687 + ] + ], + "q02": [ + [ + -0.009761440008878706 + ], + [ + -0.009963986463844776 + ], + [ + -0.01012733019888401 + ], + [ + -0.010290674865245819 + ], + [ + -0.010414816103875636 + ], + [ + -0.010454018600285053 + ], + [ + -0.01057815983891487 + ], + [ + -0.010741503573954104 + ], + [ + -0.011107394471764565 + ], + [ + -0.010741503573954104 + ], + [ + -0.010780706070363522 + ], + [ + -0.011107394471764565 + ], + [ + -0.011270738206803799 + ], + [ + -0.011434082873165607 + ], + [ + -0.011394880153238772 + ], + [ + -0.011394880153238772 + ], + [ + -0.011231535710394381 + ], + [ + -0.011231535710394381 + ], + [ + -0.011107394471764565 + ], + [ + -0.011558224111795424 + ], + [ + -0.011597426608204842 + ], + [ + -0.011760770343244076 + ], + [ + -0.011924115009605885 + ], + [ + -0.011924115009605885 + ], + [ + -0.012087458744645119 + ], + [ + -0.012374944426119326 + ], + [ + -0.012538288384675978 + ], + [ + -0.013681696392595767 + ], + [ + -0.01511259030550718 + ], + [ + -0.018091986328363417 + ], + [ + -0.023358197882771492 + ], + [ + -0.028304254338145252 + ], + [ + -0.04358018979430198 + ], + [ + -0.06866330176591871 + ], + [ + -0.10827749401330942 + ], + [ + -0.21737824141979217 + ], + [ + -0.2732092463970184 + ], + [ + -0.375214329957962 + ], + [ + -0.4611724889278412 + ], + [ + -0.535618155002594 + ], + [ + -0.6050720643997193 + ], + [ + -0.635088152885437 + ], + [ + -0.6559112405776978 + ], + [ + -0.6897691798210144 + ], + [ + -0.7253781867027282 + ], + [ + -0.7478478074073791 + ], + [ + -0.7583279490470887 + ], + [ + -0.770794370174408 + ], + [ + -0.784711308479309 + ], + [ + -0.7896965551376343 + ] + ], + "q98": [ + [ + 0.010454018600285053 + ], + [ + 0.010617362335324287 + ], + [ + 0.010617362335324287 + ], + [ + 0.010904848016798531 + ], + [ + 0.011107394471764565 + ], + [ + 0.011884912289679085 + ], + [ + 0.012211599983274972 + ], + [ + 0.013028320521116292 + ], + [ + 0.013315806202590538 + ], + [ + 0.013766635842621434 + ], + [ + 0.01417172852903608 + ], + [ + 0.014498416930437123 + ], + [ + 0.014700963161885738 + ], + [ + 0.01543927848339088 + ], + [ + 0.015681028366088867 + ], + [ + 0.016334403306245804 + ], + [ + 0.017477812245488167 + ], + [ + 0.017477812245488167 + ], + [ + 0.018052783608436655 + ], + [ + 0.01907205060124401 + ], + [ + 0.019888770207762755 + ], + [ + 0.020581349730491638 + ], + [ + 0.021234724670648575 + ], + [ + 0.02164635181427009 + ], + [ + 0.022992306277155913 + ], + [ + 0.02429905943572525 + ], + [ + 0.024828294292092323 + ], + [ + 0.02565154813230052 + ], + [ + 0.027075907588005103 + ], + [ + 0.028546003997325934 + ], + [ + 0.029526068270206488 + ], + [ + 0.031362056732177734 + ], + [ + 0.03324377983808525 + ], + [ + 0.03500135958194743 + ], + [ + 0.03936591371893883 + ], + [ + 0.047337101250887095 + ], + [ + 0.05615114688873295 + ], + [ + 0.06963029474020015 + ], + [ + 0.09602016121149096 + ], + [ + 0.13390290915966038 + ], + [ + 0.1928766345977785 + ], + [ + 0.25550927281379876 + ], + [ + 0.3583245444297797 + ], + [ + 0.4277457690238959 + ], + [ + 0.47003226280212423 + ], + [ + 0.4992904531955725 + ], + [ + 0.5359840440750124 + ], + [ + 0.559126615524292 + ], + [ + 0.5592507815361023 + ], + [ + 0.5592507815361023 + ] + ], + "q99": [ + [ + 0.036510658711194466 + ], + [ + 0.03896081939339585 + ], + [ + 0.039346312582492694 + ], + [ + 0.04077720627188643 + ], + [ + 0.041901012212037514 + ], + [ + 0.04733056798577283 + ], + [ + 0.04751351237297045 + ], + [ + 0.05257717981934534 + ], + [ + 0.052374631017446126 + ], + [ + 0.05403420791029799 + ], + [ + 0.056477835774421434 + ], + [ + 0.05807207271456666 + ], + [ + 0.0586013071238992 + ], + [ + 0.06258690416812805 + ], + [ + 0.06906185805797446 + ], + [ + 0.07148588806390722 + ], + [ + 0.07269463181495561 + ], + [ + 0.07299518674612032 + ], + [ + 0.07660835295915276 + ], + [ + 0.0793068006634707 + ], + [ + 0.0793068006634707 + ], + [ + 0.0793068006634707 + ], + [ + 0.07996017277240701 + ], + [ + 0.08083570092916476 + ], + [ + 0.08442926496267306 + ], + [ + 0.0849388986825943 + ], + [ + 0.08589936137199389 + ], + [ + 0.09613776892423473 + ], + [ + 0.10264539510011608 + ], + [ + 0.11146597415208424 + ], + [ + 0.118757651746272 + ], + [ + 0.12626493781804712 + ], + [ + 0.1336611580848686 + ], + [ + 0.14966887950897137 + ], + [ + 0.18664343178272208 + ], + [ + 0.2643167960643759 + ], + [ + 0.34514596223830196 + ], + [ + 0.40616474986076195 + ], + [ + 0.46102221012115413 + ], + [ + 0.512488663196561 + ], + [ + 0.5592703866958617 + ], + [ + 0.616068358421323 + ], + [ + 0.6650193238258354 + ], + [ + 0.7098409295082078 + ], + [ + 0.7508468008041291 + ], + [ + 0.7763154196739193 + ], + [ + 0.8021629571914671 + ], + [ + 0.8036526441574097 + ], + [ + 0.8037964153289794 + ], + [ + 0.8037964153289794 + ] + ], + "mean": [ + [ + -0.0010575343621894717 + ], + [ + -0.0009825885063037276 + ], + [ + -0.0008910172618925571 + ], + [ + -0.0009449583594687283 + ], + [ + -0.0010697904508560896 + ], + [ + -0.0008412731112912297 + ], + [ + -0.0008920106920413673 + ], + [ + -0.0007386216311715543 + ], + [ + -0.0006794799701310694 + ], + [ + -0.0005984111339785159 + ], + [ + -0.0004754038236569613 + ], + [ + -0.00037215425982140005 + ], + [ + -0.0003593305009417236 + ], + [ + -0.0002865439164452255 + ], + [ + -0.000150368083268404 + ], + [ + 3.446789378358517e-06 + ], + [ + 1.9656485164887272e-05 + ], + [ + -2.302195571246557e-05 + ], + [ + -1.3533421224565245e-05 + ], + [ + -1.3979451068735216e-05 + ], + [ + 8.10993788036285e-06 + ], + [ + -6.209158163983375e-05 + ], + [ + -4.1877639887388796e-05 + ], + [ + -0.0001358412700938061 + ], + [ + -0.0001435963495168835 + ], + [ + -0.00018968099902849644 + ], + [ + -0.0003048318321816623 + ], + [ + -0.00045951842912472785 + ], + [ + -0.0006075651617720723 + ], + [ + -0.0015938538126647472 + ], + [ + -0.0025348078925162554 + ], + [ + -0.003338704351335764 + ], + [ + -0.004762381315231323 + ], + [ + -0.005997239146381617 + ], + [ + -0.0068471189588308334 + ], + [ + -0.008032233454287052 + ], + [ + -0.00858941487967968 + ], + [ + -0.009394192136824131 + ], + [ + -0.010205884464085102 + ], + [ + -0.011432106606662273 + ], + [ + -0.012593173421919346 + ], + [ + -0.012535623274743557 + ], + [ + -0.011906374245882034 + ], + [ + -0.011811385862529278 + ], + [ + -0.012498530559241772 + ], + [ + -0.012642349116504192 + ], + [ + -0.012270094826817513 + ], + [ + -0.013758720830082893 + ], + [ + -0.015787571668624878 + ], + [ + -0.016209347173571587 + ] + ], + "std": [ + [ + 0.0858890563249588 + ], + [ + 0.08745124191045761 + ], + [ + 0.08817970752716064 + ], + [ + 0.08921696990728378 + ], + [ + 0.09011590480804443 + ], + [ + 0.09227520227432251 + ], + [ + 0.09274092316627502 + ], + [ + 0.09397070109844208 + ], + [ + 0.09436856955289841 + ], + [ + 0.09500104188919067 + ], + [ + 0.09544624388217926 + ], + [ + 0.09574361145496368 + ], + [ + 0.09626621007919312 + ], + [ + 0.09687671065330505 + ], + [ + 0.09764669090509415 + ], + [ + 0.09835610538721085 + ], + [ + 0.09838929027318954 + ], + [ + 0.09862711280584335 + ], + [ + 0.09863261133432388 + ], + [ + 0.09867369383573532 + ], + [ + 0.0987134724855423 + ], + [ + 0.0991668626666069 + ], + [ + 0.09918507933616638 + ], + [ + 0.10019796341657639 + ], + [ + 0.10056895017623901 + ], + [ + 0.10084271430969238 + ], + [ + 0.10143109411001205 + ], + [ + 0.10322219133377075 + ], + [ + 0.10421590507030487 + ], + [ + 0.10907649248838425 + ], + [ + 0.11380690336227417 + ], + [ + 0.11774943768978119 + ], + [ + 0.12493429332971573 + ], + [ + 0.13108891248703003 + ], + [ + 0.13688063621520996 + ], + [ + 0.15073256194591522 + ], + [ + 0.1548181027173996 + ], + [ + 0.16145914793014526 + ], + [ + 0.16874279081821442 + ], + [ + 0.17684757709503174 + ], + [ + 0.18616679310798645 + ], + [ + 0.19286836683750153 + ], + [ + 0.19909752905368805 + ], + [ + 