| { | |
| "raw_state.eef_axis_angle": { | |
| "min": [ | |
| 2.497488260269165, | |
| -1.8006486892700195, | |
| -0.7207611203193665 | |
| ], | |
| "max": [ | |
| 3.384528160095215, | |
| 1.2235690355300903, | |
| 1.0429524183273315 | |
| ], | |
| "mean": [ | |
| 3.06006296316214, | |
| -0.09526952786866486, | |
| 0.08273384970041192 | |
| ], | |
| "std": [ | |
| 0.10627025149523309, | |
| 0.4158005894737633, | |
| 0.21767085916181766 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| 2.7546257972717285, | |
| -1.318397045135498, | |
| -0.42328593134880066 | |
| ], | |
| "q99": [ | |
| 3.2745230197906494, | |
| 0.9546194672584534, | |
| 0.6335936188697815 | |
| ] | |
| }, | |
| "raw_target.eef_axis_angle": { | |
| "min": [ | |
| -3.1414990425109863, | |
| -1.8327908515930176, | |
| -0.9091659188270569 | |
| ], | |
| "max": [ | |
| 3.141526460647583, | |
| 1.7320499420166016, | |
| 1.0008163452148438 | |
| ], | |
| "mean": [ | |
| 1.2173338913329463, | |
| 0.07391066946042499, | |
| 0.03570834305561828 | |
| ], | |
| "std": [ | |
| 2.766481349828829, | |
| 0.4270652428037481, | |
| 0.23110633714068735 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| -3.1391613483428955, | |
| -1.1076821088790894, | |
| -0.5499247312545776 | |
| ], | |
| "q99": [ | |
| 3.138969659805298, | |
| 1.192770004272461, | |
| 0.5769758224487305 | |
| ] | |
| }, | |
| "raw_action.ref_action": { | |
| "min": [ | |
| -0.9375, | |
| -0.9375, | |
| -0.9375, | |
| -0.1875, | |
| -0.3675000071525574, | |
| -0.36000001430511475, | |
| -1.0 | |
| ], | |
| "max": [ | |
| 0.9375, | |
| 0.9375, | |
| 0.9375, | |
| 0.1971428543329239, | |
| 0.33642858266830444, | |
| 0.375, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.1515918107194748, | |
| 0.13688604503274585, | |
| -0.15571351221136923, | |
| -0.005277678413175269, | |
| -0.011423918026982735, | |
| -0.01976980392898641, | |
| 0.08514404067030691 | |
| ], | |
| "std": [ | |
| 0.41377915642836516, | |
| 0.34733045041163824, | |
| 0.5085124841077568, | |
| 0.03730004144565299, | |
| 0.0723979818007226, | |
| 0.057782279316015435, | |
| 0.9963686528280258 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| -0.7473214268684387, | |
| -0.6589285731315613, | |
| -0.9375, | |
| -0.1071428582072258, | |
| -0.20571428537368774, | |
| -0.18535713851451874, | |
| -1.0 | |
| ], | |
| "q99": [ | |
| 0.9375, | |
| 0.8758928775787354, | |
| 0.9321428537368774, | |
| 0.1039285734295845, | |
| 0.17678570747375488, | |
| 0.14249999821186066, | |
| 1.0 | |
| ] | |
| }, | |
| "episode_index": { | |
| "min": [ | |
| 0 | |
| ], | |
| "max": [ | |
| 4319 | |
| ], | |
| "mean": [ | |
| 2159.1293221615515 | |
| ], | |
| "std": [ | |
| 1246.2975897299807 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| 42.0 | |
| ], | |
| "q99": [ | |
| 4275.0 | |
| ] | |
| }, | |
| "raw_target.gripper_state": { | |
| "min": [ | |
| -1.0 | |
| ], | |
| "max": [ | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.08514404067030691 | |
| ], | |
| "std": [ | |
| 0.9963686528280249 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| -1.0 | |
| ], | |
| "q99": [ | |
| 1.0 | |
| ] | |
| }, | |
| "observation.images.front": { | |
| "min": [ | |
| [ | |
| [ | |
| 0.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.0 | |
| ] | |
| ] | |
| ], | |
| "max": [ | |
| [ | |
| [ | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 1.0 | |
| ] | |
| ] | |
| ], | |
| "mean": [ | |
| [ | |
| [ | |
