{ "action.gripper_state": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.559615607085404 ], "std": [ 0.49643325836710983 ], "count": [ 43185 ], "q01": [ -1.000000013351432e-10 ], "q10": [ -1.000000013351432e-10 ], "q50": [ 0.8732278397639909 ], "q90": [ 0.9999639900122919 ], "q99": [ 0.999996399001229 ] }, "state.eef_xyz": { "min": [ 0.1533278077840805, -0.37596869468688965, -0.019803395494818687 ], "max": [ 0.6333661079406738, 0.39440229535102844, 0.2149888575077057 ], "mean": [ 0.3553798204448552, 0.03509203872424625, 0.10052583320360707 ], "std": [ 0.07756953243208878, 0.18251956085600676, 0.061781902282095735 ], "count": [ 43185 ], "q01": [ 0.284802680017571, -0.12620191955127252, 0.003514360731240035 ], "q10": [ 0.2954029875981997, -0.11790078825882624, 0.009540730407477431 ], "q50": [ 0.3580407422809285, -0.02142841438946282, 0.12142796173206086 ], "q90": [ 0.40964520776735575, 0.32202788982327724, 0.170494902427876 ], "q99": [ 0.4166590937853738, 0.3399374034822452, 0.1857899704372584 ] }, "index": { "min": [ 0 ], "max": [ 9250 ], "mean": [ 3282.5750376288065 ], "std": [ 2373.6282589545376 ], "count": [ 43185 ], "q01": [ 3172.697382479003 ], "q10": [ 3192.882417394848 ], "q50": [ 3282.3201439573922 ], "q90": [ 3372.175419724522 ], "q99": [ 3392.4438452621107 ] }, "action.body_eef_xyz": { "min": [ -0.012378751300275326, -0.024840453639626503, -0.011722967959940434 ], "max": [ 0.022084916010499, 0.018407650291919708, 0.010481431148946285 ], "mean": [ 0.0006659166631772238, -0.0014270978262464946, 0.0001973095925453385 ], "std": [ 0.0021203987971526645, 0.0036366859449726984, 0.002253759639115434 ], "count": [ 43185 ], "q01": [ -0.003099521337048528, -0.009211978658546387, -0.005621585358528862 ], "q10": [ -0.0015942082803604358, -0.006514524688662894, -0.0028494408514384193 ], "q50": [ 0.000401149101565753, -0.0004139918260974548, 0.00021866112366443206 ], "q90": [ 0.003306716012068527, 0.002453044959482746, 0.0029234698328075366 ], "q99": [ 0.0052302131265529826, 0.004463877066355675, 0.004602068791743483 ] }, "action.diff_eef_rpy": { "min": [ -0.03589010238647461, -0.036000728607177734, -0.12492179870605469 ], "max": [ 0.05176115036010742, 0.0665276050567627, 0.14889836311340332 ], "mean": [ -0.0005198886778331413, 0.0004567978301893655, 0.0015041459929123631 ], "std": [ 0.006155930381276694, 0.008676774817342933, 0.016220471396770915 ], "count": [ 43185 ], "q01": [ -0.011883670058954347, -0.015610197122031827, -0.02635797840087577 ], "q10": [ -0.007382527456470004, -0.009625799492960203, -0.01468634200410496 ], "q50": [ -0.00018640051782393814, -8.306677840977699e-05, 0.0017146476723938786 ], "q90": [ 0.005756152488292593, 0.01119754223498696, 0.01777437682728343 ], "q99": [ 0.013479303002957221, 0.02180293525496227, 0.03365457700668887 ] }, "observation.images.right_3pv_camera": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.4696931635442957 ] ], [ [ 0.4434815649166019 ] ], [ [ 0.393705419922507 ] ] ], "std": [ [ [ 0.004052697728475949 ] ], [ [ 0.004658303363278333 ] ], [ [ 0.004702494902826053 ] ] ], "count": [ 20200 ], "q01": [ [ [ 0.00280191694254759 ] ], [ [ 0.024749031101959855 ] ], [ [ 0.010756983137049007 ] ] ], "q10": [ [ [ 0.07883119977638194 ] ], [ [ 0.11521849546654271 ] ], [ [ 0.10586785334636013 ] ] ], "q50": [ [ [ 0.5362894547148347 ] ], [ [ 0.56370070731957 ] ], [ [ 0.45187602276462324 ] ] ], "q90": [ [ [ 0.7511807147383247 ] ], [ [ 0.6422866134830497 ] ], [ [ 0.6514470420297539 ] ] ], "q99": [ [ [ 0.7771952795261432 ] ], [ [ 0.7083061436512718 ] ], [ [ 0.7216672041478202 ] ] ] }, "observation.images.wrist_camera": { "min": [ [ [ 0.0 ] ], [ [ 0.0 ] ], [ [ 0.0 ] ] ], "max": [ [ [ 1.0 ] ], [ [ 1.0 ] ], [ [ 1.0 ] ] ], "mean": [ [ [ 0.4165890910947712 ] ], [ [ 0.4515028730161619 ] ], [ [ 0.4486898440128939 ] ] ], "std": [ [ [ 0.020447469812976907 ] ], [ [ 0.015859329596277418 ] ], [ [ 0.013363596039944215 ] ] ], "count": [ 20200 ], "q01": [ [ [ 0.001315237889299148 ] ], [ [ 0.034345502520932984 ] ], [ [ 0.022183002159787586 ] ] ], "q10": [ [ [ 0.11811161384670224 ] ], [ [ 0.20832826868356094 ] ], [ [ 0.1962391500868945 ] ] ], "q50": [ [ [ 0.474649542058194 ] ], [ [ 0.48849318463004093 ] ], [ [ 0.4724887889274994 ] ] ], "q90": [ [ [ 0.5682500499671661 ] ], [ [ 0.6003573271524203 ] ], [ [ 0.6143052524152114 ] ] ], "q99": [ [ [ 0.7460571410068185 ] ], [ [ 0.7601748360523884 ] ], [ [ 0.8654208083625552 ] ] ] }, "timestamp": { "min": [ 0.0 ], "max": [ 12.2 ], "mean": [ 3.718828296862336 ], "std": [ 2.3614779586780816 ], "count": [ 43185 ], "q01": [ 0.05623979177366461 ], "q10": [ 0.7290742889860073 ], "q50": [ 3.710254931110094 ], "q90": [ 6.705507700130495 ], "q99": [ 7.381121884734373 ] }, "action": { "min": [ -0.012378751300275326, -0.024840453639626503, -0.011722967959940434, 0.9885883331298828, -0.12461885064840317, -0.06748466193675995, -0.14866970479488373, 0.9888138771057129, -0.049362968653440475, 0.0 ], "max": [ 0.022084916010499, 0.018407650291919708, 0.010481431148946285, 1.0000001192092896, 0.14831510186195374, 0.036014802753925323, 0.12457390129566193, 1.0000001192092896, 0.0356079563498497, 1.0 ], "mean": [ 0.0006659166631772238, -0.0014270978262464946, 0.0001973095925453385, 0.9998296799794438, 0.001502851079958554, -0.0004576747043045768, -0.0015079803461037706, 0.9998482827678162, 0.000524334675871448, 0.559615607085404 ], "std": [ 0.0021203987971526645, 0.0036366859449726984, 0.002253759639115434, 0.0005372172529388901, 0.016212628789924806, 0.008674578213350631, 0.016231896639176794, 0.0005057716885655065, 0.006116769790792108, 0.4964332583671098 ], "count": [ 43185 ], "q01": [ -0.003099521337048528, -0.009211978658546387, -0.005621585358528862, 0.9987566902675439, -0.026360101707019166, -0.021872154830168463, -0.0335607462061316, 0.9988342335738559, -0.013308731733344929, -1.000000013351432e-10 ], "q10": [ -0.0015942082803604358, -0.006514524688662894, -0.0028494408514384193, 0.9995204989597093, -0.014693658823135336, -0.011226797595918195, -0.017857417996440098, 