0.20604203641414642 + ], + [ + 0.21285584568977356 + ], + [ + 0.2181428223848343 + ], + [ + 0.22321800887584686 + ], + [ + 0.22764936089515686 + ], + [ + 0.23128218948841095 + ], + [ + 0.23251831531524658 + ] + ], + "min": [ + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5285735130310059 + ], + [ + -1.5805169343948364 + ], + [ + -1.5805169343948364 + ], + [ + -1.5805169343948364 + ], + [ + -1.5805169343948364 + ], + [ + -1.5805169343948364 + ], + [ + -1.5805169343948364 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ], + [ + -1.5970146656036377 + ] + ], + "max": [ + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ], + [ + 1.541967749595642 + ] + ] + } + } +} \ No newline at end of file diff --git a/Surgical/ucsd/surgical_learning_dataset2/meta/relative_stats.json b/Surgical/ucsd/surgical_learning_dataset2/meta/relative_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..9e26dfeeb6e641a33dae4961196235bdb965b21b --- /dev/null +++ b/Surgical/ucsd/surgical_learning_dataset2/meta/relative_stats.json @@ -0,0 +1 @@ +{} \ No newline at end of file diff --git a/Surgical/ucsd/surgical_learning_dataset2/meta/stats.json b/Surgical/ucsd/surgical_learning_dataset2/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..08316400d28341a6d08d8c0bd527a3551361d8f8 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_dataset2/meta/stats.json @@ -0,0 +1,314 @@ +{ + "observation.state": { + "mean": [ + 0.3785896599292755, + -0.2496606558561325, + 0.1519869565963745, + -0.20533530414104462, + -0.4266361892223358, + 0.7973467111587524, + 0.07288961857557297, + -0.662238359451294, + 0.14074821770191193, + 0.06805654615163803, + -4.134289741516113, + 0.3816685974597931, + -0.4749946892261505, + 0.9847130179405212, + 0.05089600384235382, + 0.03939303755760193, + -0.12996912002563477, + 0.09739670157432556, + 0.5161225199699402, + 0.5573537945747375, + 0.5889028310775757, + -0.04099519923329353, + -0.015316464006900787, + -0.03652544319629669, + -0.08641746640205383, + 0.678521454334259, + -0.30162057280540466, + -0.26572185754776 + ], + "std": [ + 0.048641834408044815, + 0.07001332938671112, + 0.007748781703412533, + 0.3636367619037628, + 0.4031755328178406, + 0.290749192237854, + 0.749048113822937, + 0.3436414897441864, + 0.3967721164226532, + 0.022452427074313164, + 0.2666066884994507, + 0.34105372428894043, + 0.3756278455257416, + 0.444067120552063, + 0.007583706174045801, + 0.009169356897473335, + 0.007439523935317993, + 0.15913884341716766, + 0.13952362537384033, + 0.09425491094589233, + 0.11405213177204132, + 0.02210468240082264, + 0.017143569886684418, + 0.011086298152804375, + 0.1447136402130127, + 0.4308776259422302, + 0.20175138115882874, + 0.3510626256465912 + ], + "min": [ + 0.24697181582450867, + -0.4620334506034851, + 0.12335272878408432, + -1.1856117248535156, + -1.2598564624786377, + -1.1492267847061157, + -0.6325282454490662, + -0.9336044192314148, + -0.5651546120643616, + 0.02859235368669033, + -4.565158843994141, + -0.2851603329181671, + -1.330695390701294, + -0.2954893708229065, + 0.031024811789393425, + 0.01975969783961773, + -0.15002086758613586, + -0.3937004804611206, + 0.15095120668411255, + 0.1998758316040039, + 0.21619907021522522, + -0.06068997457623482, + -0.03704943507909775, + -0.05443630367517471, + -0.35478559136390686, + -0.6970815658569336, + -0.49138495326042175, + -0.6960409879684448 + ], + "max": [ + 0.5188493132591248, + -0.09259512275457382, + 0.1756141036748886, + 1.8094524145126343, + 0.3974611163139343, + 1.6101715564727783, + 1.3790786266326904, + -0.034883417189121246, + 0.5323485732078552, + 0.09053445607423782, + -3.729964017868042, + 1.2178409099578857, + 0.26090189814567566, + 1.3247201442718506, + 0.07642365992069244, + 0.0632377415895462, + -0.09981051832437515, + 0.46032023429870605, + 0.8561145067214966, + 0.7420669198036194, + 0.8296818733215332, + -0.0010592391481623054, + 0.012298504821956158, + -0.018306924030184746, + 0.2360517829656601, + 0.9317010045051575, + 0.4300711452960968, + 0.7970674633979797 + ], + "q01": [ + 0.2574283480644226, + -0.40914008498191834, + 0.1328552919626236, + -0.9042019844055176, + -1.2221627235412598, + 0.222739115357399, + -0.6247875094413757, + -0.9131569051742554, + -0.5651159882545471, + 0.02859494462609291, + -4.5404157638549805, + -0.1012476310133934, + -1.2078735828399658, + -0.2791549563407898, + 0.0335815167427063, + 0.021516693755984306, + -0.14301612079143525, + -0.21197733283042908, + 0.2197444885969162, + 0.33273900628089903, + 0.3417074227333069, + -0.05985291302204132, + -0.03649928420782089, + -0.05341660603880882, + -0.28975014090538026, + -0.6800459623336792, + -0.4753411877155304, + -0.6678121423721314 + ], + "q99": [ + 0.4725054204463959, + -0.10197047889232635, + 0.16927264630794525, + 0.5887210512161264, + 0.26519763469696045, + 1.5394234657287598, + 1.3342316150665283, + -0.03495291993021965, + 0.5164389252662659, + 0.09033207684755326, + -3.7817575931549072, + 1.0618950176239028, + 0.15736365497112348, + 1.3158996105194092, + 0.06662540882825851, + 0.05973155498504641, + -0.1081957221031189, + 0.4248840808868408, + 0.7930818009376529, + 0.7125466179847717, + 0.8160893321037292, + -0.0010604755952954292, + 0.012296861037611961, + -0.01830940507352352, + 0.19913335978984908, + 0.912524950504303, + 0.37968090176582336, + 0.7390346360206604 + ] + }, + "action": { + "mean": [ + -5.463648631121032e-05, + 1.6663103451719508e-05, + -7.97710963524878e-05, + 0.9922815561294556, + -0.0025978160556405783, + -0.00035447589471004903, + -0.0004734005779027939, + -0.00899894442409277, + 2.8698784717562376e-06, + -1.0879107321670745e-06, + 2.159600942519546e-09, + 0.9902241230010986, + 3.990636469097808e-05, + -0.00010043656220659614, + -8.777242328505963e-06, + -0.009919659234583378 + ], + "std": [ + 0.0005310394917614758, + 0.0004397507000248879, + 0.0005185513291507959, + 0.08685305714607239, + 0.012073102407157421, + 0.008731487207114697, + 0.005981999449431896, + 0.11236099153757095, + 0.00010698405094444752, + 9.459083230467513e-05, + 0.00012117141886847094, + 0.10841585695743561, + 0.0053591676987707615, + 0.0072393035516142845, + 0.005353819578886032, + 0.1821938008069992 + ], + "min": [ + -0.009713239967823029, + -0.008790247142314911, + -0.010527081787586212, + 0.0, + -0.27509137988090515, + -0.26065346598625183, + -0.14864087104797363, + -1.8191944360733032, + -0.0021396204829216003, + -0.0020919926464557648, + -0.0027667395770549774, + -1.0, + -0.11124695837497711, + -0.14062710106372833, + -0.17444168031215668, + -1.5970146656036377 + ], + "max": [ + 0.0055705346167087555, + 0.006895329803228378, + 0.00717008113861084, + 1.0, + 0.20365111529827118, + 0.15790998935699463, + 0.08430623263120651, + 1.9040968418121338, + 0.002031531184911728, + 0.0023164721205830574, + 0.0022395960986614227, + 1.0, + 0.09424994885921478, + 0.12843459844589233, + 0.09148167818784714, + 1.541967749595642 + ], + "q01": [ + -0.002096295654773712, + -0.001451016366481781, + -0.0021467697620391846, + 0.9914197707176209, + -0.056098318099975585, + -0.03077161908149719, + -0.022352241277694702, + -0.36917139291763307, + -0.0003095819056034088, + -0.000322948545217514, + -0.0004138867557048798, + 0.9946062016487122, + -0.014067853391170502, + -0.022647354006767272, + -0.018119230791926386, + -0.8555634260177613 + ], + "q99": [ + 0.0013050572574138644, + 0.00147185787558556, + 0.0009645617008209233, + 1.0, + 0.008393378257751489, + 0.020249765366315883, + 0.012219412177801139, + 0.22113915205001955, + 0.00038179710507393, + 0.00029585171490907673, + 0.0003613503277301808, + 1.0, + 0.017745278105139838, + 0.018584427833557154, + 0.017693086117506057, + 0.6310306882858301 + ] + }, + "timestamp": { + "mean": [ + 2.3324732780456543 + ], + "std": [ + 1.5787246227264404 + ], + "min": [ + 0.0 + ], + "max": [ + 