| 0.4319030604052055 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.41295959814769967 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.3937857504954434 | |
| ] | |
| ] | |
| ], | |
| "std": [ | |
| [ | |
| [ | |
| 0.21756628908407905 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.20393414454361508 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.2028770008634048 | |
| ] | |
| ] | |
| ], | |
| "count": [ | |
| 426950 | |
| ], | |
| "q01": [ | |
| [ | |
| [ | |
| 0.011764705882352941 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.00784313725490196 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.0 | |
| ] | |
| ] | |
| ], | |
| "q99": [ | |
| [ | |
| [ | |
| 0.8 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.792156862745098 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.8941176470588236 | |
| ] | |
| ] | |
| ] | |
| }, | |
| "target.eef_rot9d": { | |
| "min": [ | |
| -0.9547267556190491, | |
| -0.9999998211860657, | |
| -0.45012348890304565, | |
| -1.0, | |
| -0.7302475571632385, | |
| -0.4430598020553589, | |
| -0.464761883020401, | |
| -0.6160028576850891, | |
| -0.9999998807907104 | |
| ], | |
| "max": [ | |
| 0.7401955127716064, | |
| -0.291925311088562, | |
| 0.6320488452911377, | |
| -0.29031622409820557, | |
| 0.9562958478927612, | |
| 0.3219154179096222, | |
| 0.4326481521129608, | |
| 0.4501819908618927, | |
| -0.7701658010482788 | |
| ], | |
| "mean": [ | |
| -0.06640692201525536, | |
| -0.9479556466895204, | |
| 0.060739304144141026, | |
| -0.9537592187060898, | |
| 0.0627093392639581, | |
| -0.04926380483374414, | |
| 0.04105001091136198, | |
| -0.05407303766728863, | |
| -0.9822626638515726 | |
| ], | |
| "std": [ | |
| 0.26011138687504476, | |
| 0.07875358192290291, | |
| 0.13935884034669324, | |
| 0.07691978820106869, | |
| 0.26256159471655716, | |
| 0.09554435579805831, | |
| 0.10331399940215824, | |
| 0.13922290236130425, | |
| 0.022232027127021912 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| -0.7560895681381226, | |
| -0.9999441504478455, | |
| -0.26757949590682983, | |
| -0.9999980926513672, | |
| -0.601546049118042, | |
| -0.29688602685928345, | |
| -0.23377232253551483, | |
| -0.38870516419410706, | |
| -0.9999383091926575 | |
| ], | |
| "q99": [ | |
| 0.598458468914032, | |
| -0.6193721890449524, | |
| 0.4044337868690491, | |
| -0.6400290131568909, | |
| 0.7601273655891418, | |
| 0.19102932512760162, | |
| 0.30838239192962646, | |
| 0.2755337357521057, | |
| -0.8994171023368835 | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "min": [ | |
| [ | |
| [ | |
| 0.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.0 | |
| ] | |
| ] | |
| ], | |
| "max": [ | |
| [ | |
| [ | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 1.0 | |
| ] | |
| ] | |
| ], | |
| "mean": [ | |
| [ | |
| [ | |
| 0.5076965331397763 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.4778088543129295 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.45222130648768327 | |
| ] | |
| ] | |
| ], | |
| "std": [ | |
| [ | |
| [ | |
| 0.25644355043718176 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.23528208671681763 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.22956783694880634 | |
| ] | |
| ] | |
| ], | |
| "count": [ | |
| 426950 | |
| ], | |
| "q01": [ | |
| [ | |
| [ | |
| 0.0196078431372549 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.01568627450980392 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.00392156862745098 | |
| ] | |
| ] | |
| ], | |
| "q99": [ | |