0.9995446994519419, -0.005729857131073639, -1.000000013351432e-10 ], "q50": [ 0.000401149101565753, -0.0004139918260974548, 0.00021866112366443206, 0.9999287750310344, 0.0017244825692665396, 8.048507225778394e-05, -0.0017692486863240626, 0.9999544402124211, 0.00018610092762376786, 0.8732278397639909 ], "q90": [ 0.003306716012068527, 0.002453044959482746, 0.0029234698328075366, 0.9999990532058047, 0.017782689347920096, 0.00960269228160855, 0.014671898653511428, 0.9999992180276739, 0.0073436751370374006, 0.9999639900122919 ], "q99": [ 0.0052302131265529826, 0.004463877066355675, 0.004602068791743483, 1.0000000056520035, 0.033481132192414054, 0.01560755296536864, 0.026319185770301453, 1.00000006834304, 0.01185852159912458, 0.999996399001229 ] }, "action.diff_eef_xyz": { "min": [ -0.011660009622573853, -0.019786477088928223, -0.010708101093769073 ], "max": [ 0.010261833667755127, 0.024294555187225342, 0.011621981859207153 ], "mean": [ 2.6732728354922945e-05, 0.0015456681817892822, -0.00019042921529651522 ], "std": [ 0.001796379339905074, 0.0038141991895062318, 0.002262483328383685 ], "count": [ 43185 ], "q01": [ -0.0036045736617336885, -0.004527821358793664, -0.004618979078537293 ], "q10": [ -0.0020652727843407286, -0.0025328562942690596, -0.0029393138068871455 ], "q50": [ -1.7765504174516165e-05, 0.0004114819900710951, -0.00022137260503546054 ], "q90": [ 0.0021448427454570707, 0.006940094651290978, 0.0028728412059038154 ], "q99": [ 0.0037262996372157448, 0.009715263504069784, 0.00563062567246934 ] }, "observation.state": { "min": [ -0.40074700117111206, -0.9356060028076172, -0.8608640432357788, 0.21322399377822876, -0.36535999178886414, 0.7368500232696533, -1.2840169668197632, 0.1533278077840805, -0.37596869468688965, -0.019803395494818687, -0.21898755431175232, -0.9596584439277649, -0.12312590330839157, -0.9596740007400513, -1.0, -0.07880933582782745, 0.0 ], "max": [ 0.6398729681968689, 0.7278839945793152, 0.6895659565925598, 1.9845010042190552, 0.2771790027618408, 1.506822943687439, 0.9813160300254822, 0.6333661079406738, 0.39440229535102844, 0.2149888575077057, 1.0, 0.999998927116394, 0.0435519739985466, 0.9999988675117493, 0.21898755431175232, 0.07168912887573242, 1.0 ], "mean": [ 0.050924177947240655, -0.21880632971435832, 0.0255780165784921, 0.924928461831795, 0.011838026527278264, 1.145722918854387, -0.03886317362801568, 0.3553798204448552, 0.03509203872424625, 0.10052583320360707, 0.8988029657862757, 0.09489718729445415, -0.006935689123347915, 0.09501669223860428, -0.8989169803098547, 0.0036675941264897056, 0.5682297102683421 ], "std": [ 0.20810104420718242, 0.28511296537550784, 0.26338929972979097, 0.2969183293735687, 0.08027601139519297, 0.17908913979876542, 0.4164355775160589, 0.07756953243208878, 0.18251956085600676, 0.061781902282095735, 0.19432939482642772, 0.38082657799360087, 0.017522002417903772, 0.3807974050168161, 0.19437786198410126, 0.010836291101190571, 0.4953228324123853 ], "count": [ 43185 ], "q01": [ -0.1351097308744253, -0.5652036663100471, -0.20364024597069005, 