10.466666221618652 + ], + "q01": [ + 0.03333333507180214 + ], + "q99": [ + 7.133333206176758 + ] + } +} \ No newline at end of file diff --git a/Surgical/ucsd/surgical_learning_dataset2/meta/stats_cosmos.json b/Surgical/ucsd/surgical_learning_dataset2/meta/stats_cosmos.json new file mode 100644 index 0000000000000000000000000000000000000000..275898899f7f21884dbc3fa1fb4f42c009928a9f --- /dev/null +++ b/Surgical/ucsd/surgical_learning_dataset2/meta/stats_cosmos.json @@ -0,0 +1,574 @@ +{ + "action.psm_retraction_pose": { + "mean": [ + -0.05331629719092306, + -0.039635309159223885, + 0.12977361115071673, + -0.3607654804101897, + 0.4710660589073202, + 0.7025128753107222, + 0.6166876489143442, + -0.3285182091092118, + 0.5718257790944222 + ], + "std": [ + 0.006455835969951473, + 0.008025044242656376, + 0.008055642067188737, + 0.29264814153288915, + 0.23785357775350627, + 0.11046916808630407, + 0.2692955836857237, + 0.24006917770297773, + 0.23373935699937617 + ], + "min": [ + -0.07939521223306656, + -0.06308069825172424, + 0.09826723486185074, + -0.8972648978233337, + -0.3752317428588867, + 0.0007935945177450776, + -0.4106384515762329, + -0.9182004928588867, + -0.3476172983646393 + ], + "max": [ + -0.03292033076286316, + -0.01828049123287201, + 0.14842088520526886, + 0.5485638976097107, + 0.8886198401451111, + 0.978734016418457, + 0.9801595211029053, + 0.31214696168899536, + 0.9486684203147888 + ], + "q01": [ + -0.06743495166301727, + -0.058464910835027695, + 0.1062235414981842, + -0.7956278324127197, + -0.24188807606697083, + 0.43308207839727403, + -0.05253923311829567, + -0.759559890627861, + -0.11274106353521343 + ], + "q99": [ + -0.0370204895734787, + -0.02181607587262988, + 0.14302824661135674, + 0.36211875677108835, + 0.7821605235338213, + 0.9047083377838139, + 0.9558980613946916, + 0.1415574356913571, + 0.8622250616550445 + ] + }, + "action.psm_retraction_gripper": { + "mean": [ + -0.015118410239163022 + ], + "std": [ + 0.10454622147939245 + ], + "min": [ + -1.8191944360733032 + ], + "max": [ + 1.9040968418121338 + ], + "q01": [ + -0.4171147927641868 + ], + "q99": [ + 0.14142191410064697 + ] + }, + "action.psm_cutter_pose": { + "mean": [ + 0.041421350553682006, + 0.015489207341435511, + 0.03675868584606256, + 0.34279115097912344, + -0.5986329170879664, + -0.5423620619371822, + -0.5410057949261328, + -0.6806081109805682, + 0.4153508994626925 + ], + "std": [ + 0.021867950154195202, + 0.016992165816535988, + 0.011022273506348232, + 0.2861041875575672, + 0.18946676432416568, + 0.33499700055021925, + 0.14160196547013076, + 0.13522014633493307, + 0.1823001771943842 + ], + "min": [ + 0.0010573656763881445, + -0.012301593087613583, + 0.018303031101822853, + -0.4682675898075104, + -0.8978476524353027, + -0.9888679385185242, + -0.9153679013252258, + -0.9494021534919739, + -0.09388526529073715 + ], + "max": [ + 0.0608467198908329, + 0.03767522796988487, + 0.054726094007492065, + 0.8585492372512817, + 0.07920340448617935, + 0.09959501773118973, + -0.05213317647576332, + -0.3819308280944824, + 0.8511905670166016 + ], + "q01": [ + 0.0010603789705783129, + -0.012296861037611961, + 0.018309662118554115, + -0.21210281178355217, + -0.8613808661699295, + -0.9742612183094025, + -0.8353715538978577, + -0.9142364263534546, + 0.012294829497113824 + ], + "q99": [ + 0.05998459458351135, + 0.036479332484304905, + 0.053419195115566254, + 0.7072360515594482, + -0.16553741469979283, + -0.020270485430955887, + -0.24620147570967674, + -0.46352189779281616, + 0.7709769010543823 + ] + }, + "action.psm_cutter_gripper": { + "mean": [ + -0.005038983177747337 + ], + "std": [ + 0.14140827558435642 + ], + "min": [ + -1.5970146656036377 + ], + "max": [ + 1.541967749595642 + ], + "q01": [ + -0.650762677192688 + ], + "q99": [ + 0.3752012550830841 + ] + }, + "state.psm_retraction_pose": { + "mean": [ + 0.053239033044633885, + 0.03965260331237685, + -0.1298459237777905, + 0.07984320004041323, + 0.5149358475300837, + 0.5421330983693867, + 0.6026054386782425 + ], + "std": [ + 0.006339021874429237, + 0.007986423833245451, + 0.007871460036342572, + 0.1631522076339584, + 0.14506988773140123, + 0.09910147496473604, + 0.11806569177534419 + ], + "min": [ + 0.033018145710229874, + 0.021165745332837105, + -0.1470002979040146, + -0.3937004804611206, + 0.15095120668411255, + 0.1998758316040039, + 0.21619907021522522 + ], + "max": [ + 0.07642365992069244, + 0.06181565672159195, + -0.09981051832437515, + 0.46032023429870605, + 0.8561145067214966, + 0.7420669198036194, + 0.8296818733215332 + ], + "q01": [ + 0.0370204895734787, + 0.021819678694009782, + -0.14288713037967682, + -0.21799369156360626, + 0.21317704021930695, + 0.3144912123680115, + 0.3418323016166687 + ], + "q99": [ + 0.06710736781358728, + 0.058464910835027695, + -0.1068599870800972, + 0.4228394532203676, + 0.8031241416931154, + 0.7061135172843933, + 0.8190587544441223 + ] + }, + "state.psm_retraction_gripper": { + "mean": [ + 0.3059956898937894 + ], + "std": [ + 0.7303461344556269 + ], + "min": [ + -0.6325282454490662 + ], + "max": [ + 1.3790786266326904 + ], + "q01": [ + -0.6239274144172668 + ], + "q99": [ + 1.338271532058716 + ] + }, + "state.psm_cutter_pose": { + "mean": [ + -0.0414191187000094, + -0.015490623085304682, + -0.0367574214741335, + -0.08342118405115283, + 0.6677381314155117, + -0.29801447349784016, + -0.2592422769832163 + ], + "std": [ + 0.021866444285007017, + 0.016992797400605594, + 0.011020735210804964, + 0.14454633361222102, + 0.4446486021312045, + 0.2072894509067218, + 0.3599619014737734 + ], + "min": [ + -0.060416027903556824, + -0.0368068628013134, + -0.054309967905282974, + -0.35478559136390686, + -0.6891308426856995, + -0.49138495326042175, + -0.6831293702125549 + ], + "max": [ + -0.0010593640618026257, + 0.012298391200602055, + -0.01830758899450302, + 0.2333739995956421, + 0.9191564917564392, + 0.4300711452960968, + 0.792475700378418 + ], + "q01": [ + -0.05998431652784347, + -0.03649794608354569, + -0.05341727286577225, + -0.3491705358028412, + -0.681580035686493, + -0.47538915753364563, + -0.6677407646179199 + ], + "q99": [ + -0.0010604955162853002, + 0.012296861037611961, + -0.018309716135263443, + 0.2017306178808215, + 0.9113715887069702, + 0.3800749742984772, + 0.7391459345817566 + ] + }, + "state.psm_cutter_gripper": { + "mean": [ + 1.1011696151328243 + ], + "std": [ + 0.27385165353533686 + ], + "min": [ + -0.29450929164886475 + ], + "max": [ + 1.3247201442718506 + ], + "q01": [ + -0.2621475839614868 + ], + "q99": [ + 1.3158996105194092 + ] + }, + "action": { + "mean": [ + -0.05331629719092306, + -0.039635309159223885, + 0.12977361115071673, + -0.3607654804101897, + 0.4710660589073202, + 0.7025128753107222, + 0.6166876489143442, + -0.3285182091092118, + 0.5718257790944222, + -0.015118410239163022, + 0.041421350553682006, + 0.015489207341435511, + 0.03675868584606256, + 0.34279115097912344, + -0.5986329170879664, + -0.5423620619371822, + -0.5410057949261328, + -0.6806081109805682, + 0.4153508994626925, + -0.005038983177747337 + ], + "std": [ + 0.006455835969951473, + 0.008025044242656376, + 0.008055642067188737, + 0.29264814153288915, + 0.23785357775350627, + 0.11046916808630407, + 0.2692955836857237, + 0.24006917770297773, + 0.23373935699937617, + 0.10454622147939245, + 0.021867950154195202, + 0.016992165816535988, + 0.011022273506348232, + 0.2861041875575672, + 0.18946676432416568, + 0.33499700055021925, + 0.14160196547013076, + 0.13522014633493307, + 0.1823001771943842, + 0.14140827558435642 + ], + "min": [ + -0.07939521223306656, + -0.06308069825172424, + 0.09826723486185074, + -0.8972648978233337, + -0.3752317428588867, + 0.0007935945177450776, + -0.4106384515762329, + -0.9182004928588867, + -0.3476172983646393, + -1.8191944360733032, + 0.0010573656763881445, + -0.012301593087613583, + 