| [ | |
| [ | |
| 0.8823529411764706 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.8666666666666667 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.9803921568627451 | |
| ] | |
| ] | |
| ] | |
| }, | |
| "frame_index": { | |
| "min": [ | |
| 0 | |
| ], | |
| "max": [ | |
| 192 | |
| ], | |
| "mean": [ | |
| 62.78879683675391 | |
| ], | |
| "std": [ | |
| 38.601406365777514 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| 1.0 | |
| ], | |
| "q99": [ | |
| 150.0 | |
| ] | |
| }, | |
| "index": { | |
| "min": [ | |
| 0 | |
| ], | |
| "max": [ | |
| 531099 | |
| ], | |
| "mean": [ | |
| 265549.5 | |
| ], | |
| "std": [ | |
| 153315.36398303334 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| 5310.99 | |
| ], | |
| "q99": [ | |
| 525788.01 | |
| ] | |
| }, | |
| "timestamp": { | |
| "min": [ | |
| 0.0 | |
| ], | |
| "max": [ | |
| 9.600000381469727 | |
| ], | |
| "mean": [ | |
| 3.139439842715997 | |
| ], | |
| "std": [ | |
| 1.9300703190302955 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| 0.05000000074505806 | |
| ], | |
| "q99": [ | |
| 7.5 | |
| ] | |
| }, | |
| "raw_state.gripper_state": { | |
| "min": [ | |
| -0.0004873907600995153, | |
| -0.04135046899318695 | |
| ], | |
| "max": [ | |
| 0.041052188724279404, | |
| 0.0007757836719974875 | |
| ], | |
| "mean": [ | |
| 0.01996888211381785, | |
| -0.020145216224955922 | |
| ], | |
| "std": [ | |
| 0.01725352029800531, | |
| 0.01712138568546644 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| 0.0014720855979248881, | |
| -0.03989576920866966 | |
| ], | |
| "q99": [ | |
| 0.03993138670921326, | |
| -0.0016539825592190027 | |
| ] | |
| }, | |
| "state.gripper_state": { | |
| "min": [ | |
| 0.0, | |
| 0.0 | |
| ], | |
| "max": [ | |
| 1.0, | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.4992101991447427, | |
| 0.503602995404648 | |
| ], | |
| "std": [ | |
| 0.43132020525149745, | |
| 0.42799937362454726 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| 0.03680213913321495, | |
| 0.041349563747644424 | |
| ], | |
| "q99": [ | |
| 0.9982846975326538, | |
| 0.9973942637443542 | |
| ] | |
| }, | |
| "raw_state.eef_xyz": { | |
| "min": [ | |
| -0.338134229183197, | |
| -0.29242077469825745, | |
| 0.9095587730407715 | |
| ], | |
| "max": [ | |
| 0.1759040206670761, | |
| 0.3904820382595062, | |
| 1.3293496370315552 | |
| ], | |
| "mean": [ | |
| -0.02404451049289028, | |
| 0.10516205127345689, | |
| 1.058629548889705 | |
| ], | |
| "std": [ | |
| 0.11080613008145124, | |
| 0.13801991433063907, | |
| 0.10459037494459132 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| -0.27511706948280334, | |
| -0.2369769960641861, | |
| 0.9161173701286316 | |
| ], | |
| "q99": [ | |
| 0.13564741611480713, | |
| 0.36184924840927124, | |
| 1.2854515314102173 | |
| ] | |
| }, | |
| "state.eef_rot9d": { | |
| "min": [ | |
| -0.9469466805458069, | |
| -1.0, | |
| -0.4475685656070709, | |
| -1.0, | |
| -0.7268738746643066, | |
| -0.42286840081214905, | |
| -0.45590975880622864, | |
| -0.6282926201820374, | |
| -0.9999999403953552 | |
| ], | |
| "max": [ | |
| 0.7407659888267517, | |
| -0.31641656160354614, | |
| 0.6670036911964417, | |
| -0.31476765871047974, | |
| 0.9484738707542419, | |
| 0.3184666633605957, | |
| 0.430277943611145, | |
| 0.4475261867046356, | |
| -0.7410269975662231 | |
| ], | |
| "mean": [ | |
| -0.057463010857081956, | |
| -0.9516418936842468, | |
| 0.05555371884716311, | |
| -0.9573639843164696, | |
| 0.054021769580006436, | |