0.6544475830795521, -0.07093164902992091, 0.8752787029388895, -0.38447270999088873, 0.284802680017571, -0.12620191955127252, 0.003514360731240035, 0.7126648805391551, -0.15976292368401332, -0.03332080194755328, -0.15959956975355255, -0.9999897869212191, -0.013319625226964244, -1.000000013351432e-10 ], "q10": [ -0.12103766413994017, -0.4946927629964859, -0.18802291633502635, 0.6860691442965476, -0.05645966627906845, 0.8942705188114168, -0.3601348429519784, 0.2954029875981997, -0.11790078825882624, 0.009540730407477431, 0.730109316675223, -0.12413087462184094, -0.025049123109842898, -0.12397699378777444, -0.9961704423110618, -0.004943550718256411, -1.000000013351432e-10 ], "q50": [ -0.013700732416014515, -0.23301966960751916, -0.04001927339791519, 0.899225840062095, 0.007565010723746218, 1.1921602178436561, -0.09278726065200193, 0.3580407422809285, -0.02142841438946282, 0.12142796173206086, 0.9279975620021836, 0.020774105222530044, -0.0047227749902881075, 0.02086996662609355, -0.9282619698128551, 0.0030039531306903385, 0.9481718480890011 ], "q90": [ 0.3587045347584766, 0.06537594565034562, 0.40330707128308757, 1.2348834099454353, 0.08657396587899996, 1.3610103787235242, 0.4480834787516531, 0.40964520776735575, 0.32202788982327724, 0.170494902427876, 0.9960557674991005, 0.4157419568746722, 0.007366891848315895, 0.4158950932617785, -0.7307352969186702, 0.013879114394851283, 0.9999645311045421 ], "q99": [ 0.37926273789427284, 0.09958505219974503, 0.4285315200220026, 1.281967071800766, 0.09887849578052342, 1.4145170301037198, 0.5190865555231746, 0.4166590937853738, 0.3399374034822452, 0.1857899704372584, 0.9999764617434836, 0.42708462866576913, 0.015560869585638844, 0.42736374196599336, -0.7131359937432363, 0.019973690651052232, 0.9999964531104542 ] }, "task_index": { "min": [ 0 ], "max": [ 0 ], "mean": [ 0.0 ], "std": [ 0.0 ], "count": [ 43185 ], "q01": [ 3.999999999999417e-16 ], "q10": [ 3.999999999999417e-15 ], "q50": [ 1.999999999999709e-14 ], "q90": [ 3.5999999999994766e-14 ], "q99": [ 3.959999999999423e-14 ] }, "episode_index": { "min": [ 0 ], "max": [ 49 ], "mean": [ 15.03691096445525 ], "std": [ 11.463020431745278 ], "count": [ 43185 ], "q01": [ 15.03691096445525 ], "q10": [ 15.036910964455256 ], "q50": [ 15.03691096445527 ], "q90": [ 15.036910964455288 ], "q99": [ 15.036910964455288 ] }, "action.body_eef_rot6d": { "min": [ 0.9885883331298828, -0.12461885064840317, -0.06748466193675995, -0.14866970479488373, 0.9888138771057129, -0.049362968653440475 ], "max": [ 1.0000001192092896, 0.14831510186195374, 0.036014802753925323, 0.12457390129566193, 1.0000001192092896, 0.0356079563498497 ], "mean": [ 0.9998296799794438, 0.001502851079958554, -0.0004576747043045768, -0.0015079803461037706, 0.9998482827678162, 0.000524334675871448 ], "std": [ 0.0005372172529388901, 0.016212628789924806, 0.008674578213350631, 0.016231896639176794, 0.0005057716885655065, 0.006116769790792108 ], "count": [ 43185 ], "q01": [ 0.9987566902675439, -0.026360101707019166, -0.021872154830168463, -0.0335607462061316, 