0.018303031101822853, + -0.4682675898075104, + -0.8978476524353027, + -0.9888679385185242, + -0.9153679013252258, + -0.9494021534919739, + -0.09388526529073715, + -1.5970146656036377 + ], + "max": [ + -0.03292033076286316, + -0.01828049123287201, + 0.14842088520526886, + 0.5485638976097107, + 0.8886198401451111, + 0.978734016418457, + 0.9801595211029053, + 0.31214696168899536, + 0.9486684203147888, + 1.9040968418121338, + 0.0608467198908329, + 0.03767522796988487, + 0.054726094007492065, + 0.8585492372512817, + 0.07920340448617935, + 0.09959501773118973, + -0.05213317647576332, + -0.3819308280944824, + 0.8511905670166016, + 1.541967749595642 + ], + "q01": [ + -0.06743495166301727, + -0.058464910835027695, + 0.1062235414981842, + -0.7956278324127197, + -0.24188807606697083, + 0.43308207839727403, + -0.05253923311829567, + -0.759559890627861, + -0.11274106353521343, + -0.4171147927641868, + 0.0010603789705783129, + -0.012296861037611961, + 0.018309662118554115, + -0.21210281178355217, + -0.8613808661699295, + -0.9742612183094025, + -0.8353715538978577, + -0.9142364263534546, + 0.012294829497113824, + -0.650762677192688 + ], + "q99": [ + -0.0370204895734787, + -0.02181607587262988, + 0.14302824661135674, + 0.36211875677108835, + 0.7821605235338213, + 0.9047083377838139, + 0.9558980613946916, + 0.1415574356913571, + 0.8622250616550445, + 0.14142191410064697, + 0.05998459458351135, + 0.036479332484304905, + 0.053419195115566254, + 0.7072360515594482, + -0.16553741469979283, + -0.020270485430955887, + -0.24620147570967674, + -0.46352189779281616, + 0.7709769010543823, + 0.3752012550830841 + ] + }, + "state": { + "mean": [ + 0.053239033044633885, + 0.03965260331237685, + -0.1298459237777905, + 0.07984320004041323, + 0.5149358475300837, + 0.5421330983693867, + 0.6026054386782425, + 0.3059956898937894, + -0.0414191187000094, + -0.015490623085304682, + -0.0367574214741335, + -0.08342118405115283, + 0.6677381314155117, + -0.29801447349784016, + -0.2592422769832163, + 1.1011696151328243 + ], + "std": [ + 0.006339021874429237, + 0.007986423833245451, + 0.007871460036342572, + 0.1631522076339584, + 0.14506988773140123, + 0.09910147496473604, + 0.11806569177534419, + 0.7303461344556269, + 0.021866444285007017, + 0.016992797400605594, + 0.011020735210804964, + 0.14454633361222102, + 0.4446486021312045, + 0.2072894509067218, + 0.3599619014737734, + 0.27385165353533686 + ], + "min": [ + 0.033018145710229874, + 0.021165745332837105, + -0.1470002979040146, + -0.3937004804611206, + 0.15095120668411255, + 0.1998758316040039, + 0.21619907021522522, + -0.6325282454490662, + -0.060416027903556824, + -0.0368068628013134, + -0.054309967905282974, + -0.35478559136390686, + -0.6891308426856995, + -0.49138495326042175, + -0.6831293702125549, + -0.29450929164886475 + ], + "max": [ + 0.07642365992069244, + 0.06181565672159195, + -0.09981051832437515, + 0.46032023429870605, + 0.8561145067214966, + 0.7420669198036194, + 0.8296818733215332, + 1.3790786266326904, + -0.0010593640618026257, + 0.012298391200602055, + -0.01830758899450302, + 0.2333739995956421, + 0.9191564917564392, + 0.4300711452960968, + 0.792475700378418, + 1.3247201442718506 + ], + "q01": [ + 0.0370204895734787, + 0.021819678694009782, + -0.14288713037967682, + -0.21799369156360626, + 0.21317704021930695, + 0.3144912123680115, + 0.3418323016166687, + -0.6239274144172668, + -0.05998431652784347, + -0.03649794608354569, + -0.05341727286577225, + -0.3491705358028412, + -0.681580035686493, + -0.47538915753364563, + -0.6677407646179199, + -0.2621475839614868 + ], + "q99": [ + 0.06710736781358728, + 0.058464910835027695, + -0.1068599870800972, + 0.4228394532203676, + 0.8031241416931154, + 0.7061135172843933, + 0.8190587544441223, + 1.338271532058716, + -0.0010604955162853002, + 0.012296861037611961, + -0.018309716135263443, + 0.2017306178808215, + 0.9113715887069702, + 0.3800749742984772, + 0.7391459345817566, + 1.3158996105194092 + ] + } +} \ No newline at end of file diff --git a/Surgical/ucsd/surgical_learning_dataset2/meta/tasks.jsonl b/Surgical/ucsd/surgical_learning_dataset2/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e4f00e006fe3822ffec3f41921cee842b2864d2 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_dataset2/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "Retraction"} diff --git a/Surgical/ucsd/surgical_learning_dataset2/readme.md b/Surgical/ucsd/surgical_learning_dataset2/readme.md new file mode 100644 index 0000000000000000000000000000000000000000..71cae6cb5ccddfc8bb2b06fd7c3c1f27c731884f --- /dev/null +++ b/Surgical/ucsd/surgical_learning_dataset2/readme.md @@ -0,0 +1,211 @@ +# Retraction Dataset + +--- + +## 📋 At a Glance + +Teleoperated demonstrations of surgical retraction tasks collected for learning-based robotic manipulation on the da Vinci Research Kit (dVRK). + +--- + +## 📖 Dataset Overview + +This dataset contains expert teleoperated demonstrations of **retraction**, a fundamental subtask in surgical manipulation workflows. +The dataset is designed to support **imitation learning**, **policy learning**, and **robot state–conditioned control** in contact-rich and constrained environments. + +Demonstrations focus on stable tissue grasping and tension adjustment behaviors. + +| | | +| :--- | :--- | +| **Total Trajectories** | 200 | +| **Total Hours** | ~0.24 | +| **Data Type** | [ ] Clinical [ ] Ex-Vivo [x] Table-Top Phantom [ ] Digital Simulation [ ] Physical Simulation | +| **Robot Platform** | da Vinci Research Kit (dVRK) | +| **FPS** | 30 | +| **License** | CC BY 4.0 | +| **Version** | 1.0 | + +--- + +## 🎯 Tasks & Domain + +### Domain + +- [x] Surgical Robotics +- [ ] Ultrasound Robotics +- [ ] Other Healthcare Robotics + +### Demonstrated Skills + +This dataset focuses on a single surgical manipulation skill: + +- **Retraction** + - Grasping deformable tissue or surrogate material + - Maintaining stable and continuous tension + - Adjusting pulling direction to expose target regions + +Task semantics are provided via `instruction.text` for each episode. + +--- + +## 🔬 Data Collection Details + +### Collection Method + +- [x] Human Teleoperation +- [ ] Programmatic / State-Machine +- [ ] AI Policy / Autonomous + +### Operator Details + +| | Description | +| :--- | :--- | +| **Operator Count** | 2 | +| **Operator Skill Level** | Intermediate (Trained Researcher) | +| **Collection Period** | 2024-06-01 to 2024-08-30 | + +### Recovery Demonstrations + +- [ ] Yes +- [x] No + +--- + +## 💡 Diversity Dimensions + +- [ ] Camera Position / Angle +- [ ] Lighting Conditions +- [x] Target Object +- [x] Spatial Layout +- [ ] Robot Embodiment +- [x] Task Execution +- [ ] Background / Scene + +**Elaboration:** +Target tissue phantoms are placed at varying positions and orientations. +Operators employ different retraction directions to encourage behavioral diversity. + +--- + +## 🛠️ Equipment & Setup + +### Robotic Platform + +- **da Vinci Research Kit (dVRK)** + - Dual PSM configuration: + - Bipolar Forceps (Retraction) + - Potts Scissors (present but not actively used for cutting in this dataset) + +### Sensors & Cameras + +| Type | Model / Details | +| :--- | :--- | +| Primary Camera | Stereo endoscopic cameras, 480×640 @ 30fps | +| Room Camera | Not used | +| Force/Torque Sensor | Not available | +| Other Sensors | Robot joint encoders | + +--- + +## 🎯 Action & State Space Representation + +### Action Space Representation + +**Primary Action Representation:** +- [ ] Absolute Cartesian +- [x] Relative Cartesian (delta end-effector pose) +- [ ] Joint Space +- [ ] Other + +**Orientation Representation:** +- [x] Quaternions (qw, qx, qy, qz) +- [ ] **Euler Angles** +- [ ] **Axis-Angle** +- [ ] **Rotation Matrix** +- [ ] **Other** + +**Reference Frame:** +- [ ] **Robot Base Frame** +- [ ] **Tool/End-Effector Frame** +- [ ] **World/Global Frame** +- [ ] **Camera Frame** +- [x] Other (delta end-effector pose commands; reference frame not explicitly specified) + +**Action Dimensions:** +``` +action: [ + dPSM_RETRACTION_x, + dPSM_RETRACTION_y, + dPSM_RETRACTION_z, + dPSM_RETRACTION_qw, + dPSM_RETRACTION_qx, + dPSM_RETRACTION_qy, + dPSM_RETRACTION_qz, + dPSM_RETRACTION_gripper, + dPSM_CUTTER_x, + dPSM_CUTTER_y, + dPSM_CUTTER_z, + dPSM_CUTTER_qw, + dPSM_CUTTER_qx, + dPSM_CUTTER_qy, + dPSM_CUTTER_qz, + dPSM_CUTTER_gripper +] +``` + +- 16-D float32 action vector per timestep +- Relative end-effector pose updates for two PSMs +- Quaternion-based orientation deltas +- Gripper control commands + +--- + +### State Space Representation + +**State Information Included:** +- [x] Joint Positions +- [x] End-Effector Pose +- [x] Gripper State +- [ ] Joint Velocities +- [ ] Joint Efforts +- [ ] Force/Torque Readings + +**State Dimensions (28D):** +``` +observation.state: [ + psm_retraction_joint_positions (6), + psm_retraction_gripper_pos (1), + psm_cutter_joint_positions (6), + psm_cutter_gripper_pos (1), + retraction_end_effector_pose (7), + cutter_end_effector_pose (7) +] +``` + +- `observation.state` is a 28-D float32 vector +- Contains joint positions, gripper states, and EE poses +- No velocities or effort terms are included + +--- + +## ⏱️ Data Synchronization Approach + +All robot state signals, action commands, and stereo endoscopic video streams are synchronized using a shared system clock during data collection. + +- Robot states and actions are recorded at the control frequency. +- Stereo endoscopic videos are captured at **30 FPS**. +- During dataset export, all modalities are aligned by timestamp and stored per frame in parquet format. + +This ensures consistent temporal correspondence between visual observations and robot kinematics across the dataset. + +--- + +## 👥 Attribution & Contact + +| | | +| :--- | :--- | +| **Dataset Lead** | Changwei Chen, Yinuo Yang, Xiao Liang, Michael Yip | +| **Institution** | Department of Electrical and Computer Engineering, University of California San Diego, La Jolla, CA 92093, USA | +| **Contact Email** | {chc165, yiy124 ,x5liang, yip}@ucsd.edu | +| **Citation (BibTeX)** | @misc{ucsd_openh_phantom_2026, author = {Chen, Changwei and Yang, Yinuo and Liang, Xiao and Yip, Michael}, title = {UC San Diego Phantom Surgical Robotics Dataset (Open-H Embodiment)}, year = {2026}, publisher = {Open-H Embodiment}, note = {Dataset will be released via Open-H Embodiment; link/DOI forthcoming. Contact: chc165@ucsd.edu} +} | diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000003.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000003.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3dcd7a19469f56fcdd9cb41401fd19d594cb1b76 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000003.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ae04ba18276d31094352f65eade7d3588a7fab96ff541bd4fa9c47c59e5821e +size 106226 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000007.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000007.parquet new file mode 100644 index 0000000000000000000000000000000000000000..a5e12448063d757c3f9d1a6f1698675dac6af32e --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000007.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fde3dd8b34f183a39ddf9a111755d7b4a05c234050d4f967b354bd444e82584 +size 153275 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000017.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000017.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2a29d6d246de9b30d213f18e4260b051a0b546a3 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000017.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ce9684b263a97af72753e9b8c978f33e85690df60ef1122b0e8b0f6f374e7f7 +size 149135 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000031.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000031.parquet new file mode 100644 index 0000000000000000000000000000000000000000..fa400061efcc995cacabd0732925f9409e6ade68 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000031.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87ec5ca4bad2415bec26f55f69ebed2f7b974382cf781f1f5acbca62d230d4b6 +size 145655 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000049.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000049.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b5bede95feda8646907668c88e38a3ca440cb38f --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000049.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0eb8565fd8b5e098790a66d85fdc3c1b896835467e3991a6b26f7eb71bed967 +size 132962 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000058.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000058.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e5b817cdd794209e2dd0c01b3e0c18ad655edf2e --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000058.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04b4d9d88db5b1aaec6624b8774fc4214cba1a3cd779b0d73f988e907d822c74 +size 132238 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000062.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000062.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f6799536a65b41dc455e371bec9a8c310f97af55 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000062.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00ad72be11f100267640d13fdb0de04dd9f0f43702ec39e5af0accb5f9933c95 +size 136349 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000071.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000071.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e5e9844a7f4c80d21829d6bb4d0676d2b7398c64 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000071.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8c9cc8c3caf14a115dedd17b31bb4f874c391c7834f5cf90fc1e82d36304a2b +size 132231 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000078.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000078.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3df698d8f45b8adffede4c14039854da4738183c --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000078.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d7a8246d7cd2e285285fd7ce02d333fa4b36a954682da252597198de42e2d0a +size 99454 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000083.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000083.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8dbd01eb34a4aef1c6a7317d96ee6f98acc9c3e2 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000083.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1746d289c12c2b716be9b642a85824155a5b256502028c7d606b6731c08147c6 +size 121512 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000087.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000087.parquet new file mode 100644 index 0000000000000000000000000000000000000000..a4d3d1108d4a7a66f3398ac73967c55f3d621f7a --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000087.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67f3b6ccf002b9ba3de3279282e3970936785dbbd8cbb1f17f154d0fdd0c24ed +size 117656 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000094.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000094.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ab569a7f7b7702c1208668014b2334c2bc84e0f0 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000094.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37da9f0f8284636ac99e37682941887b472b4407ccf0946010e77ffed0a1d421 +size 126034 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000125.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000125.parquet new file mode 100644 index 0000000000000000000000000000000000000000..0cbf12902582f45594bc1f8fb9521446a2d7272a --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000125.