| -0.04612137221451869, | |
| 0.038512845005173095, | |
| -0.049041923903070085, | |
| -0.9831808541739555 | |
| ], | |
| "std": [ | |
| 0.25145709102970676, | |
| 0.07513316969841694, | |
| 0.13825276843544312, | |
| 0.07318986956759053, | |
| 0.2539839108279214, | |
| 0.09243421924663295, | |
| 0.10040686698464772, | |
| 0.1374824390125614, | |
| 0.0220022342770037 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| -0.7394099235534668, | |
| -0.9999561309814453, | |
| -0.26447343826293945, | |
| -0.999999463558197, | |
| -0.5997799038887024, | |
| -0.28531914949417114, | |
| -0.23074905574321747, | |
| -0.3892558217048645, | |
| -0.9999501705169678 | |
| ], | |
| "q99": [ | |
| 0.5937598943710327, | |
| -0.6426807045936584, | |
| 0.4047091007232666, | |
| -0.6579065322875977, | |
| 0.743370532989502, | |
| 0.1845892071723938, | |
| 0.3018209934234619, | |
| 0.27548879384994507, | |
| -0.9009331464767456 | |
| ] | |
| }, | |
| "debug.gripper_eef_rot6d": { | |
| "min": [ | |
| 0.9992128610610962, | |
| -0.03932047635316849, | |
| -0.029545996338129044, | |
| -0.038121651858091354, | |
| 0.9991589784622192, | |
| -0.0347779244184494 | |
| ], | |
| "max": [ | |
| 1.0000001192092896, | |
| 0.03811884671449661, | |
| 0.022414851933717728, | |
| 0.0392562597990036, | |
| 1.0000005960464478, | |
| 0.033475738018751144 | |
| ], | |
| "mean": [ | |
| 0.9999614778020202, | |
| 0.002077020747465233, | |
| -0.0006730525701065828, | |
| -0.0020789787904188445, | |
| 0.9999459993792128, | |
| 0.0010228778047726337 | |
| ], | |
| "std": [ | |
| 6.083771000963818e-05, | |
| 0.006969239237134646, | |
| 0.004868409352258615, | |
| 0.006971755926646474, | |
| 7.130823683482355e-05, | |
| 0.007349335243485097 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| 0.9997093677520752, | |
| -0.017447179183363914, | |
| -0.013935700058937073, | |
| -0.02111576311290264, | |
| 0.9996709227561951, | |
| -0.018172524869441986 | |
| ], | |
| "q99": [ | |
| 1.0, | |
| 0.021118594333529472, | |
| 0.012482879683375359, | |
| 0.017444085329771042, | |
| 1.0, | |
| 0.019422562792897224 | |
| ] | |
| }, | |
| "target.gripper_state": { | |
| "min": [ | |
| 0.0 | |
| ], | |
| "max": [ | |
| 1.0 | |
| ], | |
| "mean": [ | |
| 0.45742797966484655 | |
| ], | |
| "std": [ | |
| 0.49818432641401245 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 1.0 | |
| ] | |
| }, | |
| "raw_state.ref_state": { | |
| "min": [ | |
| -0.338134229183197, | |
| -0.29242077469825745, | |
| 0.9095587730407715, | |
| 2.497488260269165, | |
| -1.8006486892700195, | |
| -0.7207611203193665, | |
| -0.0004873907600995153, | |
| -0.04135046899318695 | |
| ], | |
| "max": [ | |
| 0.1759040206670761, | |
| 0.3904820382595062, | |
| 1.3293496370315552, | |
| 3.384528160095215, | |
| 1.2235690355300903, | |
| 1.0429524183273315, | |
| 0.041052188724279404, | |
| 0.0007757836719974875 | |
| ], | |
| "mean": [ | |
| -0.02404451049289028, | |
| 0.10516205127345689, | |
| 1.058629548889705, | |
| 3.06006296316214, | |
| -0.09526952786866486, | |
| 0.08273384970041192, | |
| 0.01996888211381785, | |
| -0.020145216224955922 | |
| ], | |
| "std": [ | |
| 0.11080613008145124, | |
| 0.13801991433063907, | |
| 0.10459037494459132, | |
| 0.10627025149523309, | |
| 0.4158005894737633, | |
| 0.21767085916181766, | |
| 0.01725352029800531, | |
| 0.01712138568546644 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| -0.27511706948280334, | |
| -0.2369769960641861, | |