0.9988342335738559, -0.013308731733344929 ], "q10": [ 0.9995204989597093, -0.014693658823135336, -0.011226797595918195, -0.017857417996440098, 0.9995446994519419, -0.005729857131073639 ], "q50": [ 0.9999287750310344, 0.0017244825692665396, 8.048507225778394e-05, -0.0017692486863240626, 0.9999544402124211, 0.00018610092762376786 ], "q90": [ 0.9999990532058047, 0.017782689347920096, 0.00960269228160855, 0.014671898653511428, 0.9999992180276739, 0.0073436751370374006 ], "q99": [ 1.0000000056520035, 0.033481132192414054, 0.01560755296536864, 0.026319185770301453, 1.00000006834304, 0.01185852159912458 ] }, "action.world_eef_rot6d": { "min": [ 0.9887765645980835, -0.14828093349933624, -0.03925260528922081, -0.12456114590167999, 0.9886277914047241, -0.05110419541597366 ], "max": [ 1.0000001192092896, 0.12459775060415268, 0.06764670461416245, 0.14867615699768066, 1.0000001192092896, 0.03588832542300224 ], "mean": [ 0.9998304547087054, -0.0015055012134104042, 0.0004407697197859028, 0.0015041280315175988, 0.9998477522291987, 0.0011551729738123915 ], "std": [ 0.0005204812350900181, 0.016201826338400845, 0.008607365511359799, 0.01621301158541427, 0.0005302621493872212, 0.006165659186780388 ], "count": [ 43185 ], "q01": [ 0.9987591123485422, -0.03347754823326723, -0.015340833430027071, -0.0263303927646161, 0.9988308171997249, -0.012763297259246024 ], "q10": [ 0.9995194188198455, -0.017803619147881714, -0.009375072683669855, -0.014672141068504927, 0.9995443708795605, -0.005185046611120236 ], "q50": [ 0.999930290971233, -0.0017635240118588729, -9.001383869415085e-05, 0.0017136621713811971, 0.9999527707955608, 0.0002648565494077276 ], "q90": [ 0.9999991183281325, 0.014624365157376263, 0.01127410634053761, 0.017767301500324892, 0.9999992477950875, 0.008784536447103955 ], "q99": [ 1.000000010852504, 0.02626451092214298, 0.021625348292885736, 0.03354593131752249, 1.0000000694873135, 0.013760045796332679 ] }, "frame_index": { "min": [ 0 ], "max": [ 366 ], "mean": [ 111.5648489058701 ], "std": [ 70.84433876034247 ], "count": [ 43185 ], "q01": [ 1.687193756066822 ], "q10": [ 21.872228671912175 ], "q50": [ 111.31016436262567 ], "q90": [ 201.16523100158543 ], "q99": [ 221.43365653917456 ] }, "action.world_eef_xyz": { "min": [ -0.011660009622573853, -0.019786477088928223, -0.010708101093769073 ], "max": [ 0.010261833667755127, 0.024294555187225342, 0.011621981859207153 ], "mean": [ 2.6732728354922945e-05, 0.0015456681817892822, -0.00019042921529651522 ], "std": [ 0.001796379339905074, 0.0038141991895062318, 0.002262483328383685 ], "count": [ 43185 ], "q01": [ -0.0036045736617336885, -0.004527821358793664, -0.004618979078537293 ], "q10": [ -0.0020652727843407286, -0.0025328562942690596, -0.0029393138068871455 ], "q50": [ -1.7765504174516165e-05, 0.0004114819900710951, -0.00022137260503546054 ], "q90": [ 0.0021448427454570707, 0.006940094651290978, 0.0028728412059038154 ], "q99": [ 0.0037262996372157448, 0.009715263504069784, 0.00563062567246934 ] }, "state.joint_pos": { "min": [ -0.40074700117111206, -0.9356060028076172, -0.8608640432357788, 0.21322399377822876, -0.36535999178886414, 0.7368500232696533, -1.2840169668197632 ], "max": [ 0.6398729681968689, 0.7278839945793152, 0.6895659565925598, 1.9845010042190552, 0.2771790027618408, 1.506822943687439, 0.9813160300254822 ], "mean": [ 0.050924177947240655, -0.21880632971435832, 0.0255780165784921, 0.924928461831795, 0.011838026527278264, 1.145722918854387, -0.03886317362801568 ], "std": [ 0.20810104420718242, 0.28511296537550784, 0.26338929972979097, 0.2969183293735687, 0.08027601139519297, 0.17908913979876542, 0.4164355775160589 ], "count": [ 43185 ], "q01": [ -0.1351097308744253, -0.5652036663100471, -0.20364024597069005, 0.6544475830795521, -0.07093164902992091, 0.8752787029388895, -0.38447270999088873 ], "q10": [ -0.12103766413994017, -0.4946927629964859, -0.18802291633502635, 0.6860691442965476, -0.05645966627906845, 0.8942705188114168, -0.3601348429519784 ], "q50": [ -0.013700732416014515, -0.23301966960751916, -0.04001927339791519, 0.899225840062095, 0.007565010723746218, 1.1921602178436561, -0.09278726065200193 ], "q90": [ 0.3587045347584766, 0.06537594565034562, 0.40330707128308757, 1.2348834099454353, 0.08657396587899996, 1.3610103787235242, 0.4480834787516531 ], "q99": [ 0.37926273789427284, 0.09958505219974503, 0.4285315200220026, 1.281967071800766, 0.09887849578052342, 1.4145170301037198, 0.5190865555231746 ] }, "state.gripper_state": { "min": [ 0.0 ], "max": [ 1.0 ], "mean": [ 0.5682297102683421 ], "std": [ 0.4953228324123853 ], "count": [ 43185 ], "q01": [ -1.000000013351432e-10 ], "q10": [ -1.000000013351432e-10 ], "q50": [ 0.948171848089001 ], "q90": [ 0.9999645311045421 ], "q99": [ 0.9999964531104542 ] }, "state.eef_rot6d": { "min": [ -0.21898755431175232, -0.9596584439277649, -0.12312590330839157, -0.9596740007400513, -1.0, -0.07880933582782745 ], "max": [ 1.0, 0.999998927116394, 0.0435519739985466, 0.9999988675117493, 0.21898755431175232, 0.07168912887573242 ], "mean": [ 0.8988029657862757, 0.09489718729445415, -0.006935689123347915, 0.09501669223860428, -0.8989169803098547, 0.0036675941264897056 ], "std": [ 0.19432939482642772, 0.38082657799360087, 0.017522002417903772, 0.3807974050168161, 0.19437786198410126, 0.010836291101190571 ], "count": [ 43185 ], "q01": [ 0.7126648805391551, -0.15976292368401332, -0.03332080194755328, -0.15959956975355255, -0.9999897869212191, -0.013319625226964244 ], "q10": [ 0.730109316675223, -0.12413087462184094, -0.025049123109842898, -0.12397699378777444, -0.9961704423110618, -0.004943550718256411 ], "q50": [ 0.9279975620021836, 0.020774105222530044, -0.0047227749902881075, 0.02086996662609355, -0.9282619698128551, 0.0030039531306903385 ], "q90": [ 0.9960557674991005, 0.4157419568746722, 0.007366891848315895, 0.4158950932617785, -0.7307352969186702, 0.013879114394851283 ], "q99": [ 0.9999764617434836, 0.42708462866576913, 0.015560869585638844, 0.42736374196599336, -0.7131359937432363, 0.019973690651052232 ] } }