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0abf47f3eb24a0fd8a91f24f1e581eca526990dca0b6dde3a41b6f35c282b200 +size 109259 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000130.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000130.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e8fd89e3144ae1ec6ec79da8dcf75acb790394ec --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000130.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ace771b8a1df5d9249c7dd7a49108ef7c8ba6d0a6f733814efbd382e327f8a20 +size 113205 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000136.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000136.parquet new file mode 100644 index 0000000000000000000000000000000000000000..af595f76ee363ff2eba8b5d8175a87294308d041 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000136.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:967d7efea6012ba97fb4303e6ddd4bd3a7da8eeecf27fa94bdd7135cc794dc1d +size 124703 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000150.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000150.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d23209dacdf18ea4b1bd726a66da61df602201b6 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000150.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eeacf39930b68474375c530dbcd1caf89c72d48669b995167cffdf3abc50b984 +size 103999 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000152.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000152.parquet new file mode 100644 index 0000000000000000000000000000000000000000..580888298aa5f76bc5dd6d6bb8651f1d53b89d8b --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000152.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3da41960c1b9f85131a3a833132acf724f9a7c2baea8fa78f941e612fc82cab8 +size 117676 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000164.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000164.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9de2ab7c9e7473a53f56099e8619d930de4f1f5f --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000164.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc10f299999570cfc9a6d8b0c8a15e5230ddd6ca86fb899f271af2ba774439e6 +size 110680 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000167.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000167.parquet new file mode 100644 index 0000000000000000000000000000000000000000..468d8fa784941efa00b4d9b6db0506efde4bb680 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000167.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa3618e2358d992b53ef492b48922d7ba844d89bd5bd83aba6c6c62f31ed6b15 +size 101062 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000169.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000169.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2c0c58a577f3689ad2d480219de185906d325860 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000169.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc607cb49e3d1e1c3f56a20ae1f9c8535d5e6cca167ef1cd90f321a2ae64073d +size 107979 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000179.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000179.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c0238f7b404de5deb7aeac19633fd0bcb995802f --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000179.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d22b7c982d82a7e48b0e02e5646374115ddd4e41d49989083f72579ff295b20c +size 117741 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000185.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000185.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d6920d1f589bc67ec05f1c3cef257aad84a28807 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000185.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7e6f706bbd7ceb9fa9dfebe125cd7e0e481c3b5dd51741aee76ceb02987a6b8 +size 110212 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000186.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000186.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d64a8b39a58dbabfc5efba5db8f988495ea999e8 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000186.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8c74e357df4bc978f7e012b11a3d35f3392b6ecfc76088c5a1396f9bd0490c4 +size 97611 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000204.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000204.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b12258f949e9f217c10c26e08876ac615eaece46 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000204.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce7438e7751022975e4ac782db4ac83d8a30cf91e222ce7470aa69085098674a +size 111401 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000210.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000210.parquet new file mode 100644 index 0000000000000000000000000000000000000000..65470ce0b5a1c19c1c7d494a9c609d8079397e9e --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000210.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2508a15d5fba543ead2c74bc14c56f8d946d8dabadc69550e421b5f418308734 +size 84240 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000217.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000217.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e163e50e717064d8f3da7c83fa62cedb001b0b16 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000217.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:361b8d02d2f1872ea3df5338b5135aa3e969d1de04b1abc4292dd6d41a879113 +size 94329 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000223.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000223.parquet new file mode 100644 index 0000000000000000000000000000000000000000..bb2c4cb9bf65714bfcb9b77c8d9699eefd21160e --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000223.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c316f6bf2822020dcd13ced31f862a3b3d84ecad9b969229f9be6f0dd4dea8c5 +size 141162 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000232.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000232.parquet new file mode 100644 index 0000000000000000000000000000000000000000..123a0ae64d02bd89fcbd4c98bba47be871f5c546 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000232.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2089c21d4bfcad8ffd456670c39ae1e3e606a386cb447bae886aff0f44e6f665 +size 121028 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000238.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000238.parquet new file mode 100644 index 0000000000000000000000000000000000000000..4f294a730ab4e5acb760a633dc56dc2991d02be0 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000238.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0fe23685ad062928bf508b58e544dbc448ffb79fe4029d1d86e5142782b74b1f +size 111919 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000261.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000261.parquet new file mode 100644 index 0000000000000000000000000000000000000000..1e4ed07792ab414140d82e226d3fa50924e7c8fb --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000261.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0b8dd6f156ad67d2c1e640c2a49364f14e42caef992aa9cb141464db3e5b766 +size 105071 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000266.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000266.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2981071ee0c59f28af9602eaff7a6c46ade59fec --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000266.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e536fd7547d5b313db59753e91c1f93266a82dbd8df831c3b337337617cd103 +size 121882 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000278.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000278.parquet new file mode 100644 index 0000000000000000000000000000000000000000..176cae0ff5f4abf3c5459adeed50419bd8c789aa --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000278.