| 0.9161173701286316, | |
| 2.7546257972717285, | |
| -1.318397045135498, | |
| -0.42328593134880066, | |
| 0.0014720855979248881, | |
| -0.03989576920866966 | |
| ], | |
| "q99": [ | |
| 0.13564741611480713, | |
| 0.36184924840927124, | |
| 1.2854515314102173, | |
| 3.2745230197906494, | |
| 0.9546194672584534, | |
| 0.6335936188697815, | |
| 0.03993138670921326, | |
| -0.0016539825592190027 | |
| ] | |
| }, | |
| "target.eef_xyz": { | |
| "min": [ | |
| -0.3625161647796631, | |
| -0.30203694105148315, | |
| 0.8656100630760193 | |
| ], | |
| "max": [ | |
| 0.18159110844135284, | |
| 0.3938860297203064, | |
| 1.3292334079742432 | |
| ], | |
| "mean": [ | |
| -0.0164649198375947, | |
| 0.11200635364872139, | |
| 1.0508438735700916 | |
| ], | |
| "std": [ | |
| 0.10558057209636068, | |
| 0.1385201462915514, | |
| 0.10657012758313864 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| -0.2761526107788086, | |
| -0.23560161888599396, | |
| 0.8985320925712585 | |
| ], | |
| "q99": [ | |
| 0.1316363513469696, | |
| 0.36253660917282104, | |
| 1.2886579036712646 | |
| ] | |
| }, | |
| "debug.gripper_eef_xyz": { | |
| "min": [ | |
| -0.014308025129139423, | |
| -0.014787537045776844, | |
| -0.014719045720994473 | |
| ], | |
| "max": [ | |
| 0.011066015809774399, | |
| 0.014136770740151405, | |
| 0.01538538746535778 | |
| ], | |
| "mean": [ | |
| -0.0019314829076907609, | |
| -0.002145158298788076, | |
| 0.0015958726910872498 | |
| ], | |
| "std": [ | |
| 0.004320130321657929, | |
| 0.004634263198177264, | |
| 0.005998067115225409 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| -0.011464390903711319, | |
| -0.011738484725356102, | |
| -0.011636022478342056 | |
| ], | |
| "q99": [ | |
| 0.007820346392691135, | |
| 0.0073063187301158905, | |
| 0.01215407159179449 | |
| ] | |
| }, | |
| "raw_target.eef_xyz": { | |
| "min": [ | |
| -0.3625161647796631, | |
| -0.30203694105148315, | |
| 0.8656100630760193 | |
| ], | |
| "max": [ | |
| 0.18159110844135284, | |
| 0.3938860297203064, | |
| 1.3292334079742432 | |
| ], | |
| "mean": [ | |
| -0.0164649198375947, | |
| 0.11200635364872139, | |
| 1.0508438735700916 | |
| ], | |
| "std": [ | |
| 0.10558057209636068, | |
| 0.1385201462915514, | |
| 0.10657012758313864 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| -0.2761526107788086, | |
| -0.23560161888599396, | |
| 0.8985320925712585 | |
| ], | |
| "q99": [ | |
| 0.1316363513469696, | |
| 0.36253660917282104, | |
| 1.2886579036712646 | |
| ] | |
| }, | |
| "state.eef_xyz": { | |
| "min": [ | |
| -0.338134229183197, | |
| -0.29242077469825745, | |
| 0.9095587730407715 | |
| ], | |
| "max": [ | |
| 0.1759040206670761, | |
| 0.3904820382595062, | |
| 1.3293496370315552 | |
| ], | |
| "mean": [ | |
| -0.02404451049289028, | |
| 0.10516205127345689, | |
| 1.058629548889705 | |
| ], | |
| "std": [ | |
| 0.11080613008145124, | |
| 0.13801991433063907, | |
| 0.10459037494459132 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| -0.27511706948280334, | |
| -0.2369769960641861, | |
| 0.9161173701286316 | |
| ], | |
| "q99": [ | |
| 0.13564741611480713, | |
| 0.36184924840927124, | |
| 1.2854515314102173 | |
| ] | |
| }, | |
| "task_index": { | |
| "min": [ | |
| 0 | |
| ], | |
| "max": [ | |
| 9 | |
| ], | |
| "mean": [ | |
| 4.269365467896818 | |
| ], | |
| "std": [ | |
| 2.9585234808132914 | |
| ], | |
| "count": [ | |
| 531100 | |
| ], | |
| "q01": [ | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 9.0 | |
| ] | |
| } | |
| } | |