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d4d115be7e1cd42debeec0cc8258d25e04cd9f57dd5848eb09964b4ff0df3dc +size 110945 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000279.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000279.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6fb1c9854ad3dadf42c10ee1de96d96921f8d260 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000279.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a71242abd47f32a197445b07b3ec77adbc6affc7b043be233d1354ec8c126f4d +size 109849 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000287.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000287.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c73b6f4268039e5ca8097d36400eb48f528d7728 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000287.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fce8bea25d0c03be2c3f25c3ce5ce5c76e6f17b18d9f1981bdf37b52d271c22d +size 98472 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000298.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000298.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f74ef619acf6b2c5ae07dd9038333ded09491ea0 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000298.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a42c837041af1d48535cd7f448506b93f09e8be4e3ac4afb514076e1dead976 +size 121711 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000299.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000299.parquet new file mode 100644 index 0000000000000000000000000000000000000000..90bd5c1331c096a2c4c794d5f026e8c9a03d0c30 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000299.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aae0d4285effaae9b207050d9238fc4b76a7811e4341493f3c060df716a093c2 +size 116974 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000313.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000313.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6c485ec62b1bf69c4db30eef178cfed2186fc221 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000313.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16af30ccbfd9dbceaa2bbeebbda7a754540898fc5ac1e13f8a3ccfadd19f1fe2 +size 126361 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000317.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000317.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c782293cf6e76ee01de1073d21fa18bbd823213a --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000317.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:188c5f4248a99da904eac33865512ddec3271af7963ccdde4c439bd0927d05c7 +size 130273 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000320.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000320.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6330d84fe88c7437454797ab68eb607757043cf8 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000320.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a87236f4ca35389decc829cfcbff68baa3ef7adf1b07ccb4f553b88f1d3aa033 +size 97398 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000321.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000321.parquet new file mode 100644 index 0000000000000000000000000000000000000000..47470a953a2ba85dc35af0eae67285f9bfb2148c --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000321.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b49dab3459893b027c2707a6604ebe49e74c6148cdee79fba999425da829d1bd +size 116420 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000323.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000323.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ebc61baf8ac996ca78baaeea036400b0d822c373 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000323.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f62bea2f206da23907d40a636aca71e19692f16bb4e8bb36f3cf3e6418d0548 +size 105864 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000325.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000325.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9f86ffe650130af8bd7f4aec1a697c4f14188781 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000325.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:debf2bb156e6b60504a98e530f2c85be048a0d52838e3413c7b66972edeb1be9 +size 112847 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000338.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000338.parquet new file mode 100644 index 0000000000000000000000000000000000000000..fcbd1d871907d444b5a95656d5d9546be1b449bc --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000338.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5debe62bc279dcf412ae5606266d46a3a5fe717a02971cdd49a532a3f8ee39c2 +size 95186 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000352.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000352.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f85e6a6e88e257e483ff7a01653e25b89bf31df1 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000352.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c23604aba5e5c0306f25f5097da4ccc78d42a8564d1e9e9d8338636b705dcf9 +size 111641 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000357.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000357.parquet new file mode 100644 index 0000000000000000000000000000000000000000..fe0d6256410a2a2140eb2664f22e73e5352486c1 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000357.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f91e71e0893ee24f18bf50d0abf6b762f3cf2b198a85b2df9805deacaec5a58 +size 98156 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000367.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000367.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e490a98655c2ad0feb28eb664759356a5e0bcdfb --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000367.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8240eab24228096c0ccb220bad58dd5229a17a7f59d13e775d52ef8a3f85959 +size 117003 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000379.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000379.parquet new file mode 100644 index 0000000000000000000000000000000000000000..77e116331ad0a4461a68cad937993d9c8f2f908e --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000379.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36c415daa017cb869693d6bb7ca0a0910ff5d7d7fb335d319740970c1bdd928b +size 108732 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000399.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000399.parquet new file mode 100644 index 0000000000000000000000000000000000000000..34cc611a0516b27e7143ce47b0a68c806e33e996 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000399.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09f36cc175a9af37fdfd23a8f048fef21af6893c16baec444434a21a3407d302 +size 116339 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000407.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000407.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f04c3ee10a6aa976d49d5152b67906c448cee75e --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000407.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcf8b4657441637b78dd39853fcea89e0e37a49e171a3fab8539d7adcd70005b +size 104078 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000412.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000412.parquet new file mode 100644 index 0000000000000000000000000000000000000000..254e41d34a8ee912a703369a6d6d0a3097b51c17 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000412.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fd5a9e438782d2e8fddd0c754baabc285693c1b92c82c8f717d0329a29813af +size 113492 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000417.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000417.parquet new file mode 100644 index 0000000000000000000000000000000000000000..4a00813ff8da6996ba54776c4c5f0ea8010685ee --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000417.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d621d7bc93727620de8915610fd77c0fc1de6bdf691723fbd7269f6d4f20566c +size 108886 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000426.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000426.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9aceca84057151fd3ca718b3ed63184a657e5342 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000426.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d4bad8a73596ac455ec2c0ba6039a4904a406895b92fc242d5787a2862fc8d8 +size 107113 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000430.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000430.parquet new file mode 100644 index 0000000000000000000000000000000000000000..95ee821767fb2440e269afb17e80933662553e6f --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000430.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47fd1e59a25e9808731a449aa68285ce86a1b01fbdf35937f82beeee7ab2b1a0 +size 187669 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000435.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000435.parquet new file mode 100644 index 0000000000000000000000000000000000000000..18e79da354f53889b1e0b91149ee4fcbfdaa1bf3 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000435.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68a19b6d5e3fd8f2d1edba4f067699b8a54951d8f232939684ec92a08fabf94a +size 96592 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000439.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000439.parquet new file mode 100644 index 0000000000000000000000000000000000000000..aa83511479b75ac2b8de52062d829ae2727d144a --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000439.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06ca8d183e9466868b5c485e8ea4c3b6e05aa9f58168619c76142b66653e16ea +size 91416 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000450.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000450.parquet new file mode 100644 index 0000000000000000000000000000000000000000..cba888230f1c0d00413a3244668acc4670a92417 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000450.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b352cce5d03987f475ded71cf7c95e8293337d4fb20184706c23e87fab0d4b56 +size 112366 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000467.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000467.parquet new file mode 100644 index 0000000000000000000000000000000000000000..dfc255ee00e01ed35abdaab6c7d53bcc32cb3c99 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000467.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d2520c853182fc9bf8239a11fd6ffe59ed1cf77ae83d40ff9dd6b80aea2950d +size 113574 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000473.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000473.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2075db59609566739d3ef6c89f7a0aff0a0a2aff --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000473.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44b5009e10c66d2b57cf7fb52c42aca1ff9961cfa9b241b61e50898a257dafde +size 108289 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000483.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000483.parquet new file mode 100644 index 0000000000000000000000000000000000000000..669ed1a120275abb7c234b67745ab23a73f6c55f --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000483.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbac46ed7554ef3e1cc3e3eaff5fd0cbbe74c0ce3c66f24e8b5c0f4d8de95d02 +size 120582 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000486.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000486.parquet new file mode 100644 index 0000000000000000000000000000000000000000..da6f92441371c2953c66ad759d238405dcd38a6f --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000486.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec90859d046654f016f08a2e41f603faf64fbf087145eb5f29dec331e5e24edb +size 100193 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000508.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000508.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2020d772bb4ff34b5cfe4b4d3ac873eeb0ee0a79 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000508.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5799c31f12b02370804b12426450f9ae41361a6fe78ddd9666660de0f8490570 +size 99254 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000512.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000512.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7157bf6897d7f19969457b787526cd4e113380b8 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000512.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:988ebaa6c51940b7e60bb5c3d37396a2750c0a6a622e9e423d31e200911ee813 +size 98174 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000519.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000519.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5ca5c6e2202788dd8c42e0127b49a59f161fc716 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000519.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa72affc049676d1c79fb1790663a0d0f3ef604919abbe27c06ff987100faedb +size 98153 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000533.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000533.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b2aada301a04411beb9f4b71ddaf7f77963ffa8e --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000533.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ac6cf02105a5f745d855f6b0f63ee75ef6851f2703011822b0a68c2858d90d7 +size 99520 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000543.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000543.parquet new file mode 100644 index 0000000000000000000000000000000000000000..16a72ec8599edf224b5e3c0feebd7f98927d57e4 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000543.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3dff4c2da66ff98628ed48c03c2126e1282409dc8cc9c665c5833f7040d903d4 +size 86160 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000571.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000571.parquet new file mode 100644 index 0000000000000000000000000000000000000000..146fb0edc1ef6d831a3728d6142c20edc4610023 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000571.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc053c1893d650d6b9cb85453f3d255b0eb5d36ba7de7791fbb4d2bfe580fef0 +size 93456 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000581.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000581.parquet new file mode 100644 index 0000000000000000000000000000000000000000..1506ef2bf0206ce8e5afb4b3be77c3ce38711c76 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000581.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:441406a41de90c79b44eb875a76b0390de3d4c8171331352a6e834703b52b5b2 +size 86151 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000585.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000585.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b01bb369a7267e566af8ee3995b1f2fa1f35d684 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000585.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bad25c76ed4ef8dabfbcc116682b9de0a8aae76f11356a39d9a857940da7282b +size 93832 diff --git a/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000594.parquet b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000594.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f998feef0b82489f973f1a7a066d57fc12c83353 --- /dev/null +++ b/Surgical/ucsd/surgical_learning_retraction_dataset3/data/chunk-000/episode_000594.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6247a50987a2a58372280cb9dd514c6f95712de02c9ea247ab72f8e